lyq/sweeper_200
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

合并gps上报功能，去除原有的pub_gps节点

Browse Source
This commit is contained in:
lyq 2026-01-15 09:38:48 +08:00
parent 180bf5df50
commit 19182ffe53
48 changed files with 107 additions and 14825 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
config.json
View File

@ -7,7 +7,6 @@
"info_topic": "/zxwl/sweeper/{vid}/info",
"fault_topic": "/zxwl/sweeper/{vid}/fault",
"gps_topic": "/zxwl/sweeper/{vid}/gps",
"pub_gps_topic": "/zxwl/sweeper/V060003/gps",
"remote_topic": "/zxwl/sweeper/V060003/ctrl",
"upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
"download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",

7
src/communication/mqtt_report/include/mqtt_report/get_config.h
View File

@ -24,9 +24,10 @@ struct Config
std::string mqtt_username;
std::string mqtt_password;
std::string info_topic_template; // e.g. /zxwl/vehicle/{vid}/info
std::string gps_topic_template;
std::string fault_topic_template; // e.g. /zxwl/vehicle/{vid}/fault
// ===== 上行 topic =====
std::string info_topic_template; // /zxwl/sweeper/{vid}/info
std::string gps_topic_template; // /zxwl/sweeper/{vid}/gps
std::string fault_topic_template; // /zxwl/sweeper/{vid}/fault
};
bool load_config(const std::string& path, Config& config);

152
src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp
View File

@ -1,21 +1,23 @@
#pragma once
#include "paho_mqtt_3c/MQTTClient.h"
#include <string>
#include <iostream>
#include <mutex>
#include <thread>
#include <atomic>
#include <chrono>
#include <functional>
#include <iostream>
#include <mutex>
#include <string>
#include <thread>
#include <unordered_map>
#include "paho_mqtt_3c/MQTTClient.h"
class MQTTClientWrapper
{
public:
MQTTClientWrapper(const std::string &server_uri,
const std::string &client_id,
const std::string &username = "",
const std::string &password = "",
int reconnect_interval_ms = 3000)
public:
using MessageHandler = std::function<void(const std::string& topic, const std::string& payload)>;
MQTTClientWrapper(const std::string& server_uri, const std::string& client_id, const std::string& username = "",
const std::string& password = "", int reconnect_interval_ms = 3000)
: server_uri_(server_uri),
client_id_(client_id),
username_(username),
@ -24,20 +26,17 @@ public:
connected_(false),
stop_flag_(false)
{
int rc = MQTTClient_create(&client_,
server_uri_.c_str(),
client_id_.c_str(),
MQTTCLIENT_PERSISTENCE_NONE,
nullptr);
int rc =
MQTTClient_create(&client_, server_uri_.c_str(), client_id_.c_str(), MQTTCLIENT_PERSISTENCE_NONE, nullptr);
if (rc != MQTTCLIENT_SUCCESS)
{
std::cerr << "MQTTClient_create failed! rc=" << rc << std::endl;
std::cerr << "[MQTT] create failed rc=" << rc << std::endl;
client_ = nullptr;
return;
}
MQTTClient_setCallbacks(client_, this, conn_lost_cb, nullptr, nullptr);
MQTTClient_setCallbacks(client_, this, conn_lost_cb, msg_arrived_cb, nullptr);
reconnect_thread_ = std::thread([this]() { reconnectLoop(); });
}
@ -46,41 +45,36 @@ public:
{
stop_flag_ = true;
if (reconnect_thread_.joinable())
reconnect_thread_.join();
if (reconnect_thread_.joinable()) reconnect_thread_.join();
std::lock_guard<std::mutex> lock(mtx_);
if (client_)
{
if (connected_)
MQTTClient_disconnect(client_, 2000);
if (connected_) MQTTClient_disconnect(client_, 2000);
MQTTClient_destroy(&client_);
}
}
// 手动连接（可选）
// ===================== Connection =====================
bool connect()
{
std::lock_guard<std::mutex> lock(mtx_);
return doConnect();
}
// 发布（非阻塞，无 waitForCompletion）
bool publish(const std::string &topic,
const std::string &payload,
int qos = 0,
bool retained = false)
bool isConnected() const { return connected_; }
// ===================== Publish =====================
bool publish(const std::string& topic, const std::string& payload, int qos = 0, bool retained = false)
{
std::lock_guard<std::mutex> lock(mtx_);
if (!client_)
return false;
if (!connected_)
return false;
if (!client_ || !connected_) return false;
MQTTClient_message msg = MQTTClient_message_initializer;
msg.payload = (void *)payload.c_str();
msg.payload = (void*)payload.c_str();
msg.payloadlen = payload.size();
msg.qos = qos;
msg.retained = retained ? 1 : 0;
@ -93,18 +87,54 @@ public:
connected_ = false;
return false;
}
// 非阻塞，不等待 completion
return true;
}
bool isConnected() const { return connected_; }
// ===================== Subscribe =====================
bool subscribe(const std::string& topic, int qos = 0)
{
std::lock_guard<std::mutex> lock(mtx_);
if (!client_) return false;
subscribed_topics_[topic] = qos;
if (!connected_) return true; // 等重连后自动订阅
int rc = MQTTClient_subscribe(client_, topic.c_str(), qos);
if (rc != MQTTCLIENT_SUCCESS)
{
std::cerr << "[MQTT] subscribe failed rc=" << rc << std::endl;
return false;
}
return true;
}
bool unsubscribe(const std::string& topic)
{
std::lock_guard<std::mutex> lock(mtx_);
subscribed_topics_.erase(topic);
if (!connected_ || !client_) return true;
MQTTClient_unsubscribe(client_, topic.c_str());
return true;
}
// ===================== Message Handler =====================
void setMessageHandler(MessageHandler handler)
{
std::lock_guard<std::mutex> lock(mtx_);
message_handler_ = std::move(handler);
}
private:
// ===================== Internal =====================
private:
bool doConnect()
{
if (!client_)
return false;
if (!client_) return false;
MQTTClient_connectOptions opts = MQTTClient_connectOptions_initializer;
opts.keepAliveInterval = 20;
@ -120,24 +150,45 @@ private:
int rc = MQTTClient_connect(client_, &opts);
if (rc == MQTTCLIENT_SUCCESS)
{
std::cout << "[MQTT] Connected." << std::endl;
connected_ = true;
std::cout << "[MQTT] Connected." << std::endl;
// 重连后恢复订阅
for (const auto& [topic, qos] : subscribed_topics_)
{
MQTTClient_subscribe(client_, topic.c_str(), qos);
}
return true;
}
std::cerr << "[MQTT] Connect failed rc=" << rc << std::endl;
connected_ = false;
return false;
}
static void conn_lost_cb(void *context, char *cause)
static void conn_lost_cb(void* context, char* cause)
{
auto *self = static_cast<MQTTClientWrapper *>(context);
auto* self = static_cast<MQTTClientWrapper*>(context);
std::cerr << "[MQTT] Connection lost: " << (cause ? cause : "unknown") << std::endl;
self->connected_ = false;
}
// 自动重连线程
static int msg_arrived_cb(void* context, char* topicName, int /*topicLen*/, MQTTClient_message* message)
{
auto* self = static_cast<MQTTClientWrapper*>(context);
std::string topic(topicName);
std::string payload(static_cast<char*>(message->payload), message->payloadlen);
{
std::lock_guard<std::mutex> lock(self->mtx_);
if (self->message_handler_) self->message_handler_(topic, payload);
}
MQTTClient_freeMessage(&message);
MQTTClient_free(topicName);
return 1;
}
void reconnectLoop()
{
while (!stop_flag_)
@ -148,13 +199,13 @@ private:
doConnect();
}
std::this_thread::sleep_for(
std::chrono::milliseconds(reconnect_interval_ms_));
std::this_thread::sleep_for(std::chrono::milliseconds(reconnect_interval_ms_));
}
}
private:
MQTTClient client_;
private:
MQTTClient client_{};
std::string server_uri_;
std::string client_id_;
std::string username_;
@ -165,6 +216,9 @@ private:
std::atomic<bool> connected_;
std::atomic<bool> stop_flag_;
std::unordered_map<std::string, int> subscribed_topics_;
MessageHandler message_handler_;
std::mutex mtx_;
std::thread reconnect_thread_;
};

68
src/communication/pub_gps/CMakeLists.txt
View File

@ -1,68 +0,0 @@
cmake_minimum_required(VERSION 3.5)
project(pub_gps)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
add_compile_options(-w) # 禁用所有警告
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sweeper_interfaces REQUIRED)
include_directories(
include/pub_gps
include/paho_mqtt_3c
)
add_executable(pub_gps_node
src/pub_gps_node.cpp
src/jsoncpp.cpp
)
ament_target_dependencies(pub_gps_node rclcpp std_msgs sweeper_interfaces)
if(CMAKE_SYSTEM_PROCESSOR MATCHES aarch64)
target_link_libraries(
pub_gps_node
${PROJECT_SOURCE_DIR}/lib/libpaho-mqtt3c-static.a
)
else()
target_link_libraries(
pub_gps_node
${PROJECT_SOURCE_DIR}/lib/libpaho-mqtt3c.a
)
endif()
install(TARGETS
pub_gps_node
DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

83
src/communication/pub_gps/include/paho_mqtt_3c/Base64.h
View File

@ -1,83 +0,0 @@
/*******************************************************************************
* Copyright (c) 2018 Wind River Systems, Inc. All Rights Reserved.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Keith Holman - initial implementation and documentation
*******************************************************************************/
#if !defined(BASE64_H)
#define BASE64_H
/** type for size of a buffer, it saves passing around @p size_t (unsigned long long or unsigned long int) */
typedef unsigned int b64_size_t;
/** type for raw base64 data */
typedef unsigned char b64_data_t;
/**
* Decodes base64 data
*
* @param[out] out decoded data
* @param[in] out_len length of output buffer
* @param[in] in base64 string to decode
* @param[in] in_len length of input buffer
*
* @return the amount of data decoded
*
* @see Base64_decodeLength
* @see Base64_encode
*/
b64_size_t Base64_decode( b64_data_t *out, b64_size_t out_len,
const char *in, b64_size_t in_len );
/**
* Size of buffer required to decode base64 data
*
* @param[in] in base64 string to decode
* @param[in] in_len length of input buffer
*
* @return the size of buffer the decoded string would require
*
* @see Base64_decode
* @see Base64_encodeLength
*/
b64_size_t Base64_decodeLength( const char *in, b64_size_t in_len );
/**
* Encodes base64 data
*
* @param[out] out encode base64 string
* @param[in] out_len length of output buffer
* @param[in] in raw data to encode
* @param[in] in_len length of input buffer
*
* @return the amount of data encoded
*
* @see Base64_decode
* @see Base64_encodeLength
*/
b64_size_t Base64_encode( char *out, b64_size_t out_len,
const b64_data_t *in, b64_size_t in_len );
/**
* Size of buffer required to encode base64 data
*
* @param[in] in raw data to encode
* @param[in] in_len length of input buffer
*
* @return the size of buffer the encoded string would require
*
* @see Base64_decodeLength
* @see Base64_encode
*/
b64_size_t Base64_encodeLength( const b64_data_t *in, b64_size_t in_len );
#endif /* BASE64_H */

153
src/communication/pub_gps/include/paho_mqtt_3c/Clients.h
View File

@ -1,153 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - add SSL support
* Ian Craggs - fix for bug 413429 - connectionLost not called
* Ian Craggs - change will payload to binary
* Ian Craggs - password to binary
* Ian Craggs - MQTT 5 support
*******************************************************************************/
#if !defined(CLIENTS_H)
#define CLIENTS_H
#include <time.h>
#if defined(OPENSSL)
#if defined(WIN32) || defined(WIN64)
#include <winsock2.h>
#endif
#include <openssl/ssl.h>
#endif
#include "MQTTClient.h"
#include "LinkedList.h"
#include "MQTTClientPersistence.h"
/**
* Stored publication data to minimize copying
*/
typedef struct
{
char *topic;
int topiclen;
char* payload;
int payloadlen;
int refcount;
} Publications;
/**
* Client publication message data
*/
typedef struct
{
int qos;
int retain;
int msgid;
int MQTTVersion;
MQTTProperties properties;
Publications *publish;
time_t lastTouch; /**> used for retry and expiry */
char nextMessageType; /**> PUBREC, PUBREL, PUBCOMP */
int len; /**> length of the whole structure+data */
} Messages;
/**
* Client will message data
*/
typedef struct
{
char *topic;
int payloadlen;
void *payload;
int retained;
int qos;
} willMessages;
typedef struct
{
int socket;
time_t lastSent;
time_t lastReceived;
#if defined(OPENSSL)
SSL* ssl;
SSL_CTX* ctx;
#endif
int websocket; /**< socket has been upgraded to use web sockets */
char *websocket_key;
} networkHandles;
/* connection states */
/** no connection in progress, see connected value */
#define NOT_IN_PROGRESS 0x0
/** TCP connection in progress */
#define TCP_IN_PROGRESS 0x1
/** SSL connection in progress */
#define SSL_IN_PROGRESS 0x2
/** Websocket connection in progress */
#define WEBSOCKET_IN_PROGRESS 0x3
/** TCP completed, waiting for MQTT ACK */
#define WAIT_FOR_CONNACK 0x4
/** Disconnecting */
#define DISCONNECTING -2
/**
* Data related to one client
*/
typedef struct
{
char* clientID; /**< the string id of the client */
const char* username; /**< MQTT v3.1 user name */
int passwordlen; /**< MQTT password length */
const void* password; /**< MQTT v3.1 binary password */
unsigned int cleansession : 1; /**< MQTT V3 clean session flag */
unsigned int cleanstart : 1; /**< MQTT V5 clean start flag */
unsigned int connected : 1; /**< whether it is currently connected */
unsigned int good : 1; /**< if we have an error on the socket we turn this off */
unsigned int ping_outstanding : 1;
signed int connect_state : 4;
networkHandles net;
int msgID;
int keepAliveInterval;
int retryInterval;
int maxInflightMessages;
willMessages* will;
List* inboundMsgs;
List* outboundMsgs; /**< in flight */
List* messageQueue;
unsigned int qentry_seqno;
void* phandle; /* the persistence handle */
MQTTClient_persistence* persistence; /* a persistence implementation */
void* context; /* calling context - used when calling disconnect_internal */
int MQTTVersion;
int sessionExpiry; /**< MQTT 5 session expiry */
#if defined(OPENSSL)
MQTTClient_SSLOptions *sslopts;
SSL_SESSION* session; /***< SSL session pointer for fast handhake */
#endif
} Clients;
int clientIDCompare(void* a, void* b);
int clientSocketCompare(void* a, void* b);
/**
* Configuration data related to all clients
*/
typedef struct
{
const char* version;
List* clients;
} ClientStates;
#endif

