can send messages to server from cpp

src/C++/Driver/src/MQTT/MqttClient.cpp

@@ -1,6 +1,7 @@
 #include "MqttClient.h"
 
 MqttClient::MqttClient(const std::string& address, const std::string& clientId, const std::string& username, const std::string& password)
+    //client_ is the connection
     : client_(address, clientId), username_(username), password_(password), callback_(*this) {
     client_.set_callback(callback_);
     options.set_clean_session(true);
@@ -32,6 +33,16 @@ void MqttClient::subscribe(const std::string& topic, int qos) {
     }
 }
 
+void MqttClient::publishMessage(const std::string& topic, const std::string& payload) {
+    try {
+        std::cout << "Publishing message: " << payload << std::endl;
+        client_.publish(topic, payload)->wait();
+    } catch (const mqtt::exception& exc) {
+        std::cerr << "Error: " << exc.what() << std::endl;
+        throw;
+    }
+}
+
 /// @brief Only needed when program doesnt keep itself alive
 void MqttClient::run() {
     // Keep the client running to receive messages
@@ -41,7 +52,7 @@ void MqttClient::run() {
 }
 
 void MqttClient::Callback::message_arrived(mqtt::const_message_ptr msg) {
-    //lock the variable, it automaticly unlocks when going out of scope
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
     std::lock_guard<std::mutex> lock(client_.messageMutex_);
     client_.lastMessage_ = msg->to_string();
 }
@@ -58,7 +69,7 @@ void MqttClient::Callback::delivery_complete(mqtt::delivery_token_ptr token) {
 /// @return The last message received in a string
 //std::string is the datatype of the return value
 std::string MqttClient::getLastMessage() {
-    //lock the variable, it automaticly unlocks when going out of scope
+    //lock the variable, it automaticly unlocks when going out of scope using lock_guard
     std::lock_guard<std::mutex> lock(messageMutex_);
     return lastMessage_;
 }

src/C++/Driver/src/MQTT/MqttClient.h

@@ -13,6 +13,7 @@ public:
     void subscribe(const std::string& topic, int qos = 1);
     void run();
     std::string getLastMessage();
+    void publishMessage(const std::string& topic, const std::string& payload);
 
 private:
     class Callback : public virtual mqtt::callback {

src/C++/Driver/src/main.cpp

@@ -24,12 +24,13 @@ void setup(){
 
 int main(){
 	setup();
-    std::thread safety([&]() { robot.robotSafety(&message); });
-	while(true){
-    parseMQTT(readMQTT());
-	}
-    safety.join();
-	return 0;
+    // std::thread safety([&]() { robot.robotSafety(&message); });
+	// while(true){
+    // parseMQTT(readMQTT());
+	// }
+    // safety.join();
+	// return 0;
+    client.publishMessage("kobuki/data", "aaaa");
 }
 
 std::string readMQTT()