添加类mqttasync代码并测试通过，优化了cmakelist结构,方便后期扩展设备,添加了将雷达数据转换为二进制接口

MeasurementNode/.gitignore

@@ -1,4 +1,5 @@
 .vscode/
 .idea/
 build/
-record/
+record/
+out/

MeasurementNode/CMakeLists.txt

@@ -4,16 +4,44 @@ cmake_minimum_required(VERSION 3.5)
 # 定义工程名称
 project(MeasurementNode VERSION 1.0.0.0)
 
+# 指定安装目录
+SET (CMAKE_INSTALL_PREFIX
+    ${PROJECT_SOURCE_DIR}/out
+)
+
 # 打印工程定级目录（非必要）
 message("project path: " ${PROJECT_SOURCE_DIR})
 
 include_directories(
         ${PROJECT_SOURCE_DIR}/Modules/DataToCloud/device
+        ${PROJECT_SOURCE_DIR}/Modules/DataToCloud/service
+        ${PROJECT_SOURCE_DIR}/Modules/DataToCloud/conversion
         ${PROJECT_SOURCE_DIR}/tool
 )
 
+# 第三方库
+find_path(YAML_CPP_INCLUDE_DIR
+NAMES yaml_cpp.h
+PATHS ${YAML_CPP_INCLUDE_DIRS})
+find_library(YAML_CPP_LIBRARY
+   NAMES YAML_CPP
+   PATHS ${YAML_CPP_LIBRARY_DIRS})
+if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+add_definitions(-DHAVE_NEW_YAMLCPP)
+endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
+add_subdirectory(thirdpart/rs_driver)
+FIND_PACKAGE(PCL REQUIRED)
+FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(rs_driver REQUIRED)
+FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(Protobuf REQUIRED)
+
+
 # 添加子目录CMAKE
-add_subdirectory(tool)    # 错误码
+add_subdirectory(thirdpart)  # 模块
+add_subdirectory(tool)    # 
+add_subdirectory(Modules/DataToCloud/service)  # 模块
+add_subdirectory(Modules/DataToCloud/conversion)  # 模块
 add_subdirectory(Modules/DataToCloud/device)  # 模块
 
 # 将./src 下的所有文件名保存到DIR_SRCS变量
@@ -28,4 +56,16 @@ add_executable(MeasurementNode ${DIR_SRCS})
 # 添加链接静态库
 target_link_libraries(MeasurementNode
         libdevice
+        libconversion
+        libpahoc
+        libtool
+        -lpthread
+)
+
+# 将库文件，可执行文件，头文件安装到指定目录
+install(TARGETS MeasurementNode
+        LIBRARY DESTINATION lib  # 动态库安装路径
+        ARCHIVE DESTINATION lib  # 静态库安装路径
+        RUNTIME DESTINATION bin  # 可执行文件安装路径
+        PUBLIC_HEADER DESTINATION include  # 头文件安装路径
 )

MeasurementNode/Modules/DataToCloud/CMakeLists.txt

@@ -1 +1,3 @@
-add_subdirectory(device)
+add_subdirectory(device)
+add_subdirectory(conversion)
+add_subdirectory(service)

MeasurementNode/Modules/DataToCloud/conversion/CMakeLists.txt

@@ -0,0 +1,28 @@
+# 获取当前目录全部头文件
+FILE (GLOB ALL_HEAD "*.hpp" "*.h")
+# 获取当前目录全部源文件
+FILE (GLOB ALL_SOURCE "*.cpp" "*.c")
+
+include_directories(${PCL_INCLUDE_DIRS})
+
+# 构建库
+ADD_LIBRARY(libconversion
+    ${ALL_HEAD}
+    ${ALL_SOURCE}
+)
+
+target_include_directories(libconversion PUBLIC
+    ${PCL_INCLUDE_DIRS}
+)
+
+target_link_libraries(libconversion PUBLIC
+    ${PCL_LIBRARIES}
+)
+
+# 安装库到安装路径
+INSTALL (TARGETS libconversion DESTINATION lib)
+# 安装全部头文件到安装路径
+INSTALL (FILES 
+    ${ALL_HEAD}
+    DESTINATION include/libconversion
+)

MeasurementNode/Modules/DataToCloud/conversion/conversion.cpp

@@ -0,0 +1,103 @@
+#include "conversion.hpp"
+
+bool Conversion::PackHexPointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, unsigned char* data, unsigned int length) {
+    data[0] = DEFAULT_BEGAIN;
+    data[1] = length >> 4;
+    data[2] = length;
+    data[length - 1] = DEFAULT_END;
+    for(int i = 0; i < cloud->size(); i++) {
+        Float2Bytes(cloud->points[i].x, data, 3 + 3 * sizeof(float) * i);
+        Float2Bytes(cloud->points[i].y, data, 3 + 3 * sizeof(float) * i + 1 * sizeof(float));
+        Float2Bytes(cloud->points[i].z, data, 3 + 3 * sizeof(float) * i + 2 * sizeof(float));
+    }
+    return true;
+}
+
+bool Conversion::UnPackHexPointCloud(unsigned char *data, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud) {
+    if(data[0] != DEFAULT_BEGAIN) {
+        return false;
+    }
+    int size = data[1] << 8 | data[2];
+    if(data[size - 1] != DEFAULT_END) {
+        return false;
+    }
+    int i = 3;
+    float number;
+    pcl::PointXYZ point;
+    while (data[i] != 0xFF || i < size - 1) {
+        Bytes2Float(&data[i], &number);
+        i += sizeof(float);
+        point.x = number;
+        Bytes2Float(&data[i], &number);
+        i += sizeof(float);
+        point.y = number;
+        Bytes2Float(&data[i], &number);
+        i += sizeof(float);
+        point.z = number;
+        cloud->points.push_back(point);
+    }
+    return true;
+}
+
+bool Conversion::PackStringPointCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, std::string &data) {
+    data += "Begain\n";
+    data += "size:" + std::to_string(cloud->size()) + "\n";
+    for(int i = 0; i < cloud->size(); i++) {
+        data += std::to_string(cloud->points[i].x) + " ";
+        data += std::to_string(cloud->points[i].y) + " ";
+        data += std::to_string(cloud->points[i].z) + " ";
+    }
+    data += "\nend\n";
+    return true;
+}
+
+bool Conversion::UnPackStringPointCloud(const std::string &data, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud) {
+    std::string str_cloud = data.substr(data.find("\n", data.find("size")) + 1, data.find("end\n") - data.find("\n", data.find("size")) - 2);
+    std::istringstream cloud_data;
+    cloud_data.str(str_cloud);
+    pcl::PointXYZ point;
+    while (cloud_data >> point.x && cloud_data >> point.y && cloud_data >> point.z) {
+        cloud->points.push_back(point);
+    }
+    return true;
+}
+
+bool Conversion::String2Hex(const std::string &cloud, unsigned char* data, unsigned int length) {
+    std::string str_cloud;
+    if (cloud.find("Begain") == 0 && cloud.find("end")) {
+        str_cloud = cloud.substr(cloud.find("\n", cloud.find("size")) + 1, cloud.find("end\n") - cloud.find("\n", cloud.find("size")) - 2);
+    } else {
+        str_cloud = cloud;
+    }
+    std::istringstream cloud_data;
+    cloud_data.str(str_cloud);
+    pcl::PointXYZ point;
+    int i = 0;
+    while (cloud_data >> point.x && cloud_data >> point.y && cloud_data >> point.z) {
+        Float2Bytes(point.x, data, i);
+        i += sizeof(float);
+        Float2Bytes(point.y, data, i);
+        i += sizeof(float);
+        Float2Bytes(point.z, data, i);
+        i += sizeof(float);
+    }
+    return true;
+}
+
+void Conversion::Float2Bytes(float value, unsigned char *bytes, int pos)
+{
+    char *data = (char *)&value;
+    for (int i = 0; i < 4; i++)
+    {
+        bytes[i + pos] = *data++;
+    }
+}
+
+void Conversion::Bytes2Float(unsigned char * bytes, float* number) {
+    void *data = number;
+    unsigned char * buf = bytes;
+    for (int i = 0; i < 4; i++){
+        // data[i] = buf[i];
+        *((unsigned char*)data + i) = *(buf + i);
+    }
+}

