MQTT GUI SUB

MQTT_project/mqtt_gui.py

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+# mqtt_gui.py
+# pip install paho-mqtt
+import json
+import re
+import tkinter as tk
+from tkinter import ttk, messagebox
+from paho.mqtt import client as mqtt
+
+DEFAULT_HOST = "169.254.11.130"
+DEFAULT_PORT = 1886
+DEFAULT_TOPIC = "topic_plc_and_py_for_AXIS"
+DEFAULT_QOS = 1
+
+def robust_json_parse(raw: str):
+    """
+    將 PLC 常見不標準 JSON 修正後解析成 dict。
+    例：'{Forward_RPM:1500,UPDown_RPM:800}' -> {'Forward_RPM':1500,'UPDown_RPM':800}
+    也會把 TRUE/FALSE -> true/false；補 key 雙引號；去外層引號。
+    """
+    s = raw.strip()
+
+    # 去掉最外層引號（若有）
+    if (s.startswith("'") and s.endswith("'")) or (s.startswith('"') and s.endswith('"')):
+        s = s[1:-1].strip()
+
+    # PLC 常見布林大寫 -> JSON 規範小寫
+    s = s.replace("TRUE", "true").replace("FALSE", "false")
+
+    # 自動補 key 的雙引號：{key: -> {"key":
+    s = re.sub(r'([{,]\s*)([A-Za-z_]\w*)\s*:', r'\1"\2":', s)
+
+    # 將單引號字串轉雙引號（在補 key 之後）
+    s = s.replace("'", '"')
+
+    return json.loads(s)
+
+class MQTTGui:
+    def __init__(self, root: tk.Tk):
+        self.root = root
+        self.root.title("MQTT PLC Subscriber")
+
+        # 狀態
+        self.client: mqtt.Client | None = None
+        self.connected = False
+
+        # UI 變數
+        self.var_host  = tk.StringVar(value=DEFAULT_HOST)
+        self.var_port  = tk.IntVar(value=DEFAULT_PORT)
+        self.var_topic = tk.StringVar(value=DEFAULT_TOPIC)
+        self.var_qos   = tk.IntVar(value=DEFAULT_QOS)
+
+        self.var_button_y   = tk.StringVar(value="None")
+        self.var_forward_rpm = tk.StringVar(value="None")
+        self.var_updown_rpm  = tk.StringVar(value="None")
+        self.var_status      = tk.StringVar(value="Disconnected")
+
+        self._build_ui()
+
+        # 關閉事件
+        self.root.protocol("WM_DELETE_WINDOW", self.on_close)
+
+    def _build_ui(self):
+        pad = {"padx": 8, "pady": 6}
+
+        frm_top = ttk.LabelFrame(self.root, text="Connection")
+        frm_top.grid(row=0, column=0, sticky="nsew", **pad)
+
+        ttk.Label(frm_top, text="Broker Host").grid(row=0, column=0, sticky="e")
+        ttk.Entry(frm_top, textvariable=self.var_host, width=18).grid(row=0, column=1, sticky="w")
+
+        ttk.Label(frm_top, text="Port").grid(row=0, column=2, sticky="e")
+        ttk.Spinbox(frm_top, from_=1, to=65535, textvariable=self.var_port, width=8).grid(row=0, column=3, sticky="w")
+
+        ttk.Label(frm_top, text="Topic").grid(row=1, column=0, sticky="e")
+        ttk.Entry(frm_top, textvariable=self.var_topic, width=40).grid(row=1, column=1, columnspan=3, sticky="w")
+
+        ttk.Label(frm_top, text="QoS").grid(row=2, column=0, sticky="e")
+        ttk.Spinbox(frm_top, values=(0,1,2), textvariable=self.var_qos, width=8).grid(row=2, column=1, sticky="w")
+
+        btn_conn = ttk.Button(frm_top, text="Connect", command=self.connect)
+        btn_dis  = ttk.Button(frm_top, text="Disconnect", command=self.disconnect)
+        btn_conn.grid(row=2, column=2, sticky="we")
+        btn_dis.grid(row=2, column=3, sticky="we")
+
+        ttk.Label(frm_top, text="Status:").grid(row=3, column=0, sticky="e")
+        ttk.Label(frm_top, textvariable=self.var_status).grid(row=3, column=1, columnspan=3, sticky="w")
+
+        frm_vals = ttk.LabelFrame(self.root, text="Current State")
+        frm_vals.grid(row=1, column=0, sticky="nsew", **pad)
+
+        ttk.Label(frm_vals, text="BUTTON_Y").grid(row=0, column=0, sticky="e")
+        ttk.Label(frm_vals, textvariable=self.var_button_y, width=20).grid(row=0, column=1, sticky="w")
+
