Integrate Paho MQTT C library into project. Updated CMakeLists.txt to find PahoMqttC package and added fallback for manual linking. Refactored mqtt.hpp and mqtt.cpp to utilize Paho MQTT C API, replacing previous async client implementation. Added Windows setup guide for MQTT library installation.

CMakeLists.txt

@@ -9,13 +9,21 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 find_package(PkgConfig REQUIRED)
 find_package(Threads REQUIRED)
 
-# Find installed unitree_sdk2
+# Try to find PahoMqttC, fallback to manual linking if not found
+find_package(PahoMqttC QUIET)
+if(NOT PahoMqttC_FOUND)
+    message(STATUS "PahoMqttC package not found, using manual library linking")
+    find_library(PAHO_MQTT_C_LIBRARY NAMES paho-mqtt3c REQUIRED)
+    find_path(PAHO_MQTT_C_INCLUDE_DIR NAMES MQTTClient.h REQUIRED)
+endif()
+
 find_package(unitree_sdk2 REQUIRED)
 
 # Include directories
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_SOURCE_DIR}/include/nlohmann
+    $<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_INCLUDE_DIR}>
 )
 
 # Source files
@@ -25,7 +33,7 @@ set(SOURCES
     src/custom_robot.cpp
     src/config.cpp
     src/logger.cpp
-    # src/mqtt.cpp  # Disabled MQTT for now
+    src/mqtt.cpp
 )
 
 # Create executable with simple name
@@ -35,6 +43,8 @@ add_executable(main ${SOURCES})
 target_link_libraries(main
     unitree_sdk2
     Threads::Threads
+    $<$<BOOL:${PahoMqttC_FOUND}>:PahoMqttC::PahoMqttC>
+    $<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_LIBRARY}>
 )
 
 # Set output directory

MQTT_SETUP_WINDOWS.md

@@ -0,0 +1,85 @@
+# Windows MQTT库安装指南
+
+## 方法1: 使用vcpkg (推荐)
+
+### 1. 安装vcpkg
+```cmd
+git clone https://github.com/Microsoft/vcpkg.git
+cd vcpkg
+.\bootstrap-vcpkg.bat
+```
+
+### 2. 安装MQTT库
+```cmd
+.\vcpkg install paho-mqtt:x64-windows
+.\vcpkg install paho-mqttpp3:x64-windows
+.\vcpkg install nlohmann-json:x64-windows
+```
+
+### 3. 集成到CMake
+```cmd
+.\vcpkg integrate install
+```
+
+### 4. 修改CMake命令
+在构建时添加vcpkg工具链：
+```cmd
+mkdir build
+cd build
+cmake .. -DCMAKE_TOOLCHAIN_FILE=[vcpkg根目录]/scripts/buildsystems/vcpkg.cmake
+cmake --build .
+```
+
+## 方法2: 手动编译
+
+### 1. 编译Paho MQTT C库
+```cmd
+git clone https://github.com/eclipse/paho.mqtt.c.git
+cd paho.mqtt.c
+mkdir build
+cd build
+cmake .. -DPAHO_BUILD_STATIC=TRUE -DPAHO_BUILD_SHARED=FALSE
+cmake --build . --config Release
+cmake --install . --prefix C:/mqtt/c
+```
+
+### 2. 编译Paho MQTT C++库
+```cmd
+git clone https://github.com/eclipse/paho.mqtt.cpp.git
+cd paho.mqtt.cpp
+mkdir build
+cd build
+cmake .. -DPAHO_MQTT_C_PATH=C:/mqtt/c -DPAHO_BUILD_STATIC=TRUE
+cmake --build . --config Release
+cmake --install . --prefix C:/mqtt/cpp
+```
+
+### 3. 修改CMakeLists.txt
+添加库路径：
+```cmake
+set(CMAKE_PREFIX_PATH "C:/mqtt/cpp;C:/mqtt/c")
+find_package(PahoMqttCpp REQUIRED)
+```
+
+## 验证安装
+
+运行以下命令验证：
+```cmd
+cd build
+cmake ..
+```
+
+如果没有错误，说明MQTT库已正确配置。
+
+## 使用示例
+
+在您的代码中导入MQTT：
+```cpp
+#include <mqtt/async_client.h>
+#include "mqtt.hpp"
+
+// 创建MQTT客户端
+auto mqttClient = std::make_unique<custom::MqttClient>("localhost", 1883, "test_client");
+mqttClient->connect();
+mqttClient->subscribe("test/topic");
+```