MeasurementNode/Modules/DataToCloud/conversion/conversion.hpp

@@ -0,0 +1,57 @@
+#ifndef CLOUD_CONVERSION_H_
+#define CLOUD_CONVERSION_H_
+
+#include <iostream>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+
+#define DEFAULT_BEGAIN  0XAA
+#define DEFAULT_END     0XFF
+
+class Conversion { 
+public:
+    /**
+     * @brief 将点云数据打包组成二进制数据，数据包含头、包长、数据、包尾，未添加校验位。
+     * @param cloud 点云数据
+     * @param data 指针需要在外部提前分配好空间大小，大小应该为cloud->size() * sizeof(float) * 3 + 4
+     * @param length 数据长度，大小应该为cloud->size() * sizeof(float) * 3 + 4
+    **/
+    static bool PackHexPointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, unsigned char* data, unsigned int length);
+
+    /**
+     * @brief 将二进制数据转换为点云数据，二进制数据应包含头、包长、数据、包尾，未添加校验位。
+     * @param cloud 点云数据
+     * @param data 二进制数据，数据应包含头、包长、数据、包尾，未添加校验位
+    **/
+    static bool UnPackHexPointCloud(unsigned char *data, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+
+    /**
+     * @brief 将点云数据组成string类型数据，数据格式可以自己打印看一下。
+     * @param cloud 点云数据
+     * @param data 转换后的数据，数据包含开头、点云数量、点云数据、结尾
+    **/
+    static bool PackStringPointCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, std::string &data);
+
+    /**
+     * @brief 将组包的string点云数据转为pointcloud格式，点云组包数据应包含开头、点云数量、点云数据、结尾
+     * @param data 组包的string点云数据
+     * @param cloud 点云数据
+    **/
+    static bool UnPackStringPointCloud(const std::string &data, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
+
+    /**
+     * @brief 将一串全部是点云数据的string转换为二进制数据
+     * @param cloud 点云数据
+     * @param data 二进制数据，指针需要在外部提前分配好空间大小，大小应该为cloud->size() * sizeof(float) * 3
+     * @param length 数据长度，大小应该为cloud->size() * sizeof(float) * 3
+    **/
+    static bool String2Hex(const std::string &cloud, unsigned char* data, unsigned int length);
+    static bool String2Hex(const std::string &cloud, unsigned char* data, unsigned int &length);
+
+private:
+    static void Float2Bytes(float value, unsigned char *bytes, int pos = 0);
+    static void Bytes2Float(unsigned char * bytes, float* number);
+
+};
+
+#endif

MeasurementNode/Modules/DataToCloud/device/CMakeLists.txt

@@ -3,33 +3,16 @@ aux_source_directory(. LIB_DEVICE)
 aux_source_directory(rslidar/ LIB_DEVICE)
 aux_source_directory(velodyne_lidar/ LIB_DEVICE)
 aux_source_directory(velodyne_lidar/velodyne_driver LIB_DEVICE)
-aux_source_directory(wanji_lidar/velodyne_driver LIB_DEVICE)
+aux_source_directory(wanji_lidar LIB_DEVICE)
 
 #yaml
 # pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
-find_path(YAML_CPP_INCLUDE_DIR
-          NAMES yaml_cpp.h
-          PATHS ${YAML_CPP_INCLUDE_DIRS})
-find_library(YAML_CPP_LIBRARY
-             NAMES YAML_CPP
-             PATHS ${YAML_CPP_LIBRARY_DIRS})
 link_directories(${YAML_CPP_LIBRARY_DIRS})
-if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
-  add_definitions(-DHAVE_NEW_YAMLCPP)
-endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 
-add_subdirectory(${PROJECT_SOURCE_DIR}/thirdpart/rs_driver rs_driver)
-find_package(rs_driver REQUIRED)
 include_directories(${rs_driver_INCLUDE_DIRS})
-find_package(Eigen3 REQUIRED)
 include_directories(${EIGEN3_INCLUDE_DIR})
-find_package(PCL REQUIRED)
 include_directories(${PCL_INCLUDE_DIRS})
-# FIND_PACKAGE(Glog REQUIRED)
-# include_directories(${PCL_INCLUDE_DIRS})
-FIND_PACKAGE(Protobuf REQUIRED)
 include_directories(${PROTOBUF_INCLUDE_DIRS})
-FIND_PACKAGE(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
 
 # 生成静态库
@@ -55,4 +38,12 @@ target_link_libraries(libdevice PUBLIC
     /usr/local/lib/libgflags.a
     libtool
     -lpthread
+)
+
+# 安装库到安装路径
+INSTALL (TARGETS libdevice DESTINATION lib)
+# 安装全部头文件到安装路径
+INSTALL (FILES 
+    ${ALL_HEAD}
+    DESTINATION include/libdevice
 )

MeasurementNode/Modules/DataToCloud/device/rslidar/rslidar_driver.cpp

@@ -102,6 +102,7 @@ Error_manager RS_lidar_device::uninit()
 
 Error_manager RS_lidar_device::setConfigFile(std::string path) {
 	m_config_file = path;
+	return SUCCESS;
 }
 
 //检查雷达状态,是否正常运行

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/async_client.h

@@ -45,11 +45,11 @@
 #include <unistd.h>
 #include "glog/logging.h"
 
-#include "../error_code/error_code.h"
-#include "../tool/thread_condition.h"
-#include "../tool/binary_buf.h"
-#include "../tool/thread_safe_queue.h"
-#include "../tool/common_data.h"
+#include "error_code/error_code.h"
+#include "tool/thread_condition.h"
+#include "tool/binary_buf.h"
+#include "tool/thread_safe_queue.h"
+#include "tool/common_data.h"
 
 
 /**

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/region_detect.cpp

@@ -2,7 +2,7 @@
 // Created by zx on 2019/12/6.
 //
 #include "region_detect.h"
-#include "../tool/point_tool.h"
+#include "tool/point_tool.h"
 
 /**
  * 有参构造函数

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/region_detect.h

@@ -36,7 +36,7 @@ using google::protobuf::io::CodedOutputStream;
 using google::protobuf::Message;
 
 #include "glog/logging.h"
-#include "../error_code/error_code.h"
+#include "error_code/error_code.h"
 #include "wj_lidar_conf.pb.h"
 
 // #include "../tool/StdCondition.h"

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/region_worker.cpp

@@ -5,10 +5,10 @@
 //#include "plc_data.h"
 
 // 测量结果滤波,不影响现有结构
-#include "../tool/measure_filter.h"
+#include "tool/measure_filter.h"
 
 // 增加车辆停止状态判断
-#include "../tool/region_status_checker.h"
+#include "tool/region_status_checker.h"
 
 Region_worker::Region_worker()
 {

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/region_worker.h

@@ -12,10 +12,10 @@
 #include <iostream>
 #include <atomic>
 #include <chrono>
-#include "../error_code/error_code.h"
-#include "../verify/Verify_result.h"
-#include "../tool/thread_condition.h"
-#include "../tool/common_data.h"
+#include "error_code/error_code.h"
+#include "verify/Verify_result.h"
+#include "tool/thread_condition.h"
+#include "tool/common_data.h"
 /**
  * 区域功能类，负责自动检测区域状态并更新到plc
  * */

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wanji_lidar_device.h

@@ -3,9 +3,9 @@
 
 #include "async_client.h"
 #include "wj_716_lidar_protocol.h"
-#include "../error_code/error_code.h"
-#include "../tool/binary_buf.h"
-#include "../tool/thread_safe_queue.h"
+#include "error_code/error_code.h"
+#include "tool/binary_buf.h"
+#include "tool/thread_safe_queue.h"
 #include "wanji_lidar_scan_task.h"
 
 class Wanji_lidar_device

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wanji_lidar_scan_task.h

@@ -8,7 +8,7 @@
 #include "Point3D.h"
 #include <pcl/point_types.h>
 #include <pcl/common/common.h>
-#include "../error_code/error_code.h"
+#include "error_code/error_code.h"
 
 #include <vector>
 #include <mutex>

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wanji_manager.cpp

@@ -3,7 +3,7 @@
 //
 
 #include "wanji_manager.h"
-#include "../tool/proto_tool.h"
+#include "tool/proto_tool.h"
 
 Wanji_manager::Wanji_manager()
 {

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wanji_manager.h

@@ -5,10 +5,10 @@
 #ifndef NNXX_TESTS_WANJI_MANAGER_H
 #define NNXX_TESTS_WANJI_MANAGER_H
 
-#include "../tool/thread_condition.h"
-#include "../tool/singleton.h"
-#include "../tool/point_tool.h"
-#include "../error_code/error_code.h"
+#include "tool/thread_condition.h"
+#include "tool/singleton.h"
+#include "tool/point_tool.h"
+#include "error_code/error_code.h"
 #include <thread>
 #include <map>
 

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wanji_manager_task.h

@@ -6,8 +6,8 @@
 #include <chrono>
 
 #include "../task/task_command_manager.h"
-#include "../error_code/error_code.h"
-#include "../tool/common_data.h"
+#include "error_code/error_code.h"
+#include "tool/common_data.h"
 
 
 //万集测量任务单

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wj_716N_lidar_protocol.h

@@ -9,12 +9,12 @@
 #include "glog/logging.h"
 #include "string.h"
 
-#include "../error_code/error_code.h"
-#include "../tool/binary_buf.h"
-#include "../tool/thread_safe_queue.h"
-#include "../tool/thread_condition.h"
-#include "../tool/point2D_tool.h"
-#include "../tool/common_data.h"
+#include "error_code/error_code.h"
+#include "tool/binary_buf.h"
+#include "tool/thread_safe_queue.h"
+#include "tool/thread_condition.h"
+#include "tool/point2D_tool.h"
+#include "tool/common_data.h"
 
 #include <boost/shared_ptr.hpp>
 #include <boost/asio.hpp>

MeasurementNode/Modules/DataToCloud/device/wanji_lidar/wj_716_lidar_protocol.h

@@ -31,12 +31,12 @@ using google::protobuf::io::ZeroCopyOutputStream;
 
 #include "wj_lidar_conf.pb.h"
 