+        ttk.Label(frm_vals, text="Forward_RPM").grid(row=1, column=0, sticky="e")
+        ttk.Label(frm_vals, textvariable=self.var_forward_rpm, width=20).grid(row=1, column=1, sticky="w")
+
+        ttk.Label(frm_vals, text="UPDown_RPM").grid(row=2, column=0, sticky="e")
+        ttk.Label(frm_vals, textvariable=self.var_updown_rpm, width=20).grid(row=2, column=1, sticky="w")
+
+        frm_log = ttk.LabelFrame(self.root, text="Logs")
+        frm_log.grid(row=2, column=0, sticky="nsew", **pad)
+        frm_log.rowconfigure(0, weight=1)
+        frm_log.columnconfigure(0, weight=1)
+
+        self.txt_log = tk.Text(frm_log, height=14)
+        self.txt_log.grid(row=0, column=0, sticky="nsew")
+        scr = ttk.Scrollbar(frm_log, command=self.txt_log.yview)
+        scr.grid(row=0, column=1, sticky="ns")
+        self.txt_log.configure(yscrollcommand=scr.set)
+
+        # 讓整體可縮放
+        self.root.rowconfigure(2, weight=1)
+        self.root.columnconfigure(0, weight=1)
+
+    # ---------- MQTT ----------
+    def connect(self):
+        if self.connected:
+            self._log("Already connected.")
+            return
+
+        host = self.var_host.get().strip()
+        port = int(self.var_port.get())
+        topic = self.var_topic.get().strip()
+        qos = int(self.var_qos.get())
+
+        if not host or not topic:
+            messagebox.showwarning("Warning", "Host 與 Topic 不可為空")
+            return
+
+        # 建立 client
+        self.client = mqtt.Client(client_id="gui_sub_plc", protocol=mqtt.MQTTv311)
+
+        # 自動重連延遲
+        self.client.reconnect_delay_set(min_delay=1, max_delay=10)
+
+        # Callbacks
+        self.client.on_connect = self._on_connect
+        self.client.on_message = self._on_message
+        self.client.on_disconnect = self._on_disconnect
+
+        try:
+            self.client.connect(host, port, keepalive=60)
+        except Exception as e:
+            self._log(f"❌ Connect failed: {e}")
+            self.var_status.set("Connect failed")
+            return
+
+        # 非阻塞背景 loop
+        self.client.loop_start()
+        self.var_status.set("Connecting...")
+        self._log(f"🔌 Connecting to {host}:{port}, topic={topic}, qos={qos}")
+
+    def disconnect(self):
+        if self.client is None:
+            return
+        try:
+            self.client.loop_stop()
+            self.client.disconnect()
+        except Exception as e:
+            self._log(f"Disconnect error: {e}")
+
+    def _on_connect(self, client, userdata, flags, reason_code, properties=None):
+        if reason_code == 0:
+            self.connected = True
+            self.var_status.set("Connected")
+            topic = self.var_topic.get().strip()
+            qos = int(self.var_qos.get())
+            client.subscribe(topic, qos=qos)
+            self._log(f"✅ Connected. Subscribed: {topic} (QoS={qos})")
+        else:
+            self.connected = False
+            self.var_status.set(f"Connect failed ({reason_code})")
+            self._log(f"❌ Connect failed. reason_code={reason_code}")
+
+    def _on_disconnect(self, client, userdata, reason_code, properties=None):
+        self.connected = False
+        self.var_status.set(f"Disconnected ({reason_code})")
+        self._log(f"🔌 Disconnected. reason_code={reason_code}")
+
+    def _on_message(self, client, userdata, msg: mqtt.MQTTMessage):
+        payload_raw = msg.payload.decode("utf-8", errors="replace")
+        self._log(f"📥 Raw: {payload_raw}")
+
+        # 先試標準 JSON
+        try:
+            data = json.loads(payload_raw)
+        except json.JSONDecodeError:
