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@@ -1,96 +1,94 @@
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package service
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-import (
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- "cicv-data-closedloop/aarch64/pjibot_delivery/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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+import commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
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func CollectOneMsg() {
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- collectMap()
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- collectTfStatic()
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- collectCostmap()
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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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- 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")
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- command = append(command, config.CloudConfig.MapBagPath)
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- command = append(command, "-l")
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- command = append(command, "1")
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- command = append(command, "/map")
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- _, s, err := util.ExecuteWithEnvAndDir(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/map包", command, "出错：", s, "----", err)
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- os.Exit(-1)
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- }
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- c_log.GlobalLogger.Info("采集/map包", command, "完成。")
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- config.OssMutex.Lock()
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- err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/map包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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- os.Exit(-1)
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- }
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- c_log.GlobalLogger.Info("上传/map包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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-}
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-func collectTfStatic() {
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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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- ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/tfstatic.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")
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- command = append(command, config.CloudConfig.MapBagPath)
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- command = append(command, "-l")
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- command = append(command, "1")
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- command = append(command, "/tf_static")
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- _, s, err := util.ExecuteWithEnvAndDir(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/tf_static包", command, "出错：", s, "----", err)
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- os.Exit(-1)
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+ if !commonConfig.CloudConfig.HasOneMsgTopic {
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+ return
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}
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- c_log.GlobalLogger.Info("采集/tf_static包", command, "完成。")
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- config.OssMutex.Lock()
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- err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/tf_static包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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- os.Exit(-1)
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- }
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- c_log.GlobalLogger.Info("上传/tf_static包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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+ //collectMap()
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+ //collectTfStatic()
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+ //collectCostmap()
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}
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-func collectCostmap() {
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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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- ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/costmap.bag"
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- var command []string
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- command = append(command, "record")
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- command = append(command, "-O")
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- command = append(command, config.CloudConfig.MapBagPath)
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- command = append(command, "-l")
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- command = append(command, "1")
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- command = append(command, "/move_base/global_costmap/costmap")
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- _, s, err := util.ExecuteWithEnvAndDir(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/move_base/global_costmap/costmap包", command, "出错：", s, "----", err)
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- os.Exit(-1)
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- }
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- c_log.GlobalLogger.Info("采集/move_base/global_costmap/costmap包", command, "完成。")
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- config.OssMutex.Lock()
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- err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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- os.Exit(-1)
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- }
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- c_log.GlobalLogger.Info("上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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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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+// 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")
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+// command = append(command, config.CloudConfig.MapBagPath)
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+// command = append(command, "-l")
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+// command = append(command, "1")
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+// command = append(command, "/map")
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+// _, s, err := util.ExecuteWithEnvAndDir(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/map包", command, "出错：", s, "----", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("采集/map包", command, "完成。")
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+// config.OssMutex.Lock()
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+// err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/map包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("上传/map包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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+//}
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+//func collectTfStatic() {
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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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+// ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/tfstatic.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")
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+// command = append(command, config.CloudConfig.MapBagPath)
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+// command = append(command, "-l")
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+// command = append(command, "1")
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+// command = append(command, "/tf_static")
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+// _, s, err := util.ExecuteWithEnvAndDir(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/tf_static包", command, "出错：", s, "----", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("采集/tf_static包", command, "完成。")
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+// config.OssMutex.Lock()
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+// err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/tf_static包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("上传/tf_static包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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+//}
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+//func collectCostmap() {
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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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+// ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/costmap.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")
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+// command = append(command, config.CloudConfig.MapBagPath)
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+// command = append(command, "-l")
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+// command = append(command, "1")
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+// command = append(command, "/move_base/global_costmap/costmap")
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+// _, s, err := util.ExecuteWithEnvAndDir(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/move_base/global_costmap/costmap包", command, "出错：", s, "----", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("采集/move_base/global_costmap/costmap包", command, "完成。")
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+// config.OssMutex.Lock()
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+// err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
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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/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
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+// os.Exit(-1)
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+// }
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+// c_log.GlobalLogger.Info("上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
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+//}
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