AGV/MPC/monitor/terminator_emqx.h

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

#ifndef NAVIGATION_TERMINATOR_EMQX_H
#define NAVIGATION_TERMINATOR_EMQX_H
#include <mutex>
#include "emqx/paho_client.h"
#include "emqx/message.grpc.pb.h"

typedef void (*Callback)(const MqttMsg& msg,void* context);

typedef struct{
    Callback func;
    void* contextx;
}CallBackInfo;

class Terminator_emqx {
public:
    Terminator_emqx(std::string nodeId);
    virtual ~Terminator_emqx();
    bool Connect(std::string ip,int port);
    bool AddCallback(std::string topic,Callback callback,void* context);
    void Publish(std::string topic,const MqttMsg& statu);

protected:

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

    std::mutex mtx_;

    Paho_client* client_;
    bool connected_;
    std::string nodeId_;
public:
    std::map<std::string,CallBackInfo> sub_topic_callbacks_;
};

#endif //NAVIGATION_TERMINATOR_EMQX_H