82
src/communication/pub_gps/include/paho_mqtt_3c/Heap.h
View File

@ -1,82 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - use tree data structure instead of list
*******************************************************************************/
#if !defined(HEAP_H)
#define HEAP_H
#if defined(HIGH_PERFORMANCE)
#define NO_HEAP_TRACKING 1
#endif
#include <stdio.h>
#include <stdlib.h>
#if !defined(NO_HEAP_TRACKING)
/**
* redefines malloc to use "mymalloc" so that heap allocation can be tracked
* @param x the size of the item to be allocated
* @return the pointer to the item allocated, or NULL
*/
#define malloc(x) mymalloc(__FILE__, __LINE__, x)
/**
* redefines realloc to use "myrealloc" so that heap allocation can be tracked
* @param a the heap item to be reallocated
* @param b the new size of the item
* @return the new pointer to the heap item
*/
#define realloc(a, b) myrealloc(__FILE__, __LINE__, a, b)
/**
* redefines free to use "myfree" so that heap allocation can be tracked
* @param x the size of the item to be freed
*/
#define free(x) myfree(__FILE__, __LINE__, x)
#endif
/**
* Information about the state of the heap.
*/
typedef struct
{
size_t current_size; /**< current size of the heap in bytes */
size_t max_size; /**< max size the heap has reached in bytes */
} heap_info;
#if defined(__cplusplus)
extern "C" {
#endif
void* mymalloc(char*, int, size_t size);
void* myrealloc(char*, int, void* p, size_t size);
void myfree(char*, int, void* p);
void Heap_scan(FILE* file);
int Heap_initialize(void);
void Heap_terminate(void);
heap_info* Heap_get_info(void);
int HeapDump(FILE* file);
int HeapDumpString(FILE* file, char* str);
void* Heap_findItem(void* p);
void Heap_unlink(char* file, int line, void* p);
#ifdef __cplusplus
}
#endif
#endif

105
src/communication/pub_gps/include/paho_mqtt_3c/LinkedList.h
View File

@ -1,105 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - updates for the async client
* Ian Craggs - change size types from int to size_t
*******************************************************************************/
#if !defined(LINKEDLIST_H)
#define LINKEDLIST_H
#include <stdlib.h> /* for size_t definition */
/*BE
defm defList(T)
def T concat Item
{
at 4
n32 ptr T concat Item suppress "next"
at 0
n32 ptr T concat Item suppress "prev"
at 8
n32 ptr T id2str(T)
}
def T concat List
{
n32 ptr T concat Item suppress "first"
n32 ptr T concat Item suppress "last"
n32 ptr T concat Item suppress "current"
n32 dec "count"
n32 suppress "size"
}
endm
defList(INT)
defList(STRING)
defList(TMP)
BE*/
/**
* Structure to hold all data for one list element
*/
typedef struct ListElementStruct
{
struct ListElementStruct *prev, /**< pointer to previous list element */
*next; /**< pointer to next list element */
void* content; /**< pointer to element content */
} ListElement;
/**
* Structure to hold all data for one list
*/
typedef struct
{
ListElement *first, /**< first element in the list */
*last, /**< last element in the list */
*current; /**< current element in the list, for iteration */
int count; /**< no of items */
size_t size; /**< heap storage used */
} List;
void ListZero(List*);
List* ListInitialize(void);
void ListAppend(List* aList, void* content, size_t size);
void ListAppendNoMalloc(List* aList, void* content, ListElement* newel, size_t size);
void ListInsert(List* aList, void* content, size_t size, ListElement* index);
int ListRemove(List* aList, void* content);
int ListRemoveItem(List* aList, void* content, int(*callback)(void*, void*));
void* ListDetachHead(List* aList);
int ListRemoveHead(List* aList);
void* ListPopTail(List* aList);
int ListDetach(List* aList, void* content);
int ListDetachItem(List* aList, void* content, int(*callback)(void*, void*));
void ListFree(List* aList);
void ListEmpty(List* aList);
void ListFreeNoContent(List* aList);
ListElement* ListNextElement(List* aList, ListElement** pos);
ListElement* ListPrevElement(List* aList, ListElement** pos);
ListElement* ListFind(List* aList, void* content);
ListElement* ListFindItem(List* aList, void* content, int(*callback)(void*, void*));
int intcompare(void* a, void* b);
int stringcompare(void* a, void* b);
#endif

85
src/communication/pub_gps/include/paho_mqtt_3c/Log.h
View File

@ -1,85 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - updates for the async client
*******************************************************************************/
#if !defined(LOG_H)
#define LOG_H
/*BE
map LOG_LEVELS
{
"TRACE_MAXIMUM" 1
"TRACE_MEDIUM" 2
"TRACE_MINIMUM" 3
"TRACE_PROTOCOL" 4
"ERROR" 5
"SEVERE" 6
"FATAL" 7
}
BE*/
enum LOG_LEVELS {
INVALID_LEVEL = -1,
TRACE_MAXIMUM = 1,
TRACE_MEDIUM,
TRACE_MINIMUM,
TRACE_PROTOCOL,
LOG_ERROR,
LOG_SEVERE,
LOG_FATAL,
};
/*BE
def trace_settings_type
{
n32 map LOG_LEVELS "trace_level"
n32 dec "max_trace_entries"
n32 dec "trace_output_level"
}
BE*/
typedef struct
{
enum LOG_LEVELS trace_level; /**< trace level */
int max_trace_entries; /**< max no of entries in the trace buffer */
enum LOG_LEVELS trace_output_level; /**< trace level to output to destination */
} trace_settings_type;
extern trace_settings_type trace_settings;
#define LOG_PROTOCOL TRACE_PROTOCOL
#define TRACE_MAX TRACE_MAXIMUM
#define TRACE_MIN TRACE_MINIMUM
#define TRACE_MED TRACE_MEDIUM
typedef struct
{
const char* name;
const char* value;
} Log_nameValue;
int Log_initialize(Log_nameValue*);
void Log_terminate(void);
void Log(enum LOG_LEVELS, int, const char *, ...);
void Log_stackTrace(enum LOG_LEVELS, int, int, int, const char*, int, int*);
typedef void Log_traceCallback(enum LOG_LEVELS level, const char *message);
void Log_setTraceCallback(Log_traceCallback* callback);
void Log_setTraceLevel(enum LOG_LEVELS level);
#endif

2068
src/communication/pub_gps/include/paho_mqtt_3c/MQTTAsync.h
View File

File diff suppressed because it is too large Load Diff

1670
src/communication/pub_gps/include/paho_mqtt_3c/MQTTClient.h
View File

File diff suppressed because it is too large Load Diff

254
src/communication/pub_gps/include/paho_mqtt_3c/MQTTClientPersistence.h
View File

@ -1,254 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2012 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
/**
* @file
* \brief This structure represents a persistent data store, used to store
* outbound and inbound messages, in order to achieve reliable messaging.
*
* The MQTT Client persists QoS1 and QoS2 messages in order to meet the
* assurances of delivery associated with these @ref qos levels. The messages
* are saved in persistent storage
* The type and context of the persistence implementation are specified when
* the MQTT client is created (see MQTTClient_create()). The default
* persistence type (::MQTTCLIENT_PERSISTENCE_DEFAULT) uses a file system-based
* persistence mechanism. The <i>persistence_context</i> argument passed to
* MQTTClient_create() when using the default peristence is a string
* representing the location of the persistence directory. If the context
* argument is NULL, the working directory will be used.
*
* To use memory-based persistence, an application passes
* ::MQTTCLIENT_PERSISTENCE_NONE as the <i>persistence_type</i> to
* MQTTClient_create(). This can lead to message loss in certain situations,
* but can be appropriate in some cases (see @ref qos).
*
* Client applications can provide their own persistence mechanism by passing
* ::MQTTCLIENT_PERSISTENCE_USER as the <i>persistence_type</i>. To implement a
* custom persistence mechanism, the application must pass an initialized
* ::MQTTClient_persistence structure as the <i>persistence_context</i>
* argument to MQTTClient_create().
*
* If the functions defined return an ::MQTTCLIENT_PERSISTENCE_ERROR then the
* state of the persisted data should remain as it was prior to the function
* being called. For example, if Persistence_put() returns
* ::MQTTCLIENT_PERSISTENCE_ERROR, then it is assumed tha tthe persistent store
* does not contain the data that was passed to the function. Similarly, if
* Persistence_remove() returns ::MQTTCLIENT_PERSISTENCE_ERROR then it is
* assumed that the data to be removed is still held in the persistent store.
*
* It is up to the persistence implementation to log any error information that
* may be required to diagnose a persistence mechanism failure.
*/
/*
/// @cond EXCLUDE
*/
#if !defined(MQTTCLIENTPERSISTENCE_H)
#define MQTTCLIENTPERSISTENCE_H
/*
/// @endcond
*/
/**
* This <i>persistence_type</i> value specifies the default file system-based
* persistence mechanism (see MQTTClient_create()).
*/
#define MQTTCLIENT_PERSISTENCE_DEFAULT 0
/**
* This <i>persistence_type</i> value specifies a memory-based
* persistence mechanism (see MQTTClient_create()).
*/
#define MQTTCLIENT_PERSISTENCE_NONE 1
/**
* This <i>persistence_type</i> value specifies an application-specific
* persistence mechanism (see MQTTClient_create()).
*/
#define MQTTCLIENT_PERSISTENCE_USER 2
/**
* Application-specific persistence functions must return this error code if
* there is a problem executing the function.
*/
#define MQTTCLIENT_PERSISTENCE_ERROR -2
/**
* @brief Initialize the persistent store.
*
* Either open the existing persistent store for this client ID or create a new
* one if one doesn't exist. If the persistent store is already open, return
* without taking any action.
*
* An application can use the same client identifier to connect to many
* different servers. The <i>clientid</i> in conjunction with the
* <i>serverURI</i> uniquely identifies the persistence store required.
*
* @param handle The address of a pointer to a handle for this persistence
* implementation. This function must set handle to a valid reference to the
* persistence following a successful return.
* The handle pointer is passed as an argument to all the other
* persistence functions. It may include the context parameter and/or any other
* data for use by the persistence functions.
* @param clientID The client identifier for which the persistent store should
* be opened.
* @param serverURI The connection string specified when the MQTT client was
* created (see MQTTClient_create()).
* @param context A pointer to any data required to initialize the persistent
* store (see ::MQTTClient_persistence).
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_open)(void** handle, const char* clientID, const char* serverURI, void* context);
/**
* @brief Close the persistent store referred to by the handle.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_close)(void* handle);
/**
* @brief Put the specified data into the persistent store.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @param key A string used as the key for the data to be put in the store. The
* key is later used to retrieve data from the store with Persistence_get().
* @param bufcount The number of buffers to write to the persistence store.
* @param buffers An array of pointers to the data buffers associated with
* this <i>key</i>.
* @param buflens An array of lengths of the data buffers. <i>buflen[n]</i>
* gives the length of <i>buffer[n]</i>.
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_put)(void* handle, char* key, int bufcount, char* buffers[], int buflens[]);
/**
* @brief Retrieve the specified data from the persistent store.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @param key A string that is the key for the data to be retrieved. This is
* the same key used to save the data to the store with Persistence_put().
* @param buffer The address of a pointer to a buffer. This function sets the
* pointer to point at the retrieved data, if successful.
* @param buflen The address of an int that is set to the length of
* <i>buffer</i> by this function if successful.
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_get)(void* handle, char* key, char** buffer, int* buflen);
/**
* @brief Remove the data for the specified key from the store.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @param key A string that is the key for the data to be removed from the
* store. This is the same key used to save the data to the store with
* Persistence_put().
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_remove)(void* handle, char* key);
/**
* @brief Returns the keys in this persistent data store.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @param keys The address of a pointer to pointers to strings. Assuming
* successful execution, this function allocates memory to hold the returned
* keys (strings used to store the data with Persistence_put()). It also
* allocates memory to hold an array of pointers to these strings. <i>keys</i>
* is set to point to the array of pointers to strings.
* @param nkeys A pointer to the number of keys in this persistent data store.
* This function sets the number of keys, if successful.
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_keys)(void* handle, char*** keys, int* nkeys);
/**
* @brief Clears the persistence store, so that it no longer contains any
* persisted data.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @return Return 0 if the function completes successfully, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_clear)(void* handle);
/**
* @brief Returns whether any data has been persisted using the specified key.
*
* @param handle The handle pointer from a successful call to
* Persistence_open().
* @param key The string to be tested for existence in the store.
* @return Return 0 if the key was found in the store, otherwise return
* ::MQTTCLIENT_PERSISTENCE_ERROR.
*/
typedef int (*Persistence_containskey)(void* handle, char* key);
/**
* @brief A structure containing the function pointers to a persistence
* implementation and the context or state that will be shared across all
* the persistence functions.
*/
typedef struct {
/**
* A pointer to any data required to initialize the persistent store.
*/
void* context;
/**
* A function pointer to an implementation of Persistence_open().
*/
Persistence_open popen;
/**
* A function pointer to an implementation of Persistence_close().
*/
Persistence_close pclose;
/**
* A function pointer to an implementation of Persistence_put().
*/
Persistence_put pput;
/**
* A function pointer to an implementation of Persistence_get().
*/
Persistence_get pget;
/**
* A function pointer to an implementation of Persistence_remove().
*/
Persistence_remove premove;
/**
* A function pointer to an implementation of Persistence_keys().
*/
Persistence_keys pkeys;
/**
* A function pointer to an implementation of Persistence_clear().
*/
Persistence_clear pclear;
/**
* A function pointer to an implementation of Persistence_containskey().
*/
Persistence_containskey pcontainskey;
} MQTTClient_persistence;
#endif

