Robot OS 网络通信 MQTT 实战

sudo service mosquitto statussudo service mosquitto startsudo service mosquitto stop

pid_file /var/run/mosquitto.pid
# 消息持久存储persistence truepersistence_location /var/lib/mosquitto/
# 日志文件log_dest file /var/log/mosquitto/mosquitto.log
# 其他配置include_dir /etc/mosquitto/conf.d
# 禁止匿名访问allow_anonymous false# 认证配置password_file /etc/mosquitto/pwfile# 权限配置acl_file /etc/mosquitto/aclfile

sudo apt-get install mosquitto-clients

mosquitto_pub -h localhost -p 1883 -t "demo/1" -m "test"

mosquitto_sub -h localhost -p 1883 -t "demo/1"

make_minimum_required(VERSION 3.4.1)
set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}" CACHE PATH "Installation directory" FORCE)message(STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
project(mqtt)SET(VERSION 0.0.1)add_definitions(-w)#file(READ version.major PAHO_VERSION_MAJOR)#file(READ version.minor PAHO_VERSION_MINOR)#file(READ version.patch PAHO_VERSION_PATCH)SET(CLIENT_VERSION ${PAHO_VERSION_MAJOR}.${PAHO_VERSION_MINOR}.${PAHO_VERSION_PATCH})
STRING(TIMESTAMP BUILD_TIMESTAMP UTC)MESSAGE(STATUS "Timestamp is ${BUILD_TIMESTAMP}")
## build optionsSET(PAHO_WITH_SSL FALSE CACHE BOOL "Flag that defines whether to build ssl-enabled binaries too. ")SET(PAHO_BUILD_SHARED TRUE CACHE BOOL "Build shared library")SET(PAHO_BUILD_STATIC FALSE CACHE BOOL "Build static library")SET(PAHO_BUILD_DOCUMENTATION FALSE CACHE BOOL "Create and install the HTML based API documentation (requires Doxygen)")SET(PAHO_BUILD_SAMPLES FALSE CACHE BOOL "Build sample programs")SET(PAHO_BUILD_DEB_PACKAGE FALSE CACHE BOOL "Build debian package")SET(PAHO_ENABLE_TESTING TRUE CACHE BOOL "Build tests and run")SET(PAHO_ENABLE_CPACK TRUE CACHE BOOL "Enable CPack")SET(PAHO_HIGH_PERFORMANCE FALSE CACHE BOOL "Disable tracing and heap tracking")SET(PAHO_USE_SELECT FALSE CACHE BOOL "Revert to select system call instead of poll")
IF (PAHO_HIGH_PERFORMANCE)    ADD_DEFINITIONS(-DHIGH_PERFORMANCE=1)ENDIF()
IF (PAHO_USE_SELECT)    ADD_DEFINITIONS(-DUSE_SELECT=1)ENDIF()
IF (NOT PAHO_BUILD_SHARED AND NOT PAHO_BUILD_STATIC)    MESSAGE(FATAL_ERROR "You must set either PAHO_BUILD_SHARED, PAHO_BUILD_STATIC, or both")ENDIF()

SET(ROOT ${CMAKE_SOURCE_DIR})SET(BUILD_PATH "${CMAKE_BINARY_DIR}")MESSAGE(STATUS "current project name is ${PROJECTNAME}")
SET(CMAKE_BUILD_TYPE "DEBUG")#SET(CMAKE_BUILD_TYPE "RELEASE")
set(SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/main/cpp/paho.mqtt.c/src)set(JNI_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/main/cpp)

find_library(log-lib log)
include_directories(${SOURCE_DIR})include_directories(${JNI_SOURCE_DIR})
set(common_src        ${SOURCE_DIR}/MQTTTime.c        ${SOURCE_DIR}/MQTTProtocolClient.c        ${SOURCE_DIR}/Clients.c        ${SOURCE_DIR}/utf-8.c        ${SOURCE_DIR}/MQTTPacket.c        ${SOURCE_DIR}/MQTTPacketOut.c        ${SOURCE_DIR}/Messages.c        ${SOURCE_DIR}/Tree.c        ${SOURCE_DIR}/Socket.c        ${SOURCE_DIR}/Log.c        ${SOURCE_DIR}/MQTTPersistence.c        ${SOURCE_DIR}/Thread.c        ${SOURCE_DIR}/MQTTProtocolOut.c        ${SOURCE_DIR}/MQTTPersistenceDefault.c        ${SOURCE_DIR}/SocketBuffer.c        ${SOURCE_DIR}/LinkedList.c        ${SOURCE_DIR}/MQTTProperties.c        ${SOURCE_DIR}/MQTTReasonCodes.c        ${SOURCE_DIR}/Base64.c        ${SOURCE_DIR}/SHA1.c        ${SOURCE_DIR}/WebSocket.c        ${SOURCE_DIR}/Proxy.c        ${SOURCE_DIR}/MQTTClient.c        ${JNI_SOURCE_DIR}/JNI_OnLoad.cc        ${JNI_SOURCE_DIR}/jni_utils.cc        ${JNI_SOURCE_DIR}/keutil.cc        )IF (NOT PAHO_HIGH_PERFORMANCE)    SET(common_src ${common_src}            ${SOURCE_DIR}/StackTrace.c            ${SOURCE_DIR}/Heap.c            )ENDIF()
SET(LIBS_SYSTEM c dl)

set(SELF_LIB_NAME kemqtt)


add_library(${SELF_LIB_NAME} SHARED ${common_src})
target_link_libraries(${SELF_LIB_NAME}        ${log-lib}        )

static jlong_start(JNIEnv *env, jclass cls) {    LOGI("start...");  MQTTClient client;  MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;  conn_opts.username = "A1_TEST_TOKEN";  MQTTClient_message pubmsg = MQTTClient_message_initializer;  MQTTClient_deliveryToken token;  int rc;
  if ((rc = MQTTClient_create(&client, ADDRESS, CLIENTID,                MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTCLIENT_SUCCESS)  {  LOGI("Failed to create client, return code %d\n", rc);  return -1;  }
  conn_opts.keepAliveInterval = 20;  conn_opts.cleansession = 1;  if ((rc = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS)  {  LOGI("Failed to connect, return code %d\n", rc);  return -2;  }
  pubmsg.payload = (void *)PAYLOAD;  pubmsg.payloadlen = (int)strlen(PAYLOAD);  pubmsg.qos = QOS;  pubmsg.retained = 0;  if ((rc = MQTTClient_publishMessage(client, TOPIC, &pubmsg, &token)) != MQTTCLIENT_SUCCESS)  {  LOGI("Failed to publish message, return code %d\n", rc);  return -3;  }
  LOGI("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);  LOGI("Message with delivery token %d delivered\n", token);
  if ((rc = MQTTClient_disconnect(client, 10000)) != MQTTCLIENT_SUCCESS)  LOGI("Failed to disconnect, return code %d\n", rc);  MQTTClient_destroy(&client);    return (jlong) 0;}