diff --git a/README.md b/README.md index 7b6007e..206d0c8 100644 --- a/README.md +++ b/README.md @@ -21,7 +21,7 @@ poetry install # installs all required python packages pylint src tests --rcfile=.pylintrc # runs linting checks poetry build # builds cp-sens package that can be published on pip -poetry run experiment_1 # run one experiment with real data +poetry run python .\src\examples\example.py oma-and-plot # run an experiment with real data (Needs "production.json" Config) ``` The `poetry build` will create a `.whl` file in the `dist/` directory, e.g., `dist/cp_sens-0.1.0-py3-none-any.whl`. diff --git a/config/production.json.template b/config/production.json.template index a906aea..8336ba8 100644 --- a/config/production.json.template +++ b/config/production.json.template @@ -1,19 +1,18 @@ { "MQTT": { - "host": "dtl-server-2.st.lab.au.dk", - "port": 8090, - "userId": "NEEDED", - "password": "NEEDED", - "ClientID": "NOT_NEEDED", + "host": "test.mosquitto.org", + "port": 1883, + "userId": "", + "password": "", + "ClientID": "ReplaySubscriber", "QoS": 1, "TopicsToSubscribe": [ - "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/1/acc/raw/data", - "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/1/acc/raw/metadata", - "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/2/acc/raw/data", - "cpsens/+/+/1/acc/raw/data", - "cpsens/+/+/2/acc/raw/data" + "cpsens/recorded/1/data", + "cpsens/recorded/1/metadata", + "cpsens/recorded/2/data", + "cpsens/recorded/+/data" ] - }, + }, "sysID": { "host": "", diff --git a/config/replay.json.template b/config/replay.json.template new file mode 100644 index 0000000..7f437d3 --- /dev/null +++ b/config/replay.json.template @@ -0,0 +1,28 @@ +{ + "MQTT": { + "host": "test.mosquitto.org", + "port": 1883, + "userId": "", + "password": "", + "ClientID": "ReplaySubscriber", + "QoS": 1, + "TopicsToSubscribe": [ + "cpsens/recorded/1/data", + "cpsens/recorded/1/metadata", + "cpsens/recorded/2/data" + ] + }, + + "sysID": { + "host": "test.mosquitto.org", + "port": 1883, + "userId": "", + "password": "", + "ClientID": "sub.232.sds.213s", + "QoS": 1, + "TopicsToSubscribe": ["cpsens/d8-3a-dd-f5-92-48/cpsns_Simulator/1_2/oma_results"] + } +} + + + diff --git a/record/mqtt_recordings/data1.jsonl b/record/mqtt_recordings/data1.jsonl new file mode 100644 index 0000000..e026e05 --- /dev/null +++ b/record/mqtt_recordings/data1.jsonl @@ -0,0 +1,44791 @@ +{"timestamp": "2025-05-28T16:15:47.496109", "payload": [28, 0, 2, 0, 206, 54, 55, 104, 0, 0, 0, 0, 160, 17, 135, 33, 0, 0, 0, 0, 15, 75, 237, 4, 0, 0, 0, 0, 143, 180, 56, 58, 190, 155, 54, 58, 57, 105, 102, 58, 5, 227, 113, 58, 48, 166, 17, 58, 128, 198, 8, 185, 220, 103, 164, 184, 117, 29, 47, 57, 179, 99, 177, 56, 24, 11, 99, 57, 84, 0, 23, 185, 229, 18, 134, 184, 6, 186, 131, 185, 43, 143, 75, 184, 51, 184, 58, 185, 78, 120, 20, 186]} +{"timestamp": "2025-05-28T16:15:47.523978", "payload": [28, 0, 2, 0, 206, 54, 55, 104, 0, 0, 0, 0, 64, 190, 64, 37, 0, 0, 0, 0, 31, 75, 237, 4, 0, 0, 0, 0, 65, 232, 128, 186, 154, 66, 171, 186, 93, 30, 171, 186, 77, 208, 190, 186, 248, 88, 132, 186, 122, 201, 195, 186, 204, 123, 244, 186, 85, 209, 181, 186, 165, 109, 161, 186, 229, 187, 94, 186, 50, 36, 151, 186, 172, 