commit

aarch64/pjibot_delivery/common/config/c_cloud.go

@@ -1,347 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"errors"
-	"fmt"
-	"github.com/gorilla/websocket"
-	"gopkg.in/yaml.v3"
-	"net/url"
-	"os"
-	"strings"
-	"sync"
-	"time"
-)
-
-type MonitorStruct struct {
-	Url string `yaml:"url"`
-}
-
-type platform struct {
-	UrlDeviceAuth string `yaml:"url-device-auth"`
-	UrlTaskPoll   string `yaml:"url-task-poll"`
-	UrlTask       string `yaml:"url-task"`
-}
-
-type rosbagStruct struct {
-	Path string   `yaml:"path"`
-	Envs []string `yaml:"envs"`
-}
-
-type hostStruct struct {
-	Name   string       `yaml:"name"`
-	Ip     string       `yaml:"ip"`
-	Topics []string     `yaml:"topics"`
-	Rosbag rosbagStruct `yaml:"rosbag"`
-}
-
-type ros struct {
-	MasterAddress string   `yaml:"master-address"`
-	Nodes         []string `yaml:"nodes"`
-}
-
-type disk struct {
-	Name string   `yaml:"name"`
-	Used uint64   `yaml:"used"`
-	Path []string `yaml:"path"`
-}
-type trigger struct {
-	Label  string   `yaml:"label"`
-	Topics []string `yaml:"topics"`
-}
-
-type CollectNumPlusStruct struct {
-	Url string `yaml:"url"`
-}
-
-type CollectLimitStruct struct {
-	Url   string `yaml:"url"`
-	Flag  int    `yaml:"flag"`
-	Day   int    `yaml:"day"`
-	Week  int    `yaml:"week"`
-	Month int    `yaml:"month"`
-	Year  int    `yaml:"year"`
-}
-
-type CollectWindowStruct struct {
-	Flag      int      `yaml:"flag"`
-	Days      []string `yaml:"days,omitempty"`
-	Start     string   `yaml:"start_time"`
-	End       string   `yaml:"end_time"`
-	StartTime time.Time
-	EndTime   time.Time
-}
-
-type cloudConfig struct {
-	CollectLimit          CollectLimitStruct   `yaml:"collect-limit"`
-	CollectWindow         CollectWindowStruct  `yaml:"collect-window"`
-	CollectNumPlus        CollectNumPlusStruct `yaml:"collect-num-plus"`
-	HasOneMsgTopic        bool                 `yaml:"has-one-msg-topic"` // 是否存在只发单帧的话题
-	FullCollect           bool                 `yaml:"full-collect"`
-	ConfigRefreshInterval int                  `yaml:"config-refresh-interval"` // 配置刷新时间间隔
-	BagNumber             int                  `yaml:"bag-number"`
-	TimeWindowSendGap     int                  `yaml:"time-window-send-gap"` // 主节点向从节点发送窗口的最小时间间隔
-	BagDataDir            string               `yaml:"bag-data-dir"`
-	BagCopyDir            string               `yaml:"bag-copy-dir"`
-	TriggersDir           string               `yaml:"triggers-dir"`
-	RpcPort               string               `yaml:"rpc-port"`
-	Triggers              []trigger            `yaml:"triggers"`
-	Hosts                 []hostStruct         `yaml:"hosts"`
-	Ros                   ros                  `yaml:"ros"`
-	Platform              platform             `yaml:"platform"`
-	Disk                  disk                 `yaml:"disk"`
-	Monitor               MonitorStruct        `yaml:"monitor"`
-}
-
-//// Request 结构体定义
-//type Request struct {
-//	Type      string      `json:"type"`
-//	UUID      string      `json:"uuid"`
-//	CommandID string      `json:"commandId"`
-//	Parameter interface{} `json:"parameter"`
-//}
-//
-//// Response 结构体定义
-//type Response struct {
-//	CommandID string            `json:"commandId"`
-//	ErrorCode string            `json:"errorCode"`
-//	Results   map[string]string `json:"results"`
-//	Status    string            `json:"status"`
-//	Time      int64             `json:"time"`
-//	Type      string            `json:"type"`
-//	UUID      string            `json:"uuid"`
-//}
-
-var (
-	CloudConfig      cloudConfig
-	CloudConfigMutex sync.RWMutex
-)
-
-// InitCloudConfig 初始化业务配置
-func InitCloudConfig() {
-	// history20240401：朴津机器人额外加一个获取sn码
-	var snCode string
-
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		snCode, err := getSnCode()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取sn码失败：", err.Error())
-			continue
-		}
-		LocalConfig.SecretKey = snCode
-		LocalConfig.EquipmentNo = "pjibot-" + snCode
-		break
-	}
-	c_log.GlobalLogger.Info("本地机器人sn码为：", snCode)
-
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 开始。")
-	// 获取文件的目录
-	_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-	// 3 ------- 获取 yaml 字符串 -------
-	cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-
-	// 判断文件是否存在。如果不存在则使用默认的
-	isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-	}
-	if isExist {
-		c_log.GlobalLogger.Info("使用机器人自定义配置文件:", cloudConfigObjectKey)
-	} else {
-		cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-		c_log.GlobalLogger.Info("使用机器人默认配置文件:", cloudConfigObjectKey)
-	}
-
-	for {
-		OssMutex.Lock()
-		err := OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-		OssMutex.Unlock()
-		if err != nil {
-			c_log.GlobalLogger.Error("下载 OSS 上的配置文件 "+cloudConfigObjectKey+" 失败，请尽快在 OSS 上传配置文件。", err)
-			time.Sleep(time.Duration(2) * time.Second)
-			continue
-		}
-		break
-	}
-
-	content, err := os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		os.Exit(-1)
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig cloudConfig
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		os.Exit(-1)
-	}
-	cw := time.Now()
-	loc := cw.Location()
-	// 单独解析采集时间
-	startTime, err := time.ParseInLocation("15:04", newCloudConfig.CollectWindow.Start, loc)
-	if err != nil {
-		c_log.GlobalLogger.Error("云端配置文件解析采集时间【startTime】失败 ", err, "取默认值【00:00】")
-		newCloudConfig.CollectWindow.StartTime, _ = time.ParseInLocation("15:04", "00:00", loc)
-	}
-	newCloudConfig.CollectWindow.StartTime = startTime
-	endTime, err := time.ParseInLocation("15:04", newCloudConfig.CollectWindow.End, loc)
-	if err != nil {
-		c_log.GlobalLogger.Error("云端配置文件解析采集时间【endTime】失败 ", err, "取默认值【23:59】")
-		newCloudConfig.CollectWindow.EndTime, _ = time.ParseInLocation("15:04", "23:59", loc)
-	}
-	newCloudConfig.CollectWindow.EndTime = endTime
-	if len(newCloudConfig.CollectWindow.Days) == 0 {
-		// 默认设置为每天
-		newCloudConfig.CollectWindow.Days = []string{"Monday", "Tuesday", "Wednesday", "Thursday", "Friday", "Saturday", "Sunday"}
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkCloudConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件格式错误：", newCloudConfig)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 成功。")
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-}
-
-// 更新业务配置
-func refreshCloudConfig() {
-	// 获取文件的目录
-	_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-	// 3 ------- 获取 yaml 字符串 -------
-	var content []byte
-	cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-
-	isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-		return
-	}
-	if !isExist {
-		cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-	}
-
-	OssMutex.Lock()
-	err = OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-	OssMutex.Unlock()
-	if err != nil {
-		c_log.GlobalLogger.Error("下载oss上的配置文件"+cloudConfigObjectKey+"失败。", err)
-		return
-	}
-
-	content, err = os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		return
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig cloudConfig
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		return
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkCloudConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("配置文件格式错误：", newCloudConfig)
-		return
-	}
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-
-}
-
-// RefreshCloudConfig 轮询oss上的配置文件更新到本地
-func RefreshCloudConfig() {
-	for {
-		time.Sleep(time.Duration(CloudConfig.ConfigRefreshInterval) * time.Second)
-		refreshCloudConfig()
-	}
-}
-
-// CheckConfig 校验 cfg.yaml 文件
-func checkCloudConfig(check cloudConfig) bool {
-	if len(check.Hosts) != 1 {
-		c_log.GlobalLogger.Error("cloud-config.yaml中配置的hosts必须为1。")
-		os.Exit(-1)
-	}
-	return true
-}
-
-func getSnCode() (string, error) {
-	var command []string
-	command = append(command, "get")
-	command = append(command, "sn")
-	_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
-	if err != nil {
-		return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
-	}
-	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
-	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
-	return snCode, nil
-}
-
-// SendWebsocketRequest 发送WebSocket请求并返回sn字段的值
-func SendWebsocketRequest(serverURL, path string, request Request) (string, error) {
-	// 构建WebSocket连接URL
-	u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
-
-	// 创建一个Dialer实例，用于建立WebSocket连接
-	dialer := websocket.Dialer{
-		ReadBufferSize:  1024,
-		WriteBufferSize: 1024,
-		// 可选：设置超时等
-		HandshakeTimeout: 5 * time.Second,
-	}
-
-	// 建立WebSocket连接
-	conn, _, err := dialer.Dial(u.String(), nil)
-	if err != nil {
-		return "", fmt.Errorf("dial: %w", err)
-	}
-	defer conn.Close()
-
-	// 将请求JSON编码为字节
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		return "", fmt.Errorf("marshal request: %w", err)
-	}
-
-	// 发送WebSocket消息
-	err = conn.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		return "", fmt.Errorf("write: %w", err)
-	}
-
-	// 读取WebSocket响应
-	_, responseBytes, err := conn.ReadMessage()
-	if err != nil {
-		return "", fmt.Errorf("read: %w", err)
-	}
-
-	// 将响应字节解码为JSON
-	var response Response
-	err = json.Unmarshal(responseBytes, &response)
-	if err != nil {
-		return "", fmt.Errorf("unmarshal response: %w", err)
-	}
-
-	// 返回sn字段的值
-	return response.Results["sn"], nil
-}

aarch64/pjibot_delivery/common/config/c_killrpcserver.go

@@ -1,21 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"net"
-	"os"
-)
-
-var KillSignalListener net.Listener
-
-func InitKillSignalListener(serverIp string) {
-	var err error
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 开始。")
-	socket := serverIp + ":" + CloudConfig.RpcPort
-	KillSignalListener, err = net.Listen("tcp", socket)
-	if err != nil {
-		c_log.GlobalLogger.Error("监听rpc端口失败:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 成功：", socket)
-}

aarch64/pjibot_delivery/common/config/c_local.go

@@ -1,62 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"gopkg.in/yaml.v2"
-	"os"
-)
-
-type node struct {
-	Name string `yaml:"name"`
-	Ip   string `yaml:"ip"`
-}
-
-type restartCmd struct {
-	Dir  string   `yaml:"dir"`
-	Name string   `yaml:"name"`
-	Args []string `yaml:"args"`
-}
-
-type localConfig struct {
-	Node                 node       `yaml:"node"`                    // 节点信息
-	RosparamPath         string     `yaml:"rosparam-path"`           // 获取oss配置的url
-	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url
-	OssBasePrefix        string     `yaml:"oss-base-prefix"`         // 云端配置文件的位置
-	CloudConfigFilename  string     `yaml:"cloud-config-filename"`   // 云端配置文件名称
-	CloudConfigLocalPath string     `yaml:"cloud-config-local-path"` // 将 oss 的配置文件下载到本地的位置
-	LocalWebsocketPort   string     `yaml:"local-websocket-port"`    // websocket端口号
-	RestartCmd           restartCmd `yaml:"restart-cmd"`             // 重启命令
-	EquipmentNo          string     // 当前设备的编号
-	SecretKey            string     // 当前设备的密钥
-}
-
-var (
-	LocalConfig localConfig
-)
-
-func InitLocalConfig(localConfigPath string) {
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 开始：", localConfigPath)
-	// 读取YAML文件内容
-	content, err := os.ReadFile(localConfigPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("读取本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	// 解析YAML内容
-	err = yaml.Unmarshal(content, &LocalConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	// history20240401：设备密钥需要获取sn码，设备编号同样。######由于执行命令需要环境变量，所以放到 c_cloud.go 中####
-	/*
-		# 例如，数据闭环平台参数
-		equipment-no: pjibot-P1YNYD1M228000127
-		secret-key: P1YNYD1M228000127
-	*/
-
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 成功：", LocalConfig)
-
-}

aarch64/pjibot_delivery/common/config/c_oss.go

@@ -1,52 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"github.com/aliyun/aliyun-oss-go-sdk/oss"
-	"os"
-	"sync"
-)
-
-type OssConnectInfoStruct struct {
-	Endpoint        string `json:"endpoint"`
-	AccessKeyId     string `json:"accessKeyId"`
-	AccessKeySecret string `json:"accessKeySecret"`
-	BucketName      string `json:"bucketName"`
-}
-
-var (
-	OssClient *oss.Client
-	OssBucket *oss.Bucket
-	OssMutex  sync.Mutex
-)
-
-func InitOssConfig() {
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 开始。")
-	// 1 访问 HTTP 服务获取 OSS 配置
-	get, err := util.HttpGet(LocalConfig.UrlGetOssConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("http获取oss配置时出错:", err)
-		os.Exit(-1)
-	}
-	var ossConnectInfo OssConnectInfoStruct
-	err = json.Unmarshal([]byte(get), &ossConnectInfo)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析json时出错:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Infof("oss 配置信息为：%v", ossConnectInfo)
-
-	OssClient, err = oss.New(ossConnectInfo.Endpoint, ossConnectInfo.AccessKeyId, ossConnectInfo.AccessKeySecret, oss.UseCname(true))
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云client:", err)
-		os.Exit(-1)
-	}
-	OssBucket, err = OssClient.Bucket(ossConnectInfo.BucketName)
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云bucket:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 成功。")
-}

aarch64/pjibot_delivery/common/config/c_platform.go

@@ -1,212 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"strings"
-	"time"
-)
-
-type taskTrigger struct {
-	TriggerId         int    `json:"triggerId"`
-	TriggerName       string `json:"triggerName"`
-	TriggerScriptPath string `json:"triggerScriptPath"`
-	TriggerType       string `json:"triggerType"`
-}
-
-type PlatformConfigStruct struct {
-	TaskConfigId    string        `json:"taskConfigId"`   // 配置ID
-	TaskConfigName  string        `json:"taskConfigName"` // 配置名称
-	DropUploadData  bool          `json:"dropUploadData"` // 更新任务时 true 先上传旧任务 false 删除旧任务
-	TaskMaxTime     int           `json:"taskMaxTime"`
-	TaskBeforeTime  int           `json:"taskBeforeTime"`
-	TaskAfterTime   int           `json:"taskAfterTime"`
-	TaskCachePolicy string        `json:"taskCachePolicy"`
-	EquipmentTopic  string        `json:"equipmentTopic"` // topic序列
-	Lru             []string      `json:"LRU"`
-	TaskTriggers    []taskTrigger `json:"taskTriggers"`
-}
-
-type response struct {
-	Data    PlatformConfigStruct `json:"data"`
-	Success bool                 `json:"success"`
-	Message string               `json:"message"`
-	Code    int                  `json:"code"`
-	NowTime string               `json:"nowTime"`
-}
-
-var (
-	PlatformConfig PlatformConfigStruct
-	RecordTopics   []string
-)
-
-// InitPlatformConfig 初始化数据闭环平台的配置
-func InitPlatformConfig() {
-	var err error
-	c_log.GlobalLogger.Info("获取数据闭环平台配置 - 开始")
-	// 1 如果车辆没有配置任务，则阻塞在这里，不启动任务
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		// 判断是否有配置，第一次访问状态应该为：CHANGE（一共三种状态 CHANGE|UNCHANGE|NONE）
-		PlatformConfig, err = getConfig()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		if checkPlatformConfig() {
-			RecordTopics = strings.Split(PlatformConfig.EquipmentTopic, ",")
-			// 去掉首尾空格
-			for i, topic := range RecordTopics {
-				RecordTopics[i] = strings.TrimSpace(topic)
-			}
-			break
-		}
-	}
-	c_log.GlobalLogger.Info("获取数据闭环平台配置 - 成功。")
-}
-
-/*
-	{
-	  "data": {
-	    "accessToken": "YWRmYWRzZmFzZGZhZHNmYWRmYWRm=",
-	    "expireTime": "28800",
-	    "equipmentNo": "robot-001"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 22:41:00"
-	}
-*/
-// 认证接口，获取access_token
-func GetAccessToken() (string, error) {
-	url := &CloudConfig.Platform.UrlDeviceAuth
-	param := &map[string]string{
-		"equipmentNo": LocalConfig.EquipmentNo,
-		"secretKey":   LocalConfig.SecretKey,
-	}
-	respJson, err := util.HttpPostJsonResponseString(
-		*url,
-		*param,
-	)
-	if err != nil {
-		return "", nil
-	}
-	respMap, err := util.JsonStringToMap(respJson)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("解析返回结果【%v】失败，请求地址为【%v】,请求参数为【%v】：%v", respJson, *url, *param, err)
-		return "", nil
-	}
-
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Error("解析返回结果.data", dataMap, "失败：", err)
-		return "", nil
-	}
-	return dataMap["accessToken"].(string), nil
-}
-
-/*
-	{
-	  "data": {
-	    "status": "UNCHANGE"
-	    "taskConfigld": "xxx"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 21:08:49"
-	}
-*/
-//GetStatus 根据taskConfigId获取任务status，如果传入空代表车端没有配置，直接获取新的配置
-func GetStatus(taskConfigId string) (string, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return "", err
-	}
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTaskPoll,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo":  LocalConfig.EquipmentNo,
-			"taskConfigId": taskConfigId,
-		},
-	)
-
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return "", err
-	}
-	respMap, err := util.JsonStringToMap(resp)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果1】", resp, "失败：", err)
-		return "", err
-	}
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Errorf("解析【返回结果.data】的类型不是(map[string]interface{})，【dataMap】=%v", dataMap)
-		return "", err
-	}
-	return dataMap["status"].(string), nil
-}
-
-func getConfig() (PlatformConfigStruct, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return PlatformConfigStruct{}, err
-	}
-	// 下载插件和获取配置
-	// 2 访问配置获取接口
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTask,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo": LocalConfig.EquipmentNo,
-		},
-	)
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	var result response
-	err = json.Unmarshal([]byte(resp), &result)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果】", resp, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	return result.Data, nil
-}
-
-func checkPlatformConfig() bool {
-	if PlatformConfig.TaskConfigId == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置任务。")
-		return false
-	}
-	if PlatformConfig.EquipmentTopic == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置topic序列。")
-		return false
-	}
-	return true
-}
-
-func CheckPlatformConfigStatus(maxRetryCount int) bool {
-	var err error
-	for i := 0; i < maxRetryCount; i++ {
-		time.Sleep(time.Duration(2) * time.Second)
-		// 判断是否有配置，第一次访问状态应该为：CHANGE（一共三种状态 CHANGE|UNCHANGE|NONE）
-		PlatformConfig, err = getConfig()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		if checkPlatformConfig() {
-			return true
-		}
-	}
-	return false
-}

aarch64/pjibot_delivery/common/config/c_resource.go

@@ -1,35 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"time"
-)
-
-// SendResourceUsage 保存资源占用情况
-func SendResourceUsage() {
-	for {
-		time.Sleep(time.Duration(1) * time.Second)
-		top10Cpu, top10Mem := util.GetTop10CpuAndMem()
-		top10CpuJson, _ := json.MarshalIndent(top10Cpu, "", "    ")
-		top10MemJson, _ := json.MarshalIndent(top10Mem, "", "    ")
-		responseString, err := util.HttpPostJsonWithHeaders(
-			CloudConfig.Monitor.Url,
-			map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-			map[string]string{
-				"totalCpuUsage":    util.ToString(util.GetCpuPercent()),
-				"totalMemoryUsage": util.ToString(util.GetMemoryPercent()),
-				"top10Process":     string(top10CpuJson),
-				"top10Cpu":         string(top10CpuJson),
-				"top10Mem":         string(top10MemJson),
-				"deviceNumber":     LocalConfig.EquipmentNo,
-				"socIp":            LocalConfig.Node.Ip,
-			},
-		)
-		if err != nil {
-			c_log.GlobalLogger.Errorf("发送数据监控信息报错%v，响应信息为：%v", err, responseString)
-		}
-		//c_log.GlobalLogger.Infof("发送数据监控信息成功，响应信息为：%v", responseString)
-	}
-}

aarch64/pjibot_delivery/common/config/c_ros.go

@@ -1,39 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"time"
-)
-
-var (
-	RosNode    *goroslib.Node
-	RosbagPath string
-	RosbagEnvs []string
-)
-
-func InitRosConfig() {
-	var err error
-	// 1
-	c_log.GlobalLogger.Info("初始化RosNode - 开始")
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		if RosNode, err = goroslib.NewNode(goroslib.NodeConf{Name: "node" + util.GetNowTimeCustom(), MasterAddress: CloudConfig.Ros.MasterAddress}); err != nil {
-			c_log.GlobalLogger.Info("初始化RosNode - 进行中：", err)
-			continue
-		}
-		break
-	}
-	c_log.GlobalLogger.Info("初始化RosNode - 成功：", CloudConfig.Ros.MasterAddress)
-	// 2 获取 rosbag 命令路径和环境变量
-	for _, host := range CloudConfig.Hosts {
-		if host.Name == LocalConfig.Node.Name {
-			RosbagPath = host.Rosbag.Path
-			RosbagEnvs = host.Rosbag.Envs
-			break
-		}
-	}
-	c_log.GlobalLogger.Infof("rosbag 命令路径为：%v，环境变量为：%v", RosbagPath, RosbagEnvs)
-
-}