+            # 失敗再容錯解析
+            try:
+                data = robust_json_parse(payload_raw)
+            except Exception as e:
+                self._log(f"❌ Parse error: {e}")
+                return
+
+        self._log(f"✅ Parsed: {data}")
+
+        # 更新顯示（有傳才改）
+        if "BUTTON_Y" in data:
+            self.var_button_y.set(str(data["BUTTON_Y"]))
+        if "Forward_RPM" in data:
+            self.var_forward_rpm.set(str(data["Forward_RPM"]))
+        if "UPDown_RPM" in data:
+            self.var_updown_rpm.set(str(data["UPDown_RPM"]))
+
+    # ---------- Utils ----------
+    def _log(self, text: str):
+        self.txt_log.insert("end", text + "\n")
+        self.txt_log.see("end")
+
+    def on_close(self):
+        try:
+            if self.client:
+                self.client.loop_stop()
+                self.client.disconnect()
+        except Exception:
+            pass
+        self.root.destroy()
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    # Windows 讓標準字體稍微大一點
+    try:
+        from ctypes import windll
+        windll.shcore.SetProcessDpiAwareness(1)  # 可忽略失敗
+    except Exception:
+        pass
+    MQTTGui(root)
+    root.mainloop()

MQTT_project/mqtt_gui_qt.py

@@ -0,0 +1,336 @@
+# mqtt_gui_qt.py
+# pip install PyQt6 paho-mqtt
+import json
+import re
+from typing import Optional, Dict, Any
+
+from PyQt6 import QtCore, QtGui, QtWidgets
+from paho.mqtt import client as mqtt
+
+DEFAULT_HOST = "169.254.11.130"
+DEFAULT_PORT = 1886
+DEFAULT_TOPIC = "topic_plc_and_py_for_AXIS"
+DEFAULT_QOS = 1
+
+
+# -------- Robust JSON fixer for PLC-style payloads --------
+def robust_json_parse(raw: str) -> Dict[str, Any]:
+    """
+    將 PLC 常見不標準 JSON 修正後解析成 dict。
+    例：'{Forward_RPM:1500,UPDown_RPM:800}' -> {'Forward_RPM':1500,'UPDown_RPM':800}
+    也會把 TRUE/FALSE -> true/false；補 key 雙引號；去外層引號；單引號轉雙引號。
+    """
+    s = raw.strip()
+
+    # 去掉最外層引號（若有）
+    if (s.startswith("'") and s.endswith("'")) or (s.startswith('"') and s.endswith('"')):
+        s = s[1:-1].strip()
+
+    # PLC 常見布林大寫 -> JSON 規範小寫
+    s = s.replace("TRUE", "true").replace("FALSE", "false")
+
+    # 自動補 key 的雙引號：{key: -> {"key":
+    s = re.sub(r'([{,]\s*)([A-Za-z_]\w*)\s*:', r'\1"\2":', s)
+
+    # 可能存在單引號包字串：統一轉成雙引號
+    s = s.replace("'", '"')
+
+    return json.loads(s)
+
+
+# -------- MQTT client wrapper with Qt signals --------
+class MqttClientWrapper(QtCore.QObject):
+    sig_connected = QtCore.pyqtSignal()
+    sig_disconnected = QtCore.pyqtSignal(int)
+    sig_raw_message = QtCore.pyqtSignal(str)
+    sig_parsed_message = QtCore.pyqtSignal(dict)
+    sig_log = QtCore.pyqtSignal(str)
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.client: Optional[mqtt.Client] = None
+        self.topic: str = ""
+        self.qos: int = 0
+
+    def connect_and_start(self, host: str, port: int, topic: str, qos: int):
+        # 若已存在先清理
+        if self.client is not None:
+            try:
+                self.client.loop_stop()
+                self.client.disconnect()
+            except Exception:
+                pass
+            self.client = None
+
+        self.topic = topic
+        self.qos = qos
+
+        # 建立 client
+        self.client = mqtt.Client(client_id="qt_gui_sub_plc", protocol=mqtt.MQTTv311)
+        # 自動重連延遲
+        self.client.reconnect_delay_set(min_delay=1, max_delay=10)
+
+        # 綁定回呼
+        self.client.on_connect = self._on_connect
+        self.client.on_message = self._on_message
+        self.client.on_disconnect = self._on_disconnect
+
+        try:
+            self.client.connect(host, port, keepalive=60)