227, 132, 186, 85, 54, 119, 186, 103, 229, 146, 186, 182, 210, 115, 186, 65, 108, 160, 186]} +{"timestamp": "2025-05-28T16:15:47.582617", "payload": [28, 0, 2, 0, 206, 54, 55, 104, 0, 0, 0, 0, 224, 106, 250, 40, 0, 0, 0, 0, 47, 75, 237, 4, 0, 0, 0, 0, 14, 95, 56, 186, 150, 242, 70, 186, 163, 110, 140, 186, 25, 16, 155, 186, 90, 234, 49, 186, 180, 181, 109, 186, 68, 15, 140, 186, 232, 165, 147, 186, 163, 106, 68, 186, 235, 215, 166, 186, 245, 80, 195, 186, 17, 252, 45, 186, 41, 96, 150, 184, 196, 234, 57, 186, 165, 19, 226, 184, 176, 147, 97, 57]} +{"timestamp": "2025-05-28T16:15:47.623668", "payload": [28, 0, 2, 0, 206, 54, 55, 104, 0, 0, 0, 0, 128, 23, 180, 44, 0, 0, 0, 0, 63, 75, 237, 4, 0, 0, 0, 0, 118, 121, 47, 56, 62, 169, 1, 58, 147, 46, 74, 58, 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231, 60, 58, 207, 130, 23, 58, 175, 102, 82, 58, 187, 223, 135, 58, 77, 140, 197, 58, 161, 199, 177, 58]} +{"timestamp": "2025-05-28T16:15:47.811018", "payload": [28, 0, 2, 0, 206, 54, 55, 104, 0, 0, 0, 0, 96, 29, 225, 55, 0, 0, 0, 0, 111, 75, 237, 4, 0, 0, 0, 0, 211, 43, 220, 58, 9, 244, 252, 58, 194, 216, 169, 58, 120, 44, 138, 58, 220, 230, 156, 58, 33, 27, 181, 58, 32, 84, 10, 59, 77, 197, 4, 59, 163, 52, 243, 58, 194, 111, 233, 58, 73, 71, 18, 59, 227, 167, 254, 58, 214, 133, 221, 58, 251, 66, 15, 59, 44, 88, 41, 59, 88, 169, 24, 59]} +{"timestamp": "2025-05-28T16:15:47.867989", "payload": [28, 0, 2, 0, 207, 54, 55, 104, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 127, 75, 237, 4, 0, 0, 0, 0, 122, 31, 13, 59, 158, 222, 37, 59, 195, 74, 59, 59, 197, 61, 44, 59, 65, 109, 50, 59, 119, 243, 65, 59, 168, 66, 71, 59, 34, 90, 92, 59, 5, 253, 71, 59, 87, 93, 85, 59, 31, 57, 75, 59, 34, 234, 72, 59, 11, 56, 75, 59, 122, 168, 69, 59, 138, 228, 88, 59, 234, 219, 70, 59]} +{"timestamp": 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75, 237, 4, 0, 0, 0, 0, 148, 121, 225, 57, 151, 1, 144, 55, 203, 7, 39, 185, 93, 168, 188, 56, 213, 17, 63, 57, 25, 203, 111, 57, 142, 186, 64, 58, 48, 158, 112, 183, 170, 82, 222, 56, 71, 84, 192, 185, 158, 70, 175, 185, 156, 22, 194, 185, 174, 119, 180, 184, 229, 167, 169, 185, 166, 67, 224, 57, 12, 128, 154, 57]} +{"timestamp": "2025-05-28T16:15:48.168965", "payload": [28, 0, 2, 0, 207, 54, 55, 104, 0, 0, 0, 0, 128, 178, 230, 14, 0, 0, 0, 0, 191, 75, 237, 4, 0, 0, 0, 0, 50, 78, 189, 57, 104, 236, 27, 185, 8, 198, 52, 185, 185, 248, 76, 56, 225, 37, 144, 57, 171, 45, 254, 57, 191, 26, 165, 58, 49, 25, 113, 58, 68, 146, 37, 58, 160, 210, 57, 58, 3, 16, 143, 58, 89, 207, 149, 58, 129, 29, 168, 58, 72, 25, 115, 58, 205, 40, 119, 58, 214, 162, 57, 58]} +{"timestamp": "2025-05-28T16:15:48.225616", "payload": [28, 0, 2, 0, 207, 54, 55, 104, 0, 0, 0, 0, 32, 95, 160, 18, 0, 0, 0, 0, 207, 75, 237, 4, 0, 0, 0, 0, 207, 81, 119, 58, 253, 26, 151, 58, 170, 147, 165, 58, 233, 232, 72, 58, 13, 65, 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127, 36, 184]} +{"timestamp": "2025-05-28T16:15:48.531489", "payload": [28, 0, 2, 0, 207, 54, 55, 104, 0, 0, 0, 0, 64, 190, 64, 37, 0, 0, 0, 0, 31, 76, 237, 4, 0, 0, 0, 0, 228, 185, 12, 57, 73, 214, 16, 56, 90, 185, 125, 57, 163, 44, 27, 58, 63, 1, 205, 185, 137, 95, 224, 185, 69, 152, 6, 181, 52, 35, 36, 186, 13, 