From 3fbdb4cfa9f79757f3662b6a18ce48c420780578 Mon Sep 17 00:00:00 2001
From: Junya Hayashi <junya.hayashi@groove-x.com>
Date: Mon, 21 Nov 2016 00:00:42 +0900
Subject: [PATCH] Implement mqtt_private_path feature
---
README.md | 4 ++++
config/demo_params.yaml | 10 ++++++++++
src/mqtt_bridge/app.py | 9 +++++++--
src/mqtt_bridge/bridge.py | 5 +++--
src/mqtt_bridge/mqtt_client.py | 10 +++++++++-
5 files changed, 33 insertions(+), 5 deletions(-)
diff --git a/README.md b/README.md
index 318b3c0..1bb1c2e 100644
--- a/README.md
+++ b/README.md
@@ -110,6 +110,10 @@ Parameters under `mqtt` section are used for creating paho's `mqtt.Client` and i
See `mqtt_bridge.mqtt_client` for detail.
+### mqtt private path
+
+If `mqtt/private_path` parameter is set, leading `~/` in MQTT topic path will be replaced by this value. For example, if `mqtt/pivate_path` is set as "device/001", MQTT path "~/value" will be converted to "device/001/value".
+
### selializer and deselializer
`mqtt_bridge` uses `json` as a selializer in default. But you can also configure other selializers. For example, if you want to use messagepack for selialization, add following configuration.
diff --git a/config/demo_params.yaml b/config/demo_params.yaml
index e6fa3de..6ac90ef 100644
--- a/config/demo_params.yaml
+++ b/config/demo_params.yaml
@@ -5,6 +5,7 @@ mqtt:
host: localhost
port: 1883
keepalive: 60
+ private_path: device/001
selializer: msgpack:dumps
deselializer: msgpack:loads
bridge:
@@ -26,3 +27,12 @@ bridge:
msg_type: std_msgs.msg:String
topic_from: echo
topic_to: /back
+ # private path
+ - factory: mqtt_bridge.bridge:RosToMqttBridge
+ msg_type: std_msgs.msg:String
+ topic_from: /private/echo
+ topic_to: ~/echo
+ - factory: mqtt_bridge.bridge:MqttToRosBridge
+ msg_type: std_msgs.msg:String
+ topic_from: ~/echo
+ topic_to: /private/back
diff --git a/src/mqtt_bridge/app.py b/src/mqtt_bridge/app.py
index ad627a2..7f5a1df 100644
--- a/src/mqtt_bridge/app.py
+++ b/src/mqtt_bridge/app.py
@@ -6,18 +6,21 @@ import paho.mqtt.client as mqtt
import rospy
from .bridge import create_bridge
+from .mqtt_client import create_private_path_extractor
from .util import lookup_object
-def create_config(mqtt_client, selializer, deselializer):
+def create_config(mqtt_client, selializer, deselializer, mqtt_private_path):
if isinstance(selializer, basestring):
selializer = lookup_object(selializer)
if isinstance(deselializer, basestring):
deselializer = lookup_object(deselializer)
+ private_path_extractor = create_private_path_extractor(mqtt_private_path)
def config(binder):
binder.bind('selializer', selializer)
binder.bind('deselializer', deselializer)
binder.bind(mqtt.Client, mqtt_client)
+ binder.bind('mqtt_private_path_extractor', private_path_extractor)
return config
@@ -29,6 +32,7 @@ def mqtt_bridge_node():
params = rospy.get_param("~", {})
mqtt_params = params.pop("mqtt", {})
conn_params = mqtt_params.pop("connection")
+ mqtt_private_path = mqtt_params.pop("private_path", "")
bridge_params = params.get("bridge", [])
# create mqtt client
@@ -42,7 +46,8 @@ def mqtt_bridge_node():
deselializer = params.get('deselializer', 'json:loads')
# dependency injection
- config = create_config(mqtt_client, selializer, deselializer)
+ config = create_config(
+ mqtt_client, selializer, deselializer, mqtt_private_path)
inject.configure(config)
# configure and connect to MQTT broker
diff --git a/src/mqtt_bridge/bridge.py b/src/mqtt_bridge/bridge.py
index e87f254..2aa22d9 100644
--- a/src/mqtt_bridge/bridge.py
+++ b/src/mqtt_bridge/bridge.py
@@ -46,6 +46,7 @@ class Bridge(object):
_mqtt_client = inject.attr(mqtt.Client)
_selialize = inject.attr('selializer')
_deselialize = inject.attr('deselializer')
+ _extract_private_path = inject.attr('mqtt_private_path_extractor')
class RosToMqttBridge(Bridge):
@@ -59,7 +60,7 @@ class RosToMqttBridge(Bridge):
def __init__(self, topic_from, topic_to, msg_type, frequency=None):
self._topic_from = topic_from
- self._topic_to = topic_to
+ self._topic_to = self._extract_private_path(topic_to)
self._last_published = rospy.get_time()
self._interval = 0 if frequency is None else 1.0 / frequency
rospy.Subscriber(topic_from, msg_type, self._callback_ros)
@@ -88,7 +89,7 @@ class MqttToRosBridge(Bridge):
def __init__(self, topic_from, topic_to, msg_type, frequency=None,
queue_size=10):
- self._topic_from = topic_from
+ self._topic_from = self._extract_private_path(topic_from)
self._topic_to = topic_to
self._msg_type = msg_type
self._queue_size = queue_size
diff --git a/src/mqtt_bridge/mqtt_client.py b/src/mqtt_bridge/mqtt_client.py
index 3093c0e..bf4498a 100644
--- a/src/mqtt_bridge/mqtt_client.py
+++ b/src/mqtt_bridge/mqtt_client.py
@@ -53,4 +53,12 @@ def default_mqtt_client_factory(params):
return client
-__all__ = ["default_mqtt_client_factory"]
+def create_private_path_extractor(mqtt_private_path):
+ def extractor(topic_path):
+ if topic_path.startswith('~/'):
+ return '{}/{}'.format(mqtt_private_path, topic_path[2:])
+ return topic_path
+ return extractor
+
+
+__all__ = ['default_mqtt_client_factory', 'create_private_path_extractor']
--
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