diff --git a/publisher.py b/publisher.py new file mode 100644 index 0000000..ef90b31 --- /dev/null +++ b/publisher.py @@ -0,0 +1,94 @@ +# -*- coding: utf-8 -*- +''' +@project: mqtt +@file: publisher.py +@version: python3.10 +@Author: jcq +@Date : 2024/12/11 +@ +''' + + +import time +import sys +import random +import json +import paho.mqtt.client as mqtt + +from loguru import logger +from simulation import generate_fight_data ,generate_data + + +# 101.133.163.127 +# 1883 +# admin +# admin##123 + + +# MQTT Broker 地址和端口 +broker = "101.133.163.127" # 在远程服务器上可改为对应的 IP 地址 + + +# broker = "localhost" # 在远程服务器上可改为对应的 IP 地址 +port = 1883 +topic = "test/topic" + +logger.add(sys.stderr,format = "{time}-{level}-{message}",level="INFO") +logger.add("logs/mqtt.log",rotation="1 MB",retention='5 days') + + + +# 创建客户端 +client = mqtt.Client() + +# 连接到 Broker +client.connect(broker, port) + +# 发布消息 + +#发布假数据做测试用 +try: + + # 设置初始经纬度 + initial_latitude = 31.8250608 + initial_longitude = 118.7630802 + + delta = 0.5 + + + +# 发布消息 +try: + + + # 设置初始经纬度 + initial_latitude = 31.8250608 + initial_longitude = 118.7630802 + + + delta_latitude = 0.5 + delta_longitude = 0.5 + + + for i in range(100): + message = f"Hello MQTT {i}" + + + # 开始生成数据 + flight_data_json = generate_fight_data(initial_latitude, initial_longitude) + + + + initial_latitude += delta_latitude + initial_longitude += delta_longitude + + messa = json.dumps(flight_data_json) + + + + client.publish(topic, messa) + print(f"Published: {message}") + print(f"Published: {messa}") + time.sleep(0.5) +finally: + client.disconnect() \ No newline at end of file diff --git a/simulation.py b/simulation.py new file mode 100644 index 0000000..e5d91f6 --- /dev/null +++ b/simulation.py @@ -0,0 +1,101 @@ +import json +import sys +import time +import random +import numpy as np +import matplotlib.pyplot as plt +from loguru import logger + +from math import cos +from datetime import datetime + +logger.add(sys.stderr,format = "{time}-{level}-{message}",level = "INFO") +logger.add("logs/sim_flight.log",rotation = "1 MB",retention = '7 days') + + +def generate_fight_data(inital_lat,initial_lon,sat_count): + + # 飞机初始状态 + altitude = 3.256 # 初始高度 + horizontal_speed = 0.86 *100 # 初始水平速度 + vertical_speed = 0.04447911 *100 # 初始竖直速度 + yaw = random.uniform(0, 360) # 随机偏航角 + roll = random.uniform(-1, 1) # 随机滚转角 + pitch = random.uniform(-1, 1) # 随机俯仰角 + armed = "false" # 解锁状态 + mode = "stabilize" # 飞机模式 + dist_to_home = random.uniform(0, 10) # 随机距离家 + mileage = 0 # 飞行总距离 + gps_signal = 4 # GPS状态 + sat_count = 29 # GPS获取卫星数 + voltage = round(random.uniform(24, 26), 3) # 随机电压 + landing_target_x = 0 # 视觉误差x轴偏差值 + landing_target_y = 0 # 视觉误差y轴偏差值 + landing_target_z = 0 # 视觉误差z轴偏差值 + + timestamp = int(datetime.utcnow().timestamp() * 1000) + + + # 生成数据字典 + flight_data = { + # "lon": round(initial_lon, 7), + # "lat": round(inital_lat, 7), + + "lon": inital_lat, + "lat": initial_lon, + + "gpssingal": gps_signal, + "satcount": sat_count, + "alt": round(altitude, 3), + "hspeed": round(horizontal_speed, 2), + "vspeed": round(vertical_speed, 8), + "ysingal": 0, + "tsingal": 0, + "voltage": round(voltage, 