AGV/MPC/monitor/monitor_emqx.h

//
// Created by zx on 23-3-14.
//

#ifndef NAVIGATION_MPC_MONITOR_MONITOR_EMQX_H_
#define NAVIGATION_MPC_MONITOR_MONITOR_EMQX_H_

#include <mutex>
#include "emqx/paho_client.h"

typedef void (*StatuCallback)(double x,double y,double theta,double v,double vth,void* context);

class Monitor_emqx
{
public:
    enum SpeedType{
        eStop=0,
        eRotate=1,
        eHorizontal=2,
        eMPC=3,


    };
 public:
    Monitor_emqx(std::string nodeId,std::string pubTopic,std::string subTopic);
    ~Monitor_emqx();
    bool Connect(std::string ip,int port);
    void set_statu_arrived_callback(StatuCallback callback,void* context);
    void set_speed(SpeedType type,double v,double a);
    void stop();

 protected:

    StatuCallback StatuArrivedCallback_;
    static void StatuArrivedCallback(std::string topic,int QOS,MqttMsg& msg,void* context);

    std::mutex mtx_;

    Paho_client* client_;
    void* context_;
    std::string nodeId_;
    std::string pubTopic_;
    std::string subTopic_;
 public:
    int heat_=0;
    MqttMsg msg_;

};


#endif //NAVIGATION_MPC_MONITOR_MONITOR_EMQX_H_