aarch64/pjibot_delivery/common/config/c_websocket.go

@@ -1,225 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"encoding/json"
-	"fmt"
-	"github.com/gorilla/websocket"
-	"net/url"
-	"time"
-)
-
-var (
-	WsConn                 *websocket.Conn
-	reconnectionInProgress bool
-)
-
-// Request 结构体定义
-type Request struct {
-	Type      string      `json:"type"`
-	UUID      string      `json:"uuid"`
-	CommandID string      `json:"commandId"`
-	Parameter interface{} `json:"parameter"`
-}
-
-// Request1 结构体定义
-type Request1 struct {
-	Type      string      `json:"type"`
-	CommandID string      `json:"commandId"`
-	Parameter interface{} `json:"parameter"`
-}
-
-// Response 结构体定义
-type Response struct {
-	CommandID string            `json:"commandId"`
-	ErrorCode string            `json:"errorCode"`
-	Results   map[string]string `json:"results"`
-	Status    string            `json:"status"`
-	Time      int64             `json:"time"`
-	Type      string            `json:"type"`
-	UUID      string            `json:"uuid"`
-}
-
-// StatusMessage 状态消息 结构体定义
-type StatusMessage struct {
-	Type  string      `json:"type"`
-	Topic string      `json:"topic"`
-	Time  int64       `json:"time"`
-	Data  interface{} `json:"data"`
-}
-
-func keepAlive() {
-	ticker := time.NewTicker(30 * time.Second)
-	defer ticker.Stop()
-
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		//c_log.GlobalLogger.Error("保持websocket连接活跃，解析requestJSON - 失败。", err)
-	}
-
-	for {
-		select {
-		case <-ticker.C:
-			err := WsConn.WriteMessage(websocket.TextMessage, requestJSON)
-			if err != nil {
-				//c_log.GlobalLogger.Error("保持websocket连接活跃，发送心跳请求 - 失败。", err)
-				WsConn.Close()
-				//c_log.GlobalLogger.Info("重试连接websocket...")
-				ConnectWebsocket() // 重新连接
-				continue
-			}
-			//c_log.GlobalLogger.Info("保持websocket连接活跃，发送心跳请求 - 成功。")
-		}
-	}
-}
-
-func SendWebsocketHeartbeat(conn *websocket.Conn, maxRetries int) (bool, error) {
-
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	// 将请求JSON编码为字节
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		return false, fmt.Errorf("marshal request: %w", err)
-	}
-
-	// 发送WebSocket消息
-	err = conn.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		return false, fmt.Errorf("write: %w", err)
-	}
-
-	count := 0
-	for {
-		if count > maxRetries {
-			return false, fmt.Errorf("保持websocket连接活跃，读取websocket消息超过最大重试次数。")
-		}
-		time.Sleep(1 * time.Second)
-		_, message, err := conn.ReadMessage()
-		if err != nil {
-			c_log.GlobalLogger.Error("保持websocket连接活跃，读取websocket消息 - 失败 ", err, " 继续读取消息。")
-			return false, err
-			//continue
-		}
-
-		var response Response
-		err = json.Unmarshal(message, &response)
-		c_log.GlobalLogger.Info("response ", response)
-		if err == nil && response.Type == "response" {
-			c_log.GlobalLogger.Info("response1 ", response)
-			return true, err
-		}
-		count++
-	}
-}
-
-func sendRequestAndAwaitResponse(ws *websocket.Conn) ([]byte, error) {
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		c_log.GlobalLogger.Error("保持websocket连接活跃，解析requestJSON - 失败。", err)
-		return nil, err
-	}
-
-	err = ws.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		c_log.GlobalLogger.Error("保持websocket连接活跃，发送心跳请求 - 失败。", err)
-		return nil, err
-	}
-	c_log.GlobalLogger.Info("保持websocket连接活跃，发送心跳请求 - 成功。")
-
-	// 使用channel等待响应
-	responseChan := make(chan []byte)
-	go handleMessages(ws, responseChan)
-
-	select {
-	case response := <-responseChan:
-		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 成功。")
-		return response, nil
-	case <-time.After(60 * time.Second): // 设置超时时间
-		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 超时。")
-		close(responseChan)
-		return nil, fmt.Errorf("保持websocket连接活跃，等待心跳响应 - 超时。")
-	}
-}
-
-func handleMessages(ws *websocket.Conn, responseChan chan<- []byte) {
-	for {
-		time.Sleep(100 * time.Millisecond)
-		_, message, err := ws.ReadMessage()
-		if err != nil {
-			c_log.GlobalLogger.Error("保持websocket连接活跃，读取websocket消息 - 失败 ", err)
-			return
-		}
-
-		var response Response
-		if err := json.Unmarshal(message, &response); err == nil && response.Type == "response" {
-			responseChan <- message
-			close(responseChan)
-			return
-		}
-	}
-}
-
-func ConnectWebsocket() {
-	for {
-		// 防止重复调用
-		if reconnectionInProgress {
-			return
-		}
-		reconnectionInProgress = true
-		//c_log.GlobalLogger.Info("初始化Websocket连接 - 开始。")
-		serverURL := LocalConfig.Node.Ip + ":" + LocalConfig.LocalWebsocketPort
-		path := "/"
-
-		// 构建WebSocket连接URL
-		u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
-		//c_log.GlobalLogger.Info("URL:", u.String())
-
-		// 创建一个Dialer实例，用于建立WebSocket连接
-		dialer := websocket.Dialer{
-			ReadBufferSize:  1024,
-			WriteBufferSize: 1024,
-			// 可选：设置超时等
-			HandshakeTimeout: 5 * time.Minute,
-		}
-
-		// 建立WebSocket连接
-		coon, _, err := dialer.Dial(u.String(), nil)
-		if err != nil {
-			fmt.Println("err:", err)
-			//c_log.GlobalLogger.Error("初始化Websocket连接 - 失败。")
-			time.Sleep(5 * time.Second)
-			reconnectionInProgress = false
-			//c_log.GlobalLogger.Info("重试连接websocket...")
-			continue
-		}
-
-		WsConn = coon
-		//c_log.GlobalLogger.Info("初始化Websocket连接 - 成功。")
-		// 连接成功，退出循环
-		reconnectionInProgress = false
-		break
-	}
-}
-
-func InitWebsocketConfig() {
-	ConnectWebsocket()
-	// 保持连接活跃
-	go keepAlive()
-}

aarch64/pjibot_delivery/common/service/disk_clean.go

@@ -1,94 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_delivery/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// 如果磁盘占用过高，则删除timeWindow和对应的文件
-func DiskClean() {
-	c_log.GlobalLogger.Info("清理timeWindow，启动！")
-	/*
-		TTL(0, "删除旧数据")；
-		STOP(1, "停止缓存");
-		LRU(2, "保留高优先级")
-	*/
-	policyToDescription := map[string]string{
-		"TTL":  "删除旧数据",
-		"STOP": "停止缓存",
-		"LRU":  "保留高优先级",
-	}
-
-	for {
-		time.Sleep(1000 * time.Millisecond)
-		// 1 获取磁盘占用
-		//diskUsed, _ := util.GetDiskUsed(commonConfig.CloudConfig.Disk.Name) // 获取整个磁盘空间
-
-		diskUsed, _ := util.GetDirectoryDiskUsed(commonConfig.CloudConfig.Disk.Path) // 获取指定目录空间
-		if diskUsed > commonConfig.CloudConfig.Disk.Used {
-			policy := commonConfig.PlatformConfig.TaskCachePolicy
-			c_log.GlobalLogger.Errorf("磁盘占用 %v 超过 %v，触发删除规则 %v", diskUsed, commonConfig.CloudConfig.Disk.Used, policyToDescription[policy])
-			// 2 获取策略
-			if policy == "TTL" {
-				// 1 获取时间窗口队列中的第二个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(1)
-				}
-			} else if policy == "STOP" {
-				// 2 获取时间窗口队列中的倒数第一个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(len(entity.TimeWindowConsumerQueue) - 1)
-				}
-			} else if policy == "LRU" {
-				// 3 获取优先级最低的时间窗口
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					indexToRemove := getIndexToRemoveForLRU()
-					if indexToRemove != -1 {
-						deleteTimeWindow(indexToRemove)
-					}
-				}
-			} else {
-				c_log.GlobalLogger.Error("未知的缓存策略：", policy)
-			}
-
-		}
-	}
-}
-
-func deleteTimeWindow(indexToRemove int) {
-	timeWindowToRemove := entity.TimeWindowConsumerQueue[indexToRemove]
-	// 1 删除队列中的窗口。使用切片的特性删除指定位置的元素
-	entity.TimeWindowConsumerQueueMutex.Lock()
-	entity.TimeWindowConsumerQueue = append(entity.TimeWindowConsumerQueue[:indexToRemove], entity.TimeWindowConsumerQueue[indexToRemove+1:]...)
-	entity.TimeWindowConsumerQueueMutex.Unlock()
-	// 2 删除该窗口对应的文件目录。
-	faultTime := timeWindowToRemove.FaultTime
-	dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, faultTime)
-	err := util.RemoveDir(dir)
-	if err != nil {
-		c_log.GlobalLogger.Error("删除目录", dir, "失败：", err)
-	}
-}
-
-func getIndexToRemoveForLRU() int {
-	lru := commonConfig.PlatformConfig.Lru
-	i := len(lru) - 1
-	for i >= 0 {
-		for i2, window := range entity.TimeWindowConsumerQueue {
-			for _, label := range window.Labels {
-				if value, ok := masterConfig.LabelMapTriggerId.Load(label); ok {
-					if value.(string) == lru[i] {
-						return i2
-					}
-				}
-			}
-		}
-	}
-	return -1
-
-}

aarch64/pjibot_delivery/common/service/kill_self.go

@@ -1,118 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"net/rpc"
-	"os"
-	"sync"
-	"time"
-)
-
-var (
-	ChannelKillRosRecord  = make(chan int)
-	ChannelKillDiskClean  = make(chan int)
-	ChannelKillSubscriber = make(chan int)
-	ChannelKillMove       = make(chan int)
-	ChannelKillConsume    = make(chan int)
-
-	KillChannel = 5
-	KillTimes   = 0
-	MutexKill   sync.Mutex
-)
-
-// KillSignal 停止信号，主从节点接收到数据后准备重启
-type KillSignal struct {
-	NodeName       string
-	DropUploadData bool
-	Restart        bool
-}
-
-// KillService 定义要远程调用的类型和方法
-type KillService struct{}
-
-// Kill 杀死自身程序，通过通道实现 方法必须满足RPC规范：函数有两个参数，第一个参数是请求，第二个是响应
-func (m *KillService) Kill(args KillSignal, reply *int) error {
-	c_log.GlobalLogger.Info("接收到自杀信号：", args)
-	// 1 杀死 rosbag record 命令
-	ChannelKillRosRecord <- 1
-	// 2 杀死所有 ros 订阅者
-	ChannelKillSubscriber <- 1
-	// 3 杀死上传任任务
-	if args.DropUploadData == true {
-		// 3-1 等待上传结束再杀死
-		ChannelKillMove <- 1
-		ChannelKillConsume <- 1
-	} else {
-		// 3-2 直接杀死
-		ChannelKillMove <- 2
-		ChannelKillConsume <- 2
-	}
-	go killDone(args.Restart)
-	return nil
-}
-func WaitKillSelf() {
-	killService := new(KillService)
-	err := rpc.Register(killService)
-	if err != nil {
-		c_log.GlobalLogger.Error("注册rpc服务失败：", err)
-		return
-	}
-
-	// 等待并处理远程调用请求
-	for {
-		conn, err := commonConfig.KillSignalListener.Accept()
-		if err != nil {
-			continue
-		}
-		go rpc.ServeConn(conn)
-	}
-}
-
-func AddKillTimes(info string) {
-	MutexKill.Lock()
-	defer MutexKill.Unlock()
-	switch info {
-	case "1":
-		ChannelKillDiskClean <- 1
-		close(ChannelKillRosRecord)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 record 打包 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "2":
-		close(ChannelKillDiskClean)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包数量维护 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "3":
-		close(ChannelKillSubscriber)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 rosnode 和ros 订阅者 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "4":
-		close(ChannelKillMove)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包移动 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "5":
-		close(ChannelKillConsume)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包消费 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	}
-}
-
-func killDone(restart bool) {
-	for {
-		time.Sleep(time.Duration(1) * time.Second)
-		if KillChannel == KillTimes {
-			if restart {
-				_, err := util.ExecuteWithPath(commonConfig.LocalConfig.RestartCmd.Dir, commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args...)
-				if err != nil {
-					c_log.GlobalLogger.Info("启动新程序失败,【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args, "：", err)
-					os.Exit(-1)
-				}
-				c_log.GlobalLogger.Info("数据采集任务更新，正常退出当前程序。")
-			} else {
-				c_log.GlobalLogger.Info("数据采集任务终止，正常退出当前程序。")
-			}
-			os.Exit(0)
-		}
-	}
-}

aarch64/pjibot_delivery/common/service/rosbag_clean.go

@@ -1,36 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// BagCacheClean 保证本地缓存的包数量不超过设定值
-func BagCacheClean() {
-	c_log.GlobalLogger.Info("启动清理缓存的 goroutine 维护目录【", config.CloudConfig.BagDataDir, "】的 bag 包数量：", config.CloudConfig.BagNumber)
-	for {
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillDiskClean:
-			if signal == 1 {
-				AddKillTimes("2")
-				return
-			}
-		default:
-		}
-
-		// 1 ------- 每10秒清理一次 -------
-		time.Sleep(time.Duration(10) * time.Second)
-		// 2 ------- 获取目录下所有bag包 -------
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(config.CloudConfig.BagDataDir, ".bag")
-		// 3 如果打包数量超过n个，删除最旧的包{
-		if len(bags) > config.CloudConfig.BagNumber {
-			diff := len(bags) - config.CloudConfig.BagNumber
-			for i := 0; i < diff; i++ {
-				util.DeleteFile(bags[i])
-			}
-		}
-	}
-}

aarch64/pjibot_delivery/common/service/rosbag_record.go

@@ -1,138 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"os"
-	"os/exec"
-	"time"
-)
-
-// 打包rosbag
-func BagRecord(nodeName string) {
-	var err error
-	c_log.GlobalLogger.Info("rosbag record goroutine - 启动")
-	for {
-	startRecord:
-		c_log.GlobalLogger.Info("校验必需的 rosnode 是否全部启动。")
-		canRecord := false
-		for !canRecord {
-			time.Sleep(time.Duration(2) * time.Second)
-			canRecord = isCanRecord(config.RosNode)
-		}
-		c_log.GlobalLogger.Info("rosnode 启动完成，正在启动 rosbag record 命令。")
-
-		var command []string
-		command = append(command, "record")
-		command = append(command, "--split")
-		command = append(command, "--duration=1")
-		platformTopics := config.RecordTopics
-		for _, host := range config.CloudConfig.Hosts {
-			if host.Name == nodeName {
-				// platformConfig中配置用户想缓存的topic，配置文件中的是默认要采集的（如果平台没有填，则取默认），取交集
-				if platformTopics == nil || len(platformTopics) == 0 {
-					c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，采集默认话题", platformTopics)
-					for _, topic2 := range host.Topics {
-						command = append(command, topic2)
-					}
-				} else {
-					c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
-					for _, topic1 := range config.RecordTopics {
-						command = append(command, topic1)
-					}
-				}
-			}
-		}
-
-		// 2 ------- 调用 rosbag 打包命令，该命令自动阻塞 -------
-		// 不在此处压缩，因为 rosbag filter 时会报错。在上传到oss之前压缩即可。
-		// 包名格式：2023-11-15-17-35-20_0.bag
-		_ = util.CreateParentDir(config.CloudConfig.BagDataDir)
-		var recordProcessPid int
-		var recordSubProcessPid int
-		var cmd *exec.Cmd
-		//systemEnv := os.Environ()
-		//c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
-	parent:
-		for {
-			c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
-			cmd, err = util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-			if err != nil {
-				c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
-				continue
-			}
-			recordProcessPid = cmd.Process.Pid
-		sub:
-			for {
-				time.Sleep(time.Duration(2) * time.Second)
-				process, err := os.FindProcess(recordProcessPid)
-				if process == nil {
-					continue parent
-				}
-				recordSubProcessPid, err = util.GetSubProcessPid(recordProcessPid)
-				if err != nil {
-					c_log.GlobalLogger.Info("正在等待获取进程 ", recordProcessPid, " 的子进程的pid。（未获取到可能由于磁盘空间已满）")
-					continue sub
-				}
-				if recordSubProcessPid != 0 {
-					c_log.GlobalLogger.Info("进程 ", recordProcessPid, " 的子进程的pid为：", recordSubProcessPid)
-					break parent
-				}
-			}
-		}
-		// 等待自杀信号
-		c_log.GlobalLogger.Info("启动record命令成功。等待自杀信号。")
-		for {
-			select {
-			case signal := <-ChannelKillRosRecord:
-				if signal == 1 {
-					kill(recordProcessPid, recordSubProcessPid, cmd)
-					AddKillTimes("1")
-					continue // continue 是为了等待重启信号
-				}
-				if signal == 2 {
-					goto startRecord // 收到信号 2 重新 record 命令
-				}
-				if signal == 3 { // 这个关闭是等待数据处理时的关闭
-					c_log.GlobalLogger.Error("采集数据，接收record命令进程关闭信号：", signal)
-					kill(recordProcessPid, recordSubProcessPid, cmd)
-					continue
-				}
-			}
-		}
-	}
-}
-func kill(recordProcessPid int, recordSubProcessPid int, cmd *exec.Cmd) {
-	if err := util.KillProcessByPid(recordSubProcessPid); err != nil {
-		c_log.GlobalLogger.Errorf("程序阻塞，杀死record命令子进程出错，【pid】=%v,【err】=%v。", recordSubProcessPid, err)
-		select {} // 此处阻塞防止record命令一直录包占满存储
-	}
-	if err := cmd.Process.Kill(); err != nil {
-		c_log.GlobalLogger.Error("程序阻塞，杀死record命令进程", recordProcessPid, "出错：", err)
-		select {} // 此处阻塞防止record命令一直录包占满存储
-	}
-}
-func isCanRecord(n *goroslib.Node) bool {
-	time.Sleep(time.Duration(1) * time.Second)
-	// 获取
-	nodes, err := n.MasterGetNodes()
-	if err != nil {
-		c_log.GlobalLogger.Error("获取rosnode出错：", err)
-		return false
-	}
-	// 创建一个示例的map
-	myMap := nodes
-	// 创建一个切片，包含要检查的元素
-	mySlice := config.CloudConfig.Ros.Nodes
-
-	// 判断map的键是否包含切片中的所有元素
-	for _, element := range mySlice {
-		if _, ok := myMap[element]; !ok {
-			c_log.GlobalLogger.Info("rosnode：", element, " 未启动，需等待启动后才可启动record。")
-			return false
-		}
-	}
-	return true
-}

aarch64/pjibot_delivery/common/service/rosbag_upload.go

@@ -1,186 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_delivery/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	commonUtil "cicv-data-closedloop/common/util"
-	"encoding/json"
-	"fmt"
-	"os"
-	"strings"
-	"time"
-)
-
-func RunTimeWindowConsumerQueue(nodeName string) {
-	c_log.GlobalLogger.Info("处理消费者队列goroutine - 启动")
-outLoop:
-	for {
-
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillConsume:
-			if signal == 1 {
-				ChannelKillConsume <- 1
-				if len(entity.TimeWindowConsumerQueue) == 0 {
-					AddKillTimes("5")
-					return
-				}
-			} else { //signal == 2
-				AddKillTimes("5")
-				return
-			}
-		default:
-		}
-		// 每一秒扫一次
-		time.Sleep(time.Duration(1) * time.Second)
-
-		waitLength := len(entity.TimeWindowConsumerQueue)
-		if waitLength == 0 {
-			continue outLoop
-		}
-
-		// 1 获取即将处理的窗口
-		currentTimeWindow := entity.TimeWindowConsumerQueue[0]
-		entity.RemoveHeadOfTimeWindowConsumerQueue()
-		c_log.GlobalLogger.Infof("开始处理窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		// 2 获取目录
-		dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, currentTimeWindow.FaultTime)
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(dir, ".bag")
-		bagNumber := len(bags)
-		if bagNumber > currentTimeWindow.Length {
-			bagNumber = currentTimeWindow.Length
-			bags = bags[0:currentTimeWindow.Length]
-		}
-
-		// 3 如果不是全量采集，则使用 filter 命令对 bag 包进行主题过滤。
-		if commonConfig.CloudConfig.FullCollect == false {
-			var filterTopics []string
-			if nodeName == commonConfig.CloudConfig.Hosts[0].Name {
-				filterTopics = currentTimeWindow.MasterTopics
-			} else {
-				filterTopics = currentTimeWindow.SlaveTopics
-			}
-			var topicsFilterSlice []string
-			for _, topic := range filterTopics {
-				topicsFilterSlice = append(topicsFilterSlice, "topic=='"+topic+"'")
-			}
-			for i, bag := range bags {
-				oldName := bag
-				newName := bag + "_filter"
-				filterCommand := []string{"filter", oldName, newName, "\"" + strings.Join(topicsFilterSlice, " or ") + "\""}
-				_, output, err := util.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, filterCommand...)
-				c_log.GlobalLogger.Info("正在过滤中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-				if err != nil {
-					c_log.GlobalLogger.Errorf("filter命令执行出错【命令】=%v，【输出】=%v,【err】=%v", filterCommand, output, err)
-					continue
-				}
-				// 删除旧文件
-				util.DeleteFile(oldName)
-				// 将新文件改回旧文件名
-				if err = os.Rename(newName, oldName); err != nil {
-					c_log.GlobalLogger.Info("修改文件名", oldName, "失败，放弃当前时间窗口", currentTimeWindow.FaultTime, "，错误为：", err)
-					continue outLoop
-				}
-			}
-		}
-
-		// 4 compress包，必须顺序执行，此时每个包会对应生成一个压缩过的包和原始包，原始包后缀为.orig.bag
-		// 5 todo 机器人去掉压缩过程，防止cpu跑满
-		//c_log.GlobalLogger.Info("压缩 bag 数据包，故障时间为：", currentTimeWindow.FaultTime)
-		//for i, bag := range bags {
-		//	oldName := bag
-		//	compressCommand := []string{"compress", "--bz2", oldName}
-		//	c_log.GlobalLogger.Info("正在压缩中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-		//	if _, output, err := util.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, compressCommand...); err != nil {
-		//		c_log.GlobalLogger.Errorf("compress命令执行出错【命令】=%v，【输出】=%v,【err】=%v", compressCommand, output, err)
-		//		continue
-		//	}
-		//}
-		// 5 upload，必须顺序执行
-		c_log.GlobalLogger.Info("发送bag数据包，故障时间为：", currentTimeWindow.FaultTime)
-		start := time.Now()
-		objectKey1 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
-		objectKey2 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_merge/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + ".bag"
-		objectKey3 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_parse/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
-		for i, bag := range bags {
-			startOne := time.Now()
-			bagSlice := strings.Split(bag, "/")
-			for {
-				commonConfig.OssMutex.Lock()
-				err := commonConfig.OssBucket.PutObjectFromFile(objectKey1+bagSlice[len(bagSlice)-1], bag)
-				commonConfig.OssMutex.Unlock()
-				if err != nil {
-					c_log.GlobalLogger.Info("因网络原因上传包 ", bag, " 时报错，需要等待网络恢复后重新上传：", err)
-					continue
-				}
-				c_log.GlobalLogger.Info("上传耗时 ", time.Since(startOne), "，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
-				break
-			}
-		}
-		c_log.GlobalLogger.Info("上传完成，花费时间：", time.Since(start))
-		// 在上传完成的包目录同级下添加一个目录同名的json
-		triggerIds := make([]string, 0)
-		for _, label := range currentTimeWindow.Labels {
-			if value, ok := masterConfig.LabelMapTriggerId.Load(label); ok {
-				triggerIds = append(triggerIds, value.(string))
-			}
-		}
-		callBackMap := map[string]interface{}{
-			"dataName":    currentTimeWindow.FaultTime, // 云端callback程序会将该值加8小时，因为UTC和CSV时区相差8小时
-			"dataSize":    "",                          // 由合并程序补充
-			"equipmentNo": commonConfig.LocalConfig.EquipmentNo,
-			"secretKey":   commonConfig.LocalConfig.SecretKey,
-			"rosBagPath":  objectKey2,
-			"filePath":    objectKey3,
-			"taskId":      commonConfig.PlatformConfig.TaskConfigId,
-			"triggerId":   triggerIds,
-		}
-		callBackJson, err := util.MapToJsonString(callBackMap)
-		if err != nil {
-			c_log.GlobalLogger.Error("callBackMap", callBackMap, "转json失败：", err)
-		}
-		commonConfig.OssMutex.Lock()
-		err = commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
-		commonConfig.OssMutex.Unlock()
-		if err != nil {
-			c_log.GlobalLogger.Error("上传 callback.json 文件失败：", err)
-		}
-
-		// 数据库中采集数量加一
-		collectNumPlus()
-		// 删除本地所有已上传的bag文件
-		c_log.GlobalLogger.Infof("结束处理窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		c_log.GlobalLogger.Infof("待处理窗口个数为：%v", len(entity.TimeWindowConsumerQueue))
-		if err = util.RemoveDir(dir); err != nil {
-			continue outLoop
-		}
-		if len(entity.TimeWindowConsumerQueue) == 0 {
-			c_log.GlobalLogger.Infof("已处理所有窗口，重启 record 命令。")
-			ChannelKillRosRecord <- 2
-			entity.ProcessingFlag = false
-		}
-	}
-}
-
-func collectNumPlus() {
-	responseString, err := commonUtil.HttpPostJsonWithHeaders(
-		commonConfig.CloudConfig.CollectNumPlus.Url,
-		map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-		map[string]string{
-			"snCode": commonConfig.LocalConfig.SecretKey,
-		},
-	)
-	if err != nil {
-		c_log.GlobalLogger.Error("发送http请求修改采集数量失败：", err)
-	}
-	// 解析JSON字符串到Response结构体
-	var resp entity.Response
-	err = json.Unmarshal([]byte(responseString), &resp)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析修改采集数量结果失败：", err)
-	}
-}

aarch64/pjibot_delivery/common/variable/application.go

@@ -1,6 +0,0 @@
-package variable
-
-var (
-	LogDir          = "/home/pji/cicv-data-closedloop/log/"
-	LocalConfigPath = "/home/pji/cicv-data-closedloop/config/local-config.yaml"
-)