148
src/communication/pub_gps/include/paho_mqtt_3c/MQTTConnect.h
View File

@ -1,148 +0,0 @@
/*******************************************************************************
* Copyright (c) 2014, 2017 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - add connack return code definitions
* Xiang Rong - 442039 Add makefile to Embedded C client
* Ian Craggs - fix for issue #64, bit order in connack response
*******************************************************************************/
#ifndef MQTTCONNECT_H_
#define MQTTCONNECT_H_
enum connack_return_codes
{
MQTT_CONNECTION_ACCEPTED = 0,
MQTT_UNNACCEPTABLE_PROTOCOL = 1,
MQTT_CLIENTID_REJECTED = 2,
MQTT_SERVER_UNAVAILABLE = 3,
MQTT_BAD_USERNAME_OR_PASSWORD = 4,
MQTT_NOT_AUTHORIZED = 5,
};
#if !defined(DLLImport)
#define DLLImport
#endif
#if !defined(DLLExport)
#define DLLExport
#endif
typedef union
{
unsigned char all; /**< all connect flags */
#if defined(REVERSED)
struct
{
unsigned int username : 1; /**< 3.1 user name */
unsigned int password : 1; /**< 3.1 password */
unsigned int willRetain : 1; /**< will retain setting */
unsigned int willQoS : 2; /**< will QoS value */
unsigned int will : 1; /**< will flag */
unsigned int cleansession : 1; /**< clean session flag */
unsigned int : 1; /**< unused */
} bits;
#else
struct
{
unsigned int : 1; /**< unused */
unsigned int cleansession : 1; /**< cleansession flag */
unsigned int will : 1; /**< will flag */
unsigned int willQoS : 2; /**< will QoS value */
unsigned int willRetain : 1; /**< will retain setting */
unsigned int password : 1; /**< 3.1 password */
unsigned int username : 1; /**< 3.1 user name */
} bits;
#endif
} MQTTConnectFlags; /**< connect flags byte */
/**
* Defines the MQTT "Last Will and Testament" (LWT) settings for
* the connect packet.
*/
typedef struct
{
/** The eyecatcher for this structure. must be MQTW. */
char struct_id[4];
/** The version number of this structure. Must be 0 */
int struct_version;
/** The LWT topic to which the LWT message will be published. */
MQTTString topicName;
/** The LWT payload. */
MQTTString message;
/**
* The retained flag for the LWT message (see MQTTAsync_message.retained).
*/
unsigned char retained;
/**
* The quality of service setting for the LWT message (see
* MQTTAsync_message.qos and @ref qos).
*/
char qos;
} MQTTPacket_willOptions;
#define MQTTPacket_willOptions_initializer { {'M', 'Q', 'T', 'W'}, 0, {NULL, {0, NULL}}, {NULL, {0, NULL}}, 0, 0 }
typedef struct
{
/** The eyecatcher for this structure. must be MQTC. */
char struct_id[4];
/** The version number of this structure. Must be 0 */
int struct_version;
/** Version of MQTT to be used. 3 = 3.1 4 = 3.1.1
*/
unsigned char MQTTVersion;
MQTTString clientID;
unsigned short keepAliveInterval;
unsigned char cleansession;
unsigned char willFlag;
MQTTPacket_willOptions will;
MQTTString username;
MQTTString password;
} MQTTPacket_connectData;
typedef union
{
unsigned char all; /**< all connack flags */
#if defined(REVERSED)
struct
{
unsigned int reserved : 7; /**< unused */
unsigned int sessionpresent : 1; /**< session present flag */
} bits;
#else
struct
{
unsigned int sessionpresent : 1; /**< session present flag */
unsigned int reserved: 7; /**< unused */
} bits;
#endif
} MQTTConnackFlags; /**< connack flags byte */
#define MQTTPacket_connectData_initializer { {'M', 'Q', 'T', 'C'}, 0, 4, {NULL, {0, NULL}}, 60, 1, 0, \
MQTTPacket_willOptions_initializer, {NULL, {0, NULL}}, {NULL, {0, NULL}} }
DLLExport int MQTTSerialize_connect(unsigned char* buf, int buflen, MQTTPacket_connectData* options);
DLLExport int MQTTDeserialize_connect(MQTTPacket_connectData* data, unsigned char* buf, int len);
DLLExport int MQTTSerialize_connack(unsigned char* buf, int buflen, unsigned char connack_rc, unsigned char sessionPresent);
DLLExport int MQTTDeserialize_connack(unsigned char* sessionPresent, unsigned char* connack_rc, unsigned char* buf, int buflen);
DLLExport int MQTTSerialize_disconnect(unsigned char* buf, int buflen);
DLLExport int MQTTSerialize_pingreq(unsigned char* buf, int buflen);
#endif /* MQTTCONNECT_H_ */

37
src/communication/pub_gps/include/paho_mqtt_3c/MQTTFormat.h
View File

@ -1,37 +0,0 @@
/*******************************************************************************
* Copyright (c) 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(MQTTFORMAT_H)
#define MQTTFORMAT_H
#include "StackTrace.h"
#include "MQTTPacket.h"
const char* MQTTPacket_getName(unsigned short packetid);
int MQTTStringFormat_connect(char* strbuf, int strbuflen, MQTTPacket_connectData* data);
int MQTTStringFormat_connack(char* strbuf, int strbuflen, unsigned char connack_rc, unsigned char sessionPresent);
int MQTTStringFormat_publish(char* strbuf, int strbuflen, unsigned char dup, int qos, unsigned char retained,
unsigned short packetid, MQTTString topicName, unsigned char* payload, int payloadlen);
int MQTTStringFormat_ack(char* strbuf, int strbuflen, unsigned char packettype, unsigned char dup, unsigned short packetid);
int MQTTStringFormat_subscribe(char* strbuf, int strbuflen, unsigned char dup, unsigned short packetid, int count,
MQTTString topicFilters[], int requestedQoSs[]);
int MQTTStringFormat_suback(char* strbuf, int strbuflen, unsigned short packetid, int count, int* grantedQoSs);
int MQTTStringFormat_unsubscribe(char* strbuf, int strbuflen, unsigned char dup, unsigned short packetid,
int count, MQTTString topicFilters[]);
char* MQTTFormat_toClientString(char* strbuf, int strbuflen, unsigned char* buf, int buflen);
char* MQTTFormat_toServerString(char* strbuf, int strbuflen, unsigned char* buf, int buflen);
#endif

270
src/communication/pub_gps/include/paho_mqtt_3c/MQTTPacket.h
View File

@ -1,270 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs, Allan Stockdill-Mander - SSL updates
* Ian Craggs - MQTT 3.1.1 support
* Ian Craggs - big endian Linux reversed definition
* Ian Craggs - MQTT 5.0 support
*******************************************************************************/
#if !defined(MQTTPACKET_H)
#define MQTTPACKET_H
#include "Socket.h"
#if defined(OPENSSL)
#include "SSLSocket.h"
#endif
#include "LinkedList.h"
#include "Clients.h"
typedef unsigned int bool;
typedef void* (*pf)(int, unsigned char, char*, size_t);
#include "MQTTProperties.h"
#include "MQTTReasonCodes.h"
enum errors
{
MQTTPACKET_BAD = -4,
MQTTPACKET_BUFFER_TOO_SHORT = -2,
MQTTPACKET_READ_ERROR = -1,
MQTTPACKET_READ_COMPLETE
};
enum msgTypes
{
CONNECT = 1, CONNACK, PUBLISH, PUBACK, PUBREC, PUBREL,
PUBCOMP, SUBSCRIBE, SUBACK, UNSUBSCRIBE, UNSUBACK,
PINGREQ, PINGRESP, DISCONNECT, AUTH
};
#if defined(__linux__)
#include <endian.h>
#if __BYTE_ORDER == __BIG_ENDIAN
#define REVERSED 1
#endif
#endif
/**
* Bitfields for the MQTT header byte.
*/
typedef union
{
/*unsigned*/ char byte; /**< the whole byte */
#if defined(REVERSED)
struct
{
unsigned int type : 4; /**< message type nibble */
bool dup : 1; /**< DUP flag bit */
unsigned int qos : 2; /**< QoS value, 0, 1 or 2 */
bool retain : 1; /**< retained flag bit */
} bits;
#else
struct
{
bool retain : 1; /**< retained flag bit */
unsigned int qos : 2; /**< QoS value, 0, 1 or 2 */
bool dup : 1; /**< DUP flag bit */
unsigned int type : 4; /**< message type nibble */
} bits;
#endif
} Header;
/**
* Data for a connect packet.
*/
typedef struct
{
Header header; /**< MQTT header byte */
union
{
unsigned char all; /**< all connect flags */
#if defined(REVERSED)
struct
{
bool username : 1; /**< 3.1 user name */
bool password : 1; /**< 3.1 password */
bool willRetain : 1; /**< will retain setting */
unsigned int willQoS : 2; /**< will QoS value */
bool will : 1; /**< will flag */
bool cleanstart : 1; /**< cleansession flag */
int : 1; /**< unused */
} bits;
#else
struct
{
int : 1; /**< unused */
bool cleanstart : 1; /**< cleansession flag */
bool will : 1; /**< will flag */
unsigned int willQoS : 2; /**< will QoS value */
bool willRetain : 1; /**< will retain setting */
bool password : 1; /**< 3.1 password */
bool username : 1; /**< 3.1 user name */
} bits;
#endif
} flags; /**< connect flags byte */
char *Protocol, /**< MQTT protocol name */
*clientID, /**< string client id */
*willTopic, /**< will topic */
*willMsg; /**< will payload */
int keepAliveTimer; /**< keepalive timeout value in seconds */
unsigned char version; /**< MQTT version number */
} Connect;
/**
* Data for a connack packet.
*/
typedef struct
{
Header header; /**< MQTT header byte */
union
{
unsigned char all; /**< all connack flags */
#if defined(REVERSED)
struct
{
unsigned int reserved : 7; /**< message type nibble */
bool sessionPresent : 1; /**< was a session found on the server? */
} bits;
#else
struct
{
bool sessionPresent : 1; /**< was a session found on the server? */
unsigned int reserved : 7; /**< message type nibble */
} bits;
#endif
} flags; /**< connack flags byte */
unsigned char rc; /**< connack reason code */
unsigned int MQTTVersion; /**< the version of MQTT */
MQTTProperties properties; /**< MQTT 5.0 properties. Not used for MQTT < 5.0 */
} Connack;
/**
* Data for a packet with header only.
*/
typedef struct
{
Header header; /**< MQTT header byte */
} MQTTPacket;
/**
* Data for a suback packet.
*/
typedef struct
{
Header header; /**< MQTT header byte */
int msgId; /**< MQTT message id */
int MQTTVersion; /**< the version of MQTT */
MQTTProperties properties; /**< MQTT 5.0 properties. Not used for MQTT < 5.0 */
List* qoss; /**< list of granted QoSs (MQTT 3/4) / reason codes (MQTT 5) */
} Suback;
/**
* Data for an MQTT V5 unsuback packet.
*/
typedef struct
{
Header header; /**< MQTT header byte */
int msgId; /**< MQTT message id */
int MQTTVersion; /**< the version of MQTT */
MQTTProperties properties; /**< MQTT 5.0 properties. Not used for MQTT < 5.0 */
List* reasonCodes; /**< list of reason codes */
} Unsuback;
/**
* Data for a publish packet.
*/
typedef struct
{
Header header; /**< MQTT header byte */
char* topic; /**< topic string */
int topiclen;
int msgId; /**< MQTT message id */
char* payload; /**< binary payload, length delimited */
int payloadlen; /**< payload length */
int MQTTVersion; /**< the version of MQTT */
MQTTProperties properties; /**< MQTT 5.0 properties. Not used for MQTT < 5.0 */
} Publish;
/**
* Data for one of the ack packets.
*/
typedef struct
{
Header header; /**< MQTT header byte */
int msgId; /**< MQTT message id */
unsigned char rc; /**< MQTT 5 reason code */
int MQTTVersion; /**< the version of MQTT */
MQTTProperties properties; /**< MQTT 5.0 properties. Not used for MQTT < 5.0 */
} Ack;
typedef Ack Puback;
typedef Ack Pubrec;
typedef Ack Pubrel;
typedef Ack Pubcomp;
int MQTTPacket_encode(char* buf, size_t length);
int MQTTPacket_decode(networkHandles* net, size_t* value);
int readInt(char** pptr);
char* readUTF(char** pptr, char* enddata);
unsigned char readChar(char** pptr);
void writeChar(char** pptr, char c);
void writeInt(char** pptr, int anInt);
void writeUTF(char** pptr, const char* string);
void writeData(char** pptr, const void* data, int datalen);
const char* MQTTPacket_name(int ptype);
void* MQTTPacket_Factory(int MQTTVersion, networkHandles* net, int* error);
int MQTTPacket_send(networkHandles* net, Header header, char* buffer, size_t buflen, int free, int MQTTVersion);
int MQTTPacket_sends(networkHandles* net, Header header, int count, char** buffers, size_t* buflens, int* frees, int MQTTVersion);
void* MQTTPacket_header_only(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
int MQTTPacket_send_disconnect(Clients* client, enum MQTTReasonCodes reason, MQTTProperties* props);
void* MQTTPacket_publish(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
void MQTTPacket_freePublish(Publish* pack);
int MQTTPacket_send_publish(Publish* pack, int dup, int qos, int retained, networkHandles* net, const char* clientID);
int MQTTPacket_send_puback(int msgid, networkHandles* net, const char* clientID);
void* MQTTPacket_ack(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
void MQTTPacket_freeAck(Ack* pack);
void MQTTPacket_freeSuback(Suback* pack);
void MQTTPacket_freeUnsuback(Unsuback* pack);
int MQTTPacket_send_pubrec(int msgid, networkHandles* net, const char* clientID);
int MQTTPacket_send_pubrel(int msgid, int dup, networkHandles* net, const char* clientID);
int MQTTPacket_send_pubcomp(int msgid, networkHandles* net, const char* clientID);
void MQTTPacket_free_packet(MQTTPacket* pack);
void writeInt4(char** pptr, int anInt);
int readInt4(char** pptr);
void writeMQTTLenString(char** pptr, MQTTLenString lenstring);
int MQTTLenStringRead(MQTTLenString* lenstring, char** pptr, char* enddata);
int MQTTPacket_VBIlen(int rem_len);
int MQTTPacket_decodeBuf(char* buf, int* value);
#include "MQTTPacketOut.h"
#endif /* MQTTPACKET_H */