include/mqtt.hpp

@@ -9,7 +9,7 @@
 #include <mutex>
 #include <condition_variable>
 #include <nlohmann/json.hpp>
-#include <mqtt/async_client.h>
+#include <MQTTClient.h>  // Paho MQTT C library
 
 namespace custom {
 
@@ -39,34 +39,22 @@ public:
     void stopMessageProcessor();
 
 private:
-    class Callback : public virtual mqtt::callback,
-                     public virtual mqtt::iaction_listener {
-    public:
-        Callback(MqttClient* client) : client_(client) {}
-
-        void connected(const std::string& cause) override;
-        void connection_lost(const std::string& cause) override;
-        void message_arrived(mqtt::const_message_ptr msg) override;
-        void delivery_complete(mqtt::delivery_token_ptr token) override;
-
-        void on_failure(const mqtt::token& tok) override;
-        void on_success(const mqtt::token& tok) override;
-
-    private:
-        MqttClient* client_;
-    };
-
     struct QueuedMessage {
         std::string topic;
         std::string payload;
     };
 
+    // C callback functions (static)
+    static int messageArrivedCallback(void* context, char* topicName, int topicLen, MQTTClient_message* message);
+    static void connectionLostCallback(void* context, char* cause);
+    static void deliveryCompleteCallback(void* context, MQTTClient_deliveryToken dt);
+
     void processMessageQueue();
     void handleConnectionLost();
     void handleConnectionEstablished();
+    void reconnectWorker();
 
-    std::unique_ptr<mqtt::async_client> client_;
+    MQTTClient client_;
-    std::unique_ptr<Callback> callback_;
     
     MessageCallback messageCallback_;
     ConnectionCallback connectionCallback_;
@@ -82,8 +70,7 @@ private:
     std::atomic<bool> processorRunning_;
     
     // Connection parameters
-    std::string broker_;
+    std::string serverURI_;
-    int port_;
     std::string clientId_;
     std::string username_;
     std::string password_;
@@ -92,6 +79,9 @@ private:
     std::thread reconnectThread_;
     std::atomic<bool> shouldReconnect_;
     int reconnectDelay_ = 5; // seconds
+    
+    // Connection options
+    MQTTClient_connectOptions connOpts_;
 };
 
 } // namespace custom

src/mqtt.cpp

@@ -1,21 +1,35 @@
 #include "mqtt.hpp"
 #include "logger.hpp"
 #include <sstream>
+#include <cstring>
 
 namespace custom {
 
 MqttClient::MqttClient(const std::string& broker, int port, const std::string& clientId)
-    : broker_(broker), port_(port), clientId_(clientId), 
+    : clientId_(clientId), connected_(false), reconnecting_(false), 
-      connected_(false), reconnecting_(false), processorRunning_(false),
+      processorRunning_(false), shouldReconnect_(true) {
-      shouldReconnect_(true) {
     
     std::stringstream ss;
-    ss << "tcp://" << broker_ << ":" << port_;
+    ss << "tcp://" << broker << ":" << port;
-    std::string serverURI = ss.str();
+    serverURI_ = ss.str();
     
-    client_ = std::make_unique<mqtt::async_client>(serverURI, clientId_);
+    // 初始化连接选项
-    callback_ = std::make_unique<Callback>(this);
+    connOpts_ = MQTTClient_connectOptions_initializer;
-    client_->set_callback(*callback_);
+    connOpts_.keepAliveInterval = 20;
+    connOpts_.cleansession = 1;
+    connOpts_.reliable = 0;  // 异步发送
+    
+    // 创建 MQTT 客户端
+    int rc = MQTTClient_create(&client_, serverURI_.c_str(), clientId_.c_str(),
+                               MQTTCLIENT_PERSISTENCE_NONE, nullptr);
+    if (rc != MQTTCLIENT_SUCCESS) {
+        LOG_ERROR("Failed to create MQTT client, return code: " + std::to_string(rc));
+        return;
+    }
+    
+    // 设置回调函数
+    MQTTClient_setCallbacks(client_, this, connectionLostCallback, 
+                           messageArrivedCallback, deliveryCompleteCallback);
 }
 
 MqttClient::~MqttClient() {
@@ -26,120 +40,105 @@ MqttClient::~MqttClient() {
     if (reconnectThread_.joinable()) {
         reconnectThread_.join();
     }
+    
+    // 销毁 MQTT 客户端
+    if (client_) {
+        MQTTClient_destroy(&client_);
+    }
 }
 
 bool MqttClient::connect(const std::string& username, const std::string& password) {
-    try {
     username_ = username;
     password_ = password;
     