aarch64/pjibot_delivery/control/main.go

@@ -1,258 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_delivery/common/service"
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/variable"
-	"cicv-data-closedloop/aarch64/pjibot_delivery/control/pkg"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	commonUtil "cicv-data-closedloop/common/util"
-	"encoding/json"
-	"fmt"
-	"net/rpc"
-	"os"
-	"runtime"
-	"time"
-)
-
-var (
-	applicationName  = "pji-control"
-	localStatus      = "idle"
-	cloudStatus      = "NONE"
-	lastLocalStatus  = "idle"
-	lastCloudStatus  = "NONE"
-	timeAllowedFlag  = false
-	limitReachedFlag = false
-	localTurnLength  = 1  // s，本地状态刷新时间
-	cloudTurnLength  = 60 // s，云端状态刷新时间
-	renewTurnLength  = 3  // s，续约状态刷新时间
-	waitStopLength   = 1  // min，停止master前等待时间
-	checkLimitLength = 1  // min, 查询是否达到采集限制等待时间
-	launchedFlag     = false
-	renewedFlag      = false
-	renewTimer       *time.Timer // 续约定时器
-	RenewDur         = 5         // min， 续约时间
-	maxRetryCount    = 10        // 查询配置最大重试次数
-)
-
-func init() {
-	runtime.GOMAXPROCS(1)
-	// 初始化日志配置
-	c_log.InitLog(variable.LogDir, applicationName)
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig(variable.LocalConfigPath)
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	// 初始化websocket配置
-	commonConfig.InitWebsocketConfig()
-}
-
-func isTimeAllowed(currentTime time.Time) bool {
-	loc := currentTime.Location()
-	cw := commonConfig.CloudConfig.CollectWindow
-	if cw.Flag == 0 { // 关闭固定时间段采集, 则都返回true
-		return true
-	}
-	if len(cw.Days) > 0 { // 如果指定了周几
-		currentDay := currentTime.Weekday().String()
-		included := false
-		for _, day := range cw.Days {
-			if day == currentDay {
-				included = true
-				break
-			}
-		}
-		if !included {
-			return false
-		}
-	}
-
-	start := time.Date(currentTime.Year(), currentTime.Month(), currentTime.Day(), cw.StartTime.Hour(), cw.StartTime.Minute(), cw.StartTime.Second(), 0, loc)
-	end := time.Date(currentTime.Year(), currentTime.Month(), currentTime.Day(), cw.EndTime.Hour(), cw.EndTime.Minute(), cw.EndTime.Second(), 0, loc)
-
-	if start.After(end) { // 如果时段跨天
-		end = end.AddDate(0, 0, 1)
-	}
-	return !currentTime.Before(start) && currentTime.Before(end)
-}
-
-func checkCollectLimit() {
-	for {
-		time.Sleep(time.Duration(checkLimitLength) * time.Minute)
-		// 如果开启了采集频率限制，则云端判断采集数量是否超过限额
-		if commonConfig.CloudConfig.CollectLimit.Flag == 1 {
-			//c_log.GlobalLogger.Error("当前设备已开启数采频率限制，需判断采集数量是否达到限额。")
-			responseString, err := commonUtil.HttpPostJsonWithHeaders(
-				commonConfig.CloudConfig.CollectLimit.Url,
-				map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-				map[string]string{
-					"snCode":            commonConfig.LocalConfig.SecretKey,
-					"collectLimitDay":   util.ToString(commonConfig.CloudConfig.CollectLimit.Day),
-					"collectLimitWeek":  util.ToString(commonConfig.CloudConfig.CollectLimit.Week),
-					"collectLimitMonth": util.ToString(commonConfig.CloudConfig.CollectLimit.Month),
-					"collectLimitYear":  util.ToString(commonConfig.CloudConfig.CollectLimit.Year),
-				},
-			)
-			if err != nil {
-				c_log.GlobalLogger.Error("发送http请求获取是否允许采集失败：", err)
-				continue
-			}
-			// 解析JSON字符串到Response结构体
-			var resp entity.Response
-			err = json.Unmarshal([]byte(responseString), &resp)
-			if err != nil {
-				c_log.GlobalLogger.Error("解析是否允许采集接口返回结果失败：", err)
-				continue
-			}
-			if resp.Code != 200 { // 不是200 代表采集数量已超过限额不允许采集
-				c_log.GlobalLogger.Info("采集数量已超过限额,", resp.Code)
-				limitReachedFlag = true
-				continue
-			}
-		}
-		limitReachedFlag = false
-	}
-}
-
-func initRenew() {
-	c_log.GlobalLogger.Info("启动定时器 - 开始。")
-	if renewTimer != nil {
-		renewTimer.Stop()
-	}
-	renewedFlag = true
-	renewTimer = time.AfterFunc(time.Duration(RenewDur)*time.Minute, func() {
-		renewedFlag = false
-	})
-	c_log.GlobalLogger.Infof("定时时间【%v】分钟 - 成功。", RenewDur)
-}
-
-func renew() {
-	for {
-		time.Sleep(time.Duration(renewTurnLength) * time.Second)
-		if localStatus == "running" && launchedFlag && !renewedFlag && timeAllowedFlag && !limitReachedFlag { // 设备处于运行状态,数采程序已启动，且尚未续约
-			c_log.GlobalLogger.Info("设备仍处于运行状态，续约 - 开始。")
-			if renewTimer != nil {
-				renewTimer.Stop()
-			}
-			renewedFlag = true
-			renewTimer = time.AfterFunc(time.Duration(RenewDur)*time.Minute, func() {
-				renewedFlag = false
-			})
-			c_log.GlobalLogger.Infof("续约时间【%v】分钟 - 成功。", RenewDur)
-		}
-	}
-}
-
-func startMasterNode() {
-	c_log.GlobalLogger.Info("获取数据闭环平台最新配置。")
-
-	if commonConfig.CheckPlatformConfigStatus(maxRetryCount) {
-		c_log.GlobalLogger.Info("查询到数据闭环平台有配置任务。")
-		commonConfig.InitPlatformConfig()
-
-		if _, err := util.ExecuteWithPath(commonConfig.LocalConfig.RestartCmd.Dir, commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args...); err != nil {
-			c_log.GlobalLogger.Info("启动新程序失败,【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args, "：", err)
-			os.Exit(-1)
-		}
-		c_log.GlobalLogger.Info("启动任务，本地执行启动命令：【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args)
-
-		initRenew()
-		launchedFlag = true
-
-		c_log.GlobalLogger.Info("数采程序启动 - 成功。")
-	} else {
-		c_log.GlobalLogger.Error("查询到数据闭环平台没有配置任务，不启动数采程序。")
-	}
-}
-
-func stopMasterNode() {
-	// 发送rpc信号杀死采集程序
-	var killArgs commonService.KillSignal
-	killArgs = commonService.KillSignal{NodeName: "master", DropUploadData: commonConfig.PlatformConfig.DropUploadData, Restart: false}
-	c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号：", killArgs)
-	KillRpcClient, err := rpc.Dial("tcp", commonConfig.LocalConfig.Node.Ip+":"+commonConfig.CloudConfig.RpcPort)
-	if err != nil {
-		// 此处如果连接失败说明采集程序已经停止了
-		lastCloudStatus = "NONE"
-		c_log.GlobalLogger.Error("采集程序已经停止：", err)
-		return
-	}
-
-	reply := 0
-	if err = KillRpcClient.Call("KillService.Kill", killArgs, &reply); err != nil {
-		c_log.GlobalLogger.Error("发送 rpc 请求到 master 报错：", err)
-	}
-
-	c_log.GlobalLogger.Info("结束任务后，将数据闭环平台配置置空。")
-	commonConfig.PlatformConfig = commonConfig.PlatformConfigStruct{}
-	if err = KillRpcClient.Close(); err != nil {
-		// 不做处理
-	}
-
-	launchedFlag = false
-	c_log.GlobalLogger.Info("数采程序关闭 - 成功。")
-}
-
-func main() {
-	// 更新本地任务状态
-	go pkg.GetLocalStatus(&localStatus, &lastLocalStatus, localTurnLength)
-	// 更新云端任务状态
-	go pkg.GetCloudStatus(&cloudStatus, &lastCloudStatus, cloudTurnLength)
-
-	// 定期检查本地任务状态，执行续约，避免短时间内多次启停
-	//go renew() // 室外机器人关闭续约
-
-	// 检查是否达到限额
-	go checkCollectLimit()
-
-	// 云端任务状态负责更新配置
-	go pkg.GetCloudConfig(&cloudStatus, &lastCloudStatus, cloudTurnLength)
-
-	for {
-		if launchedFlag { // 当前已启动master节点
-			time.Sleep(time.Duration(cloudTurnLength) * time.Second)
-		} else {
-			time.Sleep(time.Duration(localTurnLength) * time.Second)
-		}
-
-		fmt.Println("localStatus: ", localStatus, "lastLocalStatus: ", lastLocalStatus)
-		fmt.Println("cloudStatus: ", cloudStatus, "lastCloudStatus: ", lastCloudStatus)
-		fmt.Println("limitReachedFlag: ", limitReachedFlag, "timeAllowedFlag: ", timeAllowedFlag)
-
-		// 采集时间限制
-		currentTime := time.Now()
-		timeAllowedFlag = isTimeAllowed(currentTime)
-
-		// 采集频率限制
-
-		// 综合判断 cloudStatus 和 localStatus
-		// cloudStatus
-		// UN_CHANGE 没有新的任务，无需更改
-		// CHANGE 有新的任务，需要杀死旧的数采任务并重启
-		// NONE 设备没有配置任务，需要杀死旧的数采任务
-		// localStatus
-		// idle 空闲状态，此状态下不启动数采任务
-		// running 繁忙状态，此状态需要启动数采任务
-		// error 错误状态，此状态下不启动数采任务
-
-		// 启停master
-		if localStatus == "running" && timeAllowedFlag && !limitReachedFlag && !launchedFlag {
-			// 目前未启动数采程序
-			c_log.GlobalLogger.Info("数采程序启动 - 开始。")
-			startMasterNode()
-		} else if localStatus == "idle" || !timeAllowedFlag || limitReachedFlag {
-			if !renewedFlag && launchedFlag && len(entity.TimeWindowConsumerQueue) == 0 {
-				time.Sleep(time.Duration(waitStopLength) * time.Minute)
-				c_log.GlobalLogger.Info("数采程序关闭 - 开始。")
-				stopMasterNode()
-			}
-		} else if localStatus == "error" {
-			c_log.GlobalLogger.Error("设备运行状态出错，停止数采程序。")
-			stopMasterNode()
-		}
-	}
-}

aarch64/pjibot_delivery/control/pkg/judge_cloud.go

@@ -1,45 +0,0 @@
-package pkg
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"time"
-)
-
-var (
-	maxRetryCount = 10
-)
-
-// UN_CHANGE 没有新的任务
-// CHANGE 有新的任务
-// NONE 设备没有配置任务
-func GetCloudStatus(cloudStatus *string, lastCloudStatus *string, turnLength int) {
-	// 轮询云端任务状态
-	for {
-		time.Sleep(time.Duration(turnLength) * time.Second)
-
-		*lastCloudStatus = *cloudStatus
-		taskStatus, err := commonConfig.GetStatus(commonConfig.PlatformConfig.TaskConfigId)
-		if err != nil {
-			c_log.GlobalLogger.Error("获取云端配置status失败：", err)
-			continue
-		}
-		if taskStatus == "" || taskStatus == " " {
-			taskStatus = "NONE"
-		}
-		*cloudStatus = taskStatus
-	}
-}
-
-func GetCloudConfig(cloudStatus *string, lastCloudStatus *string, turnLength int) {
-	for {
-		time.Sleep(time.Duration(turnLength) * time.Second)
-		if *cloudStatus == "CHANGE" {
-			c_log.GlobalLogger.Error("cloudStatus：", *cloudStatus)
-			if commonConfig.CheckPlatformConfigStatus(maxRetryCount) {
-				c_log.GlobalLogger.Info("查询到数据闭环平台有配置任务。")
-				commonConfig.InitPlatformConfig()
-			}
-		}
-	}
-}

aarch64/pjibot_delivery/control/pkg/judge_local.go

@@ -1,44 +0,0 @@
-package pkg
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"encoding/json"
-	"fmt"
-	"log"
-	"time"
-)
-
-// idle 空闲状态，此状态下机器人可进行任务下发
-// running 繁忙状态，此状态机器人不接受新任务
-// error 错误状态（硬件，不能正常工作的）
-func GetLocalStatus(localStatus *string, lastLocalStatus *string, turnLength int) {
-	defer config.WsConn.Close()
-	// 轮询本地任务状态
-	for {
-		time.Sleep(time.Duration(turnLength) * time.Second)
-
-		*lastLocalStatus = *localStatus
-		_, msg, err := config.WsConn.ReadMessage()
-		if err != nil {
-			log.Println("Error in receive:", err)
-			continue
-		}
-		//log.Printf("Received: %s\n", msg)
-
-		// 将响应字节解码为JSON
-		var statusMessage config.StatusMessage
-		err = json.Unmarshal(msg, &statusMessage)
-		if err != nil {
-			log.Println("Error in json:", err)
-			continue
-		}
-
-		if statusMessage.Type == "push" && statusMessage.Topic == "robotStatus" {
-			//fmt.Println("statusMessage:", statusMessage)
-			data := statusMessage.Data.(map[string]interface{})
-			//fmt.Println("statusMessage.Data", data)
-			fmt.Println("statusMessage.Data[\"status\"]", data["status"])
-			*localStatus = data["status"].(string)
-		}
-	}
-}

aarch64/pjibot_delivery/master/main.go

@@ -1,62 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_delivery/common/service"
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/variable"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_delivery/master/package/config"
-	masterService "cicv-data-closedloop/aarch64/pjibot_delivery/master/package/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"runtime"
-	"time"
-)
-
-var applicationName = "pji-master"
-
-func init() {
-	runtime.GOMAXPROCS(1)
-	// 初始化日志配置
-	c_log.InitLog(variable.LogDir, applicationName)
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig(variable.LocalConfigPath)
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagDataDir)
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagCopyDir)
-	go commonConfig.RefreshCloudConfig()
-	// 初始化数据闭环平台的配置（第3处配置，在数据闭环平台接口）
-	commonConfig.InitPlatformConfig()
-	// 初始化ros节点
-	commonConfig.InitRosConfig()
-	// 发送资源占用信息
-	go commonConfig.SendResourceUsage()
-	// 维护data目录缓存的包数量
-	go commonService.BagCacheClean()
-	// 磁盘占用过高时根据缓存策略处理copy目录
-	go commonService.DiskClean()
-	masterConfig.InitTriggerConfig()
-	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
-	// 等待重启，接收到重启信号，会把信号分发给以下channel
-	go commonService.WaitKillSelf()
-	// 先采集地图bag包
-	masterService.CollectOneMsg()
-}
-
-func main() {
-
-	// 1 负责打包数据到data目录
-	go commonService.BagRecord(commonConfig.CloudConfig.Hosts[0].Name)
-	time.Sleep(time.Duration(10) * time.Second)
-	// 2 负责监控故障，并修改timeWindow
-	go masterService.PrepareTimeWindowProducerQueue()
-	// 3 将时间窗口内的包全部move出去，并等待当前时间窗口结束触发上传
-	go masterService.RunTimeWindowProducerQueue()
-	// 4 排队运行时间窗口
-	go commonService.RunTimeWindowConsumerQueue(commonConfig.CloudConfig.Hosts[0].Name)
-
-	// 阻塞主线程，等待其他线程执行。
-	select {}
-}

aarch64/pjibot_delivery/master/package/config/trigger_init.go

@@ -1,165 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjibot_delivery_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"plugin"
-	"slices"
-)
-
-func InitTriggerConfig() {
-	config.OssMutex.Lock()
-	defer config.OssMutex.Unlock()
-	triggerLocalPathsMapTriggerId := make(map[string]string)
-	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
-	// 1 获取数采任务的触发器列表
-	cloudTriggers := &config.PlatformConfig.TaskTriggers
-	// 2 获取本地触发器列表（触发器目录的一级子目录为【触发器ID_触发器Label】）
-	localTriggerIds := util.GetFirstLevelSubdirectories(config.CloudConfig.TriggersDir)
-	// 3 对比触发器列表，本地没有的则下载
-	for _, trigger := range *cloudTriggers {
-		id := util.ToString(trigger.TriggerId)
-		hasIdDir := slices.Contains(localTriggerIds, id) // 改成了 slices 工具库
-		triggerLocalDir := config.CloudConfig.TriggersDir + id + "/"
-		hasLabelSo, soPaths := util.CheckSoFilesInDirectory(triggerLocalDir)
-		var triggerLocalPath string
-		if hasIdDir && hasLabelSo { // 已存在的触发器需要判断是否大小一致
-			triggerLocalPath = soPaths[0]
-			ossSize, _ := util.GetOSSFileSize(config.OssBucket, trigger.TriggerScriptPath)
-			localSize, _ := util.GetFileSize(triggerLocalPath)
-			if ossSize == localSize {
-				c_log.GlobalLogger.Info("触发器插件 ", triggerLocalPath, " 存在且与云端触发器大小一致。")
-				triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-				continue
-			}
-		}
-		label := util.GetFileNameWithoutExtension(config.CloudConfig.TriggersDir + trigger.TriggerScriptPath)
-		triggerLocalPath = config.CloudConfig.TriggersDir + id + "/" + label + ".so"
-		c_log.GlobalLogger.Info("开始下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
-		_ = util.CreateParentDir(triggerLocalPath)
-		for {
-			if err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath); err != nil {
-				c_log.GlobalLogger.Error("下载触发器插件失败，再次尝试：", err)
-				continue
-			}
-			break
-		}
-		triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-	}
-
-	success := 0
-	// 加载所有触发器的文件
-	for triggerLocalPath, triggerId := range triggerLocalPathsMapTriggerId {
-		// 载入插件到数组
-		open, err := plugin.Open(triggerLocalPath)
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
-			continue
-		}
-		topic0, err := open.Lookup("Topic")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
-			continue
-		}
-		topic1, ok := topic0.(func() string)
-		if ok != true {
-			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
-			continue
-		}
-		topic2 := topic1()
-		rule, err := open.Lookup("Rule")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
-			continue
-		}
-
-		if TopicOfDiagnostics == topic2 { // 1
-			if f, ok1 := rule.(func(*diagnostic_msgs.DiagnosticArray) string); ok1 {
-				RuleOfDiagnostics = append(RuleOfDiagnostics, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfImu == topic2 { // 2
-			if f, ok1 := rule.(func(data *sensor_msgs.Imu) string); ok1 {
-				RuleOfImu = append(RuleOfImu, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLocateInfo == topic2 { // 3
-			if f, ok1 := rule.(func(data *pjibot_delivery_msgs.LocateInfo) string); ok1 {
-				RuleOfLocateInfo = append(RuleOfLocateInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfObstacleDetection == topic2 { // 4
-			if f, ok1 := rule.(func(data *std_msgs.UInt8) string); ok1 {
-				RuleOfObstacleDetection = append(RuleOfObstacleDetection, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfOdom == topic2 { // 5
-			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
-				RuleOfOdom = append(RuleOfOdom, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfSysInfo == topic2 { // 6
-			if f, ok1 := rule.(func(data *pjibot_delivery_msgs.SysInfo) string); ok1 {
-				RuleOfSysInfo = append(RuleOfSysInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfRobotPose == topic2 { // 7
-			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
-				RuleOfRobotPose = append(RuleOfRobotPose, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTaskFeedbackInfo == topic2 { // 8
-			if f, ok1 := rule.(func(data *pjibot_delivery_msgs.TaskFeedbackInfo) string); ok1 {
-				RuleOfTaskFeedbackInfo = append(RuleOfTaskFeedbackInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfWheelOdom == topic2 { // 9
-			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
-				RuleOfWheelOdom = append(RuleOfWheelOdom, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else {
-			c_log.GlobalLogger.Error("未知的topic：", topic2)
-			continue
-		}
-	JudgeDone:
-		label, err := open.Lookup("Label")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
-			continue
-		}
-		labelFunc := label.(func() string)
-		labelString := labelFunc()
-		LabelMapTriggerId.Store(labelString, triggerId)
-		success++
-	}
-	c_log.GlobalLogger.Info("一共应加载", len(config.PlatformConfig.TaskTriggers), "个触发器，实际加载 ", success, " 个触发器。")
-}
-func log(triggerLocalPath string) {
-	c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的 Rule 方法参数格式不正确。")
-}

aarch64/pjibot_delivery/master/package/config/trigger_var.go

@@ -1,58 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/pjibot_delivery_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"sync"
-)
-
-var (
-	LabelMapTriggerId = new(sync.Map)
-
-	// 1
-	TopicOfDiagnostics = "/diagnostics"
-	RuleOfDiagnostics  []func(data *diagnostic_msgs.DiagnosticArray) string
-	// 2
-	TopicOfImu = "/imu"
-	RuleOfImu  []func(data *sensor_msgs.Imu) string
-	// 3
-	TopicOfLocateInfo = "/locate_info"
-	RuleOfLocateInfo  []func(data *pjibot_delivery_msgs.LocateInfo) string
-	// 4
-	TopicOfObstacleDetection = "/obstacle_detection"
-	RuleOfObstacleDetection  []func(data *std_msgs.UInt8) string
-	// 5
-	TopicOfOdom = "/odom"
-	RuleOfOdom  []func(data *nav_msgs.Odometry) string
-	// 6
-	TopicOfSysInfo = "/sys_info"
-	RuleOfSysInfo  []func(data *pjibot_delivery_msgs.SysInfo) string
-	// 7
-	TopicOfRobotPose = "/robot_pose"
-	RuleOfRobotPose  []func(data *geometry_msgs.PoseStamped) string
-	// 8
-	TopicOfTaskFeedbackInfo = "/task_feedback_info"
-	RuleOfTaskFeedbackInfo  []func(data *pjibot_delivery_msgs.TaskFeedbackInfo) string
-	// 9
-	TopicOfWheelOdom = "/wheel_odom"
-	RuleOfWheelOdom  []func(data *nav_msgs.Odometry) string
-
-	// todo 这里是全量的topic，添加topic则需要同时在下面的数组添加；也需要在produce_window.go中添加新的订阅者
-	AllTopics = []string{
-		TopicOfDiagnostics,       // 1
-		TopicOfImu,               // 2
-		TopicOfLocateInfo,        // 3
-		TopicOfObstacleDetection, // 4
-		TopicOfOdom,              // 5
-		TopicOfSysInfo,           // 6
-		TopicOfRobotPose,         // 7
-		TopicOfTaskFeedbackInfo,  // 8
-		TopicOfWheelOdom,         // 9
-	}
-
-	AllTopicsNumber = len(AllTopics)
-)

aarch64/pjibot_delivery/master/package/service/collect_one_msg.go

@@ -1,94 +0,0 @@
-package service
-
-import commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-
-func CollectOneMsg() {
-	if !commonConfig.CloudConfig.HasOneMsgTopic {
-		return
-	}
-	//collectMap()
-	//collectTfStatic()
-	//collectCostmap()
-}
-
-//func collectMap() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/map.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/map")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/map包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/map包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。上传/map包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/map包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}
-//func collectTfStatic() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/tfstatic.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/tf_static")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/tf_static包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/tf_static包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。上传/tf_static包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/tf_static包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}
-//func collectCostmap() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/costmap.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/move_base/global_costmap/costmap")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/move_base/global_costmap/costmap包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/move_base/global_costmap/costmap包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		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)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}