+        except Exception as e:
+            self.sig_log.emit(f"❌ Connect failed: {e}")
+            # 不要 loop_start，以免空轉
+            return
+
+        # 背景執行，不阻塞 UI
+        self.client.loop_start()
+        self.sig_log.emit(f"🔌 Connecting to {host}:{port} | topic={topic} | qos={qos}")
+
+    def disconnect_and_stop(self):
+        if self.client is None:
+            return
+        try:
+            self.client.loop_stop()
+            self.client.disconnect()
+        except Exception as e:
+            self.sig_log.emit(f"Disconnect error: {e}")
+
+    # ---- Callbacks (paho-mqtt 2.x signature) ----
+    def _on_connect(self, client, userdata, flags, reason_code, properties=None):
+        if reason_code == 0:
+            # 訂閱
+            try:
+                client.subscribe(self.topic, qos=self.qos)
+                self.sig_log.emit(f"✅ Connected. Subscribed: {self.topic} (QoS={self.qos})")
+            except Exception as e:
+                self.sig_log.emit(f"Subscribe error: {e}")
+            self.sig_connected.emit()
+        else:
+            self.sig_log.emit(f"❌ Connect failed. reason_code={reason_code}")
+
+    def _on_disconnect(self, client, userdata, reason_code, properties=None):
+        self.sig_disconnected.emit(reason_code)
+        self.sig_log.emit(f"🔌 Disconnected. reason_code={reason_code}")
+
+    def _on_message(self, client, userdata, msg: mqtt.MQTTMessage):
+        payload_raw = msg.payload.decode("utf-8", errors="replace")
+        self.sig_raw_message.emit(payload_raw)
+
+        # 先試標準 JSON，失敗再容錯
+        try:
+            data = json.loads(payload_raw)
+        except json.JSONDecodeError:
+            try:
+                data = robust_json_parse(payload_raw)
+            except Exception as e:
+                self.sig_log.emit(f"❌ Parse error: {e}")
+                return
+
+        self.sig_parsed_message.emit(data)
+
+
+# -------- Main Window --------
+class MainWindow(QtWidgets.QMainWindow):
+    def __init__(self):
+        super().__init__()
+
+        self.setWindowTitle("MQTT PLC Subscriber (PyQt6)")
+        self.resize(900, 620)
+
+        # 狀態
+        self.state: Dict[str, Any] = {
+            "BUTTON_Y": None,
+            "Forward_RPM": None,
+            "UPDown_RPM": None,
+        }
+
+        # 中央 widget + 版面
+        central = QtWidgets.QWidget(self)
+        self.setCentralWidget(central)
+        root_layout = QtWidgets.QVBoxLayout(central)
+        root_layout.setContentsMargins(12, 12, 12, 12)
+        root_layout.setSpacing(10)
+
+        # ---- Connection Panel ----
+        panel = QtWidgets.QGroupBox("Connection")
+        grid = QtWidgets.QGridLayout(panel)
+        grid.setHorizontalSpacing(12)
+        grid.setVerticalSpacing(8)
+
+        self.ed_host = QtWidgets.QLineEdit(DEFAULT_HOST)
+        self.ed_port = QtWidgets.QSpinBox()
+        self.ed_port.setRange(1, 65535)
+        self.ed_port.setValue(DEFAULT_PORT)
+
+        self.ed_topic = QtWidgets.QLineEdit(DEFAULT_TOPIC)
+
+        self.ed_qos = QtWidgets.QComboBox()
+        self.ed_qos.addItems(["0", "1", "2"])
+        self.ed_qos.setCurrentIndex(DEFAULT_QOS)
+
+        self.btn_connect = QtWidgets.QPushButton("Connect")
+        self.btn_disconnect = QtWidgets.QPushButton("Disconnect")
+        self.lbl_status = QtWidgets.QLabel("Disconnected")
+
+        grid.addWidget(QtWidgets.QLabel("Broker Host"), 0, 0)
+        grid.addWidget(self.ed_host, 0, 1)
+        grid.addWidget(QtWidgets.QLabel("Port"), 0, 2)
+        grid.addWidget(self.ed_port, 0, 3)
+
+        grid.addWidget(QtWidgets.QLabel("Topic"), 1, 0)
