#!/usr/bin/env python # -*- coding: utf-8 -*- """ MQTT相关功能模块 """ import queue import time from typing import Optional, Dict, Any from utils.logger import get_logger import paho.mqtt.client as mqtt logger = get_logger("services.online_script.built_in_modules.mqtt_module") class VWEDMqttModule: """MQTT模块 - 提供MQTT订阅和发布功能""" def __init__(self, script_id: str): self.script_id = script_id self._clients: Dict[str, mqtt.Client] = {} self._message_queues: Dict[str, queue.Queue] = {} self._config = self._load_config() self._connected_clients: Dict[str, bool] = {} def _load_config(self) -> Dict[str, Any]: """加载MQTT配置""" return { 'enable': True, 'pub_config': { # 发布者 'broker': 'tcp://192.168.189.97:1883', # 服务器端点url 'topics': ['oagv/v2/asbm2_IRAYPLE/SIM-1/state'], # 订阅的主题，MQTT允许使用通配符订阅主题，不允许使用通配符pub发布消息 'qos': 2, # 设置message的服务质量（0：消息最多传递一次（零次或一次）1：至少传递一次（一次或多次）。2：只传递一次） 'client_id': 'RDS-Pub', # 客户端唯一标识 'username': None, # 连接的用户名，不需要就填 null 'password': None, # 连接的密码,不需要就填 null 'clean_session': False, # 设置是否清空session,false表示服务器会保留客户端的连接记录，true每次都以新的身份连接服务器 'connection_timeout': 30, # 超时时间(seconds) 'keep_alive_interval': 60, # 设置会话心跳时间(seconds) 'automatic_reconnect': True, # 设置断开后重新连接 'retained': False, # 表示发送的消息需要一直持久保存（不受服务器重启影响），不但要发送给当前的订阅者，并且以后新来的订阅了此Topic name的订阅者会马上得到推送。 'will_msg': None, # 作为publish的遗嘱消息，会存到服务器，在publish端非正常断连的情况下，发送给所有订阅的客户端 不需要就填 null 'will_topic': 'Examples1' # 遗嘱消息发布的topic }, 'sub_config': { # 订阅者 'broker': 'tcp://192.168.189.97:1883', # 服务器端点url 'topics': ['uagv/v2/IRAYPLE/SIM-1/state'], # MQTT允许使用通配符sub订阅主题，但不允许使用通配符pub发布消息 'qos': 1, # 设置message的服务质量（0：消息最多传递一次（零次或一次）1：至少传递一次（一次或多次）。2：只传递一次） 'client_id': 'RDS-Sub', # 客户端唯一标识 'username': None, # 连接的用户名，不需要就填 null 'password': None, # 连接的密码,不需要就填 null 'clean_session': False, # 设置是否清空session,false表示服务器会保留客户端的连接记录，true每次都以新的身份连接服务器 'connection_timeout': 30, # 超时时间(seconds) 'keep_alive_interval': 60, # 设置会话心跳时间(seconds) 'automatic_reconnect': True, # 设置断开后重新连接 'retained': False # 表示发送的消息需要一直持久保存（不受服务器重启影响），不但要发送给当前的订阅者，并且以后新来的订阅了此Topic name的订阅者会马上得到推送。 } } def _parse_broker_url(self, broker: str) -> tuple: """解析broker URL""" if broker.startswith('tcp://'): broker = broker[6:] elif broker.startswith('mqtt://'): broker = broker[7:] if ':' in broker: host, port = broker.split(':', 1) return host, int(port) else: return broker, 1883 def _get_or_create_client(self, client_type: str, config: Dict[str, Any]) -> Optional[mqtt.Client]: """获取或创建MQTT客户端""" client_key = f"{client_type}_{self.script_id}" if client_key in self._clients: return self._clients[client_key] try: client = mqtt.Client( client_id=config['client_id'] + f"_{self.script_id}", callback_api_version=mqtt.CallbackAPIVersion.VERSION2 ) if config.get('username') and config.get('password'): client.username_pw_set(config['username'], config['password']) client.clean_session = config.get('clean_session', False) if client_type == 'sub': if client_key not in self._message_queues: self._message_queues[client_key] = queue.Queue() def on_message(_client, _userdata, msg, _properties=None): try: message = msg.payload.decode('utf-8') self._message_queues[client_key].put(message) except Exception as e: logger.error(f"Error processing MQTT message: {e}") client.on_message = on_message def on_connect(_client, _userdata, _flags, rc, _properties=None): if rc == 0: self._connected_clients[client_key] = True