aarch64/pjibot_delivery/master/package/service/move_bag_and_send_window.go

@@ -1,72 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_delivery/common/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// 将时间窗口内的包全部move出去，并等待当前时间窗口结束触发上传
-func RunTimeWindowProducerQueue() {
-	c_log.GlobalLogger.Info("生产者队列goroutine - 启动")
-	for {
-		// 收到自杀信号
-		select {
-		case signal := <-commonService.ChannelKillMove:
-			if signal == 1 {
-				commonService.ChannelKillMove <- 1
-				if len(entity.TimeWindowProducerQueue) == 0 {
-					commonService.AddKillTimes("4")
-					return
-				}
-			} else { //signal == 2
-				commonService.AddKillTimes("4")
-				return
-			}
-		default:
-		}
-
-		// 处理
-		time.Sleep(time.Duration(1) * time.Second)
-		if len(entity.TimeWindowProducerQueue) > 0 {
-			bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagDataDir, ".bag")
-			currentTimeWindow := entity.TimeWindowProducerQueue[0]
-			move := false
-			bigger := false
-			for _, bag := range bags {
-				bagTime := util.GetBagTime(bag)
-				// 2 如果bag不小于timeWindowBegin不大于timeWindowEnd，则移动
-				compare1 := util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin)
-				compare2 := util.TimeCustom1LessEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowEnd)
-				if compare1 && compare2 {
-					// 将bag包移动到Copy目录
-					domain.MoveFromDataToCopy(currentTimeWindow.FaultTime, commonConfig.CloudConfig.BagDataDir, bag, commonConfig.CloudConfig.BagCopyDir)
-					move = true
-				} else {
-					if util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin) {
-						// 必须已经生成了窗口之后的包才算窗口结束了
-						bigger = true
-						break
-					}
-				}
-			}
-			// 如果没有包可以供当前窗口移动，且已经生成了更新的包，则当前窗口已经可以上传
-			if !move && bigger {
-				time.Sleep(time.Duration(2) * time.Second)
-				c_log.GlobalLogger.Info("采集数据，发送record命令进程关闭信号。")
-				commonService.ChannelKillRosRecord <- 3
-				entity.ProcessingFlag = true
-				domain.SupplyCopyBags(commonConfig.CloudConfig.BagDataDir, commonConfig.CloudConfig.BagCopyDir, currentTimeWindow)
-				// 将时间窗口移出准备队列
-				entity.RemoveHeadOfTimeWindowProducerQueue()
-				// 将时间窗口加入运行队列
-				entity.AddTimeWindowToTimeWindowConsumerQueue(currentTimeWindow)
-				continue
-			}
-		}
-	}
-}

aarch64/pjibot_delivery/master/package/service/produce_window.go

@@ -1,491 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_delivery/common/service"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_delivery/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	commonUtil "cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjibot_delivery_msgs"
-	"encoding/json"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"sync"
-	"time"
-)
-
-var (
-	triggerInterval = 3.0 // 每个触发器3秒触发一次
-	logInterval     = 3.0
-	logTime         = time.Now()
-)
-
-// 负责监听所有主题并修改时间窗口
-func PrepareTimeWindowProducerQueue() {
-
-	var err error
-	subscribers := make([]*goroslib.Subscriber, masterConfig.AllTopicsNumber)
-	subscribersTimes := make([]time.Time, masterConfig.AllTopicsNumber)
-	subscribersTimeMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	subscribersMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	for i, topic := range masterConfig.AllTopics {
-		for {
-			create := false // 判断是否创建成功，用于打印日志
-			// 1
-			if topic == masterConfig.TopicOfDiagnostics && len(masterConfig.RuleOfDiagnostics) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *diagnostic_msgs.DiagnosticArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfDiagnostics {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 2
-			if topic == masterConfig.TopicOfImu && len(masterConfig.RuleOfImu) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.Imu) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfImu {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 3
-			if topic == masterConfig.TopicOfLocateInfo && len(masterConfig.RuleOfLocateInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_delivery_msgs.LocateInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfLocateInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 4
-			if topic == masterConfig.TopicOfObstacleDetection && len(masterConfig.RuleOfObstacleDetection) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *std_msgs.UInt8) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfObstacleDetection {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 5
-			if topic == masterConfig.TopicOfOdom && len(masterConfig.RuleOfOdom) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Odometry) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfOdom {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 6
-			if topic == masterConfig.TopicOfSysInfo && len(masterConfig.RuleOfSysInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_delivery_msgs.SysInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfSysInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 7
-			if topic == masterConfig.TopicOfRobotPose && len(masterConfig.RuleOfRobotPose) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *geometry_msgs.PoseStamped) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfRobotPose {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 8
-			if topic == masterConfig.TopicOfTaskFeedbackInfo && len(masterConfig.RuleOfTaskFeedbackInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_delivery_msgs.TaskFeedbackInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfTaskFeedbackInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 9
-			if topic == masterConfig.TopicOfWheelOdom && len(masterConfig.RuleOfWheelOdom) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Odometry) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfWheelOdom {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			if err != nil {
-				c_log.GlobalLogger.Infof("创建订阅者报错，可能由于节点未启动，再次尝试【%v】", err)
-				time.Sleep(time.Duration(2) * time.Second)
-				continue
-			} else {
-				if create {
-					c_log.GlobalLogger.Infof("创建订阅者订阅话题【%v】", topic)
-				}
-				break
-			}
-		}
-	}
-	c_log.GlobalLogger.Infof("全部订阅者创建完成。")
-	select {
-	case signal := <-commonService.ChannelKillSubscriber:
-		if signal == 1 {
-			commonConfig.RosNode.Close()
-			commonService.AddKillTimes("3")
-			return
-		}
-	}
-}
-
-func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *entity.TimeWindow) {
-	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
-	if lastTimeWindow == nil || commonUtil.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) {
-		// 2-1 如果是不在旧故障窗口内，添加一个新窗口
-		newTimeWindow := entity.TimeWindow{
-			FaultTime:       faultHappenTime,
-			TimeWindowBegin: commonUtil.TimeCustomChange(faultHappenTime, -commonConfig.PlatformConfig.TaskBeforeTime),
-			TimeWindowEnd:   commonUtil.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime),
-			Length:          commonConfig.PlatformConfig.TaskBeforeTime + commonConfig.PlatformConfig.TaskAfterTime + 1,
-			Labels:          []string{faultLabel},
-			MasterTopics:    masterTopics,
-			SlaveTopics:     slaveTopics,
-		}
-		c_log.GlobalLogger.Infof("不在旧故障窗口内，向生产者队列添加一个新窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", newTimeWindow.Labels, newTimeWindow.FaultTime, newTimeWindow.Length)
-		entity.AddTimeWindowToTimeWindowProducerQueue(newTimeWindow)
-	} else {
-		// 2-2 如果在旧故障窗口内
-		entity.TimeWindowProducerQueueMutex.RLock()
-		defer entity.TimeWindowProducerQueueMutex.RUnlock()
-		// 2-2-1 更新故障窗口end时间
-		maxEnd := commonUtil.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime)
-		expectEnd := commonUtil.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
-		if commonUtil.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
-			lastTimeWindow.TimeWindowEnd = maxEnd
-			lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
-		} else {
-			if commonUtil.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
-				lastTimeWindow.TimeWindowEnd = expectEnd
-				lastTimeWindow.Length = commonUtil.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-			}
-		}
-		// 2-2-2 更新label
-		labels := lastTimeWindow.Labels
-		lastTimeWindow.Labels = commonUtil.AppendIfNotExists(labels, faultLabel)
-		// 2-2-3 更新 topic
-		sourceMasterTopics := lastTimeWindow.MasterTopics
-		lastTimeWindow.MasterTopics = commonUtil.MergeSlice(sourceMasterTopics, masterTopics)
-		sourceSlaveTopics := lastTimeWindow.SlaveTopics
-		lastTimeWindow.SlaveTopics = commonUtil.MergeSlice(sourceSlaveTopics, slaveTopics)
-		c_log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", lastTimeWindow.Labels, lastTimeWindow.FaultTime, lastTimeWindow.Length)
-	}
-}
-
-func getTopicsOfNode(faultLabel string) (masterTopics []string, slaveTopics []string) {
-	// 获取所有需要采集的topic
-	var faultCodeTopics []string
-	for _, code := range commonConfig.CloudConfig.Triggers {
-		if code.Label == faultLabel {
-			faultCodeTopics = code.Topics
-		}
-	}
-	return faultCodeTopics, nil
-}
-
-// 判断采集包数量是否超过限额
-func canCollect() bool {
-	// 如果开启了采集频率限制，则云端判断采集数量是否超过限额
-	if commonConfig.CloudConfig.CollectLimit.Flag == 1 {
-		c_log.GlobalLogger.Error("当前设备已开启数采频率限制，需判断采集数量是否达到限额。")
-		responseString, err := commonUtil.HttpPostJsonWithHeaders(
-			commonConfig.CloudConfig.CollectLimit.Url,
-			map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-			map[string]string{
-				"snCode":            commonConfig.LocalConfig.SecretKey,
-				"collectLimitDay":   util.ToString(commonConfig.CloudConfig.CollectLimit.Day),
-				"collectLimitWeek":  util.ToString(commonConfig.CloudConfig.CollectLimit.Week),
-				"collectLimitMonth": util.ToString(commonConfig.CloudConfig.CollectLimit.Month),
-				"collectLimitYear":  util.ToString(commonConfig.CloudConfig.CollectLimit.Year),
-			},
-		)
-		if err != nil {
-			c_log.GlobalLogger.Error("发送http请求获取是否允许采集失败：", err)
-			return false
-		}
-		// 解析JSON字符串到Response结构体
-		var resp entity.Response
-		err = json.Unmarshal([]byte(responseString), &resp)
-		if err != nil {
-			c_log.GlobalLogger.Error("解析是否允许采集接口返回结果失败：", err)
-			return false
-		}
-		if resp.Code != 200 { // 不是200 代表不允许采集
-			c_log.GlobalLogger.Info("采集数量已超过限额，当前周期内不再采集。", resp.Code)
-			return false
-		}
-	} else {
-		c_log.GlobalLogger.Error("当前设备未开启数采频率限制，无需判断采集数量是否达到限额。")
-	}
-
-	// 本地判断是否存在正在处理的数据
-	if entity.ProcessingFlag {
-		c_log.GlobalLogger.Info("存在正在处理的数据，此次不再采集。")
-		return false
-	}
-
-	c_log.GlobalLogger.Info("允许采集。")
-	return true
-}
-
-//func canCollect() bool {
-//	responseString, err := commonUtil.HttpPostJsonWithHeaders(
-//		commonConfig.CloudConfig.CollectLimit.Url,
-//		map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-//		map[string]string{
-//			"snCode":            commonConfig.LocalConfig.SecretKey,
-//			"collectLimitDay":   util.ToString(commonConfig.CloudConfig.CollectLimit.Day),
-//			"collectLimitWeek":  util.ToString(commonConfig.CloudConfig.CollectLimit.Week),
-//			"collectLimitMonth": util.ToString(commonConfig.CloudConfig.CollectLimit.Month),
-//			"collectLimitYear":  util.ToString(commonConfig.CloudConfig.CollectLimit.Year),
-//		},
-//	)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("发送http请求获取是否允许采集失败：", err)
-//		return false
-//	}
-//	// 解析JSON字符串到Response结构体
-//	var resp entity.Response
-//	err = json.Unmarshal([]byte(responseString), &resp)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("解析是否允许采集接口返回结果失败：", err)
-//		return false
-//	}
-//	if resp.Code != 200 { // 不是200 代表不允许采集
-//		return false
-//	}
-//	if len(entity.TimeWindowConsumerQueue) != 0 {
-//		c_log.GlobalLogger.Info("存在正在处理的数据，此次不再采集。", resp.Code)
-//		return false
-//	}
-//	return true
-//}

aarch64/pjibot_delivery/start-control.sh

@@ -1,23 +0,0 @@
-#!/bin/bash
-chmod 777 /home/pji/cicv-data-closedloop/pji-control.exe
-
-
-export C_INCLUDE_PATH=/usr/include/drm:
-export ROS_VERSION=1
-export PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig
-export ROS_PYTHON_VERSION=3
-export ROS_PACKAGE_PATH=/opt/ros/noetic/share
-export ROSLISP_PACKAGE_DIRECTORIES=
-export LOGNAME=pji
-export XDG_SESSION_TYPE=tty
-export ROS_ETC_DIR=/opt/ros/noetic/etc/ros
-export CMAKE_PREFIX_PATH=/opt/ros/noetic
-export PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
-export USER=pji
-export ROS_MASTER_URI=http://192.168.1.104:11311
-export ROS_HOSTNAME=192.168.1.104
-export LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu
-export ROS_ROOT=/opt/ros/noetic/share/ros
-export ROS_DISTRO=noetic
-
-nohup /home/pji/cicv-data-closedloop/pji-control.exe > /home/pji/cicv-data-closedloop/log/pji-control.out 2>&1 &

aarch64/pjibot_delivery/start-master.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-chmod 777 /home/pji/cicv-data-closedloop/pji-master.exe
-nohup /home/pji/cicv-data-closedloop/pji-master.exe > /home/pji/cicv-data-closedloop/log/pji-master.out 2>&1 &

aarch64/pjibot_delivery/配送机器人默认配置文件-cloud-config.yaml

@@ -1,229 +0,0 @@
----
-collect-limit:
-  url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
-  flag: 1 # 数采频率限制标志 0 - 关闭数采频率限制  1 - 开启数采频率限制
-  day: 3
-  week: 7
-  month: 30
-  year: 365
-collect-window:
-  flag: 1 # 时间段限制标志 0 - 关闭固定时间段采集 1 - 开启固定时间段采集
-  days: [] # 可选字段："Monday", "Tuesday", "Wednesday", "Thursday", "Friday", "Saturday", "Sunday"，空值默认为每天
-  start_time: "09:00"
-  end_time: "17:00"
-collect-num-plus:
-  url: http://36.110.106.142:12341/web_server/collect_limit/plus_collect_num
-monitor:
-  url: http://36.110.106.142:12341/web_server/monitor/insert
-platform:
-  url-device-auth: http://36.110.106.156:11121/device/auth
-  url-task-poll: http://36.110.106.156:11121/device/task/poll
-  url-task: http://36.110.106.156:11121/device/task
-
-bag-number: 30
-config-refresh-interval: 60
-disk:
-  name: /dev/nvme0n1p1 # 磁盘名称
-  used: 108000000000 # 磁盘占用阈值，单位bytes
-  path:
-    - /home/pji/cicv-data-closedloop
-has-one-msg: false
-bag-data-dir: /home/pji/cicv-data-closedloop/data/
-bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
-triggers-dir: /home/pji/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /location_realtime
-    - /cloud_to_map_node
-    - /tracking/imm_ukf_pda_track
-    - /task_decision
-    - /trajectorygenerator
-    - /trajectoryevaluator
-    - /trii_receive
-    - /wheel_odom
-    - /lanelet_routing_node
-    - /purepursuit
-    - /auto_dock
-    - /engine
-    - /trii_receive
-    - /lidar_euclidean_cluster_detect
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/noetic/bin/rosbag"
-      envs:
-        - "ROS_VERSION=1"
-        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig"
-        - "ROS_PYTHON_VERSION=3"
-        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
-        - "ROSLISP_PACKAGE_DIRECTORIES="
-        - "LOGNAME=pji"
-        - "XDG_SESSION_TYPE=tty"
-        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
-        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
-        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
-        - "USER=pji"
-        - "ROS_MASTER_URI=http://192.168.1.104:11311"
-        - "ROS_HOSTNAME=192.168.1.104"
-        - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
-        - "ROS_ROOT=/opt/ros/noetic/share/ros"
-        - "ROS_DISTRO=noetic"
-    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
-      - /velodyne_points
-      - /gnss
-      - /obstacle_detection
-      - /detection/image_detector/objects
-      - /image_raw
-      - /robot/targetposition
-      - /robot/planning_end_pose
-
-
-full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置
-triggers:
-  - label: detectfault
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: unstabledriving
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: locationfailed
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: obstacledetection
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: overspeed
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: cpuoveroccupied
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: memoveroccupied
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator

aarch64/pjibot_delivery/配送机器人默认配置文件-local-config.yaml

@@ -1,20 +0,0 @@
-node:
-  name: node1
-  ip: 192.168.1.104
-rosparam-path: /opt/ros/noetic/bin/rosparam
-# 获取oss连接信息的接口url
-#url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
-url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
-# 朴津机器人数据前缀
-oss-base-prefix: pjibot_delivery/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /home/pji/cicv-data-closedloop/config/cloud-config.yaml
-# websocket端口号
-local-websocket-port: 9002
-restart-cmd:
-  dir: "/home/pji/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-master.sh"

aarch64/pjibot_patrol/common/config/c_cloud.go

@@ -1,317 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"errors"
-	"fmt"
-	"github.com/gorilla/websocket"
-	"gopkg.in/yaml.v3"
-	"net/url"
-	"os"
-	"strings"
-	"sync"
-	"time"
-)
-
-type MonitorStruct struct {
-	Url string `yaml:"url"`
-}
-
-type platform struct {
-	UrlDeviceAuth string `yaml:"url-device-auth"`
-	UrlTaskPoll   string `yaml:"url-task-poll"`
-	UrlTask       string `yaml:"url-task"`
-}
-
-type rosbagStruct struct {
-	Path string   `yaml:"path"`
-	Envs []string `yaml:"envs"`
-}
-
-type hostStruct struct {
-	Name   string       `yaml:"name"`
-	Ip     string       `yaml:"ip"`
-	Topics []string     `yaml:"topics"`
-	Rosbag rosbagStruct `yaml:"rosbag"`
-}
-
-type ros struct {
-	MasterAddress string   `yaml:"master-address"`
-	Nodes         []string `yaml:"nodes"`
-}
-
-type disk struct {
-	Name string   `yaml:"name"`
-	Used uint64   `yaml:"used"`
-	Path []string `yaml:"path"`
-}
-type trigger struct {
-	Label  string   `yaml:"label"`
-	Topics []string `yaml:"topics"`
-}
-
-type CollectNumPlusStruct struct {
-	Url string `yaml:"url"`
-}
-
-type CollectLimitStruct struct {
-	Url   string `yaml:"url"`
-	Flag  int    `yaml:"flag"`
-	Day   int    `yaml:"day"`
-	Week  int    `yaml:"week"`
-	Month int    `yaml:"month"`
-	Year  int    `yaml:"year"`
-}
-
-type cloudConfig struct {
-	CollectLimit          CollectLimitStruct   `yaml:"collect-limit"`
-	CollectNumPlus        CollectNumPlusStruct `yaml:"collect-num-plus"`
-	HasOneMsgTopic        bool                 `yaml:"has-one-msg-topic"` // 是否存在只发单帧的话题
-	FullCollect           bool                 `yaml:"full-collect"`
-	ConfigRefreshInterval int                  `yaml:"config-refresh-interval"` // 配置刷新时间间隔
-	BagNumber             int                  `yaml:"bag-number"`
-	TimeWindowSendGap     int                  `yaml:"time-window-send-gap"` // 主节点向从节点发送窗口的最小时间间隔
-	BagDataDir            string               `yaml:"bag-data-dir"`
-	BagCopyDir            string               `yaml:"bag-copy-dir"`
-	TriggersDir           string               `yaml:"triggers-dir"`
-	RpcPort               string               `yaml:"rpc-port"`
-	Triggers              []trigger            `yaml:"triggers"`
-	Hosts                 []hostStruct         `yaml:"hosts"`
-	Ros                   ros                  `yaml:"ros"`
-	Platform              platform             `yaml:"platform"`
-	Disk                  disk                 `yaml:"disk"`
-	Monitor               MonitorStruct        `yaml:"monitor"`
-}
-
-//// Request 结构体定义
-//type Request struct {
-//	Type      string      `json:"type"`
-//	UUID      string      `json:"uuid"`
-//	CommandID string      `json:"commandId"`
-//	Parameter interface{} `json:"parameter"`
-//}
-//
-//// Response 结构体定义
-//type Response struct {
-//	CommandID string            `json:"commandId"`
-//	ErrorCode string            `json:"errorCode"`
-//	Results   map[string]string `json:"results"`
-//	Status    string            `json:"status"`
-//	Time      int64             `json:"time"`
-//	Type      string            `json:"type"`
-//	UUID      string            `json:"uuid"`
-//}
-
-var (
-	CloudConfig      cloudConfig
-	CloudConfigMutex sync.RWMutex
-)
-
-// InitCloudConfig 初始化业务配置
-func InitCloudConfig() {
-	// history20240401：朴津机器人额外加一个获取sn码
-	var snCode string
-
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		snCode, err := getSnCode()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取sn码失败：", err.Error())
-			continue
-		}
-		LocalConfig.SecretKey = snCode
-		LocalConfig.EquipmentNo = "pjibot-" + snCode
-		break
-	}
-	c_log.GlobalLogger.Info("本地机器人sn码为：", snCode)
-
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 开始。")
-	// 获取文件的目录
-	_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-	// 3 ------- 获取 yaml 字符串 -------
-	cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-
-	// 判断文件是否存在。如果不存在则使用默认的
-	isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-	}
-	if isExist {
-		c_log.GlobalLogger.Info("使用机器人自定义配置文件:", cloudConfigObjectKey)
-	} else {
-		cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-		c_log.GlobalLogger.Info("使用机器人默认配置文件:", cloudConfigObjectKey)
-	}
-
-	for {
-		OssMutex.Lock()
-		err := OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-		OssMutex.Unlock()
-		if err != nil {
-			c_log.GlobalLogger.Error("下载 OSS 上的配置文件 "+cloudConfigObjectKey+" 失败，请尽快在 OSS 上传配置文件。", err)
-			time.Sleep(time.Duration(2) * time.Second)
-			continue
-		}
-		break
-	}
-
-	content, err := os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		os.Exit(-1)
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig cloudConfig
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		os.Exit(-1)
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkCloudConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("程序崩溃，配置文件格式错误：", newCloudConfig)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 成功。")
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-}
-
-// 更新业务配置
-func refreshCloudConfig() {
-	// 获取文件的目录
-	_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-	// 3 ------- 获取 yaml 字符串 -------
-	var content []byte
-	cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-
-	isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-	}
-	if !isExist {
-		cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-	}
-
-	OssMutex.Lock()
-	err = OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-	OssMutex.Unlock()
-	if err != nil {
-		c_log.GlobalLogger.Error("下载oss上的配置文件"+cloudConfigObjectKey+"失败。", err)
-		//os.Exit(-1)
-	}
-
-	content, err = os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		return
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig cloudConfig
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		return
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkCloudConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("配置文件格式错误：", newCloudConfig)
-		return
-	}
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-
-}
-
-// RefreshCloudConfig 轮询oss上的配置文件更新到本地
-func RefreshCloudConfig() {
-	for {
-		time.Sleep(time.Duration(CloudConfig.ConfigRefreshInterval) * time.Second)
-		refreshCloudConfig()
-	}
-}
-
-// CheckConfig 校验 cfg.yaml 文件
-func checkCloudConfig(check cloudConfig) bool {
-	if len(check.Hosts) != 1 {
-		c_log.GlobalLogger.Error("cloud-config.yaml中配置的hosts必须为1。")
-		os.Exit(-1)
-	}
-	return true
-}
-
-func getSnCode() (string, error) {
-	var command []string
-	command = append(command, "get")
-	command = append(command, "sn")
-	_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
-	if err != nil {
-		return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
-	}
-	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
-	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
-	return snCode, nil
-}
-
-// SendWebsocketRequest 发送WebSocket请求并返回sn字段的值
-func SendWebsocketRequest(serverURL, path string, request Request) (string, error) {
-	// 构建WebSocket连接URL
-	u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
-
-	// 创建一个Dialer实例，用于建立WebSocket连接
-	dialer := websocket.Dialer{
-		ReadBufferSize:  1024,
-		WriteBufferSize: 1024,
-		// 可选：设置超时等
-		HandshakeTimeout: 5 * time.Second,
-	}
-
-	// 建立WebSocket连接
-	conn, _, err := dialer.Dial(u.String(), nil)
-	if err != nil {
-		return "", fmt.Errorf("dial: %w", err)
-	}
-	defer conn.Close()
-
-	// 将请求JSON编码为字节
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		return "", fmt.Errorf("marshal request: %w", err)
-	}
-
-	// 发送WebSocket消息
-	err = conn.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		return "", fmt.Errorf("write: %w", err)
-	}
-
-	// 读取WebSocket响应
-	_, responseBytes, err := conn.ReadMessage()
-	if err != nil {
-		return "", fmt.Errorf("read: %w", err)
-	}
-
-	// 将响应字节解码为JSON
-	var response Response
-	err = json.Unmarshal(responseBytes, &response)
-	if err != nil {
-		return "", fmt.Errorf("unmarshal response: %w", err)
-	}
-
-	// 返回sn字段的值
-	return response.Results["sn"], nil
-}

aarch64/pjibot_patrol/common/config/c_killrpcserver.go

@@ -1,21 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"net"
-	"os"
-)
-
-var KillSignalListener net.Listener
-
-func InitKillSignalListener(serverIp string) {
-	var err error
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 开始。")
-	socket := serverIp + ":" + CloudConfig.RpcPort
-	KillSignalListener, err = net.Listen("tcp", socket)
-	if err != nil {
-		c_log.GlobalLogger.Error("监听rpc端口失败:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 成功：", socket)
-}

