AGV/MPC/monitor/terminator_emqx.cpp

//
// Created by zx on 23-4-11.
//

#include "terminator_emqx.h"
#include "unistd.h"
Terminator_emqx::~Terminator_emqx()
{
  if(client_!= nullptr){
    client_->disconnect();
    delete client_;
    client_= nullptr;
  }
}

bool Terminator_emqx::Connect(std::string ip,int port)
{
  if(client_!= nullptr)
  {
    client_->disconnect();
    delete client_;
  }
  client_=new Paho_client(nodeId_);
  connected_= client_->connect(ip,port);

  return connected_;

}

void Terminator_emqx::Publish(std::string topic,const MqttMsg& msg)
{
  if(client_) {
      mtx_.lock();
      client_->publish(topic, 1, msg);
      mtx_.unlock();
  }
  else {
      printf("publish  failed : emqx client maybe disconnected...\n");
  }
}

bool Terminator_emqx::AddCallback(std::string topic,Callback callback,void* context)
{
  CallBackInfo info;
  info.func=callback;
  info.contextx=context;
  sub_topic_callbacks_[topic]=info;
  if(connected_)
  {
    while(!client_->isconnected()) usleep(1000);
    client_->subcribe(topic,1,MessageArrivedCallback,this);
    return true;
  }
  else
  {
    printf(" emqx has not connected ,subcribe topic:%s  failed ...!!\n",topic.c_str());
    return false;
  }
}

Terminator_emqx::Terminator_emqx(std::string nodeId)
    :client_(nullptr),nodeId_(nodeId),connected_(false)
{
}

void Terminator_emqx::MessageArrivedCallback(std::string topic,int QOS,MqttMsg& msg,void* context)
{
  Terminator_emqx* terminator=(Terminator_emqx*)context;

  if(terminator->sub_topic_callbacks_.find(topic)!=terminator->sub_topic_callbacks_.end()) {
    CallBackInfo info = terminator->sub_topic_callbacks_[topic];
    if (info.func)
      info.func(msg, info.contextx);
  }

}