commit

aarch64/topic-echo/main/main.go

@@ -21,46 +21,92 @@ func main() {
 		Name:          "cicvDataClosedloopTopicEcho",
 		MasterAddress: "127.0.0.1:11311",
 	})
-	topic := util.ToString(os.Args[1])
-	if topic == TopicOfNodeFaultInfo {
-		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-			Node:  rosNode,
-			Topic: TopicOfNodeFaultInfo,
-			Callback: func(data *kinglong_msgs.FaultInfo) {
-				fmt.Println("收到话题", topic, "的数据", data)
-			}})
+	eType := util.ToString(os.Args[1])
+	topic := util.ToString(os.Args[2])
+	if eType == "kinglong" {
+		if topic == TopicOfNodeFaultInfo {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfNodeFaultInfo,
+				Callback: func(data *kinglong_msgs.FaultInfo) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfCicvLocation {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfCicvLocation,
+				Callback: func(data *kinglong_msgs.PerceptionLocalization) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfTpperception {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfTpperception,
+				Callback: func(data *kinglong_msgs.PerceptionObjects) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfFaultInfo {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfFaultInfo,
+				Callback: func(data *kinglong_msgs.FaultVec) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfDataRead {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfDataRead,
+				Callback: func(data *kinglong_msgs.Retrieval) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
 	}
-	if topic == TopicOfCicvLocation {
-		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-			Node:  rosNode,
-			Topic: TopicOfCicvLocation,
-			Callback: func(data *kinglong_msgs.PerceptionLocalization) {
-				fmt.Println("收到话题", topic, "的数据", data)
-			}})
-	}
-	if topic == TopicOfTpperception {
-		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-			Node:  rosNode,
-			Topic: TopicOfTpperception,
-			Callback: func(data *kinglong_msgs.PerceptionObjects) {
-				fmt.Println("收到话题", topic, "的数据", data)
-			}})
-	}
-	if topic == TopicOfFaultInfo {
-		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-			Node:  rosNode,
-			Topic: TopicOfFaultInfo,
-			Callback: func(data *kinglong_msgs.FaultVec) {
-				fmt.Println("收到话题", topic, "的数据", data)
-			}})
-	}
-	if topic == TopicOfDataRead {
-		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-			Node:  rosNode,
-			Topic: TopicOfDataRead,
-			Callback: func(data *kinglong_msgs.Retrieval) {
-				fmt.Println("收到话题", topic, "的数据", data)
-			}})
+
+	if eType == "pjisuv" {
+		if topic == TopicOfNodeFaultInfo {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfNodeFaultInfo,
+				Callback: func(data *kinglong_msgs.FaultInfo) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfCicvLocation {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfCicvLocation,
+				Callback: func(data *kinglong_msgs.PerceptionLocalization) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfTpperception {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfTpperception,
+				Callback: func(data *kinglong_msgs.PerceptionObjects) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfFaultInfo {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfFaultInfo,
+				Callback: func(data *kinglong_msgs.FaultVec) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
+		if topic == TopicOfDataRead {
+			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  rosNode,
+				Topic: TopicOfDataRead,
+				Callback: func(data *kinglong_msgs.Retrieval) {
+					fmt.Println("收到话题", topic, "的数据", data)
+				}})
+		}
 	}
 
 	select {}