aarch64/pjibot_patrol/common/config/c_local.go

@@ -1,62 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"gopkg.in/yaml.v2"
-	"os"
-)
-
-type node struct {
-	Name string `yaml:"name"`
-	Ip   string `yaml:"ip"`
-}
-
-type restartCmd struct {
-	Dir  string   `yaml:"dir"`
-	Name string   `yaml:"name"`
-	Args []string `yaml:"args"`
-}
-
-type localConfig struct {
-	Node                 node       `yaml:"node"`                    // 节点信息
-	RosparamPath         string     `yaml:"rosparam-path"`           // 获取oss配置的url
-	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url
-	OssBasePrefix        string     `yaml:"oss-base-prefix"`         // 云端配置文件的位置
-	CloudConfigFilename  string     `yaml:"cloud-config-filename"`   // 云端配置文件名称
-	CloudConfigLocalPath string     `yaml:"cloud-config-local-path"` // 将 oss 的配置文件下载到本地的位置
-	LocalWebsocketPort   string     `yaml:"local-websocket-port"`    // websocket端口号
-	RestartCmd           restartCmd `yaml:"restart-cmd"`             // 重启命令
-	EquipmentNo          string     // 当前设备的编号
-	SecretKey            string     // 当前设备的密钥
-}
-
-var (
-	LocalConfig localConfig
-)
-
-func InitLocalConfig(localConfigPath string) {
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 开始：", localConfigPath)
-	// 读取YAML文件内容
-	content, err := os.ReadFile(localConfigPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("读取本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	// 解析YAML内容
-	err = yaml.Unmarshal(content, &LocalConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	// history20240401：设备密钥需要获取sn码，设备编号同样。######由于执行命令需要环境变量，所以放到 c_cloud.go 中####
-	/*
-		# 例如，数据闭环平台参数
-		equipment-no: pjibot-P1YNYD1M228000127
-		secret-key: P1YNYD1M228000127
-	*/
-
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 成功：", LocalConfig)
-
-}

aarch64/pjibot_patrol/common/config/c_oss.go

@@ -1,52 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"github.com/aliyun/aliyun-oss-go-sdk/oss"
-	"os"
-	"sync"
-)
-
-type OssConnectInfoStruct struct {
-	Endpoint        string `json:"endpoint"`
-	AccessKeyId     string `json:"accessKeyId"`
-	AccessKeySecret string `json:"accessKeySecret"`
-	BucketName      string `json:"bucketName"`
-}
-
-var (
-	OssClient *oss.Client
-	OssBucket *oss.Bucket
-	OssMutex  sync.Mutex
-)
-
-func InitOssConfig() {
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 开始。")
-	// 1 访问 HTTP 服务获取 OSS 配置
-	get, err := util.HttpGet(LocalConfig.UrlGetOssConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("http获取oss配置时出错:", err)
-		os.Exit(-1)
-	}
-	var ossConnectInfo OssConnectInfoStruct
-	err = json.Unmarshal([]byte(get), &ossConnectInfo)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析json时出错:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Infof("oss 配置信息为：%v", ossConnectInfo)
-
-	OssClient, err = oss.New(ossConnectInfo.Endpoint, ossConnectInfo.AccessKeyId, ossConnectInfo.AccessKeySecret, oss.UseCname(true))
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云client:", err)
-		os.Exit(-1)
-	}
-	OssBucket, err = OssClient.Bucket(ossConnectInfo.BucketName)
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云bucket:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 成功。")
-}

aarch64/pjibot_patrol/common/config/c_platform.go

@@ -1,195 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"strings"
-	"time"
-)
-
-type taskTrigger struct {
-	TriggerId         int    `json:"triggerId"`
-	TriggerName       string `json:"triggerName"`
-	TriggerScriptPath string `json:"triggerScriptPath"`
-	TriggerType       string `json:"triggerType"`
-}
-
-type PlatformConfigStruct struct {
-	TaskConfigId    string        `json:"taskConfigId"`   // 配置ID
-	TaskConfigName  string        `json:"taskConfigName"` // 配置名称
-	DropUploadData  bool          `json:"dropUploadData"` // 更新任务时 true 先上传旧任务 false 删除旧任务
-	TaskMaxTime     int           `json:"taskMaxTime"`
-	TaskBeforeTime  int           `json:"taskBeforeTime"`
-	TaskAfterTime   int           `json:"taskAfterTime"`
-	TaskCachePolicy string        `json:"taskCachePolicy"`
-	EquipmentTopic  string        `json:"equipmentTopic"` // topic序列
-	Lru             []string      `json:"LRU"`
-	TaskTriggers    []taskTrigger `json:"taskTriggers"`
-}
-
-type response struct {
-	Data    PlatformConfigStruct `json:"data"`
-	Success bool                 `json:"success"`
-	Message string               `json:"message"`
-	Code    int                  `json:"code"`
-	NowTime string               `json:"nowTime"`
-}
-
-var (
-	PlatformConfig PlatformConfigStruct
-	RecordTopics   []string
-)
-
-// 初始化数据闭环平台的配置
-func InitPlatformConfig() {
-	var err error
-	c_log.GlobalLogger.Info("获取数据闭环平台配置 - 开始")
-	// 1 如果车辆没有配置任务，则阻塞在这里，不启动任务
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		// 判断是否有配置，第一次访问状态应该为：CHANGE（一共三种状态 CHANGE|UNCHANGE|NONE）
-		PlatformConfig, err = getConfig()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		if checkPlatformConfig() {
-			RecordTopics = strings.Split(PlatformConfig.EquipmentTopic, ",")
-			// 去掉首尾空格
-			for i, topic := range RecordTopics {
-				RecordTopics[i] = strings.TrimSpace(topic)
-			}
-			break
-		}
-	}
-	c_log.GlobalLogger.Info("获取数据闭环平台配置 - 成功。")
-}
-
-/*
-	{
-	  "data": {
-	    "accessToken": "YWRmYWRzZmFzZGZhZHNmYWRmYWRm=",
-	    "expireTime": "28800",
-	    "equipmentNo": "robot-001"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 22:41:00"
-	}
-*/
-// 认证接口，获取access_token
-func GetAccessToken() (string, error) {
-	url := &CloudConfig.Platform.UrlDeviceAuth
-	param := &map[string]string{
-		"equipmentNo": LocalConfig.EquipmentNo,
-		"secretKey":   LocalConfig.SecretKey,
-	}
-	respJson, err := util.HttpPostJsonResponseString(
-		*url,
-		*param,
-	)
-	if err != nil {
-		return "", nil
-	}
-	respMap, err := util.JsonStringToMap(respJson)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("解析返回结果【%v】失败，请求地址为【%v】,请求参数为【%v】：%v", respJson, *url, *param, err)
-		return "", nil
-	}
-
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Error("解析返回结果.data", dataMap, "失败：", err)
-		return "", nil
-	}
-	return dataMap["accessToken"].(string), nil
-}
-
-/*
-	{
-	  "data": {
-	    "status": "UNCHANGE"
-	    "taskConfigld": "xxx"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 21:08:49"
-	}
-*/
-//GetStatus 根据taskConfigId获取任务status，如果传入空代表车端没有配置，直接获取新的配置
-func GetStatus(taskConfigId string) (string, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return "", err
-	}
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTaskPoll,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo":  LocalConfig.EquipmentNo,
-			"taskConfigId": taskConfigId,
-		},
-	)
-
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return "", err
-	}
-	respMap, err := util.JsonStringToMap(resp)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果1】", resp, "失败：", err)
-		return "", err
-	}
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Errorf("解析【返回结果.data】的类型不是(map[string]interface{})，【dataMap】=%v", dataMap)
-		return "", err
-	}
-	return dataMap["status"].(string), nil
-}
-
-func getConfig() (PlatformConfigStruct, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return PlatformConfigStruct{}, err
-	}
-	// 下载插件和获取配置
-	// 2 访问配置获取接口
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTask,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo": LocalConfig.EquipmentNo,
-		},
-	)
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	var result response
-	err = json.Unmarshal([]byte(resp), &result)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果】", resp, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	return result.Data, nil
-}
-
-func checkPlatformConfig() bool {
-	if PlatformConfig.TaskConfigId == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置任务。")
-		return false
-	}
-	if PlatformConfig.EquipmentTopic == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置topic序列。")
-		return false
-	}
-	return true
-}

aarch64/pjibot_patrol/common/config/c_resource.go

@@ -1,35 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"time"
-)
-
-// SendResourceUsage 保存资源占用情况
-func SendResourceUsage() {
-	for {
-		time.Sleep(time.Duration(1) * time.Second)
-		top10Cpu, top10Mem := util.GetTop10CpuAndMem()
-		top10CpuJson, _ := json.MarshalIndent(top10Cpu, "", "    ")
-		top10MemJson, _ := json.MarshalIndent(top10Mem, "", "    ")
-		responseString, err := util.HttpPostJsonWithHeaders(
-			CloudConfig.Monitor.Url,
-			map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-			map[string]string{
-				"totalCpuUsage":    util.ToString(util.GetCpuPercent()),
-				"totalMemoryUsage": util.ToString(util.GetMemoryPercent()),
-				"top10Process":     string(top10CpuJson),
-				"top10Cpu":         string(top10CpuJson),
-				"top10Mem":         string(top10MemJson),
-				"deviceNumber":     LocalConfig.EquipmentNo,
-				"socIp":            LocalConfig.Node.Ip,
-			},
-		)
-		if err != nil {
-			c_log.GlobalLogger.Errorf("发送数据监控信息报错%v，响应信息为：%v", err, responseString)
-		}
-		//c_log.GlobalLogger.Infof("发送数据监控信息成功，响应信息为：%v", responseString)
-	}
-}

aarch64/pjibot_patrol/common/config/c_ros.go

@@ -1,39 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"time"
-)
-
-var (
-	RosNode    *goroslib.Node
-	RosbagPath string
-	RosbagEnvs []string
-)
-
-func InitRosConfig() {
-	var err error
-	// 1
-	c_log.GlobalLogger.Info("初始化RosNode - 开始")
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		if RosNode, err = goroslib.NewNode(goroslib.NodeConf{Name: "node" + util.GetNowTimeCustom(), MasterAddress: CloudConfig.Ros.MasterAddress}); err != nil {
-			c_log.GlobalLogger.Info("初始化RosNode - 进行中：", err)
-			continue
-		}
-		break
-	}
-	c_log.GlobalLogger.Info("初始化RosNode - 成功：", CloudConfig.Ros.MasterAddress)
-	// 2 获取 rosbag 命令路径和环境变量
-	for _, host := range CloudConfig.Hosts {
-		if host.Name == LocalConfig.Node.Name {
-			RosbagPath = host.Rosbag.Path
-			RosbagEnvs = host.Rosbag.Envs
-			break
-		}
-	}
-	c_log.GlobalLogger.Infof("rosbag 命令路径为：%v，环境变量为：%v", RosbagPath, RosbagEnvs)
-
-}

aarch64/pjibot_patrol/common/config/c_websocket.go

@@ -1,225 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"encoding/json"
-	"fmt"
-	"github.com/gorilla/websocket"
-	"net/url"
-	"time"
-)
-
-var (
-	WsConn                 *websocket.Conn
-	reconnectionInProgress bool
-)
-
-// Request 结构体定义
-type Request struct {
-	Type      string      `json:"type"`
-	UUID      string      `json:"uuid"`
-	CommandID string      `json:"commandId"`
-	Parameter interface{} `json:"parameter"`
-}
-
-// Request1 结构体定义
-type Request1 struct {
-	Type      string      `json:"type"`
-	CommandID string      `json:"commandId"`
-	Parameter interface{} `json:"parameter"`
-}
-
-// Response 结构体定义
-type Response struct {
-	CommandID string            `json:"commandId"`
-	ErrorCode string            `json:"errorCode"`
-	Results   map[string]string `json:"results"`
-	Status    string            `json:"status"`
-	Time      int64             `json:"time"`
-	Type      string            `json:"type"`
-	UUID      string            `json:"uuid"`
-}
-
-// StatusMessage 状态消息 结构体定义
-type StatusMessage struct {
-	Type  string      `json:"type"`
-	Topic string      `json:"topic"`
-	Time  int64       `json:"time"`
-	Data  interface{} `json:"data"`
-}
-
-func keepAlive() {
-	ticker := time.NewTicker(30 * time.Second)
-	defer ticker.Stop()
-
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		//c_log.GlobalLogger.Error("保持websocket连接活跃，解析requestJSON - 失败。", err)
-	}
-
-	for {
-		select {
-		case <-ticker.C:
-			err := WsConn.WriteMessage(websocket.TextMessage, requestJSON)
-			if err != nil {
-				//c_log.GlobalLogger.Error("保持websocket连接活跃，发送心跳请求 - 失败。", err)
-				WsConn.Close()
-				//c_log.GlobalLogger.Info("重试连接websocket...")
-				ConnectWebsocket() // 重新连接
-				continue
-			}
-			//c_log.GlobalLogger.Info("保持websocket连接活跃，发送心跳请求 - 成功。")
-		}
-	}
-}
-
-func SendWebsocketHeartbeat(conn *websocket.Conn, maxRetries int) (bool, error) {
-
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	// 将请求JSON编码为字节
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		return false, fmt.Errorf("marshal request: %w", err)
-	}
-
-	// 发送WebSocket消息
-	err = conn.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		return false, fmt.Errorf("write: %w", err)
-	}
-
-	count := 0
-	for {
-		if count > maxRetries {
-			return false, fmt.Errorf("保持websocket连接活跃，读取websocket消息超过最大重试次数。")
-		}
-		time.Sleep(1 * time.Second)
-		_, message, err := conn.ReadMessage()
-		if err != nil {
-			c_log.GlobalLogger.Error("保持websocket连接活跃，读取websocket消息 - 失败 ", err, " 继续读取消息。")
-			return false, err
-			//continue
-		}
-
-		var response Response
-		err = json.Unmarshal(message, &response)
-		c_log.GlobalLogger.Info("response ", response)
-		if err == nil && response.Type == "response" {
-			c_log.GlobalLogger.Info("response1 ", response)
-			return true, err
-		}
-		count++
-	}
-}
-
-func sendRequestAndAwaitResponse(ws *websocket.Conn) ([]byte, error) {
-	request := Request1{
-		Type:      "request",
-		CommandID: "heart",
-		Parameter: nil,
-	}
-
-	requestJSON, err := json.Marshal(request)
-	if err != nil {
-		c_log.GlobalLogger.Error("保持websocket连接活跃，解析requestJSON - 失败。", err)
-		return nil, err
-	}
-
-	err = ws.WriteMessage(websocket.TextMessage, requestJSON)
-	if err != nil {
-		c_log.GlobalLogger.Error("保持websocket连接活跃，发送心跳请求 - 失败。", err)
-		return nil, err
-	}
-	c_log.GlobalLogger.Info("保持websocket连接活跃，发送心跳请求 - 成功。")
-
-	// 使用channel等待响应
-	responseChan := make(chan []byte)
-	go handleMessages(ws, responseChan)
-
-	select {
-	case response := <-responseChan:
-		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 成功。")
-		return response, nil
-	case <-time.After(60 * time.Second): // 设置超时时间
-		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 超时。")
-		close(responseChan)
-		return nil, fmt.Errorf("保持websocket连接活跃，等待心跳响应 - 超时。")
-	}
-}
-
-func handleMessages(ws *websocket.Conn, responseChan chan<- []byte) {
-	for {
-		time.Sleep(100 * time.Millisecond)
-		_, message, err := ws.ReadMessage()
-		if err != nil {
-			c_log.GlobalLogger.Error("保持websocket连接活跃，读取websocket消息 - 失败 ", err)
-			return
-		}
-
-		var response Response
-		if err := json.Unmarshal(message, &response); err == nil && response.Type == "response" {
-			responseChan <- message
-			close(responseChan)
-			return
-		}
-	}
-}
-
-func ConnectWebsocket() {
-	for {
-		// 防止重复调用
-		if reconnectionInProgress {
-			return
-		}
-		reconnectionInProgress = true
-		//c_log.GlobalLogger.Info("初始化Websocket连接 - 开始。")
-		serverURL := LocalConfig.Node.Ip + ":" + LocalConfig.LocalWebsocketPort
-		path := "/"
-
-		// 构建WebSocket连接URL
-		u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
-		//c_log.GlobalLogger.Info("URL:", u.String())
-
-		// 创建一个Dialer实例，用于建立WebSocket连接
-		dialer := websocket.Dialer{
-			ReadBufferSize:  1024,
-			WriteBufferSize: 1024,
-			// 可选：设置超时等
-			HandshakeTimeout: 5 * time.Minute,
-		}
-
-		// 建立WebSocket连接
-		coon, _, err := dialer.Dial(u.String(), nil)
-		if err != nil {
-			fmt.Println("err:", err)
-			//c_log.GlobalLogger.Error("初始化Websocket连接 - 失败。")
-			time.Sleep(5 * time.Second)
-			reconnectionInProgress = false
-			//c_log.GlobalLogger.Info("重试连接websocket...")
-			continue
-		}
-
-		WsConn = coon
-		//c_log.GlobalLogger.Info("初始化Websocket连接 - 成功。")
-		// 连接成功，退出循环
-		reconnectionInProgress = false
-		break
-	}
-}
-
-func InitWebsocketConfig() {
-	ConnectWebsocket()
-	// 保持连接活跃
-	go keepAlive()
-}

aarch64/pjibot_patrol/common/service/disk_clean.go

@@ -1,94 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_patrol/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// 如果磁盘占用过高，则删除timeWindow和对应的文件
-func DiskClean() {
-	c_log.GlobalLogger.Info("清理timeWindow，启动！")
-	/*
-		TTL(0, "删除旧数据")；
-		STOP(1, "停止缓存");
-		LRU(2, "保留高优先级")
-	*/
-	policyToDescription := map[string]string{
-		"TTL":  "删除旧数据",
-		"STOP": "停止缓存",
-		"LRU":  "保留高优先级",
-	}
-
-	for {
-		time.Sleep(1000 * time.Millisecond)
-		// 1 获取磁盘占用
-		//diskUsed, _ := util.GetDiskUsed(commonConfig.CloudConfig.Disk.Name) // 获取整个磁盘空间
-
-		diskUsed, _ := util.GetDirectoryDiskUsed(commonConfig.CloudConfig.Disk.Path) // 获取指定目录空间
-		if diskUsed > commonConfig.CloudConfig.Disk.Used {
-			policy := commonConfig.PlatformConfig.TaskCachePolicy
-			c_log.GlobalLogger.Errorf("磁盘占用 %v 超过 %v，触发删除规则 %v", diskUsed, commonConfig.CloudConfig.Disk.Used, policyToDescription[policy])
-			// 2 获取策略
-			if policy == "TTL" {
-				// 1 获取时间窗口队列中的第二个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(1)
-				}
-			} else if policy == "STOP" {
-				// 2 获取时间窗口队列中的倒数第一个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(len(entity.TimeWindowConsumerQueue) - 1)
-				}
-			} else if policy == "LRU" {
-				// 3 获取优先级最低的时间窗口
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					indexToRemove := getIndexToRemoveForLRU()
-					if indexToRemove != -1 {
-						deleteTimeWindow(indexToRemove)
-					}
-				}
-			} else {
-				c_log.GlobalLogger.Error("未知的缓存策略：", policy)
-			}
-
-		}
-	}
-}
-
-func deleteTimeWindow(indexToRemove int) {
-	timeWindowToRemove := entity.TimeWindowConsumerQueue[indexToRemove]
-	// 1 删除队列中的窗口。使用切片的特性删除指定位置的元素
-	entity.TimeWindowConsumerQueueMutex.Lock()
-	entity.TimeWindowConsumerQueue = append(entity.TimeWindowConsumerQueue[:indexToRemove], entity.TimeWindowConsumerQueue[indexToRemove+1:]...)
-	entity.TimeWindowConsumerQueueMutex.Unlock()
-	// 2 删除该窗口对应的文件目录。
-	faultTime := timeWindowToRemove.FaultTime
-	dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, faultTime)
-	err := util.RemoveDir(dir)
-	if err != nil {
-		c_log.GlobalLogger.Error("删除目录", dir, "失败：", err)
-	}
-}
-
-func getIndexToRemoveForLRU() int {
-	lru := commonConfig.PlatformConfig.Lru
-	i := len(lru) - 1
-	for i >= 0 {
-		for i2, window := range entity.TimeWindowConsumerQueue {
-			for _, label := range window.Labels {
-				if value, ok := masterConfig.LabelMapTriggerId.Load(label); ok {
-					if value == lru[i] {
-						return i2
-					}
-				}
-			}
-		}
-	}
-	return -1
-
-}

aarch64/pjibot_patrol/common/service/kill_self.go

@@ -1,118 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"net/rpc"
-	"os"
-	"sync"
-	"time"
-)
-
-var (
-	ChannelKillRosRecord  = make(chan int)
-	ChannelKillDiskClean  = make(chan int)
-	ChannelKillSubscriber = make(chan int)
-	ChannelKillMove       = make(chan int)
-	ChannelKillConsume    = make(chan int)
-
-	KillChannel = 5
-	KillTimes   = 0
-	MutexKill   sync.Mutex
-)
-
-// 停止信号，主从节点接收到数据后准备重启
-type KillSignal struct {
-	NodeName       string
-	DropUploadData bool
-	Restart        bool
-}
-
-// 定义要远程调用的类型和方法
-type KillService struct{}
-
-// 杀死自身程序，通过通道实现 方法必须满足RPC规范：函数有两个参数，第一个参数是请求，第二个是响应
-func (m *KillService) Kill(args KillSignal, reply *int) error {
-	c_log.GlobalLogger.Info("接收到自杀信号：", args)
-	// 1 杀死 rosbag record 命令
-	ChannelKillRosRecord <- 1
-	// 2 杀死所有 ros 订阅者
-	ChannelKillSubscriber <- 1
-	// 3 杀死上传任任务
-	if args.DropUploadData == true {
-		// 3-1 等待上传结束再杀死
-		ChannelKillMove <- 1
-		ChannelKillConsume <- 1
-	} else {
-		// 3-2 直接杀死
-		ChannelKillMove <- 2
-		ChannelKillConsume <- 2
-	}
-	go killDone(args.Restart)
-	return nil
-}
-func WaitKillSelf() {
-	killService := new(KillService)
-	err := rpc.Register(killService)
-	if err != nil {
-		c_log.GlobalLogger.Error("注册rpc服务失败：", err)
-		return
-	}
-
-	// 等待并处理远程调用请求
-	for {
-		conn, err := commonConfig.KillSignalListener.Accept()
-		if err != nil {
-			continue
-		}
-		go rpc.ServeConn(conn)
-	}
-}
-
-func AddKillTimes(info string) {
-	MutexKill.Lock()
-	defer MutexKill.Unlock()
-	switch info {
-	case "1":
-		ChannelKillDiskClean <- 1
-		close(ChannelKillRosRecord)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 record 打包 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "2":
-		close(ChannelKillDiskClean)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包数量维护 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "3":
-		close(ChannelKillSubscriber)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 rosnode 和ros 订阅者 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "4":
-		close(ChannelKillMove)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包移动 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "5":
-		close(ChannelKillConsume)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死 bag 包消费 goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	}
-}
-
-func killDone(restart bool) {
-	for {
-		time.Sleep(time.Duration(1) * time.Second)
-		if KillChannel == KillTimes {
-			if restart {
-				_, err := util.ExecuteWithPath(commonConfig.LocalConfig.RestartCmd.Dir, commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args...)
-				if err != nil {
-					c_log.GlobalLogger.Info("启动新程序失败,【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args, "：", err)
-					os.Exit(-1)
-				}
-				c_log.GlobalLogger.Info("数据采集任务更新，正常退出当前程序。")
-			} else {
-				c_log.GlobalLogger.Info("数据采集任务终止，正常退出当前程序。")
-			}
-			os.Exit(0)
-		}
-	}
-}

