commit

README.md

@@ -11,32 +11,3 @@ docker cp 23e9164d44d7:/root/cicv-data-closedloop ./
 
 ## arm64
 
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/overspeed.so \
-./plugin/cicv_location/overspeed/main/overspeed.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/brake2.so
-./plugin/data_read/brake/main/brake.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/controlfault1.so
-./plugin/fault_info/controlfault/main/controlfault.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/controlfault2.so
-./plugin/nodefault_info/controlfault/main/controlfault.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/driverfault.so
-./plugin/nodefault_info/driverfault/main/driverfault.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/plannerfault.so
-./plugin/nodefault_info/plannerfault/main/plannerfault.go
-
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/rapidaccel.so \
-./plugin/cicv_location/rapidaccel/main/rapidaccel.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/brake.so \
-./plugin/cicv_location/brake/main/brake.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/EmergencyStop.so \
-./plugin/data_read/EmergencyStop/main/EmergencyStop.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/AutoDLimit.so \
-./plugin/data_read/AutoDLimit/main/AutoDLimit.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/lanechange.so \
-./plugin/data_read/lanechange/main/lanechange.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/brakefault.so \
-./plugin/data_read/brakefault/main/brakefault.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/takeover.so \
-./plugin/data_read/takeover/main/takeover.go
-CGO_ENABLED=1 CC=aarch64-linux-gnu-gcc GOARCH=arm64 go build --buildmode=plugin -o ./plugin/TTC.so \
-./plugin/tpperception/TTC/main/TTC.go

build.sh

@@ -11,11 +11,28 @@ go build -o ./pji-control.exe ./pji/control/main/control.go
 go build -o ./plugin-vaildate.exe ./plugin-vaildate/main/main.go
 go build -o ./plugin-compile.exe ./plugin-compile/main/main.go
 
+# 金龙车插件
+go build --buildmode=plugin -o ./so/kinglong/overspeed.so ./trigger/kinglong/cicv_location/overspeed/main/overspeed.go
+go build --buildmode=plugin -o ./so/brake2.so ./trigger/kinglong/data_read/brake/main/brake.go
+go build --buildmode=plugin -o ./so/kinglong/controlfault1.so ./trigger/kinglong/fault_info/controlfault/main/controlfault.go
+go build --buildmode=plugin -o ./so/kinglong/controlfault2.so ./trigger/kinglong/nodefault_info/controlfault/main/controlfault.go
+go build --buildmode=plugin -o ./so/kinglong/driverfault.so ./trigger/kinglong/nodefault_info/driverfault/main/driverfault.go
+go build --buildmode=plugin -o ./so/kinglong/plannerfault.so ./trigger/kinglong/nodefault_info/plannerfault/main/plannerfault.go
+
+go build --buildmode=plugin -o ./so/kinglong/rapidaccel.so ./trigger/kinglong/cicv_location/rapidaccel/main/rapidaccel.go
+go build --buildmode=plugin -o ./so/kinglong/brake.so ./trigger/kinglong/cicv_location/brake/main/brake.go
+go build --buildmode=plugin -o ./so/kinglong/EmergencyStop.so ./trigger/kinglong/data_read/EmergencyStop/main/EmergencyStop.go
+go build --buildmode=plugin -o ./so/kinglong/AutoDLimit.so ./trigger/kinglong/data_read/AutoDLimit/main/AutoDLimit.go
+go build --buildmode=plugin -o ./so/kinglong/lanechange.so ./trigger/kinglong/data_read/lanechange/main/lanechange.go
+go build --buildmode=plugin -o ./so/kinglong/brakefault.so ./trigger/kinglong/data_read/brakefault/main/brakefault.go
+go build --buildmode=plugin -o ./so/kinglong/takeover.so ./trigger/kinglong/data_read/takeover/main/takeover.go
+go build --buildmode=plugin -o ./so/kinglong/TTC.so ./trigger/kinglong/tpperception/TTC/main/TTC.go
+
 # 朴津机器人插件
-go build --buildmode=plugin -o ./cpuoveroccupied.so ./trigger/pji/cpuoveroccupied/main/cpuoveroccupied.go
-go build --buildmode=plugin -o ./detectfault.so ./trigger/pji/detectfault/main/detectfault.go
-go build --buildmode=plugin -o ./locationfailed.so ./trigger/pji/locationfailed/main/locationfailed.go
-go build --buildmode=plugin -o ./memoveroccupied.so ./trigger/pji/memoveroccupied/main/memoveroccupied.go
-go build --buildmode=plugin -o ./obstacledetection.so ./trigger/pji/obstacledetection/main/obstacledetection.go
-go build --buildmode=plugin -o ./overspeed.so ./trigger/pji/overspeed/main/overspeed.go
-go build --buildmode=plugin -o ./unstabledriving.so ./trigger/pji/overspeed/main/overspeed.go
+go build --buildmode=plugin -o ./so/pji/cpuoveroccupied.so ./trigger/pji/cpuoveroccupied/main/cpuoveroccupied.go
+go build --buildmode=plugin -o ./so/pji/detectfault.so ./trigger/pji/detectfault/main/detectfault.go
+go build --buildmode=plugin -o ./so/pji/locationfailed.so ./trigger/pji/locationfailed/main/locationfailed.go
+go build --buildmode=plugin -o ./so/pji/memoveroccupied.so ./trigger/pji/memoveroccupied/main/memoveroccupied.go
+go build --buildmode=plugin -o ./so/pji/obstacledetection.so ./trigger/pji/obstacledetection/main/obstacledetection.go
+go build --buildmode=plugin -o ./so/pji/overspeed.so ./trigger/pji/overspeed/main/overspeed.go
+go build --buildmode=plugin -o ./so/pji/unstabledriving.so ./trigger/pji/overspeed/main/overspeed.go