3), + "flytime": 0, + "datetime": timestamp, + "yaw": round(yaw, 6), + "roll": round(roll, 8), + "pitch": round(pitch, 8), + "armed": armed, + "mode": mode, + "distToHome": round(dist_to_home, 6), + "deviceid": "THJSQ03A2302KSPYGJ2G", + "mileage": str(mileage), + "altasl": round(altitude + 18, 2), # 模拟GPS1绝对高度 + "altasl2": round(altitude - 24, 2), # 模拟GPS2绝对高度 + "landing_target_x": landing_target_x, + "landing_target_y": landing_target_y, + "landing_target_z": landing_target_z, + } + + + #输出JSON格式数据 + print(json.dumps(flight_data,indent=4)) + logger.info("模拟飞行数据" + str(flight_data)) + + + return flight_data + + +def generate_data(): + while True: + # 生成一个随机数，范围在 0 到 100 之间 + data = random.uniform(0, 100) + print(f"Generated data: {data:.2f}") + + # 暂停 0.5 秒 + time.sleep(0.5) + +if __name__ == "__main__": + generate_data() + + + # # 设置初始经纬度 + # initial_latitude = 31.8250608 + # initial_longitude = 118.7630802 + + # # 开始生成数据 + # flight_data_json = generate_fight_data(initial_latitude, initial_longitude) + + diff --git a/subscriber.py b/subscriber.py new file mode 100644 index 0000000..59988e4 --- /dev/null +++ b/subscriber.py @@ -0,0 +1,119 @@ + +# -*- coding: utf-8 -*- +''' +@project: mqtt +@file: subscriber.py +@version: python3.10 +@Author: jcq +@Date : 2024/12/11 +@ +''' + +import sys +import json +from loguru import logger +import paho.mqtt.client as mqtt + + +# 101.133.163.127 +# 1883 +# admin +# admin##123 + +# MQTT Broker 地址和端口 +broker = "101.133.163.127" # 在远程服务器上可改为对应的 IP 地址 + +# broker = "localhost" # 在远程服务器上可改为对应的 IP 地址 +port = 1883 +topic = "test/topic" + + + +logger.add(sys.stderr,format = "{time}-{level}-{message}",level="INFO") +logger.add("log/mqtt_subscriber.log",rotation="1 MB",retention='5 days') + + + +def on_connect(client,userdata,flags,rc): + print("rc:",rc) + logger.info("connected with result code" + str(rc)) + client.subscribe(topic) + print(topic) + + +# # 消息回调函数 +# def on_message(client, userdata, message): + +# print('message') +# print(message) + + +# print(f"Received message: {str(message.payload.decode('utf-8'))} on topic: {message.topic}") + + +# 当接收到MQTT消息时，回调函数 +def on_message(client, userdata, data): + # # 将消息解码为JSON格式 + # payload = msg.payload.decode('utf-8') + # data = json.loads(payload) + + print("line58",data) + + # 解析位姿信息 + lon = data.get("lon") + lat = data.get("lat") + alt = data.get("alt") + yaw = data.get("yaw") + pitch = data.get("pitch") + roll = data.get("roll") + + # 打印无人机的位姿信息 + print(f"Longitude: {lon}, Latitude: {lat}, Altitude: {alt}") + print(f"Yaw: {yaw}, Pitch: {pitch}, Roll: {roll}") + + + + +# 创建客户端 +client = mqtt.Client() + +print("line80") +client.on_connect = on_connect + +print("line83") + +# 设置回调函数 +client.on_message = on_message +print("line87") +# 连接到 Broker +client.connect(broker, port) +print("line90") +# client.loop_forever() + + + +# 保持订阅状态 +client.loop_forever() + +print("line98") + + + + + +# # 订阅主题 +# client.subscribe(topic) + +# client.loop_start() + +# try: + +# while True: +# pass +# except KeyboardInterrupt: +# logger.info("subscriber stopped by user") + + +# finally: +# client.loop_stop() +# client.disconnect()