Vehicle-cpp/remote_drive/EgoZJ/EgoSystem/MqttClient.cpp

#include "MqttClient.h"
#include <iostream>
#include <stdio.h>

MQTTAsync_responseOptions CMqttSensor::opts = MQTTAsync_responseOptions_initializer;
MQTTAsync CMqttSensor::m_mqttClient;
bool CMqttSensor::_run = false;
char** CMqttSensor::subTopic = NULL;
std::string CMqttSensor::_Esn;

CMqttSensor::CMqttSensor(CMessageQueue* q) :_message(q)
{
}


void CMqttSensor::SetSensorMQTT(MQTTAsync mqClient, std::string Esn)
{
    m_mqttClient = mqClient;
    _Esn = Esn;
}

void CMqttSensor::onConnectCallCBack(void* context, char* cause) //���ӳɹ�callback
{
    if(m_mqttClient != NULL)
    {

        std::cout << "Connection successful" << std::endl;
        int rc;
        const int qos[3] = { 0,1,2};

        const int ROWS = 3;
        const int COLUMNS = 64;

        subTopic = new char* [ROWS];
        for (int row = 0; row < ROWS; row++)
        {
            subTopic[row] = new char[COLUMNS];
        }
        
        sprintf((char*)*(subTopic + 0), "v2x/v1/grasp/%s/info/up/ack", (char*)context);
        sprintf((char*)*(subTopic + 1), "v2x/v1/grasp/%s/status/up/ack", (char*)context);
        sprintf((char*)*(subTopic + 2), "v2x/v1/grasp/%s/stop/down/", (char*)context);
        

        opts = MQTTAsync_responseOptions_initializer;

        //char* const subTopic[2] = { "hello" ,"hello1" };  //��������

        opts.context = m_mqttClient;

        if ((rc = MQTTAsync_subscribeMany(m_mqttClient, 3 , subTopic, qos, &opts)) != MQTTASYNC_SUCCESS) //subTopic
        {
            std::cout << "MQTTAsync_subscribe() fail, error code: " << rc << std::endl;
        }
        _run = true;
    }
    
    //sendMessage("11111",1, "hello");
}

void CMqttSensor::onConnectFailure(void* context, MQTTAsync_failureData* response) //����ʧ��callback
{
    _run = false;
    printf("connection fail, error code: %d, error message:%s\n", response ? response->code : 0, response ? response->message : 0);
}

void CMqttSensor::Disconnect(void* context, char* cause) //���ӶϿ�callback
{
    _run = false;
    std::cout << "disconnect, cause: " << cause << std::endl;
}

void CMqttSensor::sendMessage(char* data, int qos , const char * pubTopic)
{
    if (_run && (m_mqttClient != NULL))
    {
        int rc;
        MQTTAsync_message pubmsg = MQTTAsync_message_initializer;
        MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;

        opts.context = m_mqttClient;

        pubmsg.payload = data;
        pubmsg.payloadlen = strlen(data);
        pubmsg.qos = qos;

        //std::cout << "mqtt send: " << pubmsg.payload << std::endl;
        
        if ((rc = MQTTAsync_sendMessage(m_mqttClient, pubTopic, &pubmsg, &opts)) != MQTTASYNC_SUCCESS)
        {
            std::cout << "MQTTAsync_sendMessage() fail, error code: " << rc << std::endl;
        }
    }
}

int  CMqttSensor::RecevieMessage(void* context, char* pubTopic, int topicLen, MQTTAsync_message* message)
{
    if (_run)
    {
        char buf[message->payloadlen + 1];

        memcpy(buf, message->payload, message->payloadlen);
        //printf("mqtt recv: %s\n", buf);
        //std::cout << "mqtt recv: " << buf << std::endl;

        MQTTAsync_freeMessage(&message);
        MQTTAsync_free(pubTopic);
    }
    return 1;
}

void CMqttSensor::Stop(const char* _Esn)
{
    
    MQTTAsync_disconnectOptions optDis = MQTTAsync_disconnectOptions_initializer;
    if(_run)
    {
        MQTTAsync_unsubscribeMany(m_mqttClient, 3, subTopic, &opts);
        MQTTAsync_disconnect(&m_mqttClient, &optDis);

        const int ROWS = 3;
        for (int row = 0; row < ROWS; row++)
        {
            delete [] subTopic[row];
        }
        delete [] subTopic;
    }
    
    _run = false;
    m_mqttClient = NULL;
    MQTTAsync_destroy(&m_mqttClient);
}