44 lines
1.3 KiB
Python
44 lines
1.3 KiB
Python
# rover.py
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import time, json, struct
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import paho.mqtt.client as mqtt
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BROKER_IP = "192.168.99.120" # IP da Base
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RID = "rover01"
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TOP_TEL = f"agrobot/{RID}/telemetry"
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TOP_CMD = f"agrobot/{RID}/cmd"
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TOP_HEALTH = f"agrobot/{RID}/health"
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TOP_LWT = f"agrobot/{RID}/lwt"
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def on_connect(c, u, f, rc):
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print("Rover conectado, rc=", rc)
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c.subscribe(TOP_CMD, qos=1)
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# Publica estado online (retido)
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c.publish(TOP_HEALTH, json.dumps({"status":"online","t":time.time()}), qos=1, retain=True)
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def on_message(c, u, msg):
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if msg.topic == TOP_CMD:
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# Exemplo de payload binário: vel (float32), ang (float32)
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vel, ang = struct.unpack("<ff", msg.payload)
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print(f"[CMD] vel={vel:.2f} m/s, ang={ang:.2f}°")
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client = mqtt.Client(client_id=f"{RID}", clean_session=True)
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client.will_set(TOP_LWT, payload="offline", qos=1, retain=True) # LWT
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client.on_connect = on_connect
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client.on_message = on_message
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client.connect(BROKER_IP, 1883, keepalive=60)
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client.loop_start()
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try:
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i = 0
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while True:
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# Telemetria json (poderia ser binário também)
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tel = {"t": time.time(), "heading": 123.45+i*0.01, "vel": 1.6}
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client.publish(TOP_TEL, json.dumps(tel), qos=0, retain=False)
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i += 1
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time.sleep(0.2)
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except KeyboardInterrupt:
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pass
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finally:
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client.loop_stop()
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client.disconnect()
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