+        grid.addWidget(self.ed_topic, 1, 1, 1, 3)
+
+        grid.addWidget(QtWidgets.QLabel("QoS"), 2, 0)
+        grid.addWidget(self.ed_qos, 2, 1)
+        grid.addWidget(self.btn_connect, 2, 2)
+        grid.addWidget(self.btn_disconnect, 2, 3)
+
+        grid.addWidget(QtWidgets.QLabel("Status"), 3, 0)
+        grid.addWidget(self.lbl_status, 3, 1, 1, 3)
+
+        root_layout.addWidget(panel)
+
+        # ---- State Panel ----
+        state_panel = QtWidgets.QGroupBox("Current State")
+        sgrid = QtWidgets.QGridLayout(state_panel)
+        sgrid.setHorizontalSpacing(20)
+        sgrid.setVerticalSpacing(8)
+
+        self.lbl_btn_y = QtWidgets.QLabel("None")
+        self.lbl_forward = QtWidgets.QLabel("None")
+        self.lbl_updown = QtWidgets.QLabel("None")
+
+        for lab in (self.lbl_btn_y, self.lbl_forward, self.lbl_updown):
+            lab.setFrameShape(QtWidgets.QFrame.Shape.StyledPanel)
+            lab.setMinimumWidth(140)
+            lab.setAlignment(QtCore.Qt.AlignmentFlag.AlignLeft | QtCore.Qt.AlignmentFlag.AlignVCenter)
+
+        sgrid.addWidget(QtWidgets.QLabel("BUTTON_Y"), 0, 0)
+        sgrid.addWidget(self.lbl_btn_y, 0, 1)
+        sgrid.addWidget(QtWidgets.QLabel("Forward_RPM"), 1, 0)
+        sgrid.addWidget(self.lbl_forward, 1, 1)
+        sgrid.addWidget(QtWidgets.QLabel("UPDown_RPM"), 2, 0)
+        sgrid.addWidget(self.lbl_updown, 2, 1)
+
+        root_layout.addWidget(state_panel)
+
+        # ---- Logs ----
+        log_panel = QtWidgets.QGroupBox("Logs")
+        vbox = QtWidgets.QVBoxLayout(log_panel)
+        self.txt_log = QtWidgets.QPlainTextEdit()
+        self.txt_log.setReadOnly(True)
+        self.txt_log.setMaximumBlockCount(2000)
+        vbox.addWidget(self.txt_log)
+        root_layout.addWidget(log_panel, 1)
+
+        # MQTT wrapper
+        self.mqtt = MqttClientWrapper(self)
+        self.mqtt.sig_connected.connect(self._on_connected)
+        self.mqtt.sig_disconnected.connect(self._on_disconnected)
+        self.mqtt.sig_raw_message.connect(self._on_raw_message)
+        self.mqtt.sig_parsed_message.connect(self._on_parsed_message)
+        self.mqtt.sig_log.connect(self._log)
+
+        # actions
+        self.btn_connect.clicked.connect(self._do_connect)
+        self.btn_disconnect.clicked.connect(self._do_disconnect)
+
+        # 美化
+        self._apply_dark_fusion_palette()
+
+    # ---- UI Actions ----
+    def _do_connect(self):
+        host = self.ed_host.text().strip()
+        port = int(self.ed_port.value())
+        topic = self.ed_topic.text().strip()
+        qos = int(self.ed_qos.currentText())
+
+        if not host or not topic:
+            QtWidgets.QMessageBox.warning(self, "Warning", "Host 與 Topic 不可為空")
+            return
+
+        self.lbl_status.setText("Connecting...")
+        self._log(f"🔌 Connecting to {host}:{port}, topic={topic}, qos={qos}")
+        self.mqtt.connect_and_start(host, port, topic, qos)
+
+    def _do_disconnect(self):
+        self.mqtt.disconnect_and_stop()
+
+    # ---- Signal slots from MQTT wrapper ----
+    @QtCore.pyqtSlot()
+    def _on_connected(self):
+        self.lbl_status.setText("Connected")
+
+    @QtCore.pyqtSlot(int)
+    def _on_disconnected(self, reason_code: int):
+        self.lbl_status.setText(f"Disconnected ({reason_code})")
+
+    @QtCore.pyqtSlot(str)
+    def _on_raw_message(self, text: str):
+        self._log(f"📥 Raw: {text}")
+
+    @QtCore.pyqtSlot(dict)
+    def _on_parsed_message(self, data: dict):
+        self._log(f"✅ Parsed: {data}")
+
+        if "BUTTON_Y" in data:
+            self.state["BUTTON_Y"] = data["BUTTON_Y"]
