gongsiall/demo/app.js

// app.js
const mqtt = require("mqtt");//mqtt api包
const _ = require("lodash")//工具包
class AppBootHook {
  constructor(app) {
    this.app = app;
  }
  async didReady() {
    //连接到小车上的mqtt服务器
    // const client = mqtt.connect("mqtt://192.168.1.102:1883", {
    const client = mqtt.connect("mqtt://127.0.0.1:1883", {
      clean: true,//持续链接
      connectTimeout: 4000,//超时
      clientId: 'map-editor-' + Math.random().toString(16).substr(2),//连接用户id唯一
      username: 'map-editor',//连接用户名（如果没有则可以不写）
      password: 'leador',//连接用户密码（如果没有则可以不写）
    });
    //连接服务器
    client.on("connect", function () {
      console.log("appmqtt服务器连接成功");
      // 订阅电池信息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/battery`, { qos: 0 }, (a, b, c) => {
      });
      // 订阅位置信息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/gps`, { qos: 0 }, (a, b, c) => {
      });
      // 订阅位姿信息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/localization/pose`, { qos: 0 }, (a, b, c) => {
      });
      // 订阅错误消息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/message/error`, { qos: 0 }, (a, b, c) => {
      });
      // 订阅警告消息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/message/warn`, { qos: 0 }, (a, b, c) => {
      });
      // 订阅日志消息
      client.subscribe(`/robot4inspection/fa49e558574df1ec/message/info`, { qos: 0 }, (a, b, c) => {
      });

    });
    //监听消息
    client.on("message", async function (topic, message) {
      if (_.endsWith(topic, "/sensor/battery")) {
        //得到电池信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
      } else if (_.endsWith(topic, "/sensor/gps")) {
        //得到位置信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
      } else if (_.endsWith(topic, "/localization/pose")) {
        //得到位姿信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
      } else if (_.endsWith(topic, "/message/error")) {
        //得到错误信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
        //得到错误信息后需要发布消息（自定义话题即可）
        client.publish("/errorMessage", JSON.stringify(resObj), { qos: 1, })
      } else if (_.endsWith(topic, "/message/warn")) {
        //得到警告信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
      } else if (_.endsWith(topic, "/message/info")) {
        //得到日志信息
        let resObj = JSON.parse(message.toString())
        console.log(resObj)
      }
    });
  }
}

module.exports = AppBootHook;