【发布时间】：2021-08-26 12:04:45
【问题描述】：
#include <MPU9250_asukiaaa.h>
#include <WiFi.h> //for wifi connection
#include <PubSubClient.h> //pubsub model
#define mqtt_server "127.0.0.1"
#define mqttaX "val/aX"
#define mqttaY "val/aY"
#define mqttaZ "val/aZ"
#define mqttaSqrt "val/Sqrt"
#define mqttgX "val/gX"
#define mqttgY "val/gY"
#define mqttgZ "val/gZ"
#define mqttmDirection "val/Dir"
#define mqttmX "val/mX"
#define mqttmY "val/mY"
#define mqttmZ "val/mZ"
const char *ssid =""; //network sample
const char *password ="";
WiFiClient espClient;
PubSubClient client(espClient);
#ifdef _ESP32_HAL_I2C_H_
#define SDA_PIN 22
#define SCL_PIN 21
#endif
MPU9250_asukiaaa mySensor;
float aX, aY, aZ, aSqrt, gX, gY, gZ, mDirection, mX, mY, mZ; //mpu9250 readings
void setup() {
Serial.begin(115200);
while (!Serial);
Serial.println("started");
//begin wifi connection
Serial.print("Connecting to : ");
Serial.println(ssid);
WiFi.mode(WIFI_STA);
WiFi.disconnect();
delay(2000);
WiFi.begin(ssid, password);
while(WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print("#");
}
Serial.println("");
Serial.println("==Wifi connected==");
Serial.println("IP address: ");
Serial.println(WiFi.localIP());
client.setServer(mqtt_server,1883);
// end of wifi connection
#ifdef _ESP32_HAL_I2C_H_ // For ESP32
Wire.begin(SDA_PIN, SCL_PIN);
mySensor.setWire(&Wire);
#endif
mySensor.beginAccel();
mySensor.beginGyro();
mySensor.beginMag();
// You can set your own offset for mag values
// mySensor.magXOffset = -50;
// mySensor.magYOffset = -55;
// mySensor.magZOffset = -10;
}
/*
void reconnect() { //RECONNECT TO WIFI-FUNCTION
// Loop until we're reconnected
int counter = 0;
while (!client.connected()) {
if (counter==5){
ESP.restart();
}
counter+=1;
Serial.print("Attempting MQTT connection...");
// Attempt to connect
if (client.connect("mpu9250")) {
Serial.println("connected");
} else {
Serial.print("failed, rc=");
Serial.print(client.state());
Serial.println(" try again in 5 seconds");
// Wait 5 seconds before retrying
delay(5000);
}
}
}
*/
void loop() {
/*if(!client.connected())
{
reconnect();
}*/
uint8_t sensorId;
if (mySensor.readId(&sensorId) == 0) {
Serial.println("sensorId: " + String(sensorId));
} else {
Serial.println("Cannot read sensorId");
}
if (mySensor.accelUpdate() == 0) {
aX = mySensor.accelX();
aY = mySensor.accelY();
aZ = mySensor.accelZ();
aSqrt = mySensor.accelSqrt();
Serial.println("accelX: " + String(aX));
Serial.println("accelY: " + String(aY));
Serial.println("accelZ: " + String(aZ));
Serial.println("accelSqrt: " + String(aSqrt));
} else {
Serial.println("Cannot read accel values");
}
if (mySensor.gyroUpdate() == 0) {
gX = mySensor.gyroX();
gY = mySensor.gyroY();
gZ = mySensor.gyroZ();
Serial.println("gyroX: " + String(gX));
Serial.println("gyroY: " + String(gY));
Serial.println("gyroZ: " + String(gZ));
} else {
Serial.println("Cannot read gyro values");
}
if (mySensor.magUpdate() == 0) {
mX = mySensor.magX();
mY = mySensor.magY();
mZ = mySensor.magZ();
mDirection = mySensor.magHorizDirection();
Serial.println("magX: " + String(mX));
Serial.println("maxY: " + String(mY));
Serial.println("magZ: " + String(mZ));
Serial.println("horizontal direction: " + String(mDirection));
} else {
Serial.println("Cannot read mag values");
}
Serial.println("at " + String(millis()) + "ms");
Serial.println(""); // Add an empty line
delay(1000);
client.publish(mqttaX,String(aX).c_str(),true); //VALUES TO STRING
client.publish(mqttaY,String(aY).c_str(),true);
client.publish(mqttaZ,String(aZ).c_str(),true);
client.publish(mqttaSqrt,String(aSqrt).c_str(),true);
