SmartTank/Contoller.py

from Tank import Tank
from paho.mqtt import client as mqtt_Client
from paho.mqtt.properties import Properties
from paho.mqtt.packettypes import PacketTypes

tank = Tank()
tank.setSpeed(40)
def on_message(client, userdata, msg):
    print(f"Received `{msg.payload.decode()}` from `{msg.topic}` topic")
    cmd = msg.payload.decode()
    if cmd == 'f':
        tank.forward()
    elif cmd == 'p':
        tank.stop()
    elif cmd == 'b':
        tank.backward()
    elif cmd == 'l':
        tank.left()
    elif cmd == 'r':
        tank.right()
    elif cmd == 'u':
        tank.speedUp()
    elif cmd == 'd':
        tank.speedDown()
def on_disconnect(client, userdata, rc):
    tank.stop()

client = mqtt_Client.Client(client_id="RaspiCar", protocol=5)
connectProperties = Properties(PacketTypes.CONNECT)
publishProperties = Properties(PacketTypes.PUBLISH)
# 添加断开连接的回调（可选）
client.on_disconnect = on_disconnect
client.connect("192.168.31.98",1883,0,properties=connectProperties)
client.subscribe("carcontrol")
client.on_message = on_message
client.loop_forever()