+            self.lbl_btn_y.setText(str(data["BUTTON_Y"]))
+        if "Forward_RPM" in data:
+            self.state["Forward_RPM"] = data["Forward_RPM"]
+            self.lbl_forward.setText(str(data["Forward_RPM"]))
+        if "UPDown_RPM" in data:
+            self.state["UPDown_RPM"] = data["UPDown_RPM"]
+            self.lbl_updown.setText(str(data["UPDown_RPM"]))
+
+    # ---- Utils ----
+    def _log(self, text: str):
+        self.txt_log.appendPlainText(text)
+        self.txt_log.verticalScrollBar().setValue(self.txt_log.verticalScrollBar().maximum())
+
+    def _apply_dark_fusion_palette(self):
+        # Fusion 深色主題
+        app = QtWidgets.QApplication.instance()
+        app.setStyle("Fusion")
+        pal = QtGui.QPalette()
+
+        base = QtGui.QColor(30, 30, 30)
+        alt = QtGui.QColor(45, 45, 45)
+        text = QtGui.QColor(220, 220, 220)
+        btn = QtGui.QColor(53, 53, 53)
+        hl = QtGui.QColor(42, 130, 218)
+
+        pal.setColor(QtGui.QPalette.ColorRole.Window, base)
+        pal.setColor(QtGui.QPalette.ColorRole.WindowText, text)
+        pal.setColor(QtGui.QPalette.ColorRole.Base, QtGui.QColor(25, 25, 25))
+        pal.setColor(QtGui.QPalette.ColorRole.AlternateBase, alt)
+        pal.setColor(QtGui.QPalette.ColorRole.ToolTipBase, text)
+        pal.setColor(QtGui.QPalette.ColorRole.ToolTipText, text)
+        pal.setColor(QtGui.QPalette.ColorRole.Text, text)
+        pal.setColor(QtGui.QPalette.ColorRole.Button, btn)
+        pal.setColor(QtGui.QPalette.ColorRole.ButtonText, text)
+        pal.setColor(QtGui.QPalette.ColorRole.BrightText, QtGui.QColor(255, 0, 0))
+        pal.setColor(QtGui.QPalette.ColorRole.Link, hl)
+        pal.setColor(QtGui.QPalette.ColorRole.Highlight, hl)
+        pal.setColor(QtGui.QPalette.ColorRole.HighlightedText, QtGui.QColor(255, 255, 255))
+
+        app.setPalette(pal)
+
+
+def main():
+    import sys
+    app = QtWidgets.QApplication(sys.argv)
+
+    # Windows 高 DPI（可忽略失敗）
+    try:
+        import ctypes
+        ctypes.windll.shcore.SetProcessDpiAwareness(1)
+    except Exception:
+        pass
+
+    w = MainWindow()
+    w.show()
+    sys.exit(app.exec())
+
+if __name__ == "__main__":
+    main()

MQTT_to_PLC.py

@@ -1,50 +0,0 @@
-# pip install paho-mqtt
-import json
-import time
-from paho.mqtt import client as mqtt
-
-BROKER_HOST = "169.254.11.130"
-BROKER_PORT = 1886
-TOPIC = "topic_plc_and_py_for_AXIS"
-
-# 建議測試用 QoS=1；retain=False
-QOS = 1
-RETAIN = False
-
-def main():
-    client = mqtt.Client(client_id="py_pub_plc_test", protocol=mqtt.MQTTv311)
-
-    # 若 Broker 有帳密、TLS 在這裡設定（目前不需要）
-    # client.username_pw_set("user", "pass")
-    # client.tls_set(ca_certs="ca.pem")  # 若是 TLS
-
-    client.connect(BROKER_HOST, BROKER_PORT, keepalive=60)
-    client.loop_start()
-    time.sleep(0.3)  # 等連線建立
-
-    # ---- 第一組： ----
-    payload_forward = {
-        "Move_Forward": False,               # BOOL
-        "Move_Forward_Velocity": 6.2  # REAL (float)
-    }
-    msg1 = json.dumps(payload_forward, ensure_ascii=False)
-    r1 = client.publish(TOPIC, msg1, qos=QOS, retain=RETAIN)
-    r1.wait_for_publish()
-
-    time.sleep(3)#第二顆馬達等等再開啟
-
-    # ---- 第二組： ----
-    payload_updown = {
-        "Move_UPDown": False,               # BOOL
-        "Move_UPDown_Velocity": 5.1    # REAL (float)
-    }
-    msg2 = json.dumps(payload_updown, ensure_ascii=False)
-    r2 = client.publish(TOPIC, msg2, qos=QOS, retain=RETAIN)
-    r2.wait_for_publish()
-
-    time.sleep(0.3)
-    client.loop_stop()
-    client.disconnect()
-
-if __name__ == "__main__":
-    main()