修改mqtt上报节点的配置获取

config.json

@@ -1,16 +1,15 @@
 {
     "mqtt": {
-        "vid": "V060003",
-        "upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
-        "download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",
-        "inter_net_address": "tcp://192.168.4.196",
-        "inter_net_port": 11883,
         "external_net_address": "tcp://36.153.162.171",
         "external_net_port": 19683,
-        "mqtt_user": "zxwl",
-        "mqtt_password": "zxwl1234@",
+        "username": "zxwl",
+        "password": "zxwl1234@",
+        "info_topic": "/zxwl/vehicle/{vid}/info",
+        "fault_topic": "/zxwl/vehicle/{vid}/fault",
         "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/",
         "mqtt_topic_push_status": "/zxwl/sweeper/V060003/task/status",
         "mqtt_topic_sub_task": "/zxwl/sweeper/V060003/task"
     },

src/communication/mqtt_report/include/mqtt_report/get_config.h

@@ -1,12 +1,13 @@
 #pragma once
 
-#include <fstream>
-#include <string>
-#include <iostream>
 #include <chrono>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
 #include <random>
 #include <sstream>
-#include <iomanip>
+#include <string>
+
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "nlohmann/json.hpp"
 
@@ -15,12 +16,15 @@ using ordered_json = nlohmann::ordered_json;
 
 struct Config
 {
-    std::string vid;
     std::string mqtt_ip;
-    int mqtt_port;
-    std::string info_topic;
-    std::string fault_topic;
+    int mqtt_port = 1883;
+
+    std::string mqtt_username;
+    std::string mqtt_password;
+
+    std::string info_topic_template;   // e.g. /zxwl/vehicle/{vid}/info
+    std::string fault_topic_template;  // e.g. /zxwl/vehicle/{vid}/fault
 };
 
-bool load_config(Config &config);
+bool load_config(const std::string& path, Config& config);
 std::string generate_mqtt_client_id();

src/communication/mqtt_report/src/get_config.cpp

@@ -1,44 +1,32 @@
 #include "mqtt_report/get_config.h"
 
-bool load_config(Config &config)
+bool load_config(const std::string& path, Config& config)
 {
     try
     {
-        // std::string config_path = ament_index_cpp::get_package_share_directory("mqtt_report") + "/config/config.json";
-        std::string config_path = "./config.json";
-
-        std::ifstream ifs(config_path);
+        std::ifstream ifs(path);
         if (!ifs.is_open())
         {
-            std::cerr << "Failed to open config file: " << config_path << std::endl;
+            std::cerr << "Failed to open config file: " << path << std::endl;
             return false;
         }
 
         json j;
         ifs >> j;
 
-        config.vid = j.at("mqtt").at("vid").get<std::string>();
-        config.mqtt_ip = j.at("mqtt").at("external_net_address").get<std::string>();
-        config.mqtt_port = j.at("mqtt").at("external_net_port").get<int>();
+        const auto& mqtt = j.at("mqtt");
 
-        // 替换 topic 中的 {vid} 为实际 vid 值
-        auto replace_vid = [&](const std::string &topic_template)
-        {
-            std::string topic = topic_template;
-            size_t pos = topic.find("{vid}");
-            if (pos != std::string::npos)
-            {
-                topic.replace(pos, 5, config.vid);
-            }
-            return topic;
-        };
+        config.mqtt_ip = mqtt.at("external_net_address").get<std::string>();
+        config.mqtt_port = mqtt.at("external_net_port").get<int>();
+        config.mqtt_username = mqtt.at("username").get<std::string>();
+        config.mqtt_password = mqtt.at("password").get<std::string>();
 
-        config.info_topic = replace_vid(j.at("mqtt").at("info_topic").get<std::string>());
-        config.fault_topic = replace_vid(j.at("mqtt").at("fault_topic").get<std::string>());
+        config.info_topic_template = mqtt.at("info_topic").get<std::string>();
+        config.fault_topic_template = mqtt.at("fault_topic").get<std::string>();
 
         return true;
     }
-    catch (const std::exception &e)
+    catch (const std::exception& e)
     {
         std::cerr << "Error parsing MQTT config: " << e.what() << std::endl;
         return false;

src/communication/mqtt_report/src/mqtt_report_node.cpp

@@ -21,7 +21,6 @@
 namespace sweeperMsg = sweeper_interfaces::msg;
 using sweeper_interfaces::msg::VehicleIdentity;
 