aarch64/pjibot_patrol/common/service/rosbag_clean.go

@@ -1,36 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// BagCacheClean 保证本地缓存的包数量不超过设定值
-func BagCacheClean() {
-	c_log.GlobalLogger.Info("启动清理缓存的 goroutine 维护目录【", config.CloudConfig.BagDataDir, "】的 bag 包数量：", config.CloudConfig.BagNumber)
-	for {
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillDiskClean:
-			if signal == 1 {
-				AddKillTimes("2")
-				return
-			}
-		default:
-		}
-
-		// 1 ------- 每10秒清理一次 -------
-		time.Sleep(time.Duration(10) * time.Second)
-		// 2 ------- 获取目录下所有bag包 -------
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(config.CloudConfig.BagDataDir, ".bag")
-		// 3 如果打包数量超过n个，删除最旧的包{
-		if len(bags) > config.CloudConfig.BagNumber {
-			diff := len(bags) - config.CloudConfig.BagNumber
-			for i := 0; i < diff; i++ {
-				util.DeleteFile(bags[i])
-			}
-		}
-	}
-}

aarch64/pjibot_patrol/common/service/rosbag_record.go

@@ -1,138 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"os"
-	"os/exec"
-	"time"
-)
-
-// 打包rosbag
-func BagRecord(nodeName string) {
-	var err error
-	c_log.GlobalLogger.Info("rosbag record goroutine - 启动")
-	for {
-	startRecord:
-		c_log.GlobalLogger.Info("校验必需的 rosnode 是否全部启动。")
-		canRecord := false
-		for !canRecord {
-			time.Sleep(time.Duration(2) * time.Second)
-			canRecord = isCanRecord(config.RosNode)
-		}
-		c_log.GlobalLogger.Info("rosnode 启动完成，正在启动 rosbag record 命令。")
-
-		var command []string
-		command = append(command, "record")
-		command = append(command, "--split")
-		command = append(command, "--duration=1")
-		platformTopics := config.RecordTopics
-		for _, host := range config.CloudConfig.Hosts {
-			if host.Name == nodeName {
-				// platformConfig中配置用户想缓存的topic，配置文件中的是默认要采集的（如果平台没有填，则取默认），取交集
-				if platformTopics == nil || len(platformTopics) == 0 {
-					c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，采集默认话题", platformTopics)
-					for _, topic2 := range host.Topics {
-						command = append(command, topic2)
-					}
-				} else {
-					c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
-					for _, topic1 := range config.RecordTopics {
-						command = append(command, topic1)
-					}
-				}
-			}
-		}
-
-		// 2 ------- 调用 rosbag 打包命令，该命令自动阻塞 -------
-		// 不在此处压缩，因为 rosbag filter 时会报错。在上传到oss之前压缩即可。
-		// 包名格式：2023-11-15-17-35-20_0.bag
-		_ = util.CreateParentDir(config.CloudConfig.BagDataDir)
-		var recordProcessPid int
-		var recordSubProcessPid int
-		var cmd *exec.Cmd
-		//systemEnv := os.Environ()
-		//c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
-	parent:
-		for {
-			c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
-			cmd, err = util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-			if err != nil {
-				c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
-				continue
-			}
-			recordProcessPid = cmd.Process.Pid
-		sub:
-			for {
-				time.Sleep(time.Duration(2) * time.Second)
-				process, err := os.FindProcess(recordProcessPid)
-				if process == nil {
-					continue parent
-				}
-				recordSubProcessPid, err = util.GetSubProcessPid(recordProcessPid)
-				if err != nil {
-					c_log.GlobalLogger.Info("正在等待获取进程 ", recordProcessPid, " 的子进程的pid。（未获取到可能由于磁盘空间已满）")
-					continue sub
-				}
-				if recordSubProcessPid != 0 {
-					c_log.GlobalLogger.Info("进程 ", recordProcessPid, " 的子进程的pid为：", recordSubProcessPid)
-					break parent
-				}
-			}
-		}
-		// 等待自杀信号
-		c_log.GlobalLogger.Info("启动record命令成功。等待自杀信号。")
-		for {
-			select {
-			case signal := <-ChannelKillRosRecord:
-				if signal == 1 {
-					kill(recordProcessPid, recordSubProcessPid, cmd)
-					AddKillTimes("1")
-					continue // continue 是为了等待重启信号
-				}
-				if signal == 2 {
-					goto startRecord // 收到信号 2 重新 record 命令
-				}
-				if signal == 3 { // 这个关闭是等待数据处理时的关闭
-					c_log.GlobalLogger.Error("采集数据，接收record命令进程关闭信号：", signal)
-					kill(recordProcessPid, recordSubProcessPid, cmd)
-					continue
-				}
-			}
-		}
-	}
-}
-func kill(recordProcessPid int, recordSubProcessPid int, cmd *exec.Cmd) {
-	if err := util.KillProcessByPid(recordSubProcessPid); err != nil {
-		c_log.GlobalLogger.Errorf("程序阻塞，杀死record命令子进程出错，【pid】=%v,【err】=%v。", recordSubProcessPid, err)
-		select {} // 此处阻塞防止record命令一直录包占满存储
-	}
-	if err := cmd.Process.Kill(); err != nil {
-		c_log.GlobalLogger.Error("程序阻塞，杀死record命令进程", recordProcessPid, "出错：", err)
-		select {} // 此处阻塞防止record命令一直录包占满存储
-	}
-}
-func isCanRecord(n *goroslib.Node) bool {
-	time.Sleep(time.Duration(1) * time.Second)
-	// 获取
-	nodes, err := n.MasterGetNodes()
-	if err != nil {
-		c_log.GlobalLogger.Error("获取rosnode出错：", err)
-		return false
-	}
-	// 创建一个示例的map
-	myMap := nodes
-	// 创建一个切片，包含要检查的元素
-	mySlice := config.CloudConfig.Ros.Nodes
-
-	// 判断map的键是否包含切片中的所有元素
-	for _, element := range mySlice {
-		if _, ok := myMap[element]; !ok {
-			c_log.GlobalLogger.Info("rosnode：", element, " 未启动，需等待启动后才可启动record。")
-			return false
-		}
-	}
-	return true
-}

aarch64/pjibot_patrol/common/service/rosbag_upload.go

@@ -1,187 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_patrol/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	commonUtil "cicv-data-closedloop/common/util"
-	"encoding/json"
-	"fmt"
-	"os"
-	"strings"
-	"time"
-)
-
-func RunTimeWindowConsumerQueue(nodeName string) {
-	c_log.GlobalLogger.Info("处理消费者队列goroutine - 启动")
-outLoop:
-	for {
-
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillConsume:
-			if signal == 1 {
-				ChannelKillConsume <- 1
-				if len(entity.TimeWindowConsumerQueue) == 0 {
-					AddKillTimes("5")
-					return
-				}
-			} else { //signal == 2
-				AddKillTimes("5")
-				return
-			}
-		default:
-		}
-		// 每一秒扫一次
-		time.Sleep(time.Duration(1) * time.Second)
-
-		waitLength := len(entity.TimeWindowConsumerQueue)
-		if waitLength == 0 {
-			continue outLoop
-		}
-
-		// 1 获取即将处理的窗口
-		currentTimeWindow := entity.TimeWindowConsumerQueue[0]
-		entity.RemoveHeadOfTimeWindowConsumerQueue()
-		c_log.GlobalLogger.Infof("开始处理窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		// 2 获取目录
-		dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, currentTimeWindow.FaultTime)
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(dir, ".bag")
-		bagNumber := len(bags)
-		if bagNumber > currentTimeWindow.Length {
-			bagNumber = currentTimeWindow.Length
-			bags = bags[0:currentTimeWindow.Length]
-		}
-
-		// 3 如果不是全量采集，则使用 filter 命令对 bag 包进行主题过滤。
-		if commonConfig.CloudConfig.FullCollect == false {
-			var filterTopics []string
-			if nodeName == commonConfig.CloudConfig.Hosts[0].Name {
-				filterTopics = currentTimeWindow.MasterTopics
-			} else {
-				filterTopics = currentTimeWindow.SlaveTopics
-			}
-			var topicsFilterSlice []string
-			for _, topic := range filterTopics {
-				topicsFilterSlice = append(topicsFilterSlice, "topic=='"+topic+"'")
-			}
-			for i, bag := range bags {
-				oldName := bag
-				newName := bag + "_filter"
-				filterCommand := []string{"filter", oldName, newName, "\"" + strings.Join(topicsFilterSlice, " or ") + "\""}
-				_, output, err := util.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, filterCommand...)
-				c_log.GlobalLogger.Info("正在过滤中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-				if err != nil {
-					c_log.GlobalLogger.Errorf("filter命令执行出错【命令】=%v，【输出】=%v,【err】=%v", filterCommand, output, err)
-					continue
-				}
-				// 删除旧文件
-				util.DeleteFile(oldName)
-				// 将新文件改回旧文件名
-				if err = os.Rename(newName, oldName); err != nil {
-					c_log.GlobalLogger.Info("修改文件名", oldName, "失败，放弃当前时间窗口", currentTimeWindow.FaultTime, "，错误为：", err)
-					continue outLoop
-				}
-			}
-		}
-
-		// 4 compress包，必须顺序执行，此时每个包会对应生成一个压缩过的包和原始包，原始包后缀为.orig.bag
-		// 5 todo 机器人去掉压缩过程，防止cpu跑满
-		//c_log.GlobalLogger.Info("压缩 bag 数据包，故障时间为：", currentTimeWindow.FaultTime)
-		//for i, bag := range bags {
-		//	oldName := bag
-		//	compressCommand := []string{"compress", "--bz2", oldName}
-		//	c_log.GlobalLogger.Info("正在压缩中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-		//	if _, output, err := util.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, compressCommand...); err != nil {
-		//		c_log.GlobalLogger.Errorf("compress命令执行出错【命令】=%v，【输出】=%v,【err】=%v", compressCommand, output, err)
-		//		continue
-		//	}
-		//}
-		// 5 upload，必须顺序执行
-		c_log.GlobalLogger.Info("发送bag数据包，故障时间为：", currentTimeWindow.FaultTime)
-		start := time.Now()
-		objectKey1 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
-		objectKey2 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_merge/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + ".bag"
-		objectKey3 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_parse/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
-		for i, bag := range bags {
-			startOne := time.Now()
-			bagSlice := strings.Split(bag, "/")
-			for {
-				commonConfig.OssMutex.Lock()
-				err := commonConfig.OssBucket.PutObjectFromFile(objectKey1+bagSlice[len(bagSlice)-1], bag)
-				commonConfig.OssMutex.Unlock()
-				if err != nil {
-					c_log.GlobalLogger.Info("因网络原因上传包 ", bag, " 时报错，需要等待网络恢复后重新上传：", err)
-					continue
-				}
-				c_log.GlobalLogger.Info("上传耗时 ", time.Since(startOne), "，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
-				break
-			}
-		}
-		c_log.GlobalLogger.Info("上传完成，花费时间：", time.Since(start))
-		// 在上传完成的包目录同级下添加一个目录同名的json
-		triggerIds := make([]string, 0)
-		for _, label := range currentTimeWindow.Labels {
-			if value, ok := masterConfig.LabelMapTriggerId.Load(label); ok {
-				triggerIds = append(triggerIds, value.(string))
-			}
-		}
-		callBackMap := map[string]interface{}{
-			"dataName":    currentTimeWindow.FaultTime, // 云端callback程序会将该值加8小时，因为UTC和CSV时区相差8小时
-			"dataSize":    "",                          // 由合并程序补充
-			"equipmentNo": commonConfig.LocalConfig.EquipmentNo,
-			"secretKey":   commonConfig.LocalConfig.SecretKey,
-			"rosBagPath":  objectKey2,
-			"filePath":    objectKey3,
-			"taskId":      commonConfig.PlatformConfig.TaskConfigId,
-			"triggerId":   triggerIds,
-		}
-		callBackJson, err := util.MapToJsonString(callBackMap)
-		if err != nil {
-			c_log.GlobalLogger.Error("callBackMap", callBackMap, "转json失败：", err)
-		}
-		commonConfig.OssMutex.Lock()
-		err = commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
-		commonConfig.OssMutex.Unlock()
-		if err != nil {
-			c_log.GlobalLogger.Error("上传 callback.json 文件失败：", err)
-		}
-
-		// 数据库中采集数量加一
-		collectNumPlus()
-		// 删除本地所有已上传的bag文件
-		c_log.GlobalLogger.Infof("结束处理窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		c_log.GlobalLogger.Infof("待处理窗口个数为：%v", len(entity.TimeWindowConsumerQueue))
-		if err = util.RemoveDir(dir); err != nil {
-			continue outLoop
-		}
-		if len(entity.TimeWindowConsumerQueue) == 0 {
-			c_log.GlobalLogger.Infof("已处理所有窗口，重启 record 命令。")
-			ChannelKillRosRecord <- 2
-			entity.ProcessingFlag = false
-		}
-
-	}
-}
-
-func collectNumPlus() {
-	responseString, err := commonUtil.HttpPostJsonWithHeaders(
-		commonConfig.CloudConfig.CollectNumPlus.Url,
-		map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-		map[string]string{
-			"snCode": commonConfig.LocalConfig.SecretKey,
-		},
-	)
-	if err != nil {
-		c_log.GlobalLogger.Error("发送http请求修改采集数量失败：", err)
-	}
-	// 解析JSON字符串到Response结构体
-	var resp entity.Response
-	err = json.Unmarshal([]byte(responseString), &resp)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析修改采集数量结果失败：", err)
-	}
-}

aarch64/pjibot_patrol/common/variable/application.go

@@ -1,6 +0,0 @@
-package variable
-
-var (
-	LogDir          = "/home/pji/cicv-data-closedloop/log/"
-	LocalConfigPath = "/home/pji/cicv-data-closedloop/config/local-config.yaml"
-)

aarch64/pjibot_patrol/control/main.go

@@ -1,114 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_patrol/common/service"
-	"cicv-data-closedloop/aarch64/pjibot_patrol/common/variable"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"net/rpc"
-	"os"
-	"runtime"
-	"time"
-)
-
-var applicationName = "pji-control"
-
-func init() {
-	runtime.GOMAXPROCS(1)
-	// 初始化日志配置
-	c_log.InitLog(variable.LogDir, applicationName)
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig(variable.LocalConfigPath)
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	// 初始化rpc客户端，用于杀死旧的采集程序
-
-	// 初始化websocket配置
-	commonConfig.InitWebsocketConfig()
-}
-
-func main() {
-	init := true
-	turnLength := 60
-	lastStatus := "NONE"
-	//  轮询任务接口判断是否有更新
-	for {
-		c_log.GlobalLogger.Errorf("一轮次扫描时间【%v】秒：", turnLength)
-		if init {
-			time.Sleep(time.Duration(1) * time.Second)
-			init = false
-		} else {
-			time.Sleep(time.Duration(turnLength) * time.Second)
-		}
-		// 1 获取当前设备的任务的 status
-		status, err := commonConfig.GetStatus(commonConfig.PlatformConfig.TaskConfigId)
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		// 2 判断 status
-		// UN_CHANGE 没有新的任务，无需更改
-		// CHANGE 有新的任务，需要杀死旧的任务并重启
-		// NONE 设备没有配置任务，需要杀死旧的任务
-		if status == "UN_CHANGE" {
-			lastStatus = "UN_CHANGE"
-			continue
-		} else if status == "CHANGE" || status == "NONE" {
-			if lastStatus == "CHANGE" && status == "CHANGE" { // 供更新使用
-				commonConfig.InitPlatformConfig()
-				continue
-			}
-			if lastStatus == "NONE" && status == "NONE" {
-				continue
-			}
-			// 3 发送rpc信号杀死采集程序
-			if lastStatus == "NONE" && status == "CHANGE" {
-				if _, err := util.ExecuteWithPath(commonConfig.LocalConfig.RestartCmd.Dir, commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args...); err != nil {
-					c_log.GlobalLogger.Info("启动新程序失败,【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args, "：", err)
-					os.Exit(-1)
-				}
-				c_log.GlobalLogger.Info("启动任务，本地执行启动命令：【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args)
-				lastStatus = status
-				c_log.GlobalLogger.Info("获取数据闭环平台最新配置。")
-				commonConfig.InitPlatformConfig()
-				continue
-			}
-			var killArgs commonService.KillSignal
-			if lastStatus == "UN_CHANGE" && status == "CHANGE" {
-				killArgs = commonService.KillSignal{NodeName: "master", DropUploadData: commonConfig.PlatformConfig.DropUploadData, Restart: true}
-				c_log.GlobalLogger.Info("更新任务，发送rpc重启信号：", killArgs)
-			}
-			if lastStatus == "UN_CHANGE" && status == "NONE" {
-				killArgs = commonService.KillSignal{NodeName: "master", DropUploadData: commonConfig.PlatformConfig.DropUploadData, Restart: false}
-				c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号：", killArgs)
-			}
-
-			KillRpcClient, err := rpc.Dial("tcp", commonConfig.LocalConfig.Node.Ip+":"+commonConfig.CloudConfig.RpcPort)
-			if err != nil {
-				// 此处如果连接失败说明采集程序已经停止了
-				lastStatus = "NONE"
-				c_log.GlobalLogger.Error("采集程序已经停止：", err)
-				continue
-			}
-
-			reply := 0
-			if err = KillRpcClient.Call("KillService.Kill", killArgs, &reply); err != nil {
-				c_log.GlobalLogger.Error("发送 rpc 请求到 master 报错：", err)
-				// 这里可能会报错unexpected EOF但是不影响，先注释 close 和 continue
-				//KillRpcClient.Close()
-				//continue
-			}
-			lastStatus = status
-			c_log.GlobalLogger.Info("结束任务后，将数据闭环平台配置置空。")
-			commonConfig.PlatformConfig = commonConfig.PlatformConfigStruct{}
-			if err = KillRpcClient.Close(); err != nil {
-				// 不做处理
-			}
-		} else {
-			c_log.GlobalLogger.Error("未知的采集任务状态。【status】=", status)
-		}
-	}
-}

aarch64/pjibot_patrol/master/main.go

@@ -1,62 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_patrol/common/service"
-	"cicv-data-closedloop/aarch64/pjibot_patrol/common/variable"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_patrol/master/package/config"
-	masterService "cicv-data-closedloop/aarch64/pjibot_patrol/master/package/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"runtime"
-	"time"
-)
-
-var applicationName = "pji-master"
-
-func init() {
-	runtime.GOMAXPROCS(1)
-	// 初始化日志配置
-	c_log.InitLog(variable.LogDir, applicationName)
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig(variable.LocalConfigPath)
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagDataDir)
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagCopyDir)
-	go commonConfig.RefreshCloudConfig()
-	// 初始化数据闭环平台的配置（第3处配置，在数据闭环平台接口）
-	commonConfig.InitPlatformConfig()
-	// 初始化ros节点
-	commonConfig.InitRosConfig()
-	// 发送资源占用信息
-	go commonConfig.SendResourceUsage()
-	// 维护data目录缓存的包数量
-	go commonService.BagCacheClean()
-	// 磁盘占用过高时根据缓存策略处理copy目录
-	go commonService.DiskClean()
-	masterConfig.InitTriggerConfig()
-	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
-	// 等待重启，接收到重启信号，会把信号分发给以下channel
-	go commonService.WaitKillSelf()
-	// 先采集地图bag包
-	masterService.CollectOneMsg()
-}
-
-func main() {
-
-	// 1 负责打包数据到data目录
-	go commonService.BagRecord(commonConfig.CloudConfig.Hosts[0].Name)
-	time.Sleep(time.Duration(10) * time.Second)
-	// 2 负责监控故障，并修改timeWindow
-	go masterService.PrepareTimeWindowProducerQueue()
-	// 3 将时间窗口内的包全部move出去，并等待当前时间窗口结束触发上传
-	go masterService.RunTimeWindowProducerQueue()
-	// 4 排队运行时间窗口
-	go commonService.RunTimeWindowConsumerQueue(commonConfig.CloudConfig.Hosts[0].Name)
-
-	// 阻塞主线程，等待其他线程执行。
-	select {}
-}

aarch64/pjibot_patrol/master/package/config/trigger_init.go

@@ -1,166 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjibot_patrol_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"plugin"
-	"slices"
-)
-
-func InitTriggerConfig() {
-	config.OssMutex.Lock()
-	defer config.OssMutex.Unlock()
-	triggerLocalPathsMapTriggerId := make(map[string]string)
-	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
-	// 1 获取数采任务的触发器列表
-	cloudTriggers := &config.PlatformConfig.TaskTriggers
-	// 2 获取本地触发器列表（触发器目录的一级子目录为【触发器ID_触发器Label】）
-	localTriggerIds := util.GetFirstLevelSubdirectories(config.CloudConfig.TriggersDir)
-	// 3 对比触发器列表，本地没有的则下载
-	for _, trigger := range *cloudTriggers {
-		id := util.ToString(trigger.TriggerId)
-		hasIdDir := slices.Contains(localTriggerIds, id) // 改成了 slices 工具库
-		triggerLocalDir := config.CloudConfig.TriggersDir + id + "/"
-		hasLabelSo, soPaths := util.CheckSoFilesInDirectory(triggerLocalDir)
-		var triggerLocalPath string
-		if hasIdDir && hasLabelSo { // 已存在的触发器需要判断是否大小一致
-			triggerLocalPath = soPaths[0]
-			ossSize, _ := util.GetOSSFileSize(config.OssBucket, trigger.TriggerScriptPath)
-			localSize, _ := util.GetFileSize(triggerLocalPath)
-			if ossSize == localSize {
-				c_log.GlobalLogger.Info("触发器插件 ", triggerLocalPath, " 存在且与云端触发器大小一致。")
-				triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-				continue
-			}
-		}
-		label := util.GetFileNameWithoutExtension(config.CloudConfig.TriggersDir + trigger.TriggerScriptPath)
-		triggerLocalPath = config.CloudConfig.TriggersDir + id + "/" + label + ".so"
-		c_log.GlobalLogger.Info("开始下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
-		_ = util.CreateParentDir(triggerLocalPath)
-		for {
-			if err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath); err != nil {
-				c_log.GlobalLogger.Error("下载触发器插件失败，再次尝试：", err)
-				continue
-			}
-			break
-		}
-		triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-	}
-
-	success := 0
-	// 加载所有触发器的文件
-	for triggerLocalPath, triggerId := range triggerLocalPathsMapTriggerId {
-		// 载入插件到数组
-		open, err := plugin.Open(triggerLocalPath)
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
-			continue
-		}
-		topic0, err := open.Lookup("Topic")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
-			continue
-		}
-		topic1, ok := topic0.(func() string)
-		if ok != true {
-			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
-			continue
-		}
-		topic2 := topic1()
-		rule, err := open.Lookup("Rule")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
-			continue
-		}
-
-		if TopicOfDiagnostics == topic2 { // 1
-			if f, ok1 := rule.(func(*diagnostic_msgs.DiagnosticArray) string); ok1 {
-				RuleOfDiagnostics = append(RuleOfDiagnostics, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfImu == topic2 { // 2
-			if f, ok1 := rule.(func(data *sensor_msgs.Imu) string); ok1 {
-				RuleOfImu = append(RuleOfImu, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLocateInfo == topic2 { // 3
-			if f, ok1 := rule.(func(data *pjibot_patrol_msgs.LocateInfo) string); ok1 {
-				RuleOfLocateInfo = append(RuleOfLocateInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfObstacleDetection == topic2 { // 4
-			if f, ok1 := rule.(func(data *std_msgs.UInt8) string); ok1 {
-				RuleOfObstacleDetection = append(RuleOfObstacleDetection, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfOdom == topic2 { // 5
-			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
-				RuleOfOdom = append(RuleOfOdom, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfSysInfo == topic2 { // 6
-			if f, ok1 := rule.(func(data *pjibot_patrol_msgs.SysInfo) string); ok1 {
-				RuleOfSysInfo = append(RuleOfSysInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfRobotPose == topic2 { // 7
-			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
-				RuleOfRobotPose = append(RuleOfRobotPose, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTaskFeedbackInfo == topic2 { // 8
-			if f, ok1 := rule.(func(data *pjibot_patrol_msgs.TaskFeedbackInfo) string); ok1 {
-				RuleOfTaskFeedbackInfo = append(RuleOfTaskFeedbackInfo, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfWheelOdom == topic2 { // 9
-			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
-				RuleOfWheelOdom = append(RuleOfWheelOdom, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else {
-			c_log.GlobalLogger.Error("未知的topic：", topic2)
-			continue
-		}
-
-	JudgeDone:
-		label, err := open.Lookup("Label")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
-			continue
-		}
-		labelFunc := label.(func() string)
-		labelString := labelFunc()
-		LabelMapTriggerId.Store(labelString, triggerId)
-		success++
-	}
-	c_log.GlobalLogger.Info("一共应加载", len(config.PlatformConfig.TaskTriggers), "个触发器，实际加载 ", success, " 个触发器。")
-}
-func log(triggerLocalPath string) {
-	c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的 Rule 方法参数格式不正确。")
-}