-#include "../error_code/error_code.h"
-#include "../tool/binary_buf.h"
-#include "../tool/thread_safe_queue.h"
-#include "../tool/thread_condition.h"
-#include "../tool/point2D_tool.h"
-#include "../tool/common_data.h"
+#include "error_code/error_code.h"
+#include "tool/binary_buf.h"
+#include "tool/thread_safe_queue.h"
+#include "tool/thread_condition.h"
+#include "tool/point2D_tool.h"
+#include "tool/common_data.h"
 
 class Wj_716_lidar_protocol
 {

MeasurementNode/Modules/DataToCloud/manager.cpp

@@ -1,51 +0,0 @@
-#include "data_manager.hpp"
-
-Data2CloudManager::Data2CloudManager(/* args */)
-{
-}
-
-Data2CloudManager::~Data2CloudManager()
-{
-}
-
-Data2CloudManager* Data2CloudManager::Instance() {
-    static Data2CloudManager *instance = new Data2CloudManager();
-    return instance;
-}
-
-Error_manager Data2CloudManager::Init() {
-    DataAcquisition* pDevice[2];
-    DataAcquisition* pClould[1];
-    pDevice[0] = CreateDevice(DataAcquisition::DEVICE_TYPE_VELODYNE);
-    pDevice[1] = CreateDevice(DataAcquisition::DEVICE_TYPE_WANJI);
-    pClould[0] = CreateDevice(DataAcquisition::DEVICE_TYPE_WANJI);
-}
-
-void Data2CloudManager::test() {
-    Instance()->Init();
-}
-
-DataAcquisition* Data2CloudManager::CreateDevice(DataAcquisition::DEVICE_TYPE type) {
-    switch (type)
-    {
-    case DataAcquisition::DEVICE_TYPE_VELODYNE:
-        return VelodyneLidar::Instance();
-    case DataAcquisition::DEVICE_TYPE_WANJI:
-        return WanjiLidar::Instance();
-    default:
-        return nullptr;
-    }
-}
-
-// TODO:类型改为云类型
-DataAcquisition* Data2CloudManager::CreateCloud(DataAcquisition::DEVICE_TYPE type) {
-    switch (type)
-    {
-    case DataAcquisition::DEVICE_TYPE_VELODYNE:
-        return VelodyneLidar::Instance();
-    case DataAcquisition::DEVICE_TYPE_WANJI:
-        return WanjiLidar::Instance();
-    default:
-        return nullptr;
-    }
-}

MeasurementNode/Modules/DataToCloud/manager.hpp

@@ -1,28 +0,0 @@
-/*
- * @Description: 数据上云管理模块，实现点对点、集对集功能，然后调用设备获取到的数据，按照约定的协议进行转换，然后上传至不同的云服务器中。
- * @Author: LiuZe
- * @Date: 2023-02-23
- * @LastEditTime: 2023-02-23
- * @LastEditors: LiuZe
- */
-#pragma DATA_TO_CLOUD_MANAGER_H_
-
-#include "device/velodyne_lidar/velodyne.hpp"
-#include "device/wanji_lidar/wanji.hpp"
-
-class Data2CloudManager
-{
-private:
-    static DataAcquisition* CreateDevice(DataAcquisition::DEVICE_TYPE type);
-    static DataAcquisition* CreateCloud(DataAcquisition::DEVICE_TYPE type);
-public:
-    Data2CloudManager(/* args */);
-    ~Data2CloudManager();
-
-    static Data2CloudManager* Instance();
-    Error_manager Init();
-    static void test();
-
-private:
-
-};

MeasurementNode/Modules/DataToCloud/service/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(pahoc)

MeasurementNode/Modules/DataToCloud/service/main.cpp

@@ -1,5 +0,0 @@
-#include "server_factory.hpp"
-
-int main(int argc, char* argv) {
-    
-}

MeasurementNode/Modules/DataToCloud/service/pahoc/CMakeLists.txt

@@ -0,0 +1,22 @@
+# 获取当前目录全部头文件GLOB_RECURSE
+FILE (GLOB ALL_HEAD "*.hpp" "*.h")
+# 获取当前目录全部源文件
+FILE (GLOB ALL_SOURCE "*.cpp" "*.c")
+
+# 构建库
+ADD_LIBRARY(libpahoc
+    ${ALL_HEAD}
+    ${ALL_SOURCE}
+)
+
+target_link_libraries(libpahoc PUBLIC
+    paho-mqtt3a
+)
+
+# 安装库到安装路径
+INSTALL (TARGETS libpahoc DESTINATION lib)
+# 安装全部头文件到安装路径
+INSTALL (FILES 
+    ${ALL_HEAD}
+    DESTINATION include/libpahoc
+)

MeasurementNode/Modules/DataToCloud/service/pahoc/mqtt_async.cpp

@@ -0,0 +1,169 @@
+#include "mqtt_async.hpp"
+
+MqttAsyncClient::MqttAsyncClient(/* args */)
+{
+    m_conn_opts_ = MQTTAsync_connectOptions_initializer;
+    m_create_opts_ = MQTTAsync_createOptions_initializer;
+
+    m_conn_opts_.context = this;
+    m_conn_opts_.onSuccess = onConnectSuccess;
+    m_conn_opts_.onFailure = onConnectFailure;
+    m_conn_opts_.cleansession = true;
+    m_conn_opts_.keepAliveInterval = 20;
+    m_conn_opts_.automaticReconnect = true;
+    m_conn_opts_.minRetryInterval = 3;
+    m_conn_opts_.maxRetryInterval = 30;
+
+    m_message_arrived_callback_ = nullptr;
+}
+
+MqttAsyncClient::~MqttAsyncClient()
+{
+    onDisconnect();
+	MQTTAsync_destroy(&m_client_);
+}
+
+bool MqttAsyncClient::onConnect(std::string address, std::string client_id, int port) {
+    int ret = MQTTASYNC_FAILURE;
+    // address = address + ":" + std::to_string(port);
+
+    if ((ret = MQTTAsync_createWithOptions(&m_client_, address.c_str(), client_id.c_str(), MQTTCLIENT_PERSISTENCE_NONE, NULL, &m_create_opts_)
+            != MQTTASYNC_SUCCESS))
+    {
+        printf("Failed to create client object, return code %d\n", ret);
+        return false;
+    }
+    else
+    {
+        printf("Success to create client object: %s, client id: %s.\n", address.c_str(), client_id.c_str());
+    }
+
+    if ((ret = MQTTAsync_setCallbacks(m_client_, this, onMessageLost, onMessageArrived, NULL)) != MQTTASYNC_SUCCESS)
+    {
+        printf("Failed to set callback, return code %d\n", ret);
+        return false;
+    }
+
+    
+    if ((ret = MQTTAsync_connect(m_client_, &m_conn_opts_)) != MQTTASYNC_SUCCESS)
+    {
+        printf("Failed to start connect, return code %d\n", ret);
+        return false;
+    }
+
+    return true;
+}
+
+bool MqttAsyncClient::onDisconnect() {
+    int ret = MQTTASYNC_FAILURE;
+
+	MQTTAsync_disconnectOptions opts = MQTTAsync_disconnectOptions_initializer;
+
+	opts.timeout = 30;
+    opts.context = this;
+    opts.onSuccess = NULL;
+    opts.onFailure = NULL;
+
+    if ((ret = MQTTAsync_disconnect(m_client_, &opts)) != MQTTASYNC_SUCCESS)
+    {
+        printf("Failed to disconnect, return code %d\n", ret);
+		return false;
+    }
+    return true;
+}
+
+bool MqttAsyncClient::onSendMessage(std::string topic, unsigned char* message, int length, int qos) {
+    int ret = MQTTASYNC_FAILURE;
+
+	MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
+	MQTTAsync_message pubmsg = MQTTAsync_message_initializer;
+
+	opts.context = this;
+	opts.onSuccess = onSendMessageSuccess;
+	opts.onFailure = onSendMessageFailure;
+
+	pubmsg.payload = message;
+	pubmsg.payloadlen = length;
+	pubmsg.qos = qos;
+	pubmsg.retained = 0;
+
+	if ((ret = MQTTAsync_sendMessage(m_client_, topic.c_str(), &pubmsg, &opts)) != MQTTASYNC_SUCCESS)
+	{
+		printf("Failed to start sendMessage, return code %d\n", ret);
+        return false;
+	}
+    return true;
+}
+
+void MqttAsyncClient::setCallback(MessageArrived callback) {
+    m_message_arrived_callback_ = callback;
+}
+
+bool MqttAsyncClient::onSubscribe(std::string topic, int qos) {
+    int ret = MQTTASYNC_FAILURE;
+
+	MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
+
+	opts.context = this;
+	opts.onSuccess = onSubscribeSuccess;
+	opts.onFailure = onSubscribeFailure;
+
+	if ((ret = MQTTAsync_subscribe(m_client_, topic.c_str(), qos, &opts)) != MQTTASYNC_SUCCESS)
+	{
+		printf("Failed to subscribe %s, return code %d\n", topic.c_str(), ret);
+        return false;
+	}
+
+    return true;
+}
+
+int MqttAsyncClient::onMessageArrived(void* context, char* topicName, int topicLen, MQTTAsync_message* message) {
+	printf("---Debug %s %s %s.\n", __func__, topicName, (char*)message->payload);
+    MqttAsyncClient* client = (MqttAsyncClient*)context;
+    if (client->m_message_arrived_callback_ != nullptr) {
+        return client->m_message_arrived_callback_(context, topicName, topicLen, message);
+    } else {
+        printf("nullptr");
+    }
+    return message->msgid;
+}
+
+void MqttAsyncClient::onMessageLost(void *context, char *cause) {
+	printf("---Debug %s.\n", __func__);
+}
+
+void MqttAsyncClient::onConnectSuccess(void* context, MQTTAsync_successData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onConnectFailure(void* context, MQTTAsync_failureData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onDisconnectSuccess(void* context, MQTTAsync_successData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onDisconnectFailure(void* context, MQTTAsync_failureData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onSubscribeSuccess(void* context, MQTTAsync_successData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onSubscribeFailure(void* context, MQTTAsync_failureData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onSendMessageSuccess(void* context, MQTTAsync_successData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+void MqttAsyncClient::onSendMessageFailure(void* context, MQTTAsync_failureData* response) {
+	printf("---Debug %s %d.\n", __func__, response->token);
+}
+
+
+
+

