Robot OS网络通信MQTT实战

sudo service mosquitto status
sudo service mosquitto start
sudo service mosquitto stop

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

sudo apt-get install mosquitto-clients

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

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

make_minimum_required(VERSION 3.4.1)
set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}" CACHE PATH "Installation directory" FORCE)
message(STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
project(mqtt)
SET(VERSION 0.0.1)
add_definitions(-w)
#file(READ version.major PAHO_VERSION_MAJOR)
#file(READ version.minor PAHO_VERSION_MINOR)
#file(READ version.patch PAHO_VERSION_PATCH)
SET(CLIENT_VERSION ${PAHO_VERSION_MAJOR}.${PAHO_VERSION_MINOR}.${PAHO_VERSION_PATCH})
STRING(TIMESTAMP BUILD_TIMESTAMP UTC)
MESSAGE(STATUS "Timestamp is ${BUILD_TIMESTAMP}")
## build options
SET(PAHO_WITH_SSL FALSE CACHE BOOL "Flag that defines whether to build ssl-enabled binaries too. ")
SET(PAHO_BUILD_SHARED TRUE CACHE BOOL "Build shared library")
SET(PAHO_BUILD_STATIC FALSE CACHE BOOL "Build static library")
SET(PAHO_BUILD_DOCUMENTATION FALSE CACHE BOOL "Create and install the HTML based API documentation (requires Doxygen)")
SET(PAHO_BUILD_SAMPLES FALSE CACHE BOOL "Build sample programs")
SET(PAHO_BUILD_DEB_PACKAGE FALSE CACHE BOOL "Build debian package")
SET(PAHO_ENABLE_TESTING TRUE CACHE BOOL "Build tests and run")
SET(PAHO_ENABLE_CPACK TRUE CACHE BOOL "Enable CPack")
SET(PAHO_HIGH_PERFORMANCE FALSE CACHE BOOL "Disable tracing and heap tracking")
SET(PAHO_USE_SELECT FALSE CACHE BOOL "Revert to select system call instead of poll")
IF (PAHO_HIGH_PERFORMANCE)
    ADD_DEFINITIONS(-DHIGH_PERFORMANCE=1)
ENDIF()
IF (PAHO_USE_SELECT)
    ADD_DEFINITIONS(-DUSE_SELECT=1)
ENDIF()
IF (NOT PAHO_BUILD_SHARED AND NOT PAHO_BUILD_STATIC)
    MESSAGE(FATAL_ERROR "You must set either PAHO_BUILD_SHARED, PAHO_BUILD_STATIC, or both")
ENDIF()
SET(ROOT ${CMAKE_SOURCE_DIR})
SET(BUILD_PATH "${CMAKE_BINARY_DIR}")
MESSAGE(STATUS "current project name is ${PROJECTNAME}")
SET(CMAKE_BUILD_TYPE "DEBUG")
#SET(CMAKE_BUILD_TYPE "RELEASE")
set(SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/main/cpp/paho.mqtt.c/src)
set(JNI_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/main/cpp)
find_library(log-lib log)
include_directories(${SOURCE_DIR})
include_directories(${JNI_SOURCE_DIR})
set(common_src
        ${SOURCE_DIR}/MQTTTime.c
        ${SOURCE_DIR}/MQTTProtocolClient.c
        ${SOURCE_DIR}/Clients.c
        ${SOURCE_DIR}/utf-8.c
        ${SOURCE_DIR}/MQTTPacket.c
        ${SOURCE_DIR}/MQTTPacketOut.c
        ${SOURCE_DIR}/Messages.c
        ${SOURCE_DIR}/Tree.c
        ${SOURCE_DIR}/Socket.c
        ${SOURCE_DIR}/Log.c
        ${SOURCE_DIR}/MQTTPersistence.c
        ${SOURCE_DIR}/Thread.c
        ${SOURCE_DIR}/MQTTProtocolOut.c
        ${SOURCE_DIR}/MQTTPersistenceDefault.c
        ${SOURCE_DIR}/SocketBuffer.c
        ${SOURCE_DIR}/LinkedList.c
        ${SOURCE_DIR}/MQTTProperties.c
        ${SOURCE_DIR}/MQTTReasonCodes.c
        ${SOURCE_DIR}/Base64.c
        ${SOURCE_DIR}/SHA1.c
        ${SOURCE_DIR}/WebSocket.c
        ${SOURCE_DIR}/Proxy.c
        ${SOURCE_DIR}/MQTTClient.c
        ${JNI_SOURCE_DIR}/JNI_OnLoad.cc
        ${JNI_SOURCE_DIR}/jni_utils.cc
        ${JNI_SOURCE_DIR}/keutil.cc
        )
IF (NOT PAHO_HIGH_PERFORMANCE)
    SET(common_src ${common_src}
            ${SOURCE_DIR}/StackTrace.c
            ${SOURCE_DIR}/Heap.c
            )
ENDIF()
SET(LIBS_SYSTEM c dl)
set(SELF_LIB_NAME kemqtt)
add_library(${SELF_LIB_NAME} SHARED ${common_src})
target_link_libraries(${SELF_LIB_NAME}
        ${log-lib}
        )

static jlong
_start(JNIEnv *env, jclass cls) {
    LOGI("start...");
  MQTTClient client;
  MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
  conn_opts.username = "A1_TEST_TOKEN";
  MQTTClient_message pubmsg = MQTTClient_message_initializer;
  MQTTClient_deliveryToken token;
  int rc;
  if ((rc = MQTTClient_create(&client, ADDRESS, CLIENTID,
                MQTTCLIENT_PERSISTENCE_NONE, NULL)) != MQTTCLIENT_SUCCESS)
  {
  LOGI("Failed to create client, return code %d\n", rc);
  return -1;
  }
  conn_opts.keepAliveInterval = 20;
  conn_opts.cleansession = 1;
  if ((rc = MQTTClient_connect(client, &conn_opts)) != MQTTCLIENT_SUCCESS)
  {
  LOGI("Failed to connect, return code %d\n", rc);
  return -2;
  }
  pubmsg.payload = (void *)PAYLOAD;
  pubmsg.payloadlen = (int)strlen(PAYLOAD);
  pubmsg.qos = QOS;
  pubmsg.retained = 0;
  if ((rc = MQTTClient_publishMessage(client, TOPIC, &pubmsg, &token)) != MQTTCLIENT_SUCCESS)
  {
  LOGI("Failed to publish message, return code %d\n", rc);
  return -3;
  }
  LOGI("Waiting for up to %d seconds for publication of %s\n"
     "on topic %s for client with ClientID: %s\n",
     (int)(TIMEOUT/1000), PAYLOAD, TOPIC, CLIENTID);
  rc = MQTTClient_waitForCompletion(client, token, TIMEOUT);
  LOGI("Message with delivery token %d delivered\n", token);
  if ((rc = MQTTClient_disconnect(client, 10000)) != MQTTCLIENT_SUCCESS)
  LOGI("Failed to disconnect, return code %d\n", rc);
  MQTTClient_destroy(&client);
    return (jlong) 0;
}