85, 99, 186, 105, 171, 109, 186, 208, 29, 237, 185, 188, 236, 117, 186, 35, 129, 115, 186, 165, 107, 175, 186, 224, 234, 196, 186, 60, 226, 187, 186]} +{"timestamp": "2025-05-28T16:15:48.568060", "payload": [28, 0, 2, 0, 207, 54, 55, 104, 0, 0, 0, 0, 224, 106, 250, 40, 0, 0, 0, 0, 47, 76, 237, 4, 0, 0, 0, 0, 23, 164, 145, 186, 133, 76, 68, 186, 202, 147, 79, 186, 251, 215, 98, 186, 111, 194, 110, 186, 11, 39, 111, 186, 123, 66, 150, 186, 85, 136, 172, 186, 229, 234, 143, 186, 29, 215, 101, 186, 153, 6, 212, 185, 16, 206, 71, 186, 226, 184, 238, 185, 108, 28, 245, 184, 97, 193, 223, 185, 21, 47, 86, 186]} +{"timestamp": "2025-05-28T16:15:48.653551", "payload": [28, 0, 2, 0, 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a/record/mqtt_recordings/metadata.jsonl b/record/mqtt_recordings/metadata.jsonl new file mode 100644 index 0000000..7e16b56 --- /dev/null +++ b/record/mqtt_recordings/metadata.jsonl @@ -0,0 +1,624 @@ +{"timestamp": "2025-05-31T10:39:48.613605", "payload": [123, 10, 32, 32, 34, 68, 101, 115, 99, 114, 105, 112, 116, 111, 114, 34, 58, 123, 10, 32, 32, 32, 32, 34, 68, 101, 115, 99, 114, 105, 112, 116, 111, 114, 32, 108, 101, 110, 103, 116, 104, 34, 58, 34, 117, 105, 110, 116, 49, 54, 34, 44, 10, 32, 32, 32, 32, 34, 77, 101, 116, 97, 100, 97, 116, 97, 32, 118, 101, 114, 115, 105, 111, 110, 34, 58, 34, 117, 105, 110, 116, 49, 54, 34, 44, 10, 32, 32, 32, 32, 34, 83, 101, 99, 111, 110, 100, 115, 32, 115, 105, 110, 99, 101, 32, 101, 112, 111, 99, 104, 34, 58, 34, 117, 105, 110, 116, 54, 52, 34, 44, 10, 32, 32, 32, 32, 34, 78, 97, 110, 111, 115, 101, 99, 111, 110, 100, 115, 34, 58, 34, 117, 105, 110, 116, 54, 52, 34, 44, 10, 32, 32, 32, 32, 34, 83, 97, 109, 112, 108, 101, 115, 32, 102, 114, 111, 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101, 99, 111, 110, 100, 115, 34, 58, 49, 55, 52, 56, 54, 55, 51, 49, 53, 55, 44, 10, 32, 32, 32, 32, 34, 78, 97, 110, 111, 115, 101, 99, 34, 58, 56, 51, 48, 48, 56, 50, 54, 56, 53, 10, 32, 32, 125, 10, 125]} diff --git a/record/record.py b/record/record.py new file mode 100644 index 0000000..6ca462c --- /dev/null +++ b/record/record.py @@ -0,0 +1,71 @@ +import os +import time +import json +import threading +from datetime import datetime +import paho.mqtt.client as mqtt + +# MQTT Configuration +MQTT_CONFIG = { + "host": "test.mosquitto.org", + "port": 1883, + "userId": "xxxx", + "password": "xxxx", + "ClientID": "xxxx", + "QoS": 1, + "TopicsToSubscribe": { + "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/1/acc/raw/data": "record/mqtt_recordings/data1.jsonl", + "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/1/acc/raw/metadata": "record/mqtt_recordings/metadata.jsonl", + "cpsens/d8-3a-dd-37-d2-7e/3160-A-042_sn_999998/2/acc/raw/data": "record/mqtt_recordings/data2.jsonl" + } +} + +DURATION_SECONDS = 3000 + +# Ensure output directory exists +os.makedirs("mqtt_recordings", exist_ok=True) + +# Thread-safe file locks +file_locks = {topic: threading.Lock() for topic in MQTT_CONFIG["TopicsToSubscribe"]} + + +def on_connect(client, userdata, flags, rc, properties): + print("Connected with result code", rc) + for topic in MQTT_CONFIG["TopicsToSubscribe"]: + client.subscribe(topic, qos=MQTT_CONFIG["QoS"]) + print(f"Subscribed