 Program
   BeforeStart
     index≔0
     var_bool≔ False 
   Robot Program
     res_init≔mqtt_initialize("test.mosquitto.org", 1883, "", "")
     res_connect≔mqtt_connect()
     subscribe≔mqtt_subscribe("test/json")
     Loop
       MoveJ
         Start
         Approach
         End
   Thread_1
     If index≟1000
       index≔0
     index≔index+1
     var_pose≔get_actual_tcp_pose()
     var_int≔index
     var_float≔index*0.1
     var_string≔"Joe Black"
     var_bool≔ not var_bool
     res_clear≔mqtt_json_message_clear()
     res_add_pose≔mqtt_json_message_add("roboPose", var_pose)
     res_add_int≔mqtt_json_message_add("counterData",index)
     res_add_float≔mqtt_json_message_add("processProgress", var_float)
     res_add_string≔mqtt_json_message_add("stationName", var_string)
     res_add_bool≔mqtt_json_message_add("processBusy", var_bool)
     res_add_bool≔mqtt_json_message_add("alwaysFalse",  False )
     res_json_pub≔mqtt_publish_json_timeout("test/json", 1,  True , 2000)
     Wait: 0.1
     receivedPose≔mqtt_get_json_message("test/json","roboPose", [0,0,0,0,0,-0.1])
     receivedInt≔mqtt_get_json_message("test/json","counterData",-1)
     receivedFloat≔mqtt_get_json_message("test/json","processProgress", -100.0)
     receivedString≔mqtt_get_json_message("test/json","stationName", "----")
     receivedBool≔mqtt_get_json_message("test/json","processBusy",  False )
     'var_2≔mqtt_disconnect()'
     Wait: 1.0