logger.info(f"MQTT client {client_key} connected successfully") else: self._connected_clients[client_key] = False logger.error(f"MQTT client {client_key} failed to connect with code {rc}") def on_disconnect(_client, _userdata, rc, _properties=None): self._connected_clients[client_key] = False logger.info(f"MQTT client {client_key} disconnected") client.on_connect = on_connect client.on_disconnect = on_disconnect host, port = self._parse_broker_url(config['broker']) client.connect(host, port, config.get('keep_alive_interval', 60)) client.loop_start() self._clients[client_key] = client # 等待连接建立 timeout = time.time() + config.get('connection_timeout', 30) while time.time() < timeout and not self._connected_clients.get(client_key, False): time.sleep(0.1) if not self._connected_clients.get(client_key, False): logger.error(f"MQTT client {client_key} connection timeout") return None return client except Exception as e: logger.error(f"Failed to create MQTT client: {e}") return None def mqtt_subscribe(self, topic: Optional[str] = None) -> Optional[str]: """MQTT订阅信息 Args: topic: 订阅的topic，如果不提供则使用配置文件中的topic Returns: 订阅到的信息，失败返回None """ if not self._config.get('enable', False): logger.warning("MQTT is disabled in configuration") return None sub_config = self._config.get('sub_config', {}) client = self._get_or_create_client('sub', sub_config) if not client: return None try: # 确定要订阅的topic if topic: subscribe_topic = topic else: topics = sub_config.get('topics', []) if not topics: logger.error("No topics configured for subscription") return None subscribe_topic = topics[0] # 使用第一个配置的topic print("subscribe_topic::", subscribe_topic) # 订阅topic client.subscribe(subscribe_topic, sub_config.get('qos', 1)) # 等待消息 client_key = f"sub_{self.script_id}" message_queue = self._message_queues.get(client_key) if not message_queue: logger.error("Message queue not available") return None try: # 等待消息，超时时间5秒 message = message_queue.get(timeout=5) return message except queue.Empty: logger.warning("No message received within timeout") return None except Exception as e: logger.error(f"MQTT subscribe failed: {e}") return None def mqtt_publish(self, topic_or_message: str, message: Optional[str] = None) -> bool: """MQTT发布信息 Args: topic_or_message: 如果message为None，则此参数为消息内容；否则为topic message: 消息内容 Returns: 发布是否成功 """ if not self._config.get('enable', False): logger.warning("MQTT is disabled in configuration") return False pub_config = self._config.get('pub_config', {}) client = self._get_or_create_client('pub', pub_config) if not client: return False try: # 确定topic和message if message is None: # 使用配置文件中的topic topics = pub_config.get('topics', []) if not topics: logger.error("No topics configured for publishing") return False publish_topic = topics[0] publish_message = topic_or_message else: # 使用传入的topic publish_topic = topic_or_message publish_message = message # 发布消息 result = client.publish( publish_topic, publish_message, qos=pub_config.get('qos', 2), retain=pub_config.get('retained', False) ) return result.rc == mqtt.MQTT_ERR_SUCCESS except Exception as e: logger.error(f"MQTT publish failed: {e}") return False def cleanup(self): """清理资源""" for client in self._clients.values(): try: client.loop_stop() client.disconnect() except: pass self._clients.clear() self._message_queues.clear() self._connected_clients.clear()