39
src/communication/pub_gps/include/paho_mqtt_3c/MQTTPacketOut.h
View File

@ -1,39 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs, Allan Stockdill-Mander - SSL updates
* Ian Craggs - MQTT 3.1.1 support
* Ian Craggs - MQTT 5.0 support
*******************************************************************************/
#if !defined(MQTTPACKETOUT_H)
#define MQTTPACKETOUT_H
#include "MQTTPacket.h"
int MQTTPacket_send_connect(Clients* client, int MQTTVersion,
MQTTProperties* connectProperties, MQTTProperties* willProperties);
void* MQTTPacket_connack(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
void MQTTPacket_freeConnack(Connack* pack);
int MQTTPacket_send_pingreq(networkHandles* net, const char* clientID);
int MQTTPacket_send_subscribe(List* topics, List* qoss, MQTTSubscribe_options* opts, MQTTProperties* props,
int msgid, int dup, Clients* client);
void* MQTTPacket_suback(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
int MQTTPacket_send_unsubscribe(List* topics, MQTTProperties* props, int msgid, int dup, Clients* client);
void* MQTTPacket_unsuback(int MQTTVersion, unsigned char aHeader, char* data, size_t datalen);
#endif

94
src/communication/pub_gps/include/paho_mqtt_3c/MQTTPersistence.h
View File

@ -1,94 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - async client updates
* Ian Craggs - fix for bug 432903 - queue persistence
* Ian Craggs - MQTT V5 updates
*******************************************************************************/
#if !defined(MQTTPERSISTENCE_H)
#define MQTTPERSISTENCE_H
#if defined(__cplusplus)
extern "C" {
#endif
#include "Clients.h"
#include "MQTTProperties.h"
/** Stem of the key for a sent PUBLISH QoS1 or QoS2 */
#define PERSISTENCE_PUBLISH_SENT "s-"
/** Stem of the key for a sent PUBREL */
#define PERSISTENCE_PUBREL "sc-"
/** Stem of the key for a received PUBLISH QoS2 */
#define PERSISTENCE_PUBLISH_RECEIVED "r-"
/** Stem of the key for a sent MQTT V5 PUBLISH QoS1 or QoS2 */
#define PERSISTENCE_V5_PUBLISH_SENT "s5-"
/** Stem of the key for a sent MQTT V5 PUBREL */
#define PERSISTENCE_V5_PUBREL "sc5-"
/** Stem of the key for a received MQTT V5 PUBLISH QoS2 */
#define PERSISTENCE_V5_PUBLISH_RECEIVED "r5-"
/** Stem of the key for an async client command */
#define PERSISTENCE_COMMAND_KEY "c-"
/** Stem of the key for an MQTT V5 async client command */
#define PERSISTENCE_V5_COMMAND_KEY "c-"
/** Stem of the key for an async client message queue */
#define PERSISTENCE_QUEUE_KEY "q-"
/** Stem of the key for an MQTT V5 message queue */
#define PERSISTENCE_V5_QUEUE_KEY "q5-"
#define PERSISTENCE_MAX_KEY_LENGTH 8
int MQTTPersistence_create(MQTTClient_persistence** per, int type, void* pcontext);
int MQTTPersistence_initialize(Clients* c, const char* serverURI);
int MQTTPersistence_close(Clients* c);
int MQTTPersistence_clear(Clients* c);
int MQTTPersistence_restore(Clients* c);
void* MQTTPersistence_restorePacket(int MQTTVersion, char* buffer, size_t buflen);
void MQTTPersistence_insertInOrder(List* list, void* content, size_t size);
int MQTTPersistence_put(int socket, char* buf0, size_t buf0len, int count,
char** buffers, size_t* buflens, int htype, int msgId, int scr, int MQTTVersion);
int MQTTPersistence_remove(Clients* c, char* type, int qos, int msgId);
void MQTTPersistence_wrapMsgID(Clients *c);
typedef struct
{
char struct_id[4];
int struct_version;
int payloadlen;
void* payload;
int qos;
int retained;
int dup;
int msgid;
MQTTProperties properties;
} MQTTPersistence_message;
typedef struct
{
MQTTPersistence_message* msg;
char* topicName;
int topicLen;
unsigned int seqno; /* only used on restore */
} MQTTPersistence_qEntry;
int MQTTPersistence_unpersistQueueEntry(Clients* client, MQTTPersistence_qEntry* qe);
int MQTTPersistence_persistQueueEntry(Clients* aclient, MQTTPersistence_qEntry* qe);
int MQTTPersistence_restoreMessageQueue(Clients* c);
#ifdef __cplusplus
}
#endif
#endif

38
src/communication/pub_gps/include/paho_mqtt_3c/MQTTPersistenceDefault.h
View File

@ -1,38 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(MQTTPERSISTENCEDEFAULT_H)
#define MQTTPERSISTENCEDEFAULT_H
/** 8.3 filesystem */
#define MESSAGE_FILENAME_LENGTH 8
/** Extension of the filename */
#define MESSAGE_FILENAME_EXTENSION ".msg"
/* prototypes of the functions for the default file system persistence */
int pstopen(void** handle, const char* clientID, const char* serverURI, void* context);
int pstclose(void* handle);
int pstput(void* handle, char* key, int bufcount, char* buffers[], int buflens[]);
int pstget(void* handle, char* key, char** buffer, int* buflen);
int pstremove(void* handle, char* key);
int pstkeys(void* handle, char*** keys, int* nkeys);
int pstclear(void* handle);
int pstcontainskey(void* handle, char* key);
int pstmkdir(char *pPathname);
#endif

225
src/communication/pub_gps/include/paho_mqtt_3c/MQTTProperties.h
View File

@ -1,225 +0,0 @@
/*******************************************************************************
* Copyright (c) 2017, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(MQTTPROPERTIES_H)
#define MQTTPROPERTIES_H
#define MQTT_INVALID_PROPERTY_ID -2
/** The one byte MQTT V5 property indicator */
enum MQTTPropertyCodes {
MQTTPROPERTY_CODE_PAYLOAD_FORMAT_INDICATOR = 1, /**< The value is 1 */
MQTTPROPERTY_CODE_MESSAGE_EXPIRY_INTERVAL = 2, /**< The value is 2 */
MQTTPROPERTY_CODE_CONTENT_TYPE = 3, /**< The value is 3 */
MQTTPROPERTY_CODE_RESPONSE_TOPIC = 8, /**< The value is 8 */
MQTTPROPERTY_CODE_CORRELATION_DATA = 9, /**< The value is 9 */
MQTTPROPERTY_CODE_SUBSCRIPTION_IDENTIFIER = 11, /**< The value is 11 */
MQTTPROPERTY_CODE_SESSION_EXPIRY_INTERVAL = 17, /**< The value is 17 */
MQTTPROPERTY_CODE_ASSIGNED_CLIENT_IDENTIFER = 18,/**< The value is 18 */
MQTTPROPERTY_CODE_SERVER_KEEP_ALIVE = 19, /**< The value is 19 */
MQTTPROPERTY_CODE_AUTHENTICATION_METHOD = 21, /**< The value is 21 */
MQTTPROPERTY_CODE_AUTHENTICATION_DATA = 22, /**< The value is 22 */
MQTTPROPERTY_CODE_REQUEST_PROBLEM_INFORMATION = 23,/**< The value is 23 */
MQTTPROPERTY_CODE_WILL_DELAY_INTERVAL = 24, /**< The value is 24 */
MQTTPROPERTY_CODE_REQUEST_RESPONSE_INFORMATION = 25,/**< The value is 25 */
MQTTPROPERTY_CODE_RESPONSE_INFORMATION = 26, /**< The value is 26 */
MQTTPROPERTY_CODE_SERVER_REFERENCE = 28, /**< The value is 28 */
MQTTPROPERTY_CODE_REASON_STRING = 31, /**< The value is 31 */
MQTTPROPERTY_CODE_RECEIVE_MAXIMUM = 33, /**< The value is 33*/
MQTTPROPERTY_CODE_TOPIC_ALIAS_MAXIMUM = 34, /**< The value is 34 */
MQTTPROPERTY_CODE_TOPIC_ALIAS = 35, /**< The value is 35 */
MQTTPROPERTY_CODE_MAXIMUM_QOS = 36, /**< The value is 36 */
MQTTPROPERTY_CODE_RETAIN_AVAILABLE = 37, /**< The value is 37 */
MQTTPROPERTY_CODE_USER_PROPERTY = 38, /**< The value is 38 */
MQTTPROPERTY_CODE_MAXIMUM_PACKET_SIZE = 39, /**< The value is 39 */
MQTTPROPERTY_CODE_WILDCARD_SUBSCRIPTION_AVAILABLE = 40,/**< The value is 40 */
MQTTPROPERTY_CODE_SUBSCRIPTION_IDENTIFIERS_AVAILABLE = 41,/**< The value is 41 */
MQTTPROPERTY_CODE_SHARED_SUBSCRIPTION_AVAILABLE = 42/**< The value is 241 */
};
#if defined(WIN32) || defined(WIN64)
#define DLLImport __declspec(dllimport)
#define DLLExport __declspec(dllexport)
#else
#define DLLImport extern
#define DLLExport __attribute__ ((visibility ("default")))
#endif
/**
* Returns a printable string description of an MQTT V5 property code.
* @param value an MQTT V5 property code.
* @return the printable string description of the input property code.
* NULL if the code was not found.
*/
DLLExport const char* MQTTPropertyName(enum MQTTPropertyCodes value);
/** The one byte MQTT V5 property type */
enum MQTTPropertyTypes {
MQTTPROPERTY_TYPE_BYTE,
MQTTPROPERTY_TYPE_TWO_BYTE_INTEGER,
MQTTPROPERTY_TYPE_FOUR_BYTE_INTEGER,
MQTTPROPERTY_TYPE_VARIABLE_BYTE_INTEGER,
MQTTPROPERTY_TYPE_BINARY_DATA,
MQTTPROPERTY_TYPE_UTF_8_ENCODED_STRING,
MQTTPROPERTY_TYPE_UTF_8_STRING_PAIR
};
/**
* Returns the MQTT V5 type code of an MQTT V5 property.
* @param value an MQTT V5 property code.
* @return the MQTT V5 type code of the input property. -1 if the code was not found.
*/
DLLExport int MQTTProperty_getType(enum MQTTPropertyCodes value);
/**
* The data for a length delimited string
*/
typedef struct
{
int len; /**< the length of the string */
char* data; /**< pointer to the string data */
} MQTTLenString;
/**
* Structure to hold an MQTT version 5 property of any type
*/
typedef struct
{
enum MQTTPropertyCodes identifier; /**< The MQTT V5 property id. A multi-byte integer. */
/** The value of the property, as a union of the different possible types. */
union {
char byte; /**< holds the value of a byte property type */
short integer2; /**< holds the value of a 2 byte integer property type */
int integer4; /**< holds the value of a 4 byte integer property type */
struct {
MQTTLenString data; /**< The value of a string property, or the name of a user property. */
MQTTLenString value; /**< The value of a user property. */
};
} value;
} MQTTProperty;
/**
* MQTT version 5 property list
*/
typedef struct MQTTProperties
{
int count; /**< number of property entries in the array */
int max_count; /**< max number of properties that the currently allocated array can store */
int length; /**< mbi: byte length of all properties */
MQTTProperty *array; /**< array of properties */
} MQTTProperties;
#define MQTTProperties_initializer {0, 0, 0, NULL}
/**
* Returns the length of the properties structure when serialized ready for network transmission.
* @param props an MQTT V5 property structure.
* @return the length in bytes of the properties when serialized.
*/
int MQTTProperties_len(MQTTProperties* props);
/**
* Add a property pointer to the property array. There is no memory allocation.
* @param props The property list to add the property to.
* @param prop The property to add to the list.
* @return 0 on success, -1 on failure.
*/
DLLExport int MQTTProperties_add(MQTTProperties* props, const MQTTProperty* prop);
/**
* Serialize the given property list to a character buffer, e.g. for writing to the network.
* @param pptr pointer to the buffer - move the pointer as we add data
* @param properties pointer to the property list, can be NULL
* @return whether the write succeeded or not: number of bytes written, or < 0 on failure.
*/
int MQTTProperties_write(char** pptr, const MQTTProperties* properties);
/**
* Reads a property list from a character buffer into an array.
* @param properties pointer to the property list to be filled. Should be initalized but empty.
* @param pptr pointer to the character buffer.
* @param enddata pointer to the end of the character buffer so we don't read beyond.
* @return 1 if the properties were read successfully.
*/
int MQTTProperties_read(MQTTProperties* properties, char** pptr, char* enddata);
/**
* Free all memory allocated to the property list, including any to individual properties.
* @param properties pointer to the property list.
*/
DLLExport void MQTTProperties_free(MQTTProperties* properties);
/**
* Copy the contents of a property list, allocating additional memory if needed.
* @param props pointer to the property list.
* @return the duplicated property list.
*/
DLLExport MQTTProperties MQTTProperties_copy(const MQTTProperties* props);
/**
* Checks if property list contains a specific property.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @return 1 if found, 0 if not.
*/
DLLExport int MQTTProperties_hasProperty(MQTTProperties *props, enum MQTTPropertyCodes propid);
/**
* Returns the number of instances of a property id. Most properties can exist only once.
* User properties and subscription ids can exist more than once.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @return the number of times found. Can be 0.
*/
DLLExport int MQTTProperties_propertyCount(MQTTProperties *props, enum MQTTPropertyCodes propid);
/**
* Returns the integer value of a specific property. The property given must be a numeric type.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @return the integer value of the property. -9999999 on failure.
*/
DLLExport int MQTTProperties_getNumericValue(MQTTProperties *props, enum MQTTPropertyCodes propid);
/**
* Returns the integer value of a specific property when it's not the only instance.
* The property given must be a numeric type.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @param index the instance number, starting at 0.
* @return the integer value of the property. -9999999 on failure.
*/
DLLExport int MQTTProperties_getNumericValueAt(MQTTProperties *props, enum MQTTPropertyCodes propid, int index);
/**
* Returns a pointer to the property structure for a specific property.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @return the pointer to the property structure if found. NULL if not found.
*/
DLLExport MQTTProperty* MQTTProperties_getProperty(MQTTProperties *props, enum MQTTPropertyCodes propid);
/**
* Returns a pointer to the property structure for a specific property when it's not the only instance.
* @param props pointer to the property list.
* @param propid the property id to check for.
* @param index the instance number, starting at 0.
* @return the pointer to the property structure if found. NULL if not found.
*/
DLLExport MQTTProperty* MQTTProperties_getPropertyAt(MQTTProperties *props, enum MQTTPropertyCodes propid, int index);
#endif /* MQTTPROPERTIES_H */