to {topic}") + + +def on_message(client, userdata, msg): + topic = msg.topic + if topic in MQTT_CONFIG["TopicsToSubscribe"]: + timestamp = datetime.utcnow().isoformat() + record = { + "timestamp": timestamp, + "payload": list(msg.payload) # Byte data as list of ints + } + file_path = MQTT_CONFIG["TopicsToSubscribe"][topic] + with file_locks[topic]: + with open(file_path, "a", encoding="utf-8") as f: + f.write(json.dumps(record) + "\n") + + +def record_mqtt(): + client = mqtt.Client(client_id=MQTT_CONFIG["ClientID"], protocol=mqtt.MQTTv311, callback_api_version=mqtt.CallbackAPIVersion.VERSION2) + client.username_pw_set(MQTT_CONFIG["userId"], MQTT_CONFIG["password"]) + client.on_connect = on_connect + client.on_message = on_message + + client.connect(MQTT_CONFIG["host"], MQTT_CONFIG["port"], keepalive=60) + client.loop_start() + + print(f"Recording for {DURATION_SECONDS} seconds...") + time.sleep(DURATION_SECONDS) + + client.loop_stop() + client.disconnect() + print("Recording complete.") + + +if __name__ == "__main__": + record_mqtt() diff --git a/record/replay_mqtt.py b/record/replay_mqtt.py new file mode 100644 index 0000000..ce7a8c7 --- /dev/null +++ b/record/replay_mqtt.py @@ -0,0 +1,98 @@ +import os +import json +import time +from datetime import datetime +from paho.mqtt.client import Client as MQTTClient, CallbackAPIVersion, MQTTv5 # type: ignore + +RECORDINGS_DIR = "record/mqtt_recordings" + +TOPIC_MAPPING = { + "data1.jsonl": "cpsens/recorded/1/data", + "metadata.jsonl": "cpsens/recorded/1/metadata", + "data2.jsonl": "cpsens/recorded/2/data" +} + +PUBLISH_BROKER = { + "host": "test.mosquitto.org", + "port": 1883, + "username": "", + "password": "", + "client_id": "ReplayPublisherTest" +} + +def setup_publish_client(config: dict) -> MQTTClient: + client = MQTTClient( + client_id=config["client_id"], + protocol=MQTTv5, + callback_api_version=CallbackAPIVersion.VERSION2 + ) + if config["username"]: + client.username_pw_set(config["username"], config["password"]) + client.connect(config["host"], config["port"], keepalive=60) + return client + +def replay_mqtt_messages(): + publish_client = setup_publish_client(PUBLISH_BROKER) + publish_client.loop_start() + + files = {} + for fname in TOPIC_MAPPING: + path = os.path.join(RECORDINGS_DIR, fname) + if not os.path.exists(path): + print(f"[SKIP] File not found: {path}") + continue + files[fname] = open(path, "r", encoding="utf-8") + + iterators = {fname: iter(files[fname]) for fname in files} + + prev_timestamps = {fname: None for fname in files} + done = set() + + + while len(done) < len(files): + for fname, fiter in iterators.items(): + if fname in done: + continue + + try: + line = next(fiter) + record = json.loads(line.strip()) + payload = record["payload"] + if isinstance(payload, list): + payload_bytes = bytes(payload) + elif isinstance(payload, str): + payload_bytes = bytes.fromhex(payload) + else: + raise ValueError("Invalid payload format") + + qos = record.get("qos", 1) + timestamp_str = record.get("timestamp") + if timestamp_str: + current_timestamp = datetime.fromisoformat(timestamp_str) + prev = prev_timestamps[fname] + if prev: + delay = (current_timestamp - prev).total_seconds() + if delay > 0: + time.sleep(delay) + prev_timestamps[fname] = current_timestamp + + topic = TOPIC_MAPPING[fname] + publish_client.publish(topic, payload=payload_bytes, qos=qos) + print(f"[{fname}] → {topic} (len={len(payload_bytes)})") + + except StopIteration: + done.add(fname) + print(f"[DONE] {fname} finished") + except Exception as e: + print(f"[ERROR] in {fname}: {e}") + + for f in files.values(): + f.close() + + time.sleep(1) + publish_client.loop_stop() + publish_client.disconnect() + print("[DONEEEE].") + +if __name__ == "__main__": + replay_mqtt_messages() diff --git a/src/data/accel/constants.py b/src/data/accel/constants.py index 906259f..62bf3e8 100644 --- a/src/data/accel/constants.py +++ b/src/data/accel/constants.py @@ -1,4 +1,4 @@ -MAX_MAP_SIZE = 160100 # The maximum number of samples saved in FIFO +MAX_MAP_SIZE = 5560100 # The maximum number of samples saved in FIFO TIMEOUT = 2 # Max wait time until enough samples are collected for the test_Accelerometer diff --git a/src/data/accel/hbk/accelerometer.py b/src/data/accel/hbk/accelerometer.py index 29b5d47..421034d 100644 --- a/src/data/accel/hbk/accelerometer.py +++ b/src/data/accel/hbk/accelerometer.py @@ -13,7 +13,7 @@ class Accelerometer(IAccelerometer): def __init__( self, mqtt_client: mqtt.Client, - topic: str = "cpsens/d8-3a-dd-f5-92-48/cpsns_Simulator/1/acc/raw/data", + topic: str, map_size: int = MAX_MAP_SIZE ): """ Initializes the Accelerometer instance with a pre-configured MQTT client. @@ -38,7 +38,7 @@ def __init__( # pylint: disable=unused-argument def _on_message(self, client: Any, userdata: Any, msg: mqtt.MQTTMessage) -> None: """Handles incoming MQTT messages.""" - #print(f"Received message on topic {msg.topic}") + print(f"Received message on topic {msg.topic}") def safe_process(): # This ensures that an exception does not crash the entire thread try: @@ -86,7 +86,7 @@ def process_message(self, msg: mqtt.MQTTMessage) -> None: if not oldest_deque: # Remove the key/deque from the map if it's empty del self.data_map[oldest_key] total_samples = sum(len(dq) for dq in self.data_map.values()) - #print(f" Channel: {self.topic} Key: {samples_from_daq_start}, Samples: {num_samples}") + print(f" Channel: {self.topic} Key: {samples_from_daq_start}, Samples: {num_samples}") except Exception as e: print(f"Error processing message: {e}") diff --git a/src/examples/README.md b/src/examples/README.md index dd8f58e..8170b0f 100644 --- a/src/examples/README.md +++ b/src/examples/README.md @@ -67,7 +67,9 @@ python .\src\examples\example.py oma-and-plot python .\src\examples\example.py oma-and-publish python .\src\examples\example.py mode-tracking-with-local-sysid python .\src\examples\example.py mode-tracking-with-remote-sysid -python .\src\examples\example.py model-update +python .\src\examples\example.py model-update-local-sysid +python .