aarch64/pjibot_patrol/master/package/config/trigger_var.go

@@ -1,56 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/pjibot_patrol_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"sync"
-)
-
-var (
-	LabelMapTriggerId = new(sync.Map)
-	// 1
-	TopicOfDiagnostics = "/diagnostics"
-	RuleOfDiagnostics  []func(data *diagnostic_msgs.DiagnosticArray) string
-	// 2
-	TopicOfImu = "/imu"
-	RuleOfImu  []func(data *sensor_msgs.Imu) string
-	// 3
-	TopicOfLocateInfo = "/locate_info"
-	RuleOfLocateInfo  []func(data *pjibot_patrol_msgs.LocateInfo) string
-	// 4
-	TopicOfObstacleDetection = "/obstacle_detection"
-	RuleOfObstacleDetection  []func(data *std_msgs.UInt8) string
-	// 5
-	TopicOfOdom = "/odom"
-	RuleOfOdom  []func(data *nav_msgs.Odometry) string
-	// 6
-	TopicOfSysInfo = "/sys_info"
-	RuleOfSysInfo  []func(data *pjibot_patrol_msgs.SysInfo) string
-	// 7
-	TopicOfRobotPose = "/robot_pose"
-	RuleOfRobotPose  []func(data *geometry_msgs.PoseStamped) string
-	// 8
-	TopicOfTaskFeedbackInfo = "/task_feedback_info"
-	RuleOfTaskFeedbackInfo  []func(data *pjibot_patrol_msgs.TaskFeedbackInfo) string
-	// 9
-	TopicOfWheelOdom = "/wheel_odom"
-	RuleOfWheelOdom  []func(data *nav_msgs.Odometry) string
-
-	// todo 这里是全量的topic，添加topic则需要同时在下面的数组添加；也需要在produce_window.go中添加新的订阅者
-	AllTopics = []string{
-		TopicOfDiagnostics,       // 1
-		TopicOfImu,               // 2
-		TopicOfLocateInfo,        // 3
-		TopicOfObstacleDetection, // 4
-		TopicOfOdom,              // 5
-		TopicOfSysInfo,           // 6
-		TopicOfRobotPose,         // 7
-		TopicOfTaskFeedbackInfo,  // 8
-		TopicOfWheelOdom,         // 9
-	}
-	AllTopicsNumber = len(AllTopics)
-)

aarch64/pjibot_patrol/master/package/service/collect_one_msg.go

@@ -1,94 +0,0 @@
-package service
-
-import commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-
-func CollectOneMsg() {
-	if !commonConfig.CloudConfig.HasOneMsgTopic {
-		return
-	}
-	//collectMap()
-	//collectTfStatic()
-	//collectCostmap()
-}
-
-//func collectMap() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/map.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/map")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/map包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/map包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。上传/map包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/map包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}
-//func collectTfStatic() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/tfstatic.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/tf_static")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/tf_static包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/tf_static包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。上传/tf_static包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/tf_static包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}
-//func collectCostmap() {
-//
-//	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-//	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/costmap.bag"
-//
-//	var command []string
-//	command = append(command, "record")
-//	command = append(command, "-O")
-//	command = append(command, config.CloudConfig.MapBagPath)
-//	command = append(command, "-l")
-//	command = append(command, "1")
-//	command = append(command, "/move_base/global_costmap/costmap")
-//	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序异常退出。采集/move_base/global_costmap/costmap包", command, "出错：", s, "----", err)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("采集/move_base/global_costmap/costmap包", command, "完成。")
-//	config.OssMutex.Lock()
-//	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
-//	config.OssMutex.Unlock()
-//	if err != nil {
-//		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)
-//		os.Exit(-1)
-//	}
-//	c_log.GlobalLogger.Info("上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
-//}

aarch64/pjibot_patrol/master/package/service/move_bag_and_send_window.go

@@ -1,72 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_patrol/common/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// 将时间窗口内的包全部move出去，并等待当前时间窗口结束触发上传
-func RunTimeWindowProducerQueue() {
-	c_log.GlobalLogger.Info("生产者队列goroutine - 启动")
-	for {
-		// 收到自杀信号
-		select {
-		case signal := <-commonService.ChannelKillMove:
-			if signal == 1 {
-				commonService.ChannelKillMove <- 1
-				if len(entity.TimeWindowProducerQueue) == 0 {
-					commonService.AddKillTimes("4")
-					return
-				}
-			} else { //signal == 2
-				commonService.AddKillTimes("4")
-				return
-			}
-		default:
-		}
-
-		// 处理
-		time.Sleep(time.Duration(1) * time.Second)
-		if len(entity.TimeWindowProducerQueue) > 0 {
-			bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagDataDir, ".bag")
-			currentTimeWindow := entity.TimeWindowProducerQueue[0]
-			move := false
-			bigger := false
-			for _, bag := range bags {
-				bagTime := util.GetBagTime(bag)
-				// 2 如果bag不小于timeWindowBegin不大于timeWindowEnd，则移动
-				compare1 := util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin)
-				compare2 := util.TimeCustom1LessEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowEnd)
-				if compare1 && compare2 {
-					// 将bag包移动到Copy目录
-					domain.MoveFromDataToCopy(currentTimeWindow.FaultTime, commonConfig.CloudConfig.BagDataDir, bag, commonConfig.CloudConfig.BagCopyDir)
-					move = true
-				} else {
-					if util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin) {
-						// 必须已经生成了窗口之后的包才算窗口结束了
-						bigger = true
-						break
-					}
-				}
-			}
-			// 如果没有包可以供当前窗口移动，且已经生成了更新的包，则当前窗口已经可以上传
-			if !move && bigger {
-				time.Sleep(time.Duration(2) * time.Second)
-				c_log.GlobalLogger.Info("采集数据，发送record命令进程关闭信号。")
-				commonService.ChannelKillRosRecord <- 3
-				entity.ProcessingFlag = true
-				domain.SupplyCopyBags(commonConfig.CloudConfig.BagDataDir, commonConfig.CloudConfig.BagCopyDir, currentTimeWindow)
-				// 将时间窗口移出准备队列
-				entity.RemoveHeadOfTimeWindowProducerQueue()
-				// 将时间窗口加入运行队列
-				entity.AddTimeWindowToTimeWindowConsumerQueue(currentTimeWindow)
-				continue
-			}
-		}
-	}
-}

aarch64/pjibot_patrol/master/package/service/produce_window.go

@@ -1,491 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjibot_patrol/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_patrol/common/service"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_patrol/master/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	commonUtil "cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjibot_patrol_msgs"
-	"encoding/json"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"sync"
-	"time"
-)
-
-var (
-	triggerInterval = 3.0 // 每个触发器3秒触发一次
-	logInterval     = 3.0
-	logTime         = time.Now()
-)
-
-// 负责监听所有主题并修改时间窗口
-func PrepareTimeWindowProducerQueue() {
-
-	var err error
-	subscribers := make([]*goroslib.Subscriber, masterConfig.AllTopicsNumber)
-	subscribersTimes := make([]time.Time, masterConfig.AllTopicsNumber)
-	subscribersTimeMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	subscribersMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	for i, topic := range masterConfig.AllTopics {
-		for {
-			create := false // 判断是否创建成功，用于打印日志
-			// 1
-			if topic == masterConfig.TopicOfDiagnostics && len(masterConfig.RuleOfDiagnostics) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *diagnostic_msgs.DiagnosticArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfDiagnostics {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 2
-			if topic == masterConfig.TopicOfImu && len(masterConfig.RuleOfImu) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.Imu) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfImu {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 3
-			if topic == masterConfig.TopicOfLocateInfo && len(masterConfig.RuleOfLocateInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_patrol_msgs.LocateInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfLocateInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 4
-			if topic == masterConfig.TopicOfObstacleDetection && len(masterConfig.RuleOfObstacleDetection) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *std_msgs.UInt8) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfObstacleDetection {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 5
-			if topic == masterConfig.TopicOfOdom && len(masterConfig.RuleOfOdom) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Odometry) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfOdom {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 6
-			if topic == masterConfig.TopicOfSysInfo && len(masterConfig.RuleOfSysInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_patrol_msgs.SysInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfSysInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 7
-			if topic == masterConfig.TopicOfRobotPose && len(masterConfig.RuleOfRobotPose) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *geometry_msgs.PoseStamped) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfRobotPose {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 8
-			if topic == masterConfig.TopicOfTaskFeedbackInfo && len(masterConfig.RuleOfTaskFeedbackInfo) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjibot_patrol_msgs.TaskFeedbackInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfTaskFeedbackInfo {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 9
-			if topic == masterConfig.TopicOfWheelOdom && len(masterConfig.RuleOfWheelOdom) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Odometry) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfWheelOdom {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			if err != nil {
-				c_log.GlobalLogger.Infof("创建订阅者报错，可能由于节点未启动，再次尝试【%v】", err)
-				time.Sleep(time.Duration(2) * time.Second)
-				continue
-			} else {
-				if create {
-					c_log.GlobalLogger.Infof("创建订阅者订阅话题【%v】", topic)
-				}
-				break
-			}
-		}
-	}
-	c_log.GlobalLogger.Infof("全部订阅者创建完成。")
-	select {
-	case signal := <-commonService.ChannelKillSubscriber:
-		if signal == 1 {
-			commonConfig.RosNode.Close()
-			commonService.AddKillTimes("3")
-			return
-		}
-	}
-}
-
-func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *entity.TimeWindow) {
-	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
-	if lastTimeWindow == nil || commonUtil.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) {
-		// 2-1 如果是不在旧故障窗口内，添加一个新窗口
-		newTimeWindow := entity.TimeWindow{
-			FaultTime:       faultHappenTime,
-			TimeWindowBegin: commonUtil.TimeCustomChange(faultHappenTime, -commonConfig.PlatformConfig.TaskBeforeTime),
-			TimeWindowEnd:   commonUtil.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime),
-			Length:          commonConfig.PlatformConfig.TaskBeforeTime + commonConfig.PlatformConfig.TaskAfterTime + 1,
-			Labels:          []string{faultLabel},
-			MasterTopics:    masterTopics,
-			SlaveTopics:     slaveTopics,
-		}
-		c_log.GlobalLogger.Infof("不在旧故障窗口内，向生产者队列添加一个新窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", newTimeWindow.Labels, newTimeWindow.FaultTime, newTimeWindow.Length)
-		entity.AddTimeWindowToTimeWindowProducerQueue(newTimeWindow)
-	} else {
-		// 2-2 如果在旧故障窗口内
-		entity.TimeWindowProducerQueueMutex.RLock()
-		defer entity.TimeWindowProducerQueueMutex.RUnlock()
-		// 2-2-1 更新故障窗口end时间
-		maxEnd := commonUtil.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime)
-		expectEnd := commonUtil.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
-		if commonUtil.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
-			lastTimeWindow.TimeWindowEnd = maxEnd
-			lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
-		} else {
-			if commonUtil.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
-				lastTimeWindow.TimeWindowEnd = expectEnd
-				lastTimeWindow.Length = commonUtil.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-			}
-		}
-		// 2-2-2 更新label
-		labels := lastTimeWindow.Labels
-		lastTimeWindow.Labels = commonUtil.AppendIfNotExists(labels, faultLabel)
-		// 2-2-3 更新 topic
-		sourceMasterTopics := lastTimeWindow.MasterTopics
-		lastTimeWindow.MasterTopics = commonUtil.MergeSlice(sourceMasterTopics, masterTopics)
-		sourceSlaveTopics := lastTimeWindow.SlaveTopics
-		lastTimeWindow.SlaveTopics = commonUtil.MergeSlice(sourceSlaveTopics, slaveTopics)
-		c_log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", lastTimeWindow.Labels, lastTimeWindow.FaultTime, lastTimeWindow.Length)
-	}
-}
-
-func getTopicsOfNode(faultLabel string) (masterTopics []string, slaveTopics []string) {
-	// 获取所有需要采集的topic
-	var faultCodeTopics []string
-	for _, code := range commonConfig.CloudConfig.Triggers {
-		if code.Label == faultLabel {
-			faultCodeTopics = code.Topics
-		}
-	}
-	return faultCodeTopics, nil
-}
-
-// 判断采集包数量是否超过限额
-func canCollect() bool {
-	// 如果开启了采集频率限制，则云端判断采集数量是否超过限额
-	if commonConfig.CloudConfig.CollectLimit.Flag == 1 {
-		c_log.GlobalLogger.Error("当前设备已开启数采频率限制，需判断采集数量是否达到限额。")
-		responseString, err := commonUtil.HttpPostJsonWithHeaders(
-			commonConfig.CloudConfig.CollectLimit.Url,
-			map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-			map[string]string{
-				"snCode":            commonConfig.LocalConfig.SecretKey,
-				"collectLimitDay":   util.ToString(commonConfig.CloudConfig.CollectLimit.Day),
-				"collectLimitWeek":  util.ToString(commonConfig.CloudConfig.CollectLimit.Week),
-				"collectLimitMonth": util.ToString(commonConfig.CloudConfig.CollectLimit.Month),
-				"collectLimitYear":  util.ToString(commonConfig.CloudConfig.CollectLimit.Year),
-			},
-		)
-		if err != nil {
-			c_log.GlobalLogger.Error("发送http请求获取是否允许采集失败：", err)
-			return false
-		}
-		// 解析JSON字符串到Response结构体
-		var resp entity.Response
-		err = json.Unmarshal([]byte(responseString), &resp)
-		if err != nil {
-			c_log.GlobalLogger.Error("解析是否允许采集接口返回结果失败：", err)
-			return false
-		}
-		if resp.Code != 200 { // 不是200 代表不允许采集
-			c_log.GlobalLogger.Info("采集数量已超过限额，当前周期内不再采集。", resp.Code)
-			return false
-		}
-	} else {
-		c_log.GlobalLogger.Error("当前设备未开启数采频率限制，无需判断采集数量是否达到限额。")
-	}
-
-	// 本地判断是否存在正在处理的数据
-	if entity.ProcessingFlag {
-		c_log.GlobalLogger.Info("存在正在处理的数据，此次不再采集。")
-		return false
-	}
-
-	c_log.GlobalLogger.Info("允许采集。")
-	return true
-}
-
-//func canCollect() bool {
-//	responseString, err := commonUtil.HttpPostJsonWithHeaders(
-//		commonConfig.CloudConfig.CollectLimit.Url,
-//		map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-//		map[string]string{
-//			"snCode":            commonConfig.LocalConfig.SecretKey,
-//			"collectLimitDay":   util.ToString(commonConfig.CloudConfig.CollectLimit.Day),
-//			"collectLimitWeek":  util.ToString(commonConfig.CloudConfig.CollectLimit.Week),
-//			"collectLimitMonth": util.ToString(commonConfig.CloudConfig.CollectLimit.Month),
-//			"collectLimitYear":  util.ToString(commonConfig.CloudConfig.CollectLimit.Year),
-//		},
-//	)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("发送http请求获取是否允许采集失败：", err)
-//		return false
-//	}
-//	// 解析JSON字符串到Response结构体
-//	var resp entity.Response
-//	err = json.Unmarshal([]byte(responseString), &resp)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("解析是否允许采集接口返回结果失败：", err)
-//		return false
-//	}
-//	if resp.Code != 200 { // 不是200 代表不允许采集
-//		return false
-//	}
-//	if len(entity.TimeWindowConsumerQueue) != 0 {
-//		c_log.GlobalLogger.Info("存在正在处理的数据，此次不再采集。", resp.Code)
-//		return false
-//	}
-//	return true
-//}

aarch64/pjibot_patrol/start-control.sh

@@ -1,23 +0,0 @@
-#!/bin/bash
-chmod 777 /home/pji/cicv-data-closedloop/pji-control.exe
-
-
-export C_INCLUDE_PATH=/usr/include/drm:
-export ROS_VERSION=1
-export PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig
-export ROS_PYTHON_VERSION=3
-export ROS_PACKAGE_PATH=/opt/ros/noetic/share
-export ROSLISP_PACKAGE_DIRECTORIES=
-export LOGNAME=pji
-export XDG_SESSION_TYPE=tty
-export ROS_ETC_DIR=/opt/ros/noetic/etc/ros
-export CMAKE_PREFIX_PATH=/opt/ros/noetic
-export PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
-export USER=pji
-export ROS_MASTER_URI=http://192.168.1.104:11311
-export ROS_HOSTNAME=192.168.1.104
-export LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu
-export ROS_ROOT=/opt/ros/noetic/share/ros
-export ROS_DISTRO=noetic
-
-nohup /home/pji/cicv-data-closedloop/pji-control.exe > /home/pji/cicv-data-closedloop/log/pji-control.out 2>&1 &

aarch64/pjibot_patrol/start-master.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-chmod 777 /home/pji/cicv-data-closedloop/pji-master.exe
-nohup /home/pji/cicv-data-closedloop/pji-master.exe > /home/pji/cicv-data-closedloop/log/pji-master.out 2>&1 &

aarch64/pjibot_patrol/巡检机器人默认配置文件-cloud-config.yaml

@@ -1,224 +0,0 @@
----
-collect-limit:
-  url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
-  flag: 1 # 数采频率限制标志 0 - 关闭数采频率限制  1 - 开启数采频率限制
-  day: 3
-  week: 7
-  month: 30
-  year: 365
-collect-num-plus:
-  url: http://36.110.106.142:12341/web_server/collect_limit/plus_collect_num
-monitor:
-  url: http://36.110.106.142:12341/web_server/monitor/insert
-platform:
-  url-device-auth: http://36.110.106.156:11121/device/auth
-  url-task-poll: http://36.110.106.156:11121/device/task/poll
-  url-task: http://36.110.106.156:11121/device/task
-
-bag-number: 30
-config-refresh-interval: 60
-disk:
-  name: /dev/nvme0n1p1 # 磁盘名称
-  used: 108000000000 # 磁盘占用阈值，单位bytes
-  path:
-    - /home/pji/cicv-data-closedloop
-has-one-msg: false
-bag-data-dir: /home/pji/cicv-data-closedloop/data/
-bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
-triggers-dir: /home/pji/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /location_realtime
-    - /cloud_to_map_node
-    - /tracking/imm_ukf_pda_track
-    - /task_decision
-    - /trajectorygenerator
-    - /trajectoryevaluator
-    - /trii_receive
-    - /wheel_odom
-    - /lanelet_routing_node
-    - /purepursuit
-    - /auto_dock
-    - /engine
-    - /trii_receive
-    - /lidar_euclidean_cluster_detect
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/noetic/bin/rosbag"
-      envs:
-        - "ROS_VERSION=1"
-        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig"
-        - "ROS_PYTHON_VERSION=3"
-        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
-        - "ROSLISP_PACKAGE_DIRECTORIES="
-        - "LOGNAME=pji"
-        - "XDG_SESSION_TYPE=tty"
-        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
-        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
-        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
-        - "USER=pji"
-        - "ROS_MASTER_URI=http://192.168.1.104:11311"
-        - "ROS_HOSTNAME=192.168.1.104"
-        - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
-        - "ROS_ROOT=/opt/ros/noetic/share/ros"
-        - "ROS_DISTRO=noetic"
-    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
-      - /velodyne_points
-      - /gnss
-      - /obstacle_detection
-      - /detection/image_detector/objects
-      - /image_raw
-      - /robot/targetposition
-      - /robot/planning_end_pose
-
-
-full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置
-triggers:
-  - label: detectfault
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: unstabledriving
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: locationfailed
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: obstacledetection
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: overspeed
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: cpuoveroccupied
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-  - label: memoveroccupied
-    topics:
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator

aarch64/pjibot_patrol/巡检机器人默认配置文件-local-config.yaml

@@ -1,21 +0,0 @@
-type: 3 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
-node:
-  name: node1
-  ip: 192.168.1.104
-rosparam-path: /opt/ros/noetic/bin/rosparam
-# 获取oss连接信息的接口url
-#url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
-url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
-# 朴津机器人数据前缀
-oss-base-prefix: pjibot-patrol/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /home/pji/cicv-data-closedloop/config/cloud-config.yaml
-# websocket端口号
-local-websocket-port: 9002
-restart-cmd:
-  dir: "/home/pji/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-master.sh"