46
src/communication/pub_gps/include/paho_mqtt_3c/MQTTProtocol.h
View File

@ -1,46 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs - MQTT 3.1.1 updates
*******************************************************************************/
#if !defined(MQTTPROTOCOL_H)
#define MQTTPROTOCOL_H
#include "LinkedList.h"
#include "MQTTPacket.h"
#include "Clients.h"
#define MAX_MSG_ID 65535
#define MAX_CLIENTID_LEN 65535
typedef struct
{
int socket;
Publications* p;
} pending_write;
typedef struct
{
List publications;
unsigned int msgs_received;
unsigned int msgs_sent;
List pending_writes; /* for qos 0 writes not complete */
} MQTTProtocol;
#include "MQTTProtocolOut.h"
#endif

60
src/communication/pub_gps/include/paho_mqtt_3c/MQTTProtocolClient.h
View File

@ -1,60 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2017 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs, Allan Stockdill-Mander - SSL updates
* Ian Craggs - MQTT 3.1.1 updates
* Rong Xiang, Ian Craggs - C++ compatibility
* Ian Craggs - add debug definition of MQTTStrdup for when needed
*******************************************************************************/
#if !defined(MQTTPROTOCOLCLIENT_H)
#define MQTTPROTOCOLCLIENT_H
#include "LinkedList.h"
#include "MQTTPacket.h"
#include "Log.h"
#include "MQTTProtocol.h"
#include "Messages.h"
#include "MQTTProperties.h"
#define MAX_MSG_ID 65535
#define MAX_CLIENTID_LEN 65535
int MQTTProtocol_startPublish(Clients* pubclient, Publish* publish, int qos, int retained, Messages** m);
Messages* MQTTProtocol_createMessage(Publish* publish, Messages** mm, int qos, int retained);
Publications* MQTTProtocol_storePublication(Publish* publish, int* len);
int messageIDCompare(void* a, void* b);
int MQTTProtocol_assignMsgId(Clients* client);
void MQTTProtocol_removePublication(Publications* p);
void Protocol_processPublication(Publish* publish, Clients* client);
int MQTTProtocol_handlePublishes(void* pack, int sock);
int MQTTProtocol_handlePubacks(void* pack, int sock);
int MQTTProtocol_handlePubrecs(void* pack, int sock);
int MQTTProtocol_handlePubrels(void* pack, int sock);
int MQTTProtocol_handlePubcomps(void* pack, int sock);
void MQTTProtocol_closeSession(Clients* c, int sendwill);
void MQTTProtocol_keepalive(time_t);
void MQTTProtocol_retry(time_t, int, int);
void MQTTProtocol_freeClient(Clients* client);
void MQTTProtocol_emptyMessageList(List* msgList);
void MQTTProtocol_freeMessageList(List* msgList);
char* MQTTStrncpy(char *dest, const char* src, size_t num);
char* MQTTStrdup(const char* src);
//#define MQTTStrdup(src) MQTTStrncpy(malloc(strlen(src)+1), src, strlen(src)+1)
#endif

50
src/communication/pub_gps/include/paho_mqtt_3c/MQTTProtocolOut.h
View File

@ -1,50 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs, Allan Stockdill-Mander - SSL updates
* Ian Craggs - MQTT 3.1.1 support
* Ian Craggs - SNI support
* Ian Craggs - MQTT 5.0 support
*******************************************************************************/
#if !defined(MQTTPROTOCOLOUT_H)
#define MQTTPROTOCOLOUT_H
#include "LinkedList.h"
#include "MQTTPacket.h"
#include "Clients.h"
#include "Log.h"
#include "Messages.h"
#include "MQTTProtocol.h"
#include "MQTTProtocolClient.h"
#define DEFAULT_PORT 1883
size_t MQTTProtocol_addressPort(const char* uri, int* port, const char **topic);
void MQTTProtocol_reconnect(const char* ip_address, Clients* client);
#if defined(OPENSSL)
int MQTTProtocol_connect(const char* ip_address, Clients* acClients, int ssl, int websocket, int MQTTVersion,
MQTTProperties* connectProperties, MQTTProperties* willProperties);
#else
int MQTTProtocol_connect(const char* ip_address, Clients* acClients, int websocket, int MQTTVersion,
MQTTProperties* connectProperties, MQTTProperties* willProperties);
#endif
int MQTTProtocol_handlePingresps(void* pack, int sock);
int MQTTProtocol_subscribe(Clients* client, List* topics, List* qoss, int msgID,
MQTTSubscribe_options* opts, MQTTProperties* props);
int MQTTProtocol_handleSubacks(void* pack, int sock);
int MQTTProtocol_unsubscribe(Clients* client, List* topics, int msgID, MQTTProperties* props);
int MQTTProtocol_handleUnsubacks(void* pack, int sock);
#endif

38
src/communication/pub_gps/include/paho_mqtt_3c/MQTTPublish.h
View File

@ -1,38 +0,0 @@
/*******************************************************************************
* Copyright (c) 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Xiang Rong - 442039 Add makefile to Embedded C client
*******************************************************************************/
#ifndef MQTTPUBLISH_H_
#define MQTTPUBLISH_H_
#if !defined(DLLImport)
#define DLLImport
#endif
#if !defined(DLLExport)
#define DLLExport
#endif
DLLExport int MQTTSerialize_publish(unsigned char* buf, int buflen, unsigned char dup, int qos, unsigned char retained, unsigned short packetid,
MQTTString topicName, unsigned char* payload, int payloadlen);
DLLExport int MQTTDeserialize_publish(unsigned char* dup, int* qos, unsigned char* retained, unsigned short* packetid, MQTTString* topicName,
unsigned char** payload, int* payloadlen, unsigned char* buf, int len);
DLLExport int MQTTSerialize_puback(unsigned char* buf, int buflen, unsigned short packetid);
DLLExport int MQTTSerialize_pubrel(unsigned char* buf, int buflen, unsigned char dup, unsigned short packetid);
DLLExport int MQTTSerialize_pubcomp(unsigned char* buf, int buflen, unsigned short packetid);
#endif /* MQTTPUBLISH_H_ */

85
src/communication/pub_gps/include/paho_mqtt_3c/MQTTReasonCodes.h
View File

@ -1,85 +0,0 @@
/*******************************************************************************
* Copyright (c) 2017, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(MQTTREASONCODES_H)
#define MQTTREASONCODES_H
/** The MQTT V5 one byte reason code */
enum MQTTReasonCodes {
MQTTREASONCODE_SUCCESS = 0,
MQTTREASONCODE_NORMAL_DISCONNECTION = 0,
MQTTREASONCODE_GRANTED_QOS_0 = 0,
MQTTREASONCODE_GRANTED_QOS_1 = 1,
MQTTREASONCODE_GRANTED_QOS_2 = 2,
MQTTREASONCODE_DISCONNECT_WITH_WILL_MESSAGE = 4,
MQTTREASONCODE_NO_MATCHING_SUBSCRIBERS = 16,
MQTTREASONCODE_NO_SUBSCRIPTION_FOUND = 17,
MQTTREASONCODE_CONTINUE_AUTHENTICATION = 24,
MQTTREASONCODE_RE_AUTHENTICATE = 25,
MQTTREASONCODE_UNSPECIFIED_ERROR = 128,
MQTTREASONCODE_MALFORMED_PACKET = 129,
MQTTREASONCODE_PROTOCOL_ERROR = 130,
MQTTREASONCODE_IMPLEMENTATION_SPECIFIC_ERROR = 131,
MQTTREASONCODE_UNSUPPORTED_PROTOCOL_VERSION = 132,
MQTTREASONCODE_CLIENT_IDENTIFIER_NOT_VALID = 133,
MQTTREASONCODE_BAD_USER_NAME_OR_PASSWORD = 134,
MQTTREASONCODE_NOT_AUTHORIZED = 135,
MQTTREASONCODE_SERVER_UNAVAILABLE = 136,
MQTTREASONCODE_SERVER_BUSY = 137,
MQTTREASONCODE_BANNED = 138,
MQTTREASONCODE_SERVER_SHUTTING_DOWN = 139,
MQTTREASONCODE_BAD_AUTHENTICATION_METHOD = 140,
MQTTREASONCODE_KEEP_ALIVE_TIMEOUT = 141,
MQTTREASONCODE_SESSION_TAKEN_OVER = 142,
MQTTREASONCODE_TOPIC_FILTER_INVALID = 143,
MQTTREASONCODE_TOPIC_NAME_INVALID = 144,
MQTTREASONCODE_PACKET_IDENTIFIER_IN_USE = 145,
MQTTREASONCODE_PACKET_IDENTIFIER_NOT_FOUND = 146,
MQTTREASONCODE_RECEIVE_MAXIMUM_EXCEEDED = 147,
MQTTREASONCODE_TOPIC_ALIAS_INVALID = 148,
MQTTREASONCODE_PACKET_TOO_LARGE = 149,
MQTTREASONCODE_MESSAGE_RATE_TOO_HIGH = 150,
MQTTREASONCODE_QUOTA_EXCEEDED = 151,
MQTTREASONCODE_ADMINISTRATIVE_ACTION = 152,
MQTTREASONCODE_PAYLOAD_FORMAT_INVALID = 153,
MQTTREASONCODE_RETAIN_NOT_SUPPORTED = 154,
MQTTREASONCODE_QOS_NOT_SUPPORTED = 155,
MQTTREASONCODE_USE_ANOTHER_SERVER = 156,
MQTTREASONCODE_SERVER_MOVED = 157,
MQTTREASONCODE_SHARED_SUBSCRIPTIONS_NOT_SUPPORTED = 158,
MQTTREASONCODE_CONNECTION_RATE_EXCEEDED = 159,
MQTTREASONCODE_MAXIMUM_CONNECT_TIME = 160,
MQTTREASONCODE_SUBSCRIPTION_IDENTIFIERS_NOT_SUPPORTED = 161,
MQTTREASONCODE_WILDCARD_SUBSCRIPTIONS_NOT_SUPPORTED = 162
};
#if defined(WIN32) || defined(WIN64)
#define DLLImport __declspec(dllimport)
#define DLLExport __declspec(dllexport)
#else
#define DLLImport extern
#define DLLExport __attribute__ ((visibility ("default")))
#endif
/**
* Returns a printable string description of an MQTT V5 reason code.
* @param value an MQTT V5 reason code.
* @return the printable string description of the input reason code.
* NULL if the code was not found.
*/
DLLExport const char* MQTTReasonCode_toString(enum MQTTReasonCodes value);
#endif