MeasurementNode/Modules/DataToCloud/service/pahoc/mqtt_async.hpp

@@ -0,0 +1,60 @@
+#ifndef MQTT_ASYNC_CLIENT_H_
+#define MQTT_ASYNC_CLIENT_H_
+
+#include <MQTTAsync.h>
+#include <iostream>
+
+typedef int (*MessageArrived)(void* context, char* topicName, int topicLen, MQTTAsync_message* message);
+typedef void (*ConnectionLost)(void *context, char *cause);
+typedef void (*OnSuccess)(void* context, MQTTAsync_successData* response);
+typedef void (*OnFailure)(void* context, MQTTAsync_failureData* response);
+
+class MqttAsyncClient
+{
+public:
+    MqttAsyncClient();
+    ~MqttAsyncClient();
+
+    bool onConnect(std::string address, std::string client_id, int port);
+
+    bool onDisconnect();
+
+    bool onSubscribe(std::string topic, int qos = 1);
+
+    bool onSendMessage(std::string topic, unsigned char* message, int length, int qos = 1);
+
+    void setCallback(MessageArrived callback);
+    
+private:
+    static int onMessageArrived(void* context, char* topicName, int topicLen, MQTTAsync_message* message);
+    static void onMessageLost(void *context, char *cause);
+
+    static void onConnectSuccess(void* context, MQTTAsync_successData* response);
+    static void onConnectFailure(void* context, MQTTAsync_failureData* response);
+    static void onDisconnectSuccess(void* context, MQTTAsync_successData* response);
+    static void onDisconnectFailure(void* context, MQTTAsync_failureData* response);
+    static void onSubscribeSuccess(void* context, MQTTAsync_successData* response);
+    static void onSubscribeFailure(void* context, MQTTAsync_failureData* response);
+    static void onSendMessageSuccess(void* context, MQTTAsync_successData* response);
+    static void onSendMessageFailure(void* context, MQTTAsync_failureData* response);
+
+public:
+
+private:
+    MQTTAsync m_client_;
+    MQTTAsync_createOptions m_create_opts_;
+    MQTTAsync_connectOptions m_conn_opts_;
+
+    MessageArrived m_message_arrived_callback_;
+    ConnectionLost m_connect_lost_callback_;
+    OnSuccess    m_connect_success_;
+    OnSuccess    m_disconnect_success_;
+    OnSuccess    m_subscribe_success_;
+    OnSuccess    m_send_success_;
+    OnFailure    m_connect_failure_;
+    OnFailure    m_disconnect_failure_;
+    OnFailure    m_subscribe_failure_;
+    OnFailure    m_send_failure_;
+};
+
+#endif

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-#elif defined(__clang__)
-# define COMPILER_ID "Clang"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-
-#elif defined(__GNUC__)
-# define COMPILER_ID "GNU"
-# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# if defined(__GNUC_MINOR__)
-#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(_MSC_VER)
-# define COMPILER_ID "MSVC"
-  /* _MSC_VER = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
-# if defined(_MSC_FULL_VER)
-#  if _MSC_VER >= 1400
-    /* _MSC_FULL_VER = VVRRPPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
-#  else
-    /* _MSC_FULL_VER = VVRRPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
-#  endif
-# endif
-# if defined(_MSC_BUILD)
-#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
-# endif
-
-#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
-# define COMPILER_ID "ADSP"
-#if defined(__VISUALDSPVERSION__)
-  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
-# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
-# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
-# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
-#endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# define COMPILER_ID "IAR"
-# if defined(__VER__) && defined(__ICCARM__)
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
-#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
-#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__))
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
-#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
-#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# endif
-
-#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
-# define COMPILER_ID "SDCC"
-# if defined(__SDCC_VERSION_MAJOR)
-#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
-#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
-#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
-# else
-  /* SDCC = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
-#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
-# endif
-
-
-/* These compilers are either not known or too old to define an
-  identification macro.  Try to identify the platform and guess that
-  it is the native compiler.  */
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-#ifdef SIMULATE_ID
-char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
-#endif
-
-#ifdef __QNXNTO__
-char const* qnxnto = "INFO" ":" "qnxnto[]";
-#endif
-
-#if defined(__CRAYXE) || defined(__CRAYXC)
-char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
-#endif
-
-#define STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
-
-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
-
-#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
-# define PLATFORM_ID "AIX"
-
-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
-
-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
-
-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
-# define PLATFORM_ID "BeOS"
-
-#elif defined(__QNX__) || defined(__QNXNTO__)
-# define PLATFORM_ID "QNX"
-
-#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
-# define PLATFORM_ID "Tru64"
-
-#elif defined(__riscos) || defined(__riscos__)
-# define PLATFORM_ID "RISCos"
-
-#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
-# define PLATFORM_ID "SINIX"
-
-#elif defined(__UNIX_SV__)
-# define PLATFORM_ID "UNIX_SV"
-
-#elif defined(__bsdos__)
-# define PLATFORM_ID "BSDOS"
-
-#elif defined(_MPRAS) || defined(MPRAS)
-# define PLATFORM_ID "MP-RAS"
-
-#elif defined(__osf) || defined(__osf__)
-# define PLATFORM_ID "OSF1"
-
-#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
-# define PLATFORM_ID "SCO_SV"
-
-#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
-# define PLATFORM_ID "ULTRIX"
-
-#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
-# define PLATFORM_ID "Xenix"
-
-#elif defined(__WATCOMC__)
-# if defined(__LINUX__)
-#  define PLATFORM_ID "Linux"
-
-# elif defined(__DOS__)
-#  define PLATFORM_ID "DOS"
-
-# elif defined(__OS2__)
-#  define PLATFORM_ID "OS2"
-
-# elif defined(__WINDOWS__)
-#  define PLATFORM_ID "Windows3x"
-
-# else /* unknown platform */
-#  define PLATFORM_ID
-# endif
-
-#elif defined(__INTEGRITY)
-# if defined(INT_178B)
-#  define PLATFORM_ID "Integrity178"
-
-# else /* regular Integrity */
-#  define PLATFORM_ID "Integrity"
-# endif
-
-#else /* unknown platform */
-# define PLATFORM_ID
-
-#endif
-
-/* For windows compilers MSVC and Intel we can determine
-   the architecture of the compiler being used.  This is because
-   the compilers do not have flags that can change the architecture,
-   but rather depend on which compiler is being used
-*/
-#if defined(_WIN32) && defined(_MSC_VER)
-# if defined(_M_IA64)
-#  define ARCHITECTURE_ID "IA64"
-
-# elif defined(_M_X64) || defined(_M_AMD64)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# elif defined(_M_ARM64)
-#  define ARCHITECTURE_ID "ARM64"
-
-# elif defined(_M_ARM)
-#  if _M_ARM == 4
-#   define ARCHITECTURE_ID "ARMV4I"
-#  elif _M_ARM == 5
-#   define ARCHITECTURE_ID "ARMV5I"
-#  else
-#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
-#  endif
-
-# elif defined(_M_MIPS)
-#  define ARCHITECTURE_ID "MIPS"
-
-# elif defined(_M_SH)
-#  define ARCHITECTURE_ID "SHx"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__WATCOMC__)
-# if defined(_M_I86)
-#  define ARCHITECTURE_ID "I86"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# if defined(__ICCARM__)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(__ICCRX__)
-#  define ARCHITECTURE_ID "RX"
-
-# elif defined(__ICCRH850__)
-#  define ARCHITECTURE_ID "RH850"
-
-# elif defined(__ICCRL78__)
-#  define ARCHITECTURE_ID "RL78"
-
-# elif defined(__ICCRISCV__)
-#  define ARCHITECTURE_ID "RISCV"
-
-# elif defined(__ICCAVR__)
-#  define ARCHITECTURE_ID "AVR"
-
-# elif defined(__ICC430__)
-#  define ARCHITECTURE_ID "MSP430"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__ghs__)
-# if defined(__PPC64__)
-#  define ARCHITECTURE_ID "PPC64"
-
-# elif defined(__ppc__)
-#  define ARCHITECTURE_ID "PPC"
-
-# elif defined(__ARM__)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(__x86_64__)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(__i386__)
-#  define ARCHITECTURE_ID "X86"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-#else
-#  define ARCHITECTURE_ID
-#endif
-
-/* Convert integer to decimal digit literals.  */
-#define DEC(n)                   \
-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
-#define HEX(n)             \
-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
-#ifdef COMPILER_VERSION_MAJOR
-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct a string literal encoding the internal version number. */
-#ifdef COMPILER_VERSION_INTERNAL
-char const info_version_internal[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
-  'i','n','t','e','r','n','a','l','[',
-  COMPILER_VERSION_INTERNAL,']','\0'};
-#endif
-
-/* Construct a string literal encoding the version number components. */
-#ifdef SIMULATE_VERSION_MAJOR
-char const info_simulate_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
-  SIMULATE_VERSION_MAJOR,
-# ifdef SIMULATE_VERSION_MINOR
-  '.', SIMULATE_VERSION_MINOR,
-#  ifdef SIMULATE_VERSION_PATCH
-   '.', SIMULATE_VERSION_PATCH,
-#   ifdef SIMULATE_VERSION_TWEAK
-    '.', SIMULATE_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-
-#if !defined(__STDC__)
-# if (defined(_MSC_VER) && !defined(__clang__)) \
-  || (defined(__ibmxl__) || defined(__IBMC__))
-#  define C_DIALECT "90"
-# else
-#  define C_DIALECT
-# endif
-#elif __STDC_VERSION__ >= 201000L
-# define C_DIALECT "11"
-#elif __STDC_VERSION__ >= 199901L
-# define C_DIALECT "99"
-#else
-# define C_DIALECT "90"
-#endif
-const char* info_language_dialect_default =
-  "INFO" ":" "dialect_default[" C_DIALECT "]";
-
-/*--------------------------------------------------------------------------*/
-
-#ifdef ID_VOID_MAIN
-void main() {}
-#else
-# if defined(__CLASSIC_C__)
-int main(argc, argv) int argc; char *argv[];
-# else
-int main(int argc, char* argv[])
-# endif
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-  require += info_arch[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-#ifdef COMPILER_VERSION_INTERNAL
-  require += info_version_internal[argc];
-#endif
-#ifdef SIMULATE_ID
-  require += info_simulate[argc];
-#endif
-#ifdef SIMULATE_VERSION_MAJOR
-  require += info_simulate_version[argc];
-#endif
-#if defined(__CRAYXE) || defined(__CRAYXC)
-  require += info_cray[argc];
-#endif
-  require += info_language_dialect_default[argc];
-  (void)argv;
-  return require;
-}
-#endif