-        mqtt::connect_options connOpts;
+    // 设置用户名和密码
-        connOpts.set_keep_alive_interval(20);
-        connOpts.set_clean_session(true);
-        connOpts.set_automatic_reconnect(true);
-        
     if (!username_.empty()) {
-            connOpts.set_user_name(username_);
+        connOpts_.username = username_.c_str();
         if (!password_.empty()) {
-                connOpts.set_password(password_);
+            connOpts_.password = password_.c_str();
         }
     }
     
-        LOG_INFO("Connecting to MQTT broker: " + broker_ + ":" + std::to_string(port_));
+    LOG_INFO("Connecting to MQTT broker: " + serverURI_);
     
-        auto token = client_->connect(connOpts, nullptr, *callback_);
+    int rc = MQTTClient_connect(client_, &connOpts_);
-        token->wait_for(std::chrono::seconds(10));
+    if (rc != MQTTCLIENT_SUCCESS) {
+        LOG_ERROR("Failed to connect to MQTT broker, return code: " + std::to_string(rc));
+        return false;
+    }
     
-        if (token->is_complete() && client_->is_connected()) {
     connected_ = true;
     LOG_INFO("Connected to MQTT broker successfully");
     return true;
-        } else {
-            LOG_ERROR("Failed to connect to MQTT broker");
-            return false;
-        }
-        
-    } catch (const mqtt::exception& e) {
-        LOG_ERROR("MQTT connection exception: " + std::string(e.what()));
-        return false;
-    }
 }
 
 void MqttClient::disconnect() {
-    try {
+    if (client_ && MQTTClient_isConnected(client_)) {
-        if (client_ && client_->is_connected()) {
         LOG_INFO("Disconnecting from MQTT broker");
-            auto token = client_->disconnect();
+        int rc = MQTTClient_disconnect(client_, 5000);  // 5 seconds timeout
-            token->wait_for(std::chrono::seconds(5));
+        if (rc != MQTTCLIENT_SUCCESS) {
-            connected_ = false;
+            LOG_ERROR("Failed to disconnect from MQTT broker, return code: " + std::to_string(rc));
         }
-    } catch (const mqtt::exception& e) {
+        connected_ = false;
-        LOG_ERROR("MQTT disconnect exception: " + std::string(e.what()));
     }
 }
 
 bool MqttClient::isConnected() const {
-    return connected_ && client_ && client_->is_connected();
+    return connected_ && client_ && MQTTClient_isConnected(client_);
 }
 
 bool MqttClient::subscribe(const std::string& topic, int qos) {
-    try {
     if (!isConnected()) {
         LOG_ERROR("Cannot subscribe: not connected to MQTT broker");
         return false;
     }
     
     LOG_INFO("Subscribing to topic: " + topic);
-        auto token = client_->subscribe(topic, qos, nullptr, *callback_);
+    int rc = MQTTClient_subscribe(client_, topic.c_str(), qos);
-        token->wait_for(std::chrono::seconds(5));
+    if (rc != MQTTCLIENT_SUCCESS) {
-        
+        LOG_ERROR("Failed to subscribe to topic: " + topic + ", return code: " + std::to_string(rc));
-        return token->is_complete();
-        
-    } catch (const mqtt::exception& e) {
-        LOG_ERROR("MQTT subscribe exception: " + std::string(e.what()));
         return false;
     }
+    
+    return true;
 }
 
 bool MqttClient::unsubscribe(const std::string& topic) {
-    try {
     if (!isConnected()) {
         LOG_ERROR("Cannot unsubscribe: not connected to MQTT broker");
         return false;
     }
     
     LOG_INFO("Unsubscribing from topic: " + topic);
-        auto token = client_->unsubscribe(topic, nullptr, *callback_);
+    int rc = MQTTClient_unsubscribe(client_, topic.c_str());
-        token->wait_for(std::chrono::seconds(5));
+    if (rc != MQTTCLIENT_SUCCESS) {
-        
+        LOG_ERROR("Failed to unsubscribe from topic: " + topic + ", return code: " + std::to_string(rc));
-        return token->is_complete();
-        
-    } catch (const mqtt::exception& e) {
-        LOG_ERROR("MQTT unsubscribe exception: " + std::string(e.what()));
         return false;
     }
+    
+    return true;
 }
 
 bool MqttClient::publish(const std::string& topic, const std::string& payload, int qos, bool retain) {
-    try {
     if (!isConnected()) {
         LOG_ERROR("Cannot publish: not connected to MQTT broker");
         return false;
     }
     