39
src/communication/pub_gps/include/paho_mqtt_3c/MQTTSubscribe.h
View File

@ -1,39 +0,0 @@
/*******************************************************************************
* Copyright (c) 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Xiang Rong - 442039 Add makefile to Embedded C client
*******************************************************************************/
#ifndef MQTTSUBSCRIBE_H_
#define MQTTSUBSCRIBE_H_
#if !defined(DLLImport)
#define DLLImport
#endif
#if !defined(DLLExport)
#define DLLExport
#endif
DLLExport int MQTTSerialize_subscribe(unsigned char* buf, int buflen, unsigned char dup, unsigned short packetid,
int count, MQTTString topicFilters[], int requestedQoSs[]);
DLLExport int MQTTDeserialize_subscribe(unsigned char* dup, unsigned short* packetid,
int maxcount, int* count, MQTTString topicFilters[], int requestedQoSs[], unsigned char* buf, int len);
DLLExport int MQTTSerialize_suback(unsigned char* buf, int buflen, unsigned short packetid, int count, int* grantedQoSs);
DLLExport int MQTTDeserialize_suback(unsigned short* packetid, int maxcount, int* count, int grantedQoSs[], unsigned char* buf, int len);
#endif /* MQTTSUBSCRIBE_H_ */

46
src/communication/pub_gps/include/paho_mqtt_3c/MQTTSubscribeOpts.h
View File

@ -1,46 +0,0 @@
/*******************************************************************************
* Copyright (c) 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(SUBOPTS_H)
#define SUBOPTS_H
/** The MQTT V5 subscribe options, apart from QoS which existed before V5. */
typedef struct MQTTSubscribe_options
{
/** The eyecatcher for this structure. Must be MQSO. */
char struct_id[4];
/** The version number of this structure. Must be 0.
*/
int struct_version;
/** To not receive our own publications, set to 1.
* 0 is the original MQTT behaviour - all messages matching the subscription are received.
*/
unsigned char noLocal;
/** To keep the retain flag as on the original publish message, set to 1.
* If 0, defaults to the original MQTT behaviour where the retain flag is only set on
* publications sent by a broker if in response to a subscribe request.
*/
unsigned char retainAsPublished;
/** 0 - send retained messages at the time of the subscribe (original MQTT behaviour)
* 1 - send retained messages on subscribe only if the subscription is new
* 2 - do not send retained messages at all
*/
unsigned char retainHandling;
} MQTTSubscribe_options;
#define MQTTSubscribe_options_initializer { {'M', 'Q', 'S', 'O'}, 0, 0, 0, 0 }
#endif

38
src/communication/pub_gps/include/paho_mqtt_3c/MQTTUnsubscribe.h
View File

@ -1,38 +0,0 @@
/*******************************************************************************
* Copyright (c) 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Xiang Rong - 442039 Add makefile to Embedded C client
*******************************************************************************/
#ifndef MQTTUNSUBSCRIBE_H_
#define MQTTUNSUBSCRIBE_H_
#if !defined(DLLImport)
#define DLLImport
#endif
#if !defined(DLLExport)
#define DLLExport
#endif
DLLExport int MQTTSerialize_unsubscribe(unsigned char* buf, int buflen, unsigned char dup, unsigned short packetid,
int count, MQTTString topicFilters[]);
DLLExport int MQTTDeserialize_unsubscribe(unsigned char* dup, unsigned short* packetid, int max_count, int* count, MQTTString topicFilters[],
unsigned char* buf, int len);
DLLExport int MQTTSerialize_unsuback(unsigned char* buf, int buflen, unsigned short packetid);
DLLExport int MQTTDeserialize_unsuback(unsigned short* packetid, unsigned char* buf, int len);
#endif /* MQTTUNSUBSCRIBE_H_ */

24
src/communication/pub_gps/include/paho_mqtt_3c/Messages.h
View File

@ -1,24 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(MESSAGES_H)
#define MESSAGES_H
#include "Log.h"
const char* Messages_get(int, enum LOG_LEVELS);
#endif

42
src/communication/pub_gps/include/paho_mqtt_3c/OsWrapper.h
View File

@ -1,42 +0,0 @@
/*******************************************************************************
* Copyright (c) 2016, 2017 logi.cals GmbH
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Gunter Raidl - timer support for VxWorks
* Rainer Poisel - reusability
*******************************************************************************/
#if !defined(OSWRAPPER_H)
#define OSWRAPPER_H
#if defined(_WRS_KERNEL)
#include <time.h>
#define lstat stat
typedef unsigned long useconds_t;
void usleep(useconds_t useconds);
#define timersub(a, b, result) \
do \
{ \
(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
if ((result)->tv_usec < 0) \
{ \
--(result)->tv_sec; \
(result)->tv_usec += 1000000L; \
} \
} while (0)
#endif /* defined(_WRS_KERNEL) */
#endif /* OSWRAPPER_H */

91
src/communication/pub_gps/include/paho_mqtt_3c/SHA1.h
View File

@ -1,91 +0,0 @@
/*******************************************************************************
* Copyright (c) 2018 Wind River Systems, Inc. All Rights Reserved.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Keith Holman - initial implementation and documentation
*******************************************************************************/
#if !defined(SHA1_H)
#define SHA1_H
#if defined(OPENSSL)
#include <openssl/sha.h>
/** SHA-1 Digest Length */
#define SHA1_DIGEST_LENGTH SHA_DIGEST_LENGTH
#else /* if defined(OPENSSL) */
#if defined(WIN32) || defined(WIN64)
#include <Windows.h>
#include <WinCrypt.h>
typedef struct SHA_CTX_S
{
HCRYPTPROV hProv;
HCRYPTHASH hHash;
} SHA_CTX;
#else /* if defined(WIN32) || defined(WIN64) */
#include <stdint.h>
typedef struct SHA_CTX_S {
uint32_t h[5];
union {
uint32_t w[16];
uint8_t buffer[64];
};
unsigned int size;
unsigned int total;
} SHA_CTX;
#endif /* else if defined(WIN32) || defined(WIN64) */
#include <stddef.h>
/** SHA-1 Digest Length (number of bytes in SHA1) */
#define SHA1_DIGEST_LENGTH (160/8)
/**
* Initializes the SHA1 hashing algorithm
*
* @param[in,out] ctx hashing context structure
*
* @see SHA1_Update
* @see SHA1_Final
*/
int SHA1_Init(SHA_CTX *ctx);
/**
* Updates a block to the SHA1 hash
*
* @param[in,out] ctx hashing context structure
* @param[in] data block of data to hash
* @param[in] len length of block to hash
*
* @see SHA1_Init
* @see SHA1_Final
*/
int SHA1_Update(SHA_CTX *ctx, const void *data, size_t len);
/**
* Produce final SHA1 hash
*
* @param[out] md SHA1 hash produced (must be atleast
* @p SHA1_DIGEST_LENGTH in length)
* @param[in,out] ctx hashing context structure
*
* @see SHA1_Init
* @see SHA1_Final
*/
int SHA1_Final(unsigned char *md, SHA_CTX *ctx);
#endif /* if defined(OPENSSL) */
#endif /* SHA1_H */

52
src/communication/pub_gps/include/paho_mqtt_3c/SSLSocket.h
View File

@ -1,52 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs, Allan Stockdill-Mander - initial implementation
* Ian Craggs - SNI support
* Ian Craggs - post connect checks and CApath
*******************************************************************************/
#if !defined(SSLSOCKET_H)
#define SSLSOCKET_H
#if defined(WIN32) || defined(WIN64)
#define ssl_mutex_type HANDLE
#else
#include <pthread.h>
#include <semaphore.h>
#define ssl_mutex_type pthread_mutex_t
#endif
#include <openssl/ssl.h>
#include "SocketBuffer.h"
#include "Clients.h"
#define URI_SSL "ssl://"
/** if we should handle openssl initialization (bool_value == 1) or depend on it to be initalized externally (bool_value == 0) */
void SSLSocket_handleOpensslInit(int bool_value);
int SSLSocket_initialize(void);
void SSLSocket_terminate(void);
int SSLSocket_setSocketForSSL(networkHandles* net, MQTTClient_SSLOptions* opts, const char* hostname, size_t hostname_len);
int SSLSocket_getch(SSL* ssl, int socket, char* c);
char *SSLSocket_getdata(SSL* ssl, int socket, size_t bytes, size_t* actual_len);
int SSLSocket_close(networkHandles* net);
int SSLSocket_putdatas(SSL* ssl, int socket, char* buf0, size_t buf0len, int count, char** buffers, size_t* buflens, int* frees);
int SSLSocket_connect(SSL* ssl, int sock, const char* hostname, int verify, int (*cb)(const char *str, size_t len, void *u), void* u);
int SSLSocket_getPendingRead(void);
int SSLSocket_continueWrite(pending_writes* pw);
#endif

145
src/communication/pub_gps/include/paho_mqtt_3c/Socket.h
View File

@ -1,145 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial implementation and documentation
* Ian Craggs - async client updates
*******************************************************************************/
#if !defined(SOCKET_H)
#define SOCKET_H
#include <sys/types.h>
#if defined(WIN32) || defined(WIN64)
#include <winsock2.h>
#include <ws2tcpip.h>
#define MAXHOSTNAMELEN 256
#if !defined(SSLSOCKET_H)
#undef EAGAIN
#define EAGAIN WSAEWOULDBLOCK
#undef EINTR
#define EINTR WSAEINTR
#undef EINPROGRESS
#define EINPROGRESS WSAEINPROGRESS
#undef EWOULDBLOCK
#define EWOULDBLOCK WSAEWOULDBLOCK
#undef ENOTCONN
#define ENOTCONN WSAENOTCONN
#undef ECONNRESET
#define ECONNRESET WSAECONNRESET
#undef ETIMEDOUT
#define ETIMEDOUT WAIT_TIMEOUT
#endif
#define ioctl ioctlsocket
#define socklen_t int
#else
#define INVALID_SOCKET SOCKET_ERROR
#include <sys/socket.h>
#if !defined(_WRS_KERNEL)
#include <sys/param.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/uio.h>
#else
#include <selectLib.h>
#endif
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <unistd.h>
#define ULONG size_t
#endif
#include "mutex_type.h" /* Needed for mutex_type */
/** socket operation completed successfully */
#define TCPSOCKET_COMPLETE 0
#if !defined(SOCKET_ERROR)
/** error in socket operation */
#define SOCKET_ERROR -1
#endif
/** must be the same as SOCKETBUFFER_INTERRUPTED */
#define TCPSOCKET_INTERRUPTED -22
#define SSL_FATAL -3
#if !defined(INET6_ADDRSTRLEN)
#define INET6_ADDRSTRLEN 46 /** only needed for gcc/cygwin on windows */
#endif
#if !defined(max)
#define max(A,B) ( (A) > (B) ? (A):(B))
#endif
#include "LinkedList.h"
/*BE
def FD_SET
{
128 n8 "data"
}
def SOCKETS
{
FD_SET "rset"
FD_SET "rset_saved"
n32 dec "maxfdp1"
n32 ptr INTList "clientsds"
n32 ptr INTItem "cur_clientsds"
n32 ptr INTList "connect_pending"
n32 ptr INTList "write_pending"
FD_SET "pending_wset"
}
BE*/
/**
* Structure to hold all socket data for the module
*/
typedef struct
{
fd_set rset, /**< socket read set (see select doc) */
rset_saved; /**< saved socket read set */
int maxfdp1; /**< max descriptor used +1 (again see select doc) */
List* clientsds; /**< list of client socket descriptors */
ListElement* cur_clientsds; /**< current client socket descriptor (iterator) */
List* connect_pending; /**< list of sockets for which a connect is pending */
List* write_pending; /**< list of sockets for which a write is pending */
fd_set pending_wset; /**< socket pending write set for select */
} Sockets;
void Socket_outInitialize(void);
void Socket_outTerminate(void);
int Socket_getReadySocket(int more_work, struct timeval *tp, mutex_type mutex);
int Socket_getch(int socket, char* c);
char *Socket_getdata(int socket, size_t bytes, size_t* actual_len);
int Socket_putdatas(int socket, char* buf0, size_t buf0len, int count, char** buffers, size_t* buflens, int* frees);
void Socket_close(int socket);
int Socket_new(const char* addr, size_t addr_len, int port, int* socket);
int Socket_noPendingWrites(int socket);
char* Socket_getpeer(int sock);
void Socket_addPendingWrite(int socket);
void Socket_clearPendingWrite(int socket);
typedef void Socket_writeComplete(int socket, int rc);
void Socket_setWriteCompleteCallback(Socket_writeComplete*);
#endif /* SOCKET_H */