-Config config;
 int mqtt_reconnect_interval = 5000;  // ms
 
 // ===================== JSON 打包 =====================
@@ -40,14 +39,27 @@ static std::string pack_general_info_to_json(const GeneralMsg& msg, const std::s
     return j.dump(-1);
 }
 
+static std::string make_topic(const std::string& tpl, const std::string& vid)
+{
+    std::string topic = tpl;
+    const std::string key = "{vid}";
+    auto pos = topic.find(key);
+    if (pos != std::string::npos)
+    {
+        topic.replace(pos, key.size(), vid);
+    }
+    return topic;
+}
+
 // ===================== Node =====================
 class CanDataSubscriber : public rclcpp::Node
 {
    public:
     explicit CanDataSubscriber(const Config& cfg)
         : Node("can_data_subscriber"),
-          mqtt_client_(cfg.mqtt_ip + ":" + std::to_string(cfg.mqtt_port), generate_mqtt_client_id(), "zxwl",
-                       "zxwl1234@", mqtt_reconnect_interval),
+          config_(cfg),
+          mqtt_client_(cfg.mqtt_ip + ":" + std::to_string(cfg.mqtt_port), generate_mqtt_client_id(), cfg.mqtt_username,
+                       cfg.mqtt_password, mqtt_reconnect_interval),
           can_decoder_(info_report_, info_mutex_, fault_mutex_)
     {
         // CAN
@@ -113,7 +125,7 @@ class CanDataSubscriber : public rclcpp::Node
             return;
         }
 
-        const std::string topic = "/zxwl/vehicle/" + vid + "/info";
+        const std::string topic = make_topic(config_.info_topic_template, vid);
 
         GeneralMsg snapshot;
         {
@@ -137,7 +149,7 @@ class CanDataSubscriber : public rclcpp::Node
         std::string imei, vid;
         if (!snapshot_identity(imei, vid)) return;
 
-        const std::string topic = "/zxwl/vehicle/" + vid + "/fault";
+        const std::string topic = make_topic(config_.fault_topic_template, vid);
 
         std::vector<int> codes;
         {
@@ -177,6 +189,8 @@ class CanDataSubscriber : public rclcpp::Node
     rclcpp::TimerBase::SharedPtr fault_timer_;
     rclcpp::TimerBase::SharedPtr connection_check_timer_;
 
+    Config config_;
+
     // MQTT
     MQTTClientWrapper mqtt_client_;
 
@@ -199,11 +213,25 @@ class CanDataSubscriber : public rclcpp::Node
 // ===================== main =====================
 int main(int argc, char** argv)
 {
+    std::string config_path = "./config.json";  // 默认配置
+
+    // 手动解析 --config
+    for (int i = 1; i < argc; ++i)
+    {
+        if (std::string(argv[i]) == "--config" && i + 1 < argc)
+        {
+            config_path = argv[i + 1];
+            ++i;  // 跳过参数值
+        }
+    }
+
     rclcpp::init(argc, argv);
 
-    if (!load_config(config))
+    Config config;
+
+    if (!load_config(config_path, config))
     {
-        RCLCPP_ERROR(rclcpp::get_logger("main"), "Failed to load MQTT config.");
+        RCLCPP_ERROR(rclcpp::get_logger("main"), "Failed to load config: %s", config_path.c_str());
         return 1;
     }
 
@@ -211,12 +239,6 @@ int main(int argc, char** argv)
 
     auto node = std::make_shared<CanDataSubscriber>(config);
 
-    RCLCPP_INFO(node->get_logger(), "mqtt_ip: %s", config.mqtt_ip.c_str());
-    RCLCPP_INFO(node->get_logger(), "info_topic: %s", config.info_topic.c_str());
-    RCLCPP_INFO(node->get_logger(), "fault_topic: %s", config.fault_topic.c_str());
-    RCLCPP_INFO(node->get_logger(), "MQTT reconnection interval: %d ms", mqtt_reconnect_interval);
-    RCLCPP_INFO(node->get_logger(), "MqttReport node started.");
-
     rclcpp::spin(node);
     rclcpp::shutdown();
     return 0;