-        auto msg = mqtt::make_message(topic, payload);
+    MQTTClient_message message = MQTTClient_message_initializer;
-        msg->set_qos(qos);
+    message.payload = const_cast<char*>(payload.c_str());
-        msg->set_retained(retain);
+    message.payloadlen = payload.length();
+    message.qos = qos;
+    message.retained = retain ? 1 : 0;
     
-        auto token = client_->publish(msg, nullptr, *callback_);
+    MQTTClient_deliveryToken token;
-        // Don't wait for completion to avoid blocking
+    int rc = MQTTClient_publishMessage(client_, topic.c_str(), &message, &token);
-        
+    if (rc != MQTTCLIENT_SUCCESS) {
-        return true;
+        LOG_ERROR("Failed to publish message to topic: " + topic + ", return code: " + std::to_string(rc));
-        
-    } catch (const mqtt::exception& e) {
-        LOG_ERROR("MQTT publish exception: " + std::string(e.what()));
         return false;
     }
+    
+    return true;
 }
 
 bool MqttClient::publishJson(const std::string& topic, const nlohmann::json& json, int qos, bool retain) {
@@ -204,9 +203,43 @@ void MqttClient::processMessageQueue() {
     }
 }
 
+// C 风格回调函数实现
+int MqttClient::messageArrivedCallback(void* context, char* topicName, int topicLen, MQTTClient_message* message) {
+    MqttClient* client = static_cast<MqttClient*>(context);
+    
+    std::string topic(topicName);
+    std::string payload(static_cast<char*>(message->payload), message->payloadlen);
+    
+    QueuedMessage queuedMsg;
+    queuedMsg.topic = topic;
+    queuedMsg.payload = payload;
+    
+    {
+        std::lock_guard<std::mutex> lock(client->queueMutex_);
+        client->messageQueue_.push(queuedMsg);
+    }
+    client->queueCondition_.notify_one();
+    
+    MQTTClient_freeMessage(&message);
+    MQTTClient_free(topicName);
+    
+    return 1;  // 成功处理消息
+}
+
+void MqttClient::connectionLostCallback(void* context, char* cause) {
+    MqttClient* client = static_cast<MqttClient*>(context);
+    client->handleConnectionLost();
+    
+    std::string causeStr = cause ? std::string(cause) : "Unknown reason";
+    LOG_WARN("MQTT connection lost: " + causeStr);
+}
+
+void MqttClient::deliveryCompleteCallback(void* context, MQTTClient_deliveryToken dt) {
+    // 消息发送完成回调，目前不需要特殊处理
+}
+
 void MqttClient::handleConnectionLost() {
     connected_ = false;
-    LOG_WARN("MQTT connection lost");
     
     if (connectionCallback_) {
         connectionCallback_(false);
@@ -214,7 +247,7 @@ void MqttClient::handleConnectionLost() {
     
     if (shouldReconnect_ && !reconnecting_) {
         reconnecting_ = true;
-        reconnectThread_ = std::thread(&MqttClient::handleConnectionLost, this);
+        reconnectThread_ = std::thread(&MqttClient::reconnectWorker, this);
     }
 }
 
@@ -228,38 +261,18 @@ void MqttClient::handleConnectionEstablished() {
     }
 }
 
-// Callback implementation
+void MqttClient::reconnectWorker() {
-void MqttClient::Callback::connected(const std::string& cause) {
+    while (shouldReconnect_ && !connected_) {
-    client_->handleConnectionEstablished();
+        LOG_INFO("Attempting to reconnect to MQTT broker...");
-}
         
-void MqttClient::Callback::connection_lost(const std::string& cause) {
+        if (connect(username_, password_)) {
-    LOG_WARN("MQTT connection lost: " + cause);
+            LOG_INFO("Successfully reconnected to MQTT broker");
-    client_->handleConnectionLost();
+            break;
-}
-
-void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
-    QueuedMessage queuedMsg;
-    queuedMsg.topic = msg->get_topic();
-    queuedMsg.payload = msg->to_string();
-    
-    {
-        std::lock_guard<std::mutex> lock(client_->queueMutex_);
-        client_->messageQueue_.push(queuedMsg);
         }
-    client_->queueCondition_.notify_one();
-}
         
-void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
+        std::this_thread::sleep_for(std::chrono::seconds(reconnectDelay_));
-    // Message delivered successfully
+    }
-}
+    reconnecting_ = false;
-
-void MqttClient::Callback::on_failure(const mqtt::token& tok) {
-    LOG_ERROR("MQTT operation failed");
-}
-
-void MqttClient::Callback::on_success(const mqtt::token& tok) {
-    // Operation completed successfully
 }
 
 } // namespace custom