84
src/communication/pub_gps/include/paho_mqtt_3c/SocketBuffer.h
View File

@ -1,84 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2014 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
* Ian Craggs, Allan Stockdill-Mander - SSL updates
*******************************************************************************/
#if !defined(SOCKETBUFFER_H)
#define SOCKETBUFFER_H
#if defined(WIN32) || defined(WIN64)
#include <winsock2.h>
#else
#include <sys/socket.h>
#endif
#if defined(OPENSSL)
#include <openssl/ssl.h>
#endif
#if defined(WIN32) || defined(WIN64)
typedef WSABUF iobuf;
#else
typedef struct iovec iobuf;
#endif
typedef struct
{
int socket;
unsigned int index;
size_t headerlen;
char fixed_header[5]; /**< header plus up to 4 length bytes */
size_t buflen, /**< total length of the buffer */
datalen; /**< current length of data in buf */
char* buf;
} socket_queue;
typedef struct
{
int socket, count;
size_t total;
#if defined(OPENSSL)
SSL* ssl;
#endif
size_t bytes;
iobuf iovecs[5];
int frees[5];
} pending_writes;
#define SOCKETBUFFER_COMPLETE 0
#if !defined(SOCKET_ERROR)
#define SOCKET_ERROR -1
#endif
#define SOCKETBUFFER_INTERRUPTED -22 /* must be the same value as TCPSOCKET_INTERRUPTED */
void SocketBuffer_initialize(void);
void SocketBuffer_terminate(void);
void SocketBuffer_cleanup(int socket);
char* SocketBuffer_getQueuedData(int socket, size_t bytes, size_t* actual_len);
int SocketBuffer_getQueuedChar(int socket, char* c);
void SocketBuffer_interrupted(int socket, size_t actual_len);
char* SocketBuffer_complete(int socket);
void SocketBuffer_queueChar(int socket, char c);
#if defined(OPENSSL)
void SocketBuffer_pendingWrite(int socket, SSL* ssl, int count, iobuf* iovecs, int* frees, size_t total, size_t bytes);
#else
void SocketBuffer_pendingWrite(int socket, int count, iobuf* iovecs, int* frees, size_t total, size_t bytes);
#endif
pending_writes* SocketBuffer_getWrite(int socket);
int SocketBuffer_writeComplete(int socket);
pending_writes* SocketBuffer_updateWrite(int socket, char* topic, char* payload);
#endif

71
src/communication/pub_gps/include/paho_mqtt_3c/StackTrace.h
View File

@ -1,71 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2017 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#ifndef STACKTRACE_H_
#define STACKTRACE_H_
#include <stdio.h>
#include "Log.h"
#include "Thread.h"
#if defined(NOSTACKTRACE)
#define FUNC_ENTRY
#define FUNC_ENTRY_NOLOG
#define FUNC_ENTRY_MED
#define FUNC_ENTRY_MAX
#define FUNC_EXIT
#define FUNC_EXIT_NOLOG
#define FUNC_EXIT_MED
#define FUNC_EXIT_MAX
#define FUNC_EXIT_RC(x)
#define FUNC_EXIT_MED_RC(x)
#define FUNC_EXIT_MAX_RC(x)
#else
#if defined(WIN32) || defined(WIN64)
#define inline __inline
#define FUNC_ENTRY StackTrace_entry(__FUNCTION__, __LINE__, TRACE_MINIMUM)
#define FUNC_ENTRY_NOLOG StackTrace_entry(__FUNCTION__, __LINE__, -1)
#define FUNC_ENTRY_MED StackTrace_entry(__FUNCTION__, __LINE__, TRACE_MEDIUM)
#define FUNC_ENTRY_MAX StackTrace_entry(__FUNCTION__, __LINE__, TRACE_MAXIMUM)
#define FUNC_EXIT StackTrace_exit(__FUNCTION__, __LINE__, NULL, TRACE_MINIMUM)
#define FUNC_EXIT_NOLOG StackTrace_exit(__FUNCTION__, __LINE__, -1)
#define FUNC_EXIT_MED StackTrace_exit(__FUNCTION__, __LINE__, NULL, TRACE_MEDIUM)
#define FUNC_EXIT_MAX StackTrace_exit(__FUNCTION__, __LINE__, NULL, TRACE_MAXIMUM)
#define FUNC_EXIT_RC(x) StackTrace_exit(__FUNCTION__, __LINE__, &x, TRACE_MINIMUM)
#define FUNC_EXIT_MED_RC(x) StackTrace_exit(__FUNCTION__, __LINE__, &x, TRACE_MEDIUM)
#define FUNC_EXIT_MAX_RC(x) StackTrace_exit(__FUNCTION__, __LINE__, &x, TRACE_MAXIMUM)
#else
#define FUNC_ENTRY StackTrace_entry(__func__, __LINE__, TRACE_MINIMUM)
#define FUNC_ENTRY_NOLOG StackTrace_entry(__func__, __LINE__, -1)
#define FUNC_ENTRY_MED StackTrace_entry(__func__, __LINE__, TRACE_MEDIUM)
#define FUNC_ENTRY_MAX StackTrace_entry(__func__, __LINE__, TRACE_MAXIMUM)
#define FUNC_EXIT StackTrace_exit(__func__, __LINE__, NULL, TRACE_MINIMUM)
#define FUNC_EXIT_NOLOG StackTrace_exit(__func__, __LINE__, NULL, -1)
#define FUNC_EXIT_MED StackTrace_exit(__func__, __LINE__, NULL, TRACE_MEDIUM)
#define FUNC_EXIT_MAX StackTrace_exit(__func__, __LINE__, NULL, TRACE_MAXIMUM)
#define FUNC_EXIT_RC(x) StackTrace_exit(__func__, __LINE__, &x, TRACE_MINIMUM)
#define FUNC_EXIT_MED_RC(x) StackTrace_exit(__func__, __LINE__, &x, TRACE_MEDIUM)
#define FUNC_EXIT_MAX_RC(x) StackTrace_exit(__func__, __LINE__, &x, TRACE_MAXIMUM)
#endif
#endif
void StackTrace_entry(const char* name, int line, enum LOG_LEVELS trace);
void StackTrace_exit(const char* name, int line, void* return_value, enum LOG_LEVELS trace);
void StackTrace_printStack(FILE* dest);
char* StackTrace_get(thread_id_type, char* buf, int bufsize);
#endif /* STACKTRACE_H_ */

75
src/communication/pub_gps/include/paho_mqtt_3c/Thread.h
View File

@ -1,75 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial implementation
* Ian Craggs, Allan Stockdill-Mander - async client updates
* Ian Craggs - fix for bug #420851
* Ian Craggs - change MacOS semaphore implementation
*******************************************************************************/
#include "MQTTClient.h"
#if !defined(THREAD_H)
#define THREAD_H
#include "mutex_type.h" /* Needed for mutex_type */
#if defined(WIN32) || defined(WIN64)
#include <windows.h>
#define thread_type HANDLE
#define thread_id_type DWORD
#define thread_return_type DWORD
#define thread_fn LPTHREAD_START_ROUTINE
#define cond_type HANDLE
#define sem_type HANDLE
#undef ETIMEDOUT
#define ETIMEDOUT WSAETIMEDOUT
#else
#include <pthread.h>
#define thread_type pthread_t
#define thread_id_type pthread_t
#define thread_return_type void*
typedef thread_return_type (*thread_fn)(void*);
typedef struct { pthread_cond_t cond; pthread_mutex_t mutex; } cond_type_struct;
typedef cond_type_struct *cond_type;
#if defined(OSX)
#include <dispatch/dispatch.h>
typedef dispatch_semaphore_t sem_type;
#else
#include <semaphore.h>
typedef sem_t *sem_type;
#endif
cond_type Thread_create_cond(void);
int Thread_signal_cond(cond_type);
int Thread_wait_cond(cond_type condvar, int timeout);
int Thread_destroy_cond(cond_type);
#endif
DLLExport thread_type Thread_start(thread_fn, void*);
DLLExport mutex_type Thread_create_mutex();
DLLExport int Thread_lock_mutex(mutex_type);
DLLExport int Thread_unlock_mutex(mutex_type);
void Thread_destroy_mutex(mutex_type);
DLLExport thread_id_type Thread_getid();
sem_type Thread_create_sem(void);
int Thread_wait_sem(sem_type sem, int timeout);
int Thread_check_sem(sem_type sem);
int Thread_post_sem(sem_type sem);
int Thread_destroy_sem(sem_type sem);
#endif

115
src/communication/pub_gps/include/paho_mqtt_3c/Tree.h
View File

@ -1,115 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial implementation and documentation
*******************************************************************************/
#if !defined(TREE_H)
#define TREE_H
#include <stdlib.h> /* for size_t definition */
/*BE
defm defTree(T) // macro to define a tree
def T concat Node
{
n32 ptr T concat Node "parent"
n32 ptr T concat Node "left"
n32 ptr T concat Node "right"
n32 ptr T id2str(T)
n32 suppress "size"
}
def T concat Tree
{
struct
{
n32 ptr T concat Node suppress "root"
n32 ptr DATA suppress "compare"
}
struct
{
n32 ptr T concat Node suppress "root"
n32 ptr DATA suppress "compare"
}
n32 dec "count"
n32 dec suppress "size"
}
endm
defTree(INT)
defTree(STRING)
defTree(TMP)
BE*/
/**
* Structure to hold all data for one list element
*/
typedef struct NodeStruct
{
struct NodeStruct *parent, /**< pointer to parent tree node, in case we need it */
*child[2]; /**< pointers to child tree nodes 0 = left, 1 = right */
void* content; /**< pointer to element content */
size_t size; /**< size of content */
unsigned int red : 1;
} Node;
/**
* Structure to hold all data for one tree
*/
typedef struct
{
struct
{
Node *root; /**< root node pointer */
int (*compare)(void*, void*, int); /**< comparison function */
} index[2];
int indexes, /**< no of indexes into tree */
count; /**< no of items */
size_t size; /**< heap storage used */
unsigned int heap_tracking : 1; /**< switch on heap tracking for this tree? */
unsigned int allow_duplicates : 1; /**< switch to allow duplicate entries */
} Tree;
Tree* TreeInitialize(int(*compare)(void*, void*, int));
void TreeInitializeNoMalloc(Tree* aTree, int(*compare)(void*, void*, int));
void TreeAddIndex(Tree* aTree, int(*compare)(void*, void*, int));
void* TreeAdd(Tree* aTree, void* content, size_t size);
void* TreeRemove(Tree* aTree, void* content);
void* TreeRemoveKey(Tree* aTree, void* key);
void* TreeRemoveKeyIndex(Tree* aTree, void* key, int index);
void* TreeRemoveNodeIndex(Tree* aTree, Node* aNode, int index);
void TreeFree(Tree* aTree);
Node* TreeFind(Tree* aTree, void* key);
Node* TreeFindIndex(Tree* aTree, void* key, int index);
Node* TreeNextElement(Tree* aTree, Node* curnode);
int TreeIntCompare(void* a, void* b, int);
int TreePtrCompare(void* a, void* b, int);
int TreeStringCompare(void* a, void* b, int);
#endif

7
src/communication/pub_gps/include/paho_mqtt_3c/VersionInfo.h.in
View File

@ -1,7 +0,0 @@
#ifndef VERSIONINFO_H
#define VERSIONINFO_H
#define BUILD_TIMESTAMP "@BUILD_TIMESTAMP@"
#define CLIENT_VERSION "@CLIENT_VERSION@"
#endif /* VERSIONINFO_H */

77
src/communication/pub_gps/include/paho_mqtt_3c/WebSocket.h
View File

@ -1,77 +0,0 @@
/*******************************************************************************
* Copyright (c) 2018 Wind River Systems, Inc. All Rights Reserved.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Keith Holman - initial implementation and documentation
*******************************************************************************/
#if !defined(WEBSOCKET_H)
#define WEBSOCKET_H
#include "Clients.h"
/**
* WebSocket op codes
* @{
*/
#define WebSocket_OP_CONTINUE 0x0 /* 0000 - continue frame */
#define WebSocket_OP_TEXT 0x1 /* 0001 - text frame */
#define WebSocket_OP_BINARY 0x2 /* 0010 - binary frame */
#define WebSocket_OP_CLOSE 0x8 /* 1000 - close frame */
#define WebSocket_OP_PING 0x9 /* 1001 - ping frame */
#define WebSocket_OP_PONG 0xA /* 1010 - pong frame */
/** @} */
/**
* Various close status codes
* @{
*/
#define WebSocket_CLOSE_NORMAL 1000
#define WebSocket_CLOSE_GOING_AWAY 1001
#define WebSocket_CLOSE_PROTOCOL_ERROR 1002
#define WebSocket_CLOSE_UNKNOWN_DATA 1003
#define WebSocket_CLOSE_RESERVED 1004
#define WebSocket_CLOSE_NO_STATUS_CODE 1005 /* reserved: not to be used */
#define WebSocket_CLOSE_ABNORMAL 1006 /* reserved: not to be used */
#define WebSocket_CLOSE_BAD_DATA 1007
#define WebSocket_CLOSE_POLICY 1008
#define WebSocket_CLOSE_MSG_TOO_BIG 1009
#define WebSocket_CLOSE_NO_EXTENSION 1010
#define WebScoket_CLOSE_UNEXPECTED 1011
#define WebSocket_CLOSE_TLS_FAIL 1015 /* reserved: not be used */
/** @} */
/* closes a websocket connection */
void WebSocket_close(networkHandles *net, int status_code, const char *reason);
/* sends upgrade request */
int WebSocket_connect(networkHandles *net, const char *uri);
/* calculates the extra data required in a packet to hold a WebSocket frame header */
size_t WebSocket_calculateFrameHeaderSize(networkHandles *net, int mask_data,
size_t data_len);
/* obtain data from network socket */
int WebSocket_getch(networkHandles *net, char* c);
char *WebSocket_getdata(networkHandles *net, size_t bytes, size_t* actual_len);
/* send data out, in websocket format only if required */
int WebSocket_putdatas(networkHandles* net, char* buf0, size_t buf0len,
int count, char** buffers, size_t* buflens, int* freeData);
/* releases any resources used by the websocket system */
void WebSocket_terminate(void);
/* handles websocket upgrade request */
int WebSocket_upgrade(networkHandles *net);
#endif /* WEBSOCKET_H */