\src\examples\example.py model-update-remote-sysid + ``` To run the examples with specified config, use @@ -121,5 +123,5 @@ This machine subscribes to pyOMA results, performs mode tracking and updates the Run mode tracking and model update ```bash -poetry run python src/examples/example.py mode-tracking-with-remote-sysid +poetry run python src/examples/example.py model-update-remote-sysid ``` diff --git a/src/examples/example.py b/src/examples/example.py index f6af198..ea2834a 100644 --- a/src/examples/example.py +++ b/src/examples/example.py @@ -11,7 +11,10 @@ run_mode_tracking_with_local_sysid, run_mode_tracking_with_remote_sysid, ) -from examples.updating_parameters import run_model_update +from examples.updating_parameters import ( + run_model_update_local_sysid, + run_model_update_remote_sysid +) @click.group() @@ -61,7 +64,13 @@ def mode_tracking_with_remote_sysid(ctx): @cli.command() @click.pass_context -def model_update(ctx): - run_model_update(ctx.obj["CONFIG"]) +def model_update_local_sysid(ctx): + run_model_update_local_sysid(ctx.obj["CONFIG"]) + +@cli.command() +@click.pass_context +def model_update_remote_sysid(ctx): + run_model_update_remote_sysid(ctx.obj["CONFIG"]) + if __name__ == "__main__": cli(obj={}) diff --git a/src/examples/updating_parameters.py b/src/examples/updating_parameters.py index 04984ce..e2b7ed9 100644 --- a/src/examples/updating_parameters.py +++ b/src/examples/updating_parameters.py @@ -5,7 +5,7 @@ from methods import model_update_module as MT # pylint: disable=R0914, C0103 -def run_model_update(config_path): +def run_model_update_local_sysid(config_path): number_of_minutes = 5 config = load_config(config_path) mqtt_config = config["MQTT"] @@ -53,3 +53,37 @@ def run_model_update(config_path): else: print("Model update failed.") + + + +def run_model_update_remote_sysid(config_path): + config = load_config(config_path) + cleaned_values, _, _ = ( + MT.subscribe_and_get_cleaned_values(config_path) + ) + + # Run model update + update_result = MT.run_model_update(cleaned_values) + + if update_result is not None: + optimized_parameters = update_result['optimized_parameters'] + omegaN_rad = update_result['omegaN_rad'] + omegaN_Hz = update_result['omegaN_Hz'] + mode_shapes = update_result['mode_shapes'] + damping_matrix = update_result['damping_matrix'] + pars_model = update_result['pars_updated'] + system_up = update_result['System_updated'] + + print("\nOptimized parameters (k, m):", optimized_parameters) + print("\nNatural frequencies (rad/s):", omegaN_rad) + print("\nNatural frequencies (Hz):", omegaN_Hz) + print("\nMode shapes (normalized):\n", mode_shapes) + print("\nDamping matrix:\n", damping_matrix) + print("\nUpdated model parameters (dictionary):", pars_model) + print("\nUpdated system:") + print("\nMass matrix M:", system_up["M"]) + print("\nStiffness matrix K:\n", system_up["K"]) + print("\nDamping matrix C:\n", system_up["C"]) + + else: + print("Model update failed.") diff --git a/src/methods/model_update_module.py b/src/methods/model_update_module.py index 652630c..3d98e97 100644 --- a/src/methods/model_update_module.py +++ b/src/methods/model_update_module.py @@ -166,7 +166,15 @@ def subscribe_and_get_cleaned_values(config_path: str, mqtt_client.connect(config["sysID"]["host"], config["sysID"]["port"], keepalive=60) mqtt_client.loop_start() print("Waiting for OMA data...") - result_ready.wait() # Wait until message arrives + try: + while not result_ready.wait(timeout=0.1): + pass + except KeyboardInterrupt: + print("Cancel") + mqtt_client.loop_stop() + mqtt_client.disconnect() + raise SystemExit + mqtt_client.loop_stop() mqtt_client.disconnect()