Added prefix and a path parser to disnguish ditto messages

agent/mqtt.py

@@ -19,6 +19,9 @@
 #
 
 import rclpy
+import re
+import json
+
 from rclpy.node import Node
 
 from muto_msgs.msg import Gateway, MutoActionMeta
@@ -31,14 +34,14 @@ class MQTT(Node):
 
     def __init__(self):
         super().__init__("mqtt_gateway")
-
         # Declare Parameters
         self.declare_parameter("host", "sandbox.composiv.ai")
         self.declare_parameter("port", 1883)
         self.declare_parameter("keep_alive", 60)
         self.declare_parameter("user", "")
         self.declare_parameter("password", "")
         self.declare_parameter("namespace", "")
+        self.declare_parameter("prefix", "muto")
         self.declare_parameter("name", "")
 
         self.declare_parameter("agent_to_gateway_topic", "msg1")
@@ -50,6 +53,7 @@ def __init__(self):
         self.keep_alive = self.get_parameter("keep_alive").value
         self.user = self.get_parameter("user").value
         self.password = self.get_parameter("password").value
+        self.prefix = self.get_parameter("prefix").value
         self.namespace = self.get_parameter("namespace").value
         self.name = self.get_parameter("name").value
 
@@ -106,7 +110,9 @@ def on_connect(self, client, userdata, flags, reasonCode, properties):
                 of the Properties class.
         """
         topic = f"{self.namespace}:{self.name}/#"
+        twintopics = f"{self.prefix}/{self.namespace}:{self.name}/#"
         self.mqtt.subscribe(topic)
+        self.mqtt.subscribe(twintopics)
         self.get_logger().info(f"Subscribed to {topic}")
 
     def on_message(self, client, userdata, message):
@@ -149,7 +155,16 @@ def on_message(self, client, userdata, message):
             meta.correlation_data = CorrelationData
 
         # Send message to agent
-        self.send_to_agent(topic, payload, meta)
+        thingmsg = json.loads(payload)
+        twinmsg = []
+        if bool(thingmsg.get('topic', None)):
+            twinmsg  = re.findall('.*/things/twin/events/(.*)', thingmsg['topic'])
+        if len(twinmsg) > 0 and bool(twinmsg[0]):
+            change = twinmsg[0]
+            logmsg = f"{self.name} received event {topic} {thingmsg['topic']} {change} {thingmsg.get('path', None)}  {thingmsg.get('value',None)}"
+            self.get_logger().info(logmsg)
+        else:
+            self.send_to_agent(topic, payload, meta)
 
     def send_to_agent(self, topic, payload, meta):
         """