MQTT経由でRaspberry PI 4 Model B（ラズパイ）からモーター制御

$pip install paho-mqtt

C:\Program Files\mosquitto>mosquitto -v
1724042850: mosquitto version 2.0.18 starting
1724042850: Using default config.
1724042850: Starting in local only mode. Connections will only be possible from clients running on this machine.
1724042850: Create a configuration file which defines a listener to allow remote access.
1724042850: For more details see https://mosquitto.org/documentation/authentication-methods/
1724042850: Opening ipv4 listen socket on port 1883.
1724042850: Opening ipv6 listen socket on port 1883.
1724042850: mosquitto version 2.0.18 running

C:\Program Files\mosquitto>mosquitto_sub -h localhost -t test
1724043030: New connection from ::1:56065 on port 1883.
1724043030: New client connected from ::1:56065 as auto-xxx.
1724043030: No will message specified.
1724043030: Sending CONNACK to auto-xxx
1724043030: Received SUBSCRIBE from auto-xxx
1724043030:     test (QoS 0)
1724043030: auto-xxx 0 test
1724043030: Sending SUBACK to auto-xxx

C:\Program Files\mosquitto>mosquitto_pub -h localhost -t test -m "sample message"

sample message

$mosquitto -c mosquitto.conf -v

 $mosquitto_sub -h 192.168.x.x -p 1883 -t test -v

$mosquitto_pub -h localhost -t test -m "sample message"

$ python motor2.py
/home/xxx/motor2.py:29: DeprecationWarning: Callback API version 1 is deprecated, update to latest version
  client = mqtt.Client(client_id=MQTT_CLIENT_ID, protocol=mqtt.MQTTv311)
Connected with result code 0

$mosquitto_pub -h localhost -t test -m "ON"

$mosquitto_pub -h localhost -t test -m "OFF"

#!/usr/bin/env python3
from gpiozero import Motor
from time import sleep
import paho.mqtt.client as mqtt

# GPIO pin configuration
motor = Motor(forward=17, backward=27, enable=22)

# MQTT configuration
MQTT_BROKER_IP = "192.168.128.118"
MQTT_TOPIC = "test"
MQTT_CLIENT_ID = "motor_controller"

# Callback function for when the client connects to the broker
def on_connect(client, userdata, flags, rc):
    print(f"Connected with result code {rc}")
    client.subscribe(MQTT_TOPIC)  # Subscribe to the topic

# Callback function for when a message is received
def on_message(client, userdata, msg):
    message = msg.payload.decode()
    print(f"Received message '{message}' on topic '{msg.topic}'")
    if message == "ON":
        motor.forward()  # Drive the motor forward
    elif message == "OFF":
        motor.stop()  # Stop the motor

# Configure MQTT client
client = mqtt.Client(client_id=MQTT_CLIENT_ID, protocol=mqtt.MQTTv311)
client.on_connect = on_connect
client.on_message = on_message

try:
    # Connect to the MQTT broker
    client.connect(MQTT_BROKER_IP)
    
    # Start the MQTT client loop
    client.loop_start()
    
    # Keep the program running
    while True:
        sleep(1)  # Wait for MQTT messages

except KeyboardInterrupt:
    # Handle keyboard interrupt (e.g., Ctrl+C) to stop the program gracefully
    print("KeyboardInterrupt received, stopping motor and cleaning up.")

finally:
    # Ensure motor is stopped and MQTT client loop is stopped
    motor.stop()  # Stop the motor
    client.loop_stop()  # Stop the MQTT client loop
    client.disconnect()  # Disconnect from the MQTT broker
    print("Program stopped and GPIO cleaned up.")

C:\Program Files\mosquitto>mosquitto -v
1724042850: Using default config.
1724042850: Starting in local only mode. Connections will only be possible from clients running on this machine.
1724042850: Create a configuration file which defines a listener to allow remote access.

$mosquitto -c mosquitto.conf -v

mosquitto version 2.0.18 starting
Config loaded from mosquitto.conf.
Opening ipv6 listen socket on port 1883.
Opening ipv4 listen socket on port 1883.
mosquitto version 2.0.18 running