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/cmake-build-debug/CMakeFiles/3.15.0/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -1,644 +0,0 @@
-/* This source file must have a .cpp extension so that all C++ compilers
-   recognize the extension without flags.  Borland does not know .cxx for
-   example.  */
-#ifndef __cplusplus
-# error "A C compiler has been selected for C++."
-#endif
-
-
-/* Version number components: V=Version, R=Revision, P=Patch
-   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
-
-#if defined(__COMO__)
-# define COMPILER_ID "Comeau"
-  /* __COMO_VERSION__ = VRR */
-# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
-# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
-
-#elif defined(__INTEL_COMPILER) || defined(__ICC)
-# define COMPILER_ID "Intel"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# if defined(__GNUC__)
-#  define SIMULATE_ID "GNU"
-# endif
-  /* __INTEL_COMPILER = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
-# if defined(__INTEL_COMPILER_UPDATE)
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
-# else
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
-# endif
-# if defined(__INTEL_COMPILER_BUILD_DATE)
-  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
-#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
-# endif
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-# if defined(__GNUC__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
-# elif defined(__GNUG__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
-# endif
-# if defined(__GNUC_MINOR__)
-#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(__PATHCC__)
-# define COMPILER_ID "PathScale"
-# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
-# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
-# if defined(__PATHCC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
-# endif
-
-#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
-# define COMPILER_ID "Embarcadero"
-# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
-# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
-# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
-
-#elif defined(__BORLANDC__)
-# define COMPILER_ID "Borland"
-  /* __BORLANDC__ = 0xVRR */
-# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
-# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
-
-#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
-# define COMPILER_ID "Watcom"
-   /* __WATCOMC__ = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__WATCOMC__)
-# define COMPILER_ID "OpenWatcom"
-   /* __WATCOMC__ = VVRP + 1100 */
-# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__SUNPRO_CC)
-# define COMPILER_ID "SunPro"
-# if __SUNPRO_CC >= 0x5100
-   /* __SUNPRO_CC = 0xVRRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# else
-   /* __SUNPRO_CC = 0xVRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# endif
-
-#elif defined(__HP_aCC)
-# define COMPILER_ID "HP"
-  /* __HP_aCC = VVRRPP */
-# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
-# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
-# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
-
-#elif defined(__DECCXX)
-# define COMPILER_ID "Compaq"
-  /* __DECCXX_VER = VVRRTPPPP */
-# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
-# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
-# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
-
-#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
-# define COMPILER_ID "zOS"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__ibmxl__) && defined(__clang__)
-# define COMPILER_ID "XLClang"
-# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
-# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
-# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
-# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
-
-
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-# define COMPILER_ID "XL"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
-# define COMPILER_ID "VisualAge"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__PGI)
-# define COMPILER_ID "PGI"
-# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
-# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
-# if defined(__PGIC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
-# endif
-
-#elif defined(_CRAYC)
-# define COMPILER_ID "Cray"
-# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
-# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
-
-#elif defined(__TI_COMPILER_VERSION__)
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MeasurementNode/Modules/DataToCloud/service/pahoc_samples/cmake-build-debug/cmake_install.cmake

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MeasurementNode/Modules/DataToCloud/service/pahoc_samples/pahoc_server.cpp

@@ -1,9 +0,0 @@
-#include "pahoc_server.hpp"
-
-PahocServer::PahocServer(/* args */)
-{
-}
-
-PahocServer::~PahocServer()
-{
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/pahoc_server.hpp

@@ -1,12 +0,0 @@
-#pragma PAHOC_SEVER_H_
-
-#include "../server_base.hpp"
-
-class PahocServer
-{
-private:
-    /* data */
-public:
-    PahocServer(/* args */);
-    ~PahocServer();
-};

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTAsync_publish.c

@@ -1,187 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2022 IBM Corp., Ian Craggs
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution. 
- *
- * The Eclipse Public License is available at 
- *   https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at 
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "MQTTAsync.h"
-
-#if !defined(_WIN32)
-#include <unistd.h>
-#else
-#include <windows.h>
-#endif
-
-#if defined(_WRS_KERNEL)
-#include <OsWrapper.h>
-#endif
-
-#define ADDRESS     "tcp://192.168.2.132:1883"
-#define CLIENTID    "pub1"
-#define TOPIC       "test1"
-#define PAYLOAD     "Hello World!"
-#define QOS         1
-#define TIMEOUT     10000L
-
-int finished = 0;
-
-int local=0;
-
-
-void connlost(void *context, char *cause)
-{
-	MQTTAsync client = (MQTTAsync)context;
-	MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-	int rc;
-
-	printf("\nConnection lost\n");
-	printf("     cause: %s\n", cause);
-
-	printf("Reconnecting\n");
-	conn_opts.keepAliveInterval = 20;
-	conn_opts.cleansession = 1;
-	if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to start connect, return code %d\n", rc);
- 		finished = 1;
-	}
-}
-
-void onDisconnectFailure(void* context, MQTTAsync_failureData* response)
-{
-	printf("Disconnect failed\n");
-	finished = 1;
-}
-
-void onDisconnect(void* context, MQTTAsync_successData* response)
-{
-	printf("Successful disconnection\n");
-	finished = 1;
-}
-
-void onSendFailure(void* context, MQTTAsync_failureData* response)
-{
-	MQTTAsync client = (MQTTAsync)context;
-	MQTTAsync_disconnectOptions opts = MQTTAsync_disconnectOptions_initializer;
-	int rc;
-
-	printf("Message send failed token %d error code %d\n", response->token, response->code);
-	opts.onSuccess = onDisconnect;
-	opts.onFailure = onDisconnectFailure;
-	opts.context = client;
-	if ((rc = MQTTAsync_disconnect(client, &opts)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to start disconnect, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-}
-
-void onSend(void* context, MQTTAsync_successData* response)
-{
-	MQTTAsync client = (MQTTAsync)context;
-	MQTTAsync_disconnectOptions opts = MQTTAsync_disconnectOptions_initializer;
-	int rc;
-
-	printf("Message with token value %d delivery confirmed\n", response->token);
-	opts.onSuccess = onDisconnect;
-	opts.onFailure = onDisconnectFailure;
-	opts.context = client;
-	if ((rc = MQTTAsync_disconnect(client, &opts)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to start disconnect, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-}
-
-
-void onConnectFailure(void* context, MQTTAsync_failureData* response)
-{
-	printf("Connect failed, rc %d\n", response ? response->code : 0);
-	finished = 1;
-}
-
-
-void onConnect(void* context, MQTTAsync_successData* response)
-{
-	MQTTAsync client = (MQTTAsync)context;
-	MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
-	MQTTAsync_message pubmsg = MQTTAsync_message_initializer;
-	int rc;
-
-	printf("Successful connection\n");
-	opts.onSuccess = onSend;
-	opts.onFailure = onSendFailure;
-	opts.context = client;
-	pubmsg.payload = PAYLOAD;
-	pubmsg.payloadlen = (int)strlen(PAYLOAD);
-	pubmsg.qos = QOS;
-	pubmsg.retained = 0;
-	if ((rc = MQTTAsync_sendMessage(client, TOPIC, &pubmsg, &opts)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to start sendMessage, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-}
-
-int messageArrived(void* context, char* topicName, int topicLen, MQTTAsync_message* m)
-{
-	/* not expecting any messages */
-	return 1;
-}
-
-int main(int argc, char* argv[])
-{
-	MQTTAsync client;
-	MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-	int rc;
-
-	if ((rc = MQTTAsync_create(&client, ADDRESS, CLIENTID, MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to create client object, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-
-	if ((rc = MQTTAsync_setCallbacks(client, NULL, connlost, messageArrived, NULL)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to set callback, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-
-	conn_opts.keepAliveInterval = 20;
-	conn_opts.cleansession = 1;
-	conn_opts.onSuccess = onConnect;
-	conn_opts.onFailure = onConnectFailure;
-	conn_opts.context = client;
-	if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-	{
-		printf("Failed to start connect, return code %d\n", rc);
-		exit(EXIT_FAILURE);
-	}
-
-	printf("Waiting for publication of %s\n"
-         "on topic %s for client with ClientID: %s\n",
-         PAYLOAD, TOPIC, CLIENTID);
-	while (!finished)
-		#if defined(_WIN32)
-			Sleep(100);
-		#else
-			usleep(10000L);
-		#endif
-
-	MQTTAsync_destroy(&client);
- 	return rc;
-}
-  