kinglong/master/pkg/svc/produce_window.go

@@ -261,32 +261,26 @@ func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *e
 		defer global.TimeWindowProducerQueueMutex.RUnlock()
 		log.GlobalLogger.Info("在旧故障窗口内，更新生产者队列最新的窗口 - 开始：", lastTimeWindow)
 		// 2-2-1 更新故障窗口end时间
-		{
-			maxEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime)
-			expectEnd := util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
-			if util.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
-				lastTimeWindow.TimeWindowEnd = maxEnd
-				lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
-			} else {
-				if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
-					lastTimeWindow.TimeWindowEnd = expectEnd
-					lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-				}
+		maxEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime)
+		expectEnd := util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
+		if util.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
+			lastTimeWindow.TimeWindowEnd = maxEnd
+			lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
+		} else {
+			if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
+				lastTimeWindow.TimeWindowEnd = expectEnd
+				lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
 			}
 		}
 		// 2-2-2 更新label
-		{
-			labels := lastTimeWindow.Labels
-			lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
-		}
+		labels := lastTimeWindow.Labels
+		lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
 		// 2-2-3 更新 topic
-		{
-			sourceMasterTopics := lastTimeWindow.MasterTopics
-			lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
-			sourceSlaveTopics := lastTimeWindow.SlaveTopics
-			lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
-		}
-		log.GlobalLogger.Info("在旧故障窗口内，更新窗口 - 结束：", *lastTimeWindow)
+		sourceMasterTopics := lastTimeWindow.MasterTopics
+		lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
+		sourceSlaveTopics := lastTimeWindow.SlaveTopics
+		lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
+		log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【FaultTime】=%v，【Length】=%v", lastTimeWindow.FaultTime, lastTimeWindow.Length)
 	}
 }
 

pji/common/cfg/cloud-config.yaml

@@ -3,7 +3,7 @@ platform:
   url-device-auth: http://139.9.199.227:30991/device/auth
   url-task-poll: http://139.9.199.227:30991/device/task/poll
   url-task: http://139.9.199.227:30991/device/task
-bag-number: 30
+bag-number: 10
 config-refresh-interval: 60
 disk-usage: 90
 bag-data-dir: /root/rosbag-handle/data/

pji/master/pkg/svc/produce_window.go

@@ -220,34 +220,27 @@ func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *c
 		// 2-2 如果在旧故障窗口内
 		global.TimeWindowProducerQueueMutex.RLock()
 		defer global.TimeWindowProducerQueueMutex.RUnlock()
-		log.GlobalLogger.Info("在旧故障窗口内，更新生产者队列最新的窗口 - 开始：", lastTimeWindow)
 		// 2-2-1 更新故障窗口end时间
-		{
-			maxEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, cfg.PlatformConfig.TaskMaxTime)
-			expectEnd := util.TimeCustomChange(faultHappenTime, cfg.PlatformConfig.TaskAfterTime)
-			if util.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
-				lastTimeWindow.TimeWindowEnd = maxEnd
-				lastTimeWindow.Length = cfg.PlatformConfig.TaskMaxTime
-			} else {
-				if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
-					lastTimeWindow.TimeWindowEnd = expectEnd
-					lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-				}
+		maxEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, cfg.PlatformConfig.TaskMaxTime)
+		expectEnd := util.TimeCustomChange(faultHappenTime, cfg.PlatformConfig.TaskAfterTime)
+		if util.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
+			lastTimeWindow.TimeWindowEnd = maxEnd
+			lastTimeWindow.Length = cfg.PlatformConfig.TaskMaxTime
+		} else {
+			if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
+				lastTimeWindow.TimeWindowEnd = expectEnd
+				lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
 			}
 		}
 		// 2-2-2 更新label
-		{
-			labels := lastTimeWindow.Labels
-			lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
-		}
+		labels := lastTimeWindow.Labels
+		lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
 		// 2-2-3 更新 topic
-		{
-			sourceMasterTopics := lastTimeWindow.MasterTopics
-			lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
-			sourceSlaveTopics := lastTimeWindow.SlaveTopics
-			lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
-		}
-		log.GlobalLogger.Info("在旧故障窗口内，更新窗口 - 结束：", *lastTimeWindow)
+		sourceMasterTopics := lastTimeWindow.MasterTopics
+		lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
+		sourceSlaveTopics := lastTimeWindow.SlaveTopics
+		lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
+		log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【FaultTime】=%v，【Length】=%v", lastTimeWindow.FaultTime, lastTimeWindow.Length)
 	}
 }