25
src/communication/pub_gps/include/paho_mqtt_3c/mutex_type.h
View File

@ -1,25 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
*******************************************************************************/
#if !defined(_MUTEX_TYPE_H_)
#define _MUTEX_TYPE_H_
#if defined(WIN32) || defined(WIN64)
#include <windows.h>
#define mutex_type HANDLE
#else
#include <pthread.h>
#define mutex_type pthread_mutex_t*
#endif
#endif /* _MUTEX_TYPE_H_ */

86
src/communication/pub_gps/include/paho_mqtt_3c/pubsub_opts.h
View File

@ -1,86 +0,0 @@
/*******************************************************************************
* Copyright (c) 2012, 2018 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial contribution
* Guilherme Maciel Ferreira - add keep alive option
*******************************************************************************/
#if !defined(PUBSUB_OPTS_H)
#define PUBSUB_OPTS_H
#include "MQTTAsync.h"
#include "MQTTClientPersistence.h"
struct pubsub_opts
{
/* debug app options */
int publisher; /* publisher app? */
int quiet;
int verbose;
int tracelevel;
char* delimiter;
int maxdatalen;
/* message options */
char* message;
char* filename;
int stdin_lines;
int stdlin_complete;
int null_message;
/* MQTT options */
int MQTTVersion;
char* topic;
char* clientid;
int qos;
int retained;
char* username;
char* password;
char* host;
char* port;
char* connection;
int keepalive;
/* will options */
char* will_topic;
char* will_payload;
int will_qos;
int will_retain;
/* TLS options */
int insecure;
char* capath;
char* cert;
char* cafile;
char* key;
char* keypass;
char* ciphers;
/* MQTT V5 options */
int message_expiry;
struct {
char *name;
char *value;
} user_property;
};
typedef struct
{
const char* name;
const char* value;
} pubsub_opts_nameValue;
//void usage(struct pubsub_opts* opts, const char* version, const char* program_name);
void usage(struct pubsub_opts* opts, pubsub_opts_nameValue* name_values, const char* program_name);
int getopts(int argc, char** argv, struct pubsub_opts* opts);
char* readfile(int* data_len, struct pubsub_opts* opts);
void logProperties(MQTTProperties *props);
#endif

23
src/communication/pub_gps/include/paho_mqtt_3c/utf-8.h
View File

@ -1,23 +0,0 @@
/*******************************************************************************
* Copyright (c) 2009, 2013 IBM Corp.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v1.0
* and Eclipse Distribution License v1.0 which accompany this distribution.
*
* The Eclipse Public License is available at
* http://www.eclipse.org/legal/epl-v10.html
* and the Eclipse Distribution License is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* Contributors:
* Ian Craggs - initial API and implementation and/or initial documentation
*******************************************************************************/
#if !defined(UTF8_H)
#define UTF8_H
int UTF8_validate(int len, const char *data);
int UTF8_validateString(const char* string);
#endif

2351
src/communication/pub_gps/include/pub_gps/json.h
View File

File diff suppressed because it is too large Load Diff

14
src/communication/pub_gps/include/pub_gps/pub_gps_node.hpp
View File

@ -1,14 +0,0 @@
#ifndef __PUB_GPS_NODE_H__
#define __PUB_GPS_NODE_H__
struct GPS
{
double lng; // 经度
double lat; // 维度
float course; // 航向角 范围[0°, 360°]，0°为正北方向，精度：0.1
int mode; // 差分状态（定位）0：未定位 1：单点解 2：浮点解 3：固定解
};
extern GPS gps_mes;
#endif

BIN
src/communication/pub_gps/lib/libpaho-mqtt3c-static.a
View File

Binary file not shown.

BIN
src/communication/pub_gps/lib/libpaho-mqtt3c.a
View File

Binary file not shown.

22
src/communication/pub_gps/package.xml
View File

@ -1,22 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>pub_gps</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="zxwl@todo.todo">zxwl</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>sweeper_interfaces</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

5342
src/communication/pub_gps/src/jsoncpp.cpp
View File

File diff suppressed because it is too large Load Diff

305
src/communication/pub_gps/src/pub_gps_node.cpp
View File

@ -1,305 +0,0 @@
#include "MQTTClient.h"
#include "rclcpp/rclcpp.hpp"
#include "sweeper_interfaces/msg/rtk.hpp"
#include "json.h"
#include "pub_gps_node.hpp"
#include <fstream>
#include <iostream>
#include <string>
#include <chrono>
#include <ctime>
#include <unistd.h>
#include <string.h>
#include <time.h>
#include <random>
#include <sstream>
#include <iomanip>
#include <pthread.h>
struct MqttConf
{
std::string address; // 形如 tcp://ip:port
std::string client_id; // 客户端 ID
std::string user;
std::string password;
std::string pub_gps_topic;
int qos = 1;
long timeout_ms = 10000L;
int reconnect_interval = 5000; // 重连间隔(ms)
} g_conf;
GPS gps_mes;
// 增加连接状态标志，确保线程安全
static bool is_connected = false;
static pthread_mutex_t connect_mutex = PTHREAD_MUTEX_INITIALIZER;
// 检查连接状态
bool check_connection(MQTTClient client)
{
pthread_mutex_lock(&connect_mutex);
int state = MQTTClient_isConnected(client);
is_connected = (state == 1);
pthread_mutex_unlock(&connect_mutex);
return is_connected;
}
// 设置连接状态
void set_connected(bool connected)
{
pthread_mutex_lock(&connect_mutex);
is_connected = connected;
pthread_mutex_unlock(&connect_mutex);
}
// 重连函数
bool reconnect_client(MQTTClient *client)
{
MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
conn_opts.keepAliveInterval = 20;
conn_opts.cleansession = 1;
conn_opts.username = g_conf.user.c_str();
conn_opts.password = g_conf.password.c_str();
int rc;
// 尝试重连，最多尝试5次
for (int i = 0; i < 5; ++i)
{
std::cerr << "[MQTT] Reconnecting... (attempt " << i + 1 << "/5)" << std::endl;
rc = MQTTClient_connect(*client, &conn_opts);
if (rc == MQTTCLIENT_SUCCESS)
{
set_connected(true);
std::cout << "[MQTT] Reconnected successfully" << std::endl;
return true;
}
std::cerr << "[MQTT] Reconnect failed, rc=" << rc << ". Retrying in "
<< g_conf.reconnect_interval << "ms..." << std::endl;
usleep(g_conf.reconnect_interval * 1000);
}
return false;
}
void *mqtt_pub_gps(void *arg)
{
(void)arg;
MQTTClient client = nullptr;
MQTTClient_deliveryToken token_d_m;
int rc;
// 初始化客户端
if ((rc = MQTTClient_create(&client,
g_conf.address.c_str(),
g_conf.client_id.c_str(),
MQTTCLIENT_PERSISTENCE_NONE,
nullptr)) != MQTTCLIENT_SUCCESS)
{
std::cerr << "Failed to create client, rc=" << rc << std::endl;
return nullptr;
}
// 初始连接
if (!reconnect_client(&client))
{
std::cerr << "[MQTT] Failed to establish initial connection" << std::endl;
MQTTClient_destroy(&client);
return nullptr;
}
MQTTClient_message pubmsg = MQTTClient_message_initializer;
pubmsg.qos = g_conf.qos;
pubmsg.retained = 0;
Json::Value root_st;
Json::FastWriter json_writer;
unsigned char msg_st[256] = {0};
while (true)
{
// 检查连接状态，断开则尝试重连
if (!check_connection(client))
{
std::cerr << "[MQTT] Connection lost. Attempting to reconnect..." << std::endl;
// 先断开旧连接
MQTTClient_disconnect(client, 1000);
// 重连失败则销毁客户端重新创建
if (!reconnect_client(&client))
{
std::cerr << "[MQTT] All reconnection attempts failed. Recreating client..." << std::endl;
MQTTClient_destroy(&client);
// 重新创建客户端
if ((rc = MQTTClient_create(&client,
g_conf.address.c_str(),
g_conf.client_id.c_str(),
MQTTCLIENT_PERSISTENCE_NONE,
nullptr)) != MQTTCLIENT_SUCCESS)
{
std::cerr << "Failed to recreate client, rc=" << rc << std::endl;
usleep(g_conf.reconnect_interval * 1000);
continue;
}
// 再次尝试连接
if (!reconnect_client(&client))
{
usleep(g_conf.reconnect_interval * 1000);
continue;
}
}
}
root_st.clear();
root_st["lng"] = [&]
{ std::ostringstream s; s<<std::fixed<<std::setprecision(7)<<gps_mes.lng; return s.str(); }();
root_st["lat"] = [&]
{ std::ostringstream s; s<<std::fixed<<std::setprecision(7)<<gps_mes.lat; return s.str(); }();
root_st["course"] = [&]
{ std::ostringstream s; s<<std::fixed<<std::setprecision(1)<<gps_mes.course; return s.str(); }();
root_st["mode"] = gps_mes.mode;
root_st["timestamp"] =
std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch())
.count();
std::string json_string = json_writer.write(root_st);
memcpy(msg_st, json_string.c_str(), json_string.size());
pubmsg.payload = msg_st;
pubmsg.payloadlen = static_cast<int>(json_string.size());
// 发布消息
if (check_connection(client))
{
rc = MQTTClient_publishMessage(client,
g_conf.pub_gps_topic.c_str(),
&pubmsg,
&token_d_m);
if (rc == MQTTCLIENT_SUCCESS)
{
// std::cout << "[MQTT] Published to topic: " << g_conf.pub_gps_topic
// << "\n msg: " << json_string << std::endl;
MQTTClient_waitForCompletion(client, token_d_m, g_conf.timeout_ms);
}
else
{
std::cerr << "[MQTT] publish failed, rc=" << rc << std::endl;
set_connected(false); // 发布失败标记为断开连接
}
}
usleep(200000); // 200 ms
}
// 清理资源
MQTTClient_disconnect(client, 10000);
MQTTClient_destroy(&client);
pthread_mutex_destroy(&connect_mutex);
return nullptr;
}
class pub_gps_node : public rclcpp::Node
{
public:
explicit pub_gps_node(const std::string &name) : Node(name)
{
RCLCPP_INFO(this->get_logger(), "%s 节点已启动.", name.c_str());
gps_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>(
"rtk_message", 10,
std::bind(&pub_gps_node::command_callback, this, std::placeholders::_1));
}
private:
void command_callback(const sweeper_interfaces::msg::Rtk::SharedPtr msg)
{
gps_mes.lat = msg->lat;
gps_mes.lng = msg->lon;
gps_mes.course = msg->head;
if (msg->p_quality == 5)
gps_mes.mode = 2;
else if (msg->p_quality == 4)
gps_mes.mode = 3;
else
gps_mes.mode = msg->p_quality;
}
rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr gps_subscribe_;
};
std::string generate_mqtt_client_id()
{
// 获取当前时间戳（以毫秒为单位）
auto now = std::chrono::system_clock::now();
auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count();
// 生成一个 4 位随机数
std::random_device rd;
std::mt19937 gen(rd());
std::uniform_int_distribution<> dis(1000, 9999);
int random_num = dis(gen);
// 拼接成 client ID
std::ostringstream oss;
oss << "client_" << millis << "_" << std::setw(4) << std::setfill('0') << random_num;
return oss.str();
}
bool load_config(const std::string &path)
{
Json::Reader reader;
Json::Value root;
std::ifstream in(path, std::ios::binary);
if (!in.is_open())
{
std::cerr << "[config] open " << path << " failed\n";
return false;
}
if (!reader.parse(in, root))
{
std::cerr << "[config] parse json failed\n";
return false;
}
const auto &m = root["mqtt"];
std::string ip = m["external_net_address"].asString(); // tcp://36.153.162.171
int port = m["external_net_port"].asInt(); // 19683
// std::string ip = m["inter_net_address"].asString(); // tcp://192.168.4.196
// int port = m["inter_net_port"].asInt(); // 11883
g_conf.address = ip + ":" + std::to_string(port);
g_conf.client_id = generate_mqtt_client_id();
g_conf.user = m["mqtt_user"].asString();
g_conf.password = m["mqtt_password"].asString();
g_conf.pub_gps_topic = m["pub_gps_topic"].asString();
// 从配置读取重连间隔，默认5000ms
if (m.isMember("reconnect_interval"))
{
g_conf.reconnect_interval = m["reconnect_interval"].asInt();
}
return true;
}
int main(int argc, char **argv)
{
if (!load_config("config.json"))
return -1;
// 初始化互斥锁
pthread_mutex_init(&connect_mutex, nullptr);
pthread_t mqtt_thread;
pthread_create(&mqtt_thread, nullptr, mqtt_pub_gps, nullptr);
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<pub_gps_node>("pub_gps_node"));
rclcpp::shutdown();
// 清理资源
pthread_mutex_destroy(&connect_mutex);
return 0;
}