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTAsync_publish_time.cpp

@@ -1,296 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2020 IBM Corp.
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution. 
- *
- * The Eclipse Public License is available at 
- *   https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at 
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *    Frank Pagliughi - loop to repeatedly read and sent time values.
- *******************************************************************************/
-
-// This is a somewhat contrived example to show an application that publishes
-// continuously, like a data acquisition app might do. In this case, though,
-// we don't have a sensor to read, so we use the system time as the number
-// of milliseconds since the epoch to simulate a data input.
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdint.h>
-#include <time.h>
-#include "MQTTAsync.h"
-#include <chrono>
-
-
-#if !defined(_WIN32)
-#include <unistd.h>
-#else
-#include <windows.h>
-#include <Minwinbase.h>
-#endif
-
-#if defined(_WRS_KERNEL)
-#include <OsWrapper.h>
-#endif
-
-#if defined(_WIN32) || defined(_WIN64)
-#define snprintf _snprintf
-#endif
-
-
-// Better not to flood a public broker. Test against localhost.
-#define ADDRESS         "mqtt://192.168.2.132:1883"
-
-char* CLIENTID   =    "publisher";
-char* TOPIC_SUB  = "test1";
-char* TOPIC_PUB  = "test2";
-#define QOS             1
-#define TIMEOUT         10000L
-#define SAMPLE_PERIOD   1    // in ms
-
-volatile int finished = 0;
-volatile int connected = 0;
-int subscribed = 0;
-int arrived_statu=1;
-
-volatile const int MAXLEN=10000;
-auto beg = std::chrono::steady_clock::now();
-auto end = std::chrono::steady_clock::now();
-
-void connlost(void *context, char *cause)
-{
-  MQTTAsync client = (MQTTAsync)context;
-  MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-  int rc;
-
-  printf("\nConnection lost\n");
-  printf("     cause: %s\n", cause);
-
-  printf("Reconnecting\n");
-  conn_opts.keepAliveInterval = 20;
-  conn_opts.cleansession = 1;
-  if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start connect, return code %d\n", rc);
-    finished = 1;
-  }
-}
-
-void onDisconnectFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Disconnect failed\n");
-  finished = 1;
-}
-
-void onDisconnect(void* context, MQTTAsync_successData* response)
-{
-  printf("Successful disconnection\n");
-  finished = 1;
-}
-
-void onSendFailure(void* context, MQTTAsync_failureData* response)
-{
-  MQTTAsync client = (MQTTAsync)context;
-  MQTTAsync_disconnectOptions opts = MQTTAsync_disconnectOptions_initializer;
-  int rc;
-
-  printf("Message send failed token %d error code %d\n", response->token, response->code);
-  opts.onSuccess = onDisconnect;
-  opts.onFailure = onDisconnectFailure;
-  opts.context = client;
-  if ((rc = MQTTAsync_disconnect(client, &opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start disconnect, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }
-}
-
-void onSend(void* context, MQTTAsync_successData* response)
-{
-  // This gets called when a message is acknowledged successfully.
-}
-
-
-void onConnectFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Connect failed, rc %d\n", response ? response->code : 0);
-  finished = 1;
-}
-
-void onSubscribe(void* context, MQTTAsync_successData* response)
-{
-  printf("Subscribe succeeded\n");
-  subscribed = 1;
-}
-
-void onSubscribeFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Subscribe failed, rc %d\n", response->code);
-  finished = 1;
-}
-
-
-void onConnect(void* context, MQTTAsync_successData* response)
-{
-  MQTTAsync client = (MQTTAsync)context;
-  MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
-  int rc;
-
-  printf("Successful connection\n");
-
-  printf("Subscribing to topic %s\nfor client %s using QoS%d\n\n"
-         "Press Q<Enter> to quit\n\n", TOPIC_SUB, CLIENTID, QOS);
-  opts.onSuccess = onSubscribe;
-  opts.onFailure = onSubscribeFailure;
-  opts.context = client;
-  if ((rc = MQTTAsync_subscribe(client, TOPIC_SUB, QOS, &opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start subscribe, return code %d\n", rc);
-    finished = 1;
-  }
-  printf("Successful connection\n");
-  connected = 1;
-}
-
-int messageArrived(void* context, char* topicName, int topicLen, MQTTAsync_message* message)
-{
-  end = std::chrono::steady_clock::now();
-  auto duration_putget = std::chrono::duration_cast<std::chrono::microseconds>(end - beg);
-  double time = double(duration_putget.count()) * std::chrono::microseconds::period::num /
-          std::chrono::microseconds::period::den;
-
-
-  if(message->payloadlen>4)
-  {
-    int count=0;
-    memcpy(&count,(char*)message->payload,sizeof(int));
-    printf("topic: %s Message arrived count:%d time:%f\n",topicName,count,time);
-
-    arrived_statu=1;
-  }
-  MQTTAsync_freeMessage(&message);
-  MQTTAsync_free(topicName);
-  return 1;
-}
-
-int64_t getTime(void)
-{
-#if defined(_WIN32)
-  FILETIME ft;
-		GetSystemTimeAsFileTime(&ft);
-		return ((((int64_t) ft.dwHighDateTime) << 8) + ft.dwLowDateTime) / 10000;
-#else
-  struct timespec ts;
-  clock_gettime(CLOCK_REALTIME, &ts);
-  return ((int64_t) ts.tv_sec * 1000) + ((int64_t) ts.tv_nsec / 1000000);
-#endif
-}
-
-int main(int argc, char* argv[])
-{
-  if(argc<4)
-  {
-    printf("command format : cmd clientid topic_sub topic_pub\n");
-    return 0;
-  }
-  CLIENTID=argv[1];
-  TOPIC_SUB=argv[2];
-  TOPIC_PUB=argv[3];
-  MQTTAsync client;
-  MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-
-  MQTTAsync_message pubmsg = MQTTAsync_message_initializer;
-  MQTTAsync_responseOptions pub_opts = MQTTAsync_responseOptions_initializer;
-
-
-  MQTTAsync_createOptions create_opts=MQTTAsync_createOptions_initializer;
-  create_opts.maxBufferedMessages=MAXLEN+100;
-  int rc;
-
-  if ((rc=MQTTAsync_createWithOptions(&client,ADDRESS,CLIENTID,MQTTCLIENT_PERSISTENCE_NONE,NULL,&create_opts)
-          != MQTTASYNC_SUCCESS))
-  {
-    printf("Failed to create client object, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }
-  /*if ((rc = MQTTAsync_create(&client, ADDRESS, CLIENTID, MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to create client object, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }*/
-
-  if ((rc = MQTTAsync_setCallbacks(client, NULL, connlost, messageArrived, NULL)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to set callback, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }
-
-  conn_opts.keepAliveInterval = 20;
-  conn_opts.cleansession = 1;
-  conn_opts.onSuccess = onConnect;
-  conn_opts.onFailure = onConnectFailure;
-  conn_opts.context = client;
-  if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start connect, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }
-
-  while (!connected) {
-#if defined(_WIN32)
-    Sleep(100);
-#else
-    usleep(100000L);
-#endif
-  }
-
-  int count=-1;
-
-  while (!finished&& subscribed) {
-    int64_t t = getTime();
-    if(arrived_statu==1)
-    {
-      count++;
-      char buf[MAXLEN];
-      memset(buf, 48, MAXLEN);
-      memcpy(buf, &count, sizeof(count));
-      //int n = snprintf(buf, sizeof(buf), "%lld", (long long) t);
-
-        printf(" send %d\n", count);
-
-      pub_opts.onSuccess = onSend;
-      pub_opts.onFailure = onSendFailure;
-      pub_opts.context = client;
-
-      pubmsg.payload = buf;
-      pubmsg.payloadlen = MAXLEN;
-      pubmsg.qos = QOS;
-      pubmsg.retained = 0;
-
-      beg = std::chrono::steady_clock::now();
-      if ((rc = MQTTAsync_sendMessage(client, TOPIC_PUB, &pubmsg, &pub_opts)) != MQTTASYNC_SUCCESS)
-      {
-        printf("Failed to start sendMessage, return code %d\n", rc);
-        exit(EXIT_FAILURE);
-      }
-      arrived_statu=0;
-    }
-
-
-#if defined(_WIN32)
-    Sleep(SAMPLE_PERIOD);
-#else
-    usleep(SAMPLE_PERIOD * 1000);
-#endif
-  }
-
-  MQTTAsync_destroy(&client);
-  return rc;
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTAsync_subscribe.c

