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@@ -0,0 +1,32 @@
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+package service
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+
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+import (
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+ "cicv-data-closedloop/aarch64/pji/common/config"
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+ "cicv-data-closedloop/common/config/c_log"
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+ "cicv-data-closedloop/common/util"
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+ "os"
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+)
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+
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+func CollectMap() {
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+
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+ // rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
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+ localMapBagPath := "/root/cicv-data-closedloop/map.bag"
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+ ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/map.bag"
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+
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+ var command []string
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+ command = append(command, "record")
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+ command = append(command, "-O "+localMapBagPath)
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+ command = append(command, "-l 1")
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+ _, err := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
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+ if err != nil {
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+ c_log.GlobalLogger.Error("程序异常退出。采集地图", command, "出错：", err)
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+ os.Exit(-1)
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+ }
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+ config.OssMutex.Lock()
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+ err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, localMapBagPath)
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+ config.OssMutex.Unlock()
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+ if err != nil {
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+ c_log.GlobalLogger.Error("程序异常退出。上传地图包", ossMapBagObjectKey, "->", ossMapBagObjectKey, "出错：", err)
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+ os.Exit(-1)
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+ }
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+}
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