aarch64/pjisuv/common/config/c_cloud.go

@@ -1,231 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"gopkg.in/yaml.v3"
-	"os"
-	"sync"
-	"time"
-)
-
-type MonitorStruct struct {
-	Url string `yaml:"url"`
-}
-
-type platform struct {
-	UrlDeviceAuth string `yaml:"url-device-auth"`
-	UrlTaskPoll   string `yaml:"url-task-poll"`
-	UrlTask       string `yaml:"url-task"`
-}
-
-type rosbagStruct struct {
-	Path string   `yaml:"path"`
-	Envs []string `yaml:"envs"`
-}
-
-type hostStruct struct {
-	Name   string       `yaml:"name"`
-	Ip     string       `yaml:"ip"`
-	Topics []string     `yaml:"topics"`
-	Rosbag rosbagStruct `yaml:"rosbag"`
-}
-type ros struct {
-	MasterAddress string   `yaml:"master-address"`
-	Nodes         []string `yaml:"nodes"`
-}
-type disk struct {
-	Name string   `yaml:"name"`
-	Used uint64   `yaml:"used"`
-	Path []string `yaml:"path"`
-}
-
-type trigger struct {
-	Label  string   `yaml:"label"`
-	Topics []string `yaml:"topics"`
-}
-
-type CloudConfigStruct struct {
-	RefreshCloudConfig    bool          `yaml:"refresh-cloud-config"`
-	CompressBag           bool          `yaml:"compress-bag"`
-	CleanBeforeStart      bool          `yaml:"clean-before-start"`
-	FullCollect           bool          `yaml:"full-collect"`
-	ConfigRefreshInterval int           `yaml:"config-refresh-interval"` // 配置刷新时间间隔
-	BagNumber             int           `yaml:"bag-number"`
-	TimeWindowSendGap     int           `yaml:"time-window-send-gap"` // 主节点向从节点发送窗口的最小时间间隔
-	TimeToLabelJsonPath   string        `yaml:"time-to-label-json-path"`
-	BagDataDir            string        `yaml:"bag-data-dir"`
-	BagCopyDir            string        `yaml:"bag-copy-dir"`
-	TriggersDir           string        `yaml:"triggers-dir"`
-	TcpPort               string        `yaml:"tcp-port"`
-	RpcPort               string        `yaml:"rpc-port"`
-	Triggers              []trigger     `yaml:"triggers"`
-	Hosts                 []hostStruct  `yaml:"hosts"`
-	Ros                   ros           `yaml:"ros"`
-	Platform              platform      `yaml:"platform"`
-	Disk                  disk          `yaml:"disk"`
-	Monitor               MonitorStruct `yaml:"monitor"`
-}
-
-var (
-	CloudConfig      CloudConfigStruct
-	CloudConfigMutex sync.RWMutex
-)
-
-// 初始化业务配置
-func InitCloudConfig() {
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 开始。")
-	var content []byte // cloud.yaml 内容
-	var err error
-	if LocalConfig.Internet {
-		c_log.GlobalLogger.Info("车辆可以访问互联网。")
-		// 获取文件的目录
-		_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-		// 3 ------- 获取 yaml 字符串 -------
-		cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-		// todo 等待时间同步
-		// 判断文件是否存在。如果不存在则使用默认的
-		isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-		if err != nil {
-			c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-		}
-		if isExist {
-			c_log.GlobalLogger.Info("使用机器人自定义配置文件:", cloudConfigObjectKey)
-		} else {
-			cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-			c_log.GlobalLogger.Info("使用默认配置文件:", cloudConfigObjectKey)
-		}
-		for {
-			OssMutex.Lock()
-			err := OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-			OssMutex.Unlock()
-			if err != nil {
-				c_log.GlobalLogger.Error("下载oss上的配置文件 "+cloudConfigObjectKey+" 失败。网络授时未完成或者未配置阿里云网络映射到/etc/hosts：", err)
-				time.Sleep(time.Duration(2) * time.Second)
-				continue
-			}
-			break
-		}
-		if CloudConfig.RefreshCloudConfig {
-			go RefreshCloudConfig()
-		}
-	} else {
-		c_log.GlobalLogger.Infof("车辆不可以访问互联网，请提前将配置文件放到【%v】。", LocalConfig.CloudConfigLocalPath)
-		for {
-			time.Sleep(time.Duration(1) * time.Second)
-			if util.FileExists(LocalConfig.CloudConfigLocalPath) {
-				c_log.GlobalLogger.Infof("配置文件【%v】已准备好。", LocalConfig.CloudConfigLocalPath)
-				break
-			} else {
-				c_log.GlobalLogger.Infof("配置文件【%v】没有准备好。", LocalConfig.CloudConfigLocalPath)
-				continue
-			}
-		}
-	}
-
-	content, err = os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序退出。配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		os.Exit(-1)
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig CloudConfigStruct
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序退出。配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		os.Exit(-1)
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("配置文件格式错误：", newCloudConfig)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS配置文件 - 成功。")
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-
-	_ = util.RemoveSubFiles(CloudConfig.BagDataDir)
-	if CloudConfig.CleanBeforeStart { // 判断是否需要清空原数据缓存
-		if LocalConfig.Node.Name == "node1" { // 只有cloud配置了同时节点为node1才清除
-			// 清空 timeToLabel.json
-			timeToLabelJson, _ := util.MapToJsonString(map[string]interface{}{"time": "label"})
-			_ = util.WriteFile(timeToLabelJson, CloudConfig.TimeToLabelJsonPath)
-			c_log.GlobalLogger.Info("清空timeToLabel.json - 成功。")
-		}
-		_ = util.RemoveSubFiles(CloudConfig.BagCopyDir)
-	}
-}
-
-// 刷新配置文件
-func refreshCloudConfig() {
-	// 获取文件的目录
-	_ = util.CreateParentDir(LocalConfig.CloudConfigLocalPath)
-	// 3 ------- 获取 yaml 字符串 -------
-	var content []byte
-	cloudConfigObjectKey := LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/" + LocalConfig.CloudConfigFilename
-	// 判断文件是否存在。如果不存在则使用默认的
-	isExist, err := OssBucket.IsObjectExist(cloudConfigObjectKey)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("判断配置文件是否存在失败，错误信息为：%v", err)
-		return
-	}
-	if !isExist {
-		cloudConfigObjectKey = LocalConfig.OssBasePrefix + LocalConfig.CloudConfigFilename // 默认配置文件路径
-	}
-	OssMutex.Lock()
-	err = OssBucket.GetObjectToFile(cloudConfigObjectKey, LocalConfig.CloudConfigLocalPath)
-	OssMutex.Unlock()
-	if err != nil {
-		c_log.GlobalLogger.Error("下载oss上的配置文件"+cloudConfigObjectKey+"失败。", err)
-		return
-	}
-
-	content, err = os.ReadFile(LocalConfig.CloudConfigLocalPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 读取失败:", err)
-		return
-	}
-
-	// 4 ------- 解析YAML内容 -------
-	var newCloudConfig CloudConfigStruct
-	err = yaml.Unmarshal(content, &newCloudConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("配置文件 ", LocalConfig.CloudConfigLocalPath, " 解析失败:", err)
-		return
-	}
-
-	// 5 ------- 校验 yaml -------
-	if checkConfig(newCloudConfig) {
-		CloudConfigMutex.RLock()
-		CloudConfig = newCloudConfig
-		CloudConfigMutex.RUnlock()
-	} else {
-		c_log.GlobalLogger.Error("配置文件格式错误：", newCloudConfig)
-		return
-	}
-	util.CreateDir(CloudConfig.BagDataDir)
-	util.CreateDir(CloudConfig.BagCopyDir)
-}
-
-// RefreshCloudConfig 轮询oss上的配置文件更新到本地
-func RefreshCloudConfig() {
-	for {
-		time.Sleep(time.Duration(CloudConfig.ConfigRefreshInterval) * time.Second)
-		refreshCloudConfig()
-	}
-}
-
-// CheckConfig 校验 cfg.yaml 文件
-func checkConfig(check CloudConfigStruct) bool {
-	if len(check.Hosts) != 2 {
-		c_log.GlobalLogger.Error("cloud-config.yaml中配置的hosts必须为2。")
-		os.Exit(-1)
-	}
-	return true
-}

aarch64/pjisuv/common/config/c_global_var.go

@@ -1,9 +0,0 @@
-package config
-
-var (
-	LogDir            = "/mnt/media/sda1/cicv-data-closedloop/log/"
-	ControlLogPrefix  = "control"
-	MasterLogPrefix   = "master"
-	SlaveLogPrefix    = "slave"
-	ResourceLogPrefix = "resource"
-)

aarch64/pjisuv/common/config/c_killrpcserver.go

@@ -1,21 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"net"
-	"os"
-)
-
-var KillSignalListener net.Listener
-
-func InitKillSignalListener(serverIp string) {
-	var err error
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 开始。")
-	socket := serverIp + ":" + CloudConfig.RpcPort
-	KillSignalListener, err = net.Listen("tcp", socket)
-	if err != nil {
-		c_log.GlobalLogger.Error("监听rpc端口失败:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化RPC端口监听Kill信号 - 成功：", socket)
-}

aarch64/pjisuv/common/config/c_local.go

@@ -1,57 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"gopkg.in/yaml.v2"
-	"os"
-)
-
-var (
-	LocalConfig     localConfig
-	localConfigPath = "/mnt/media/sda1/cicv-data-closedloop/config/local-config.yaml"
-	//localConfigPath = "/userdata/cicv-data-closedloop/config/local-config.yaml"
-	OssEquBasePrefix string
-)
-
-type node struct {
-	Name string `yaml:"name"`
-	Ip   string `yaml:"ip"`
-}
-
-type restartCmd struct {
-	Dir  string   `yaml:"dir"`
-	Name string   `yaml:"name"`
-	Args []string `yaml:"args"`
-}
-
-type localConfig struct {
-	Internet             bool       `yaml:"internet"`
-	Node                 node       `yaml:"node"`                    // 获取oss配置的url
-	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url
-	OssBasePrefix        string     `yaml:"oss-base-prefix"`         // 云端配置文件的位置
-	EquipmentNo          string     `yaml:"equipment-no"`            // 当前设备的编号
-	CloudConfigFilename  string     `yaml:"cloud-config-filename"`   // 云端配置文件名称
-	CloudConfigLocalPath string     `yaml:"cloud-config-local-path"` // 将 oss 的配置文件下载到本地的位置
-	SecretKey            string     `yaml:"secret-key"`              // 当前设备的密钥
-	RestartCmd           restartCmd `yaml:"restart-cmd"`             // 重启命令
-}
-
-func InitLocalConfig() {
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 开始：", localConfigPath)
-	// 读取YAML文件内容
-	content, err := os.ReadFile(localConfigPath)
-	if err != nil {
-		c_log.GlobalLogger.Error("读取本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	// 解析YAML内容
-	err = yaml.Unmarshal(content, &LocalConfig)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析本地配置文件失败。", err)
-		os.Exit(-1)
-	}
-
-	c_log.GlobalLogger.Info("初始化本地配置文件 - 成功：", LocalConfig)
-	OssEquBasePrefix = LocalConfig.OssBasePrefix + LocalConfig.EquipmentNo + "/"
-}

aarch64/pjisuv/common/config/c_oss.go

@@ -1,64 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"github.com/aliyun/aliyun-oss-go-sdk/oss"
-	"os"
-	"sync"
-	"time"
-)
-
-type OssConnectInfoStruct struct {
-	Endpoint        string `json:"endpoint"`
-	AccessKeyId     string `json:"accessKeyId"`
-	AccessKeySecret string `json:"accessKeySecret"`
-	BucketName      string `json:"bucketName"`
-}
-
-var (
-	OssClient *oss.Client
-	OssBucket *oss.Bucket
-	OssMutex  sync.Mutex
-)
-
-func InitOssConfig() {
-	if !LocalConfig.Internet { // 如果没有网，就是完全用不了oss，直接不初始化
-		return
-	}
-	var err error
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 开始。")
-	// 1 访问 HTTP 服务获取 OSS 配置
-	var get string
-	// 等待网络可达
-	for {
-		get, err = util.HttpGet(LocalConfig.UrlGetOssConfig)
-		if err != nil {
-			c_log.GlobalLogger.Error("http 获取 oss 配置时出错。可能需要等待网络初始化完成:", err)
-			time.Sleep(time.Duration(2) * time.Second)
-			continue
-		}
-		break
-	}
-	var ossConnectInfo OssConnectInfoStruct
-	err = json.Unmarshal([]byte(get), &ossConnectInfo)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析json时出错:", err)
-		os.Exit(-1)
-	}
-
-	OssClient, err = oss.New(ossConnectInfo.Endpoint, ossConnectInfo.AccessKeyId, ossConnectInfo.AccessKeySecret, oss.UseCname(true))
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云client:", err)
-		os.Exit(-1)
-	}
-	// 超时时间设置
-	//OssClient.Config.Timeout = 3600
-	OssBucket, err = OssClient.Bucket(ossConnectInfo.BucketName)
-	if err != nil {
-		c_log.GlobalLogger.Error("无法创建阿里云bucket:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("初始化OSS客户端对象 - 成功。")
-}

aarch64/pjisuv/common/config/c_platform.go

@@ -1,197 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"strings"
-	"time"
-)
-
-type taskTrigger struct {
-	TriggerId         int    `json:"triggerId"`
-	TriggerName       string `json:"triggerName"`
-	TriggerScriptPath string `json:"triggerScriptPath"`
-	TriggerType       string `json:"triggerType"`
-}
-
-type PlatformConfigStruct struct {
-	TaskConfigId    string        `json:"taskConfigId"`   // 配置ID
-	TaskConfigName  string        `json:"taskConfigName"` // 配置名称
-	DropUploadData  bool          `json:"dropUploadData"` // 更新任务时 true 先上传旧任务 false 删除旧任务
-	TaskMaxTime     int           `json:"taskMaxTime"`
-	TaskBeforeTime  int           `json:"taskBeforeTime"`
-	TaskAfterTime   int           `json:"taskAfterTime"`
-	TaskCachePolicy string        `json:"taskCachePolicy"`
-	EquipmentTopic  string        `json:"equipmentTopic"` // topic序列
-	Lru             []string      `json:"LRU"`
-	TaskTriggers    []taskTrigger `json:"taskTriggers"`
-}
-
-type response struct {
-	Data    PlatformConfigStruct `json:"data"`
-	Success bool                 `json:"success"`
-	Message string               `json:"message"`
-	Code    int                  `json:"code"`
-	NowTime string               `json:"nowTime"`
-}
-
-var (
-	PlatformConfig PlatformConfigStruct
-	RecordTopics   []string
-)
-
-// 初始化数据闭环平台的配置
-func InitPlatformConfig() {
-	if !LocalConfig.Internet {
-		return
-	}
-	var err error
-	c_log.GlobalLogger.Info("获取数据闭环平台配置 - 开始")
-	// 1 如果车辆没有配置任务，则阻塞在这里，不启动任务
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		PlatformConfig, err = getConfig()
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		if checkPlatformConfig() {
-			RecordTopics = strings.Split(PlatformConfig.EquipmentTopic, ",")
-			// 去掉首尾空格
-			for i, topic := range RecordTopics {
-				RecordTopics[i] = strings.TrimSpace(topic)
-			}
-			break
-		}
-	}
-	c_log.GlobalLogger.Infof("获取数据闭环平台配置 - 成功。【触发前】=【%v 秒】，触发后=【%v 秒】，【最大窗口】=【%v 秒】。", PlatformConfig.TaskBeforeTime, PlatformConfig.TaskAfterTime, PlatformConfig.TaskMaxTime)
-}
-
-/*
-	{
-	  "data": {
-	    "accessToken": "YWRmYWRzZmFzZGZhZHNmYWRmYWRm=",
-	    "expireTime": "28800",
-	    "equipmentNo": "robot-001"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 22:41:00"
-	}
-*/
-// 认证接口，获取access_token
-func GetAccessToken() (string, error) {
-	url := &CloudConfig.Platform.UrlDeviceAuth
-	param := &map[string]string{
-		"equipmentNo": LocalConfig.EquipmentNo,
-		"secretKey":   LocalConfig.SecretKey,
-	}
-	respJson, err := util.HttpPostJsonResponseString(
-		*url,
-		*param,
-	)
-	if err != nil {
-		return "", nil
-	}
-	respMap, err := util.JsonStringToMap(respJson)
-	if err != nil {
-		c_log.GlobalLogger.Errorf("解析返回结果【%v】失败，请求地址为【%v】,请求参数为【%v】：%v", respJson, *url, *param, err)
-		return "", nil
-	}
-
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Error("解析返回结果.data", dataMap, "失败：", err)
-		return "", nil
-	}
-	return dataMap["accessToken"].(string), nil
-}
-
-/*
-	{
-	  "data": {
-	    "status": "UNCHANGE"
-	    "taskConfigld": "xxx"
-	  },
-	  "success": true,
-	  "message": "ok",
-	  "code": 1,
-	  "nowTime": "2023-12-09 21:08:49"
-	}
-*/
-//GetStatus 根据taskConfigId获取任务status，如果传入空代表车端没有配置，直接获取新的配置
-func GetStatus(taskConfigId string) (string, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return "", err
-	}
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTaskPoll,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo":  LocalConfig.EquipmentNo,
-			"taskConfigId": taskConfigId,
-		},
-	)
-
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return "", err
-	}
-	respMap, err := util.JsonStringToMap(resp)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果1】", resp, "失败：", err)
-		return "", err
-	}
-	dataMap, ok := respMap["data"].(map[string]interface{})
-	if !ok {
-		c_log.GlobalLogger.Errorf("解析【返回结果.data】的类型不是(map[string]interface{})，【dataMap】=%v", dataMap)
-		return "", err
-	}
-	return dataMap["status"].(string), nil
-}
-
-func getConfig() (PlatformConfigStruct, error) {
-	token, err := GetAccessToken()
-	if err != nil {
-		return PlatformConfigStruct{}, err
-	}
-	// 下载插件和获取配置
-	// 2 访问配置获取接口
-	resp, err := util.HttpGetStringAddHeadersResponseString(
-		CloudConfig.Platform.UrlTask,
-		map[string]string{
-			"authorization": token,
-		},
-		map[string]string{
-			"equipmentNo": LocalConfig.EquipmentNo,
-		},
-	)
-	if err != nil {
-		c_log.GlobalLogger.Error("访问接口", CloudConfig.Platform.UrlTask, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	var result response
-	err = json.Unmarshal([]byte(resp), &result)
-	if err != nil {
-		c_log.GlobalLogger.Error("解析【返回结果】", resp, "失败：", err)
-		return PlatformConfigStruct{}, err
-	}
-	return result.Data, nil
-}
-
-func checkPlatformConfig() bool {
-	if PlatformConfig.TaskConfigId == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置任务。")
-		return false
-	}
-	if PlatformConfig.EquipmentTopic == "" {
-		c_log.GlobalLogger.Error("数据闭环平台没有配置topic序列。")
-		return false
-	}
-	return true
-}

aarch64/pjisuv/common/config/c_resource.go

@@ -1,71 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/util"
-	"encoding/json"
-	"fmt"
-	"github.com/sirupsen/logrus"
-	"os"
-	"path/filepath"
-	"runtime"
-	"time"
-)
-
-var resourceLogger *logrus.Logger
-
-// 保存资源占用情况
-func SendResourceUsage() {
-	initLog(LogDir, ResourceLogPrefix)
-	for {
-		time.Sleep(time.Duration(10) * time.Second)
-		top10Cpu, top10Mem := util.GetTop10CpuAndMem()
-		top10CpuJson, _ := json.MarshalIndent(top10Cpu, "", "    ")
-		top10MemJson, _ := json.MarshalIndent(top10Mem, "", "    ")
-
-		requestMap := map[string]string{
-			"totalCpuUsage":    util.ToString(util.GetCpuPercent()),
-			"totalMemoryUsage": util.ToString(util.GetMemoryPercent()),
-			"top10Process":     string(top10CpuJson),
-			"top10Cpu":         string(top10CpuJson),
-			"top10Mem":         string(top10MemJson),
-			"deviceNumber":     LocalConfig.EquipmentNo,
-			"socIp":            LocalConfig.Node.Ip,
-		}
-		resourceLogger.Infof("监控信息为：%v", util.MapToReadableJsonString(requestMap))
-		//responseString, err := util.HttpPostJsonWithHeaders(
-		//	CloudConfig.Monitor.Url,
-		//	map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-		//	requestMap,
-		//)
-		//if err != nil {
-		//	c_log.GlobalLogger.Errorf("发送数据监控信息报错%v，响应信息为：%v", err, responseString)
-		//}
-		//c_log.GlobalLogger.Infof("发送数据监控信息成功，响应信息为：%v", responseString)
-	}
-}
-
-// 初始化日志配置
-func initLog(logDir string, prefix string) {
-	time.Sleep(time.Duration(1) * time.Second)
-	// 创建、追加、读写，777，所有权限
-	logPath := logDir + prefix + "-" + time.Now().Format("2006-01-02-15-04-05") + ".log"
-	err := util.CreateParentDir(logPath)
-	if err != nil {
-		os.Exit(-1)
-	}
-	f, err := os.OpenFile(logPath, os.O_CREATE|os.O_APPEND|os.O_RDWR, os.ModePerm)
-	if err != nil {
-		os.Exit(-1)
-	}
-	resourceLogger = logrus.New()
-	resourceLogger.SetOutput(f)
-	resourceLogger.SetReportCaller(true) // 开启行号显示
-	resourceLogger.SetFormatter(&logrus.JSONFormatter{
-		CallerPrettyfier: func(frame *runtime.Frame) (string, string) {
-			fileName := filepath.Base(frame.File)
-			return "", fmt.Sprintf("%s:%d", fileName, frame.Line)
-		},
-	})
-	resourceLogger.Info("初始化resourceLogger - 成功")
-
-}

aarch64/pjisuv/common/config/c_ros.go

@@ -1,38 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"time"
-)
-
-var (
-	RosNode    *goroslib.Node
-	RosbagPath string
-	RosbagEnvs []string
-)
-
-func InitRosConfig() {
-	var err error
-	// 1
-	c_log.GlobalLogger.Info("初始化RosNode - 开始")
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		if RosNode, err = goroslib.NewNode(goroslib.NodeConf{Name: "node" + util.GetNowTimeCustom(), MasterAddress: CloudConfig.Ros.MasterAddress}); err != nil {
-			c_log.GlobalLogger.Info("初始化RosNode - 进行中：", err)
-			continue
-		}
-		break
-	}
-	c_log.GlobalLogger.Info("初始化RosNode - 成功：", CloudConfig.Ros.MasterAddress)
-	// 2 获取 rosbag 命令路径和环境变量
-	for _, host := range CloudConfig.Hosts {
-		if host.Name == LocalConfig.Node.Name {
-			RosbagPath = host.Rosbag.Path
-			RosbagEnvs = host.Rosbag.Envs
-			break
-		}
-	}
-	c_log.GlobalLogger.Infof("rosbag 命令路径为：%v，环境变量为：%v", RosbagPath, RosbagEnvs)
-}

aarch64/pjisuv/common/service/disk_clean.go

@@ -1,92 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// DiskClean 如果磁盘占用过高，则删除timeWindow和对应的文件
-// todo 这里依赖了主节点的触发器映射，需要传给从节点一份
-func DiskClean() {
-	c_log.GlobalLogger.Info("启动timeWindow清理goroutine，根据缓存策略清理copy目录。")
-	for {
-		time.Sleep(1000 * time.Millisecond)
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagCopyDir, ".bag")
-		if len(bags) == 0 {
-			continue
-		}
-		/*
-			TTL(0, "删除旧数据")；
-			STOP(1, "停止缓存");
-			LRU(2, "保留高优先级")
-		*/
-		policyToDescription := map[string]string{
-			"TTL":  "删除旧数据",
-			"STOP": "停止缓存",
-			"LRU":  "保留高优先级",
-		}
-		// 1 获取磁盘占用
-		diskUsed, _ := util.GetDiskUsed(commonConfig.CloudConfig.Disk.Name)
-		if diskUsed > commonConfig.CloudConfig.Disk.Used {
-			policy := commonConfig.PlatformConfig.TaskCachePolicy
-			c_log.GlobalLogger.Errorf("磁盘占用 %v 超过 %v，触发删除规则 %v", diskUsed, commonConfig.CloudConfig.Disk.Used, policyToDescription[policy])
-			if policy == "TTL" {
-				// 1 获取时间窗口队列中的第二个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(1)
-				}
-			} else if policy == "STOP" {
-				// 2 获取时间窗口队列中的倒数第一个
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					deleteTimeWindow(len(entity.TimeWindowConsumerQueue) - 1)
-				}
-			} else if policy == "LRU" {
-				// 3 获取优先级最低的时间窗口
-				if len(entity.TimeWindowConsumerQueue) > 2 {
-					indexToRemove := getIndexToRemoveForLRU()
-					if indexToRemove != -1 {
-						deleteTimeWindow(indexToRemove)
-					}
-				}
-			} else {
-				c_log.GlobalLogger.Error("未知的缓存策略：", policy)
-			}
-		}
-	}
-}
-
-func deleteTimeWindow(indexToRemove int) {
-	timeWindowToRemove := entity.TimeWindowConsumerQueue[indexToRemove]
-	// 1 删除队列中的窗口。使用切片的特性删除指定位置的元素
-	entity.TimeWindowConsumerQueueMutex.Lock()
-	entity.TimeWindowConsumerQueue = append(entity.TimeWindowConsumerQueue[:indexToRemove], entity.TimeWindowConsumerQueue[indexToRemove+1:]...)
-	entity.TimeWindowConsumerQueueMutex.Unlock()
-	// 2 删除该窗口对应的文件目录。
-	faultTime := timeWindowToRemove.FaultTime
-	dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, faultTime)
-	err := util.RemoveDir(dir)
-	if err != nil {
-		c_log.GlobalLogger.Error("删除目录", dir, "失败：", err)
-	}
-}
-
-func getIndexToRemoveForLRU() int {
-	lru := commonConfig.PlatformConfig.Lru
-	i := len(lru) - 1
-	for i >= 0 {
-		for i2, window := range entity.TimeWindowConsumerQueue {
-			for _, label := range window.Labels {
-				value, _ := masterConfig.LabelMapTriggerId.Load(label)
-				if value == lru[i] {
-					return i2
-				}
-			}
-		}
-	}
-	return -1
-}

aarch64/pjisuv/common/service/kill_self.go

@@ -1,115 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"net/rpc"
-	"os"
-	"sync"
-	"time"
-)
-
-var (
-	ChannelKillRosRecord      = make(chan int)
-	ChannelKillDiskClean      = make(chan int)
-	ChannelKillWindowProducer = make(chan int)
-	ChannelKillMove           = make(chan int)
-	ChannelKillConsume        = make(chan int)
-
-	KillChannel = 5
-	KillTimes   = 0
-	MutexKill   sync.Mutex
-)
-
-// KillSignal 停止信号，主从节点接收到数据后准备重启
-type KillSignal struct {
-	DropUploadData bool
-	Restart        bool
-}
-
-// KillService 定义要远程调用的类型和方法
-type KillService struct{}
-
-// Kill 杀死自身程序，通过通道实现 方法必须满足RPC规范：函数有两个参数，第一个参数是请求，第二个是响应
-func (m *KillService) Kill(args KillSignal, reply *int) error {
-	c_log.GlobalLogger.Info("接收到自杀信号：", args)
-	// 1 杀死 rosbag record 命令
-	ChannelKillRosRecord <- 1
-	// 2 杀死所有 ros 订阅者（时间窗口生辰这）
-	ChannelKillWindowProducer <- 1
-	if args.DropUploadData == true {
-		// 3-1 等待上传结束再杀死
-		ChannelKillMove <- 1
-		ChannelKillConsume <- 1
-	} else {
-		// 3-2 直接杀死
-