@@ -1,219 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2022 IBM Corp., Ian Craggs
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution.
- *
- * The Eclipse Public License is available at
- *   https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "MQTTAsync.h"
-
-#if !defined(_WIN32)
-#include <unistd.h>
-#else
-#include <windows.h>
-#endif
-
-#if defined(_WRS_KERNEL)
-#include <OsWrapper.h>
-#endif
-
-#define ADDRESS     "tcp://192.168.2.132:1883"
-#define CLIENTID    "sub"
-#define TOPIC       "test2"
-#define QOS         1
-#define TIMEOUT     10000L
-
-int disc_finished = 0;
-int subscribed = 0;
-int finished = 0;
-const int MAXLEN=10000;
-
-void onConnect(void* context, MQTTAsync_successData* response);
-void onConnectFailure(void* context, MQTTAsync_failureData* response);
-
-void connlost(void *context, char *cause)
-{
-  MQTTAsync client = (MQTTAsync)context;
-  MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-  int rc;
-
-  printf("\nConnection lost\n");
-  if (cause)
-    printf("     cause: %s\n", cause);
-
-  printf("Reconnecting\n");
-  conn_opts.keepAliveInterval = 20;
-  conn_opts.cleansession = 1;
-  conn_opts.onSuccess = onConnect;
-  conn_opts.onFailure = onConnectFailure;
-  if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start connect, return code %d\n", rc);
-    finished = 1;
-  }
-}
-
-
-int msgarrvd(void *context, char *topicName, int topicLen, MQTTAsync_message *message)
-{
-
-  if(message->payloadlen>4)
-  {
-    int count=0;
-    memcpy(&count,(char*)message->payload,sizeof(int));
-    if(count%100==0)
-      printf("topic: %s Message arrived count:%d\n",topicName,count);
-  }
-
-  MQTTAsync_freeMessage(&message);
-  MQTTAsync_free(topicName);
-  return 1;
-}
-
-void onDisconnectFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Disconnect failed, rc %d\n", response->code);
-  disc_finished = 1;
-}
-
-void onDisconnect(void* context, MQTTAsync_successData* response)
-{
-  printf("Successful disconnection\n");
-  disc_finished = 1;
-}
-
-void onSubscribe(void* context, MQTTAsync_successData* response)
-{
-  printf("Subscribe succeeded\n");
-  subscribed = 1;
-}
-
-void onSubscribeFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Subscribe failed, rc %d\n", response->code);
-  finished = 1;
-}
-
-
-void onConnectFailure(void* context, MQTTAsync_failureData* response)
-{
-  printf("Connect failed, rc %d\n", response->code);
-  finished = 1;
-}
-
-
-void onConnect(void* context, MQTTAsync_successData* response)
-{
-  MQTTAsync client = (MQTTAsync)context;
-  MQTTAsync_responseOptions opts = MQTTAsync_responseOptions_initializer;
-  int rc;
-
-  printf("Successful connection\n");
-
-  printf("Subscribing to topic %s\nfor client %s using QoS%d\n\n"
-         "Press Q<Enter> to quit\n\n", TOPIC, CLIENTID, QOS);
-  opts.onSuccess = onSubscribe;
-  opts.onFailure = onSubscribeFailure;
-  opts.context = client;
-  if ((rc = MQTTAsync_subscribe(client, TOPIC, QOS, &opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start subscribe, return code %d\n", rc);
-    finished = 1;
-  }
-}
-
-
-int main(int argc, char* argv[])
-{
-  MQTTAsync client;
-  MQTTAsync_connectOptions conn_opts = MQTTAsync_connectOptions_initializer;
-  MQTTAsync_disconnectOptions disc_opts = MQTTAsync_disconnectOptions_initializer;
-  int rc;
-  int ch;
-
-  MQTTAsync_createOptions create_opts=MQTTAsync_createOptions_initializer;
-  create_opts.maxBufferedMessages=MAXLEN+100;
-
-  if ((rc=MQTTAsync_createWithOptions(&client,ADDRESS,CLIENTID,MQTTCLIENT_PERSISTENCE_NONE,NULL,&create_opts)
-          != MQTTASYNC_SUCCESS))
-  {
-    printf("Failed to create client object, return code %d\n", rc);
-    exit(EXIT_FAILURE);
-  }
-
-  /*if ((rc = MQTTAsync_create(&client, ADDRESS, CLIENTID, MQTTCLIENT_PERSISTENCE_NONE, NULL))
-          != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to create client, return code %d\n", rc);
-    rc = EXIT_FAILURE;
-    goto exit;
-  }*/
-
-  if ((rc = MQTTAsync_setCallbacks(client, client, connlost, msgarrvd, NULL)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to set callbacks, return code %d\n", rc);
-    rc = EXIT_FAILURE;
-    goto destroy_exit;
-  }
-
-  conn_opts.keepAliveInterval = 20;
-  conn_opts.cleansession = 1;
-  conn_opts.onSuccess = onConnect;
-  conn_opts.onFailure = onConnectFailure;
-  conn_opts.context = client;
-  if ((rc = MQTTAsync_connect(client, &conn_opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start connect, return code %d\n", rc);
-    rc = EXIT_FAILURE;
-    goto destroy_exit;
-  }
-
-  while (!subscribed && !finished)
-#if defined(_WIN32)
-    Sleep(100);
-#else
-    usleep(10000L);
-#endif
-
-  if (finished)
-    goto exit;
-
-  do
-  {
-    ch = getchar();
-  } while (ch!='Q' && ch != 'q');
-
-  disc_opts.onSuccess = onDisconnect;
-  disc_opts.onFailure = onDisconnectFailure;
-  if ((rc = MQTTAsync_disconnect(client, &disc_opts)) != MQTTASYNC_SUCCESS)
-  {
-    printf("Failed to start disconnect, return code %d\n", rc);
-    rc = EXIT_FAILURE;
-    goto destroy_exit;
-  }
-  while (!disc_finished)
-  {
-#if defined(_WIN32)
-    Sleep(100);
-#else
-    usleep(10000L);
-#endif
-  }
-
-  destroy_exit:
-  MQTTAsync_destroy(&client);
-  exit:
-  return rc;
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTClient_publish.c

@@ -1,72 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2022 IBM Corp., Ian Craggs
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution. 
- *
- * The Eclipse Public License is available at 
- *   https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at 
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "MQTTClient.h"
-
-#define ADDRESS     "tcp://mqtt.eclipseprojects.io:1883"
-#define CLIENTID    "ExampleClientPub"
-#define TOPIC       "MQTT Examples"
-#define PAYLOAD     "Hello World!"
-#define QOS         1
-#define TIMEOUT     10000L
-
-int main(int argc, char* argv[])
-{
-    MQTTClient client;
-    MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
-    MQTTClient_message pubmsg = MQTTClient_message_initializer;
-    MQTTClient_deliveryToken token;
-    int rc;
-
-    if ((rc = MQTTClient_create(&client, ADDRESS, CLIENTID,
-        MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTCLIENT_SUCCESS)
-    {
-         printf("Failed to create client, return code %d\n", rc);
-         exit(EXIT_FAILURE);
-    }
-
-    conn_opts.keepAliveInterval = 20;
-    conn_opts.cleansession = 1;
-    if ((rc = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to connect, return code %d\n", rc);
-        exit(EXIT_FAILURE);
-    }
-
-    pubmsg.payload = PAYLOAD;
-    pubmsg.payloadlen = (int)strlen(PAYLOAD);
-    pubmsg.qos = QOS;
-    pubmsg.retained = 0;
-    if ((rc = MQTTClient_publishMessage(client, TOPIC, &pubmsg, &token)) != MQTTCLIENT_SUCCESS)
-    {
-         printf("Failed to publish message, return code %d\n", rc);
-         exit(EXIT_FAILURE);
-    }
-
-    printf("Waiting for up to %d seconds for publication of %s\n"
-            "on topic %s for client with ClientID: %s\n",
-            (int)(TIMEOUT/1000), PAYLOAD, TOPIC, CLIENTID);
-    rc = MQTTClient_waitForCompletion(client, token, TIMEOUT);
-    printf("Message with delivery token %d delivered\n", token);
-
-    if ((rc = MQTTClient_disconnect(client, 10000)) != MQTTCLIENT_SUCCESS)
-    	printf("Failed to disconnect, return code %d\n", rc);
-    MQTTClient_destroy(&client);
-    return rc;
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTClient_publish_async.c