client.publish(mqttgX,String(gX).c_str(),true);
client.publish(mqttgY,String(gY).c_str(),true);
client.publish(mqttgZ,String(gZ).c_str(),true);
client.publish(mqttmX,String(mX).c_str(),true);
client.publish(mqttmY,String(mY).c_str(),true);
client.publish(mqttmZ,String(mZ).c_str(),true);
}
尽管代码似乎运行良好，但我在 mqtt 蚊子代理方面遇到了一段时间的问题。过去我没有将 esp32 和 mpu9250 用于物联网项目，我也从未使用过 mqtt 代理和节点-红色，所以这些工具对我来说是新的。
节点红色 json ：
[{"id":"aeb0197d.7d1fd8","type":"tab","label":"Flow 2","disabled":false,"info":""},{"id":"aeb99911.35b6c8","type":"debug","z":"aeb0197d.7d1fd8","name":"","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","statusType":"auto","x":600,"y":280,"wires":[]},{"id":"c040a897.3ffcb8","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/aY","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":320,"wires":[["aeb99911.35b6c8"]]},{"id":"e55bea67.26a468","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/aZ","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":360,"wires":[["aeb99911.35b6c8"]]},{"id":"73f7e2ae.656dec","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/Sqrt","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":400,"wires":[["aeb99911.35b6c8"]]},{"id":"1e0a6d12.2e52b3","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/gX","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":440,"wires":[["aeb99911.35b6c8"]]},{"id":"7ddbd3f1.96af2c","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/gY","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":480,"wires":[["aeb99911.35b6c8"]]},{"id":"da0d3584.28d648","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/gZ","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":520,"wires":[["aeb99911.35b6c8"]]},{"id":"194c2ff8.99737","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/Dir","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":560,"wires":[["aeb99911.35b6c8"]]},{"id":"18feeaeb.442e15","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/mX","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":600,"wires":[["aeb99911.35b6c8"]]},{"id":"43022acf.d59cb4","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/mY","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":640,"wires":[["aeb99911.35b6c8"]]},{"id":"d4ebb01f.70055","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/mZ","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":680,"wires":[["aeb99911.35b6c8"]]},{"id":"ba8c7b79.8cc218","type":"mqtt in","z":"aeb0197d.7d1fd8","name":"","topic":"val/aX","qos":"2","datatype":"auto","broker":"3d5e34f4.9a452c","x":210,"y":280,"wires":[["aeb99911.35b6c8"]]},{"id":"3d5e34f4.9a452c","type":"mqtt-broker","name":"MQTT BROKER","broker":"localhost","port":"1883","clientid":"","usetls":false,"compatmode":false,"keepalive":"60","cleansession":true,"birthTopic":"","birthQos":"0","birthPayload":"","closeTopic":"","closeQos":"0","closePayload":"","willTopic":"","willQos":"0","willPayload":""}]
【问题讨论】：
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欢迎来到 Stack Overflow。请阅读the help pages，接受SO tour，阅读How to Ask，以及this question checklist。最后请学习如何创建minimal reproducible example，重点是minimal部分。
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您需要自己将其分解为可管理的块，在您 100% 确定消息实际上离开了 arduino 并使其发送到之前，甚至开始查看 Node-RED 部分都没有意义经纪人。
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1) 您注释掉与 MQTT 设置相关的大部分代码并重新连接。 2) 缺少 MQTT 回调函数设置（您将不知道您的消息是否实际发送出去），3) 您的代码还缺少
mqttClinet.loop()调用，该调用是维护与 MQTT 代理的心跳所需的。我建议您先运行PubSubClient 附带的示例代码来了解 MQTT 的工作原理。 4) 暂时忘记 Node-RED，首先使用面向公众的 MQTT 代理（如 test.mosquitto.org）测试您的 ESP 代码。