private void MqttClient_Disconnected(object sender, EventArgs e)
{
Application.Current.Dispatcher.Invoke((new Action(() =>
{
MQTT.AppendText("已断开MQTT连接！" + Environment.NewLine);
})));
}
private async Task ConnectMqttServerAsync()
{
if (mqttClient == null)
{
mqttClient = new MqttClientFactory().CreateMqttClient() as MqttClient;
mqttClient.ApplicationMessageReceived += MqttClient_ApplicationMessageReceived;
mqttClient.Connected += MqttClient_Connected;
mqttClient.Disconnected += MqttClient_Disconnected;
}
try
{
var options = new MqttClientTcpOptions
{
Server = "127.0.0.1",
ClientId = "win7-PC",
UserName = "******",
Password = "******",
CleanSession = true
};
await mqttClient.ConnectAsync(options);
}
catch (Exception ex)
{
Application.Current.Dispatcher.Invoke((new Action(() =>
{
MQTT.AppendText($"连接到MQTT服务器失败！" + Environment.NewLine + ex.Message + Environment.NewLine);
})));
}
}
private void MqttClient_Connected(object sender, EventArgs e)
{
Application.Current.Dispatcher.Invoke((new Action(() =>
{
MQTT.AppendText("已连接到MQTT服务器！" + Environment.NewLine);
})));
string topic = "/ros_planned_path";
if (!mqttClient.IsConnected)
{
MessageBox.Show("MQTT客户端尚未连接！");
return;
}
mqttClient.SubscribeAsync(new List <TopicFilter> {
new TopicFilter(topic, MqttQualityOfServiceLevel.AtMostOnce)
});
Application.Current.Dispatcher.Invoke(new Action(() =>
{
MQTT.AppendText($"已订阅[{topic}]主题" + Environment.NewLine);
}));
}