@@ -1,127 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2022 IBM Corp., Ian Craggs
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution.
- *
- * The Eclipse Public License is available at
- *    https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "MQTTClient.h"
-
-#if !defined(_WIN32)
-#include <unistd.h>
-#else
-#include <windows.h>
-#endif
-
-#define ADDRESS     "tcp://mqtt.eclipseprojects.io:1883"
-#define CLIENTID    "ExampleClientPub"
-#define TOPIC       "MQTT Examples"
-#define PAYLOAD     "Hello World!"
-#define QOS         1
-#define TIMEOUT     10000L
-
-MQTTClient_deliveryToken deliveredtoken;
-
-void delivered(void *context, MQTTClient_deliveryToken dt)
-{
-    printf("Message with token value %d delivery confirmed\n", dt);
-    deliveredtoken = dt;
-}
-
-int msgarrvd(void *context, char *topicName, int topicLen, MQTTClient_message *message)
-{
-    printf("Message arrived\n");
-    printf("     topic: %s\n", topicName);
-    printf("   message: %.*s\n", message->payloadlen, (char*)message->payload);
-    MQTTClient_freeMessage(&message);
-    MQTTClient_free(topicName);
-    return 1;
-}
-
-void connlost(void *context, char *cause)
-{
-    printf("\nConnection lost\n");
-    printf("     cause: %s\n", cause);
-}
-
-int main(int argc, char* argv[])
-{
-    MQTTClient client;
-    MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
-    MQTTClient_message pubmsg = MQTTClient_message_initializer;
-    MQTTClient_deliveryToken token;
-    int rc;
-
-    if ((rc = MQTTClient_create(&client, ADDRESS, CLIENTID,
-        MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to create client, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto exit;
-    }
-
-    if ((rc = MQTTClient_setCallbacks(client, NULL, connlost, msgarrvd, delivered)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to set callbacks, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto destroy_exit;
-    }
-
-    conn_opts.keepAliveInterval = 20;
-    conn_opts.cleansession = 1;
-    if ((rc = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to connect, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto destroy_exit;
-    }
-
-    pubmsg.payload = PAYLOAD;
-    pubmsg.payloadlen = (int)strlen(PAYLOAD);
-    pubmsg.qos = QOS;
-    pubmsg.retained = 0;
-    deliveredtoken = 0;
-    if ((rc = MQTTClient_publishMessage(client, TOPIC, &pubmsg, &token)) != MQTTCLIENT_SUCCESS)
-    {
-    	printf("Failed to publish message, return code %d\n", rc);
-    	rc = EXIT_FAILURE;
-    }
-    else
-    {
-    	printf("Waiting for publication of %s\n"
-            "on topic %s for client with ClientID: %s\n",
-            PAYLOAD, TOPIC, CLIENTID);
-    	while (deliveredtoken != token)
-    	{
-			#if defined(_WIN32)
-				Sleep(100);
-			#else
-				usleep(10000L);
-			#endif
-    	}
-    }
-
-    if ((rc = MQTTClient_disconnect(client, 10000)) != MQTTCLIENT_SUCCESS)
-    {
-    	printf("Failed to disconnect, return code %d\n", rc);
-    	rc = EXIT_FAILURE;
-    }
-
-destroy_exit:
-    MQTTClient_destroy(&client);
-
-exit:
-    return rc;
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/MQTTClient_subscribe.c

@@ -1,114 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2012, 2022 IBM Corp., Ian Craggs
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * and Eclipse Distribution License v1.0 which accompany this distribution. 
- *
- * The Eclipse Public License is available at 
- *   https://www.eclipse.org/legal/epl-2.0/
- * and the Eclipse Distribution License is available at 
- *   http://www.eclipse.org/org/documents/edl-v10.php.
- *
- * Contributors:
- *    Ian Craggs - initial contribution
- *******************************************************************************/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include "MQTTClient.h"
-
-#define ADDRESS     "tcp://mqtt.eclipseprojects.io:1883"
-#define CLIENTID    "ExampleClientSub"
-#define TOPIC       "MQTT Examples"
-#define PAYLOAD     "Hello World!"
-#define QOS         1
-#define TIMEOUT     10000L
-
-volatile MQTTClient_deliveryToken deliveredtoken;
-
-void delivered(void *context, MQTTClient_deliveryToken dt)
-{
-    printf("Message with token value %d delivery confirmed\n", dt);
-    deliveredtoken = dt;
-}
-
-int msgarrvd(void *context, char *topicName, int topicLen, MQTTClient_message *message)
-{
-    printf("Message arrived\n");
-    printf("     topic: %s\n", topicName);
-    printf("   message: %.*s\n", message->payloadlen, (char*)message->payload);
-    MQTTClient_freeMessage(&message);
-    MQTTClient_free(topicName);
-    return 1;
-}
-
-void connlost(void *context, char *cause)
-{
-    printf("\nConnection lost\n");
-    printf("     cause: %s\n", cause);
-}
-
-int main(int argc, char* argv[])
-{
-    MQTTClient client;
-    MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
-    int rc;
-
-    if ((rc = MQTTClient_create(&client, ADDRESS, CLIENTID,
-        MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to create client, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto exit;
-    }
-
-    if ((rc = MQTTClient_setCallbacks(client, NULL, connlost, msgarrvd, delivered)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to set callbacks, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto destroy_exit;
-    }
-
-    conn_opts.keepAliveInterval = 20;
-    conn_opts.cleansession = 1;
-    if ((rc = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS)
-    {
-        printf("Failed to connect, return code %d\n", rc);
-        rc = EXIT_FAILURE;
-        goto destroy_exit;
-    }
-
-    printf("Subscribing to topic %s\nfor client %s using QoS%d\n\n"
-           "Press Q<Enter> to quit\n\n", TOPIC, CLIENTID, QOS);
-    if ((rc = MQTTClient_subscribe(client, TOPIC, QOS)) != MQTTCLIENT_SUCCESS)
-    {
-    	printf("Failed to subscribe, return code %d\n", rc);
-    	rc = EXIT_FAILURE;
-    }
-    else
-    {
-    	int ch;
-    	do
-    	{
-        	ch = getchar();
-    	} while (ch!='Q' && ch != 'q');
-
-        if ((rc = MQTTClient_unsubscribe(client, TOPIC)) != MQTTCLIENT_SUCCESS)
-        {
-        	printf("Failed to unsubscribe, return code %d\n", rc);
-        	rc = EXIT_FAILURE;
-        }
-    }
-
-    if ((rc = MQTTClient_disconnect(client, 10000)) != MQTTCLIENT_SUCCESS)
-    {
-    	printf("Failed to disconnect, return code %d\n", rc);
-    	rc = EXIT_FAILURE;
-    }
-destroy_exit:
-    MQTTClient_destroy(&client);
-exit:
-    return rc;
-}

MeasurementNode/Modules/DataToCloud/service/pahoc_samples/samples/client_sample.cpp

@@ -1,50 +0,0 @@
-//
-// Created by zx on 23-2-22.
-//
-
-#include "paho_client.h"
-#include "mqttmsg.h"
-#include "point_tool.h"
-#include <pcl/common/transforms.h>
-#include <pcl/visualization/pcl_visualizer.h>
-#define QOS 1
-
-int main(int argc,char* argv[])
-{
-  Paho_client client("nodeaa");
-  client.set_maxbuf(10000*12);
-  client.connect("192.168.2.132",1883);
-
-  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud=ReadTxtCloud("./two_lidar.txt");
-  float x=0;
-  float theta=0;
-
-  pcl::visualization::PCLVisualizer viewer ("ssssss");
-
-  while(1)
-  {
-    theta+=(M_PI*0.5/180.0);
-    Eigen::Affine3f transform_2 = Eigen::Affine3f::Identity();
-
-    // Define a translation of 2.5 meters on the x axis.
-    transform_2.translation() << 0, 0.0, 0.0;
-
-    // The same rotation matrix as before; theta radians arround Z axis
-    transform_2.rotate (Eigen::AngleAxisf (theta, Eigen::Vector3f::UnitZ()));
-
-    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
-    // 你可以使用 transform_1 或者 transform_2;效果都是一样的
-    pcl::transformPointCloud (*cloud, *transformed_cloud, transform_2);
-
-    MqttMsg msg;
-    msg.fromPclPointCloud(transformed_cloud);
-    client.publish("cloudaa",QOS,msg);
-    viewer.removeAllPointClouds();
-    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> transformed_cloud_color_handler (transformed_cloud, 255, 255, 255); // Red
-    viewer.addPointCloud (transformed_cloud, transformed_cloud_color_handler, "transformed_cloud");
-    printf(" client send :%f  BYTES:%d\n",x,msg.length());
-
-    viewer.spinOnce ();
-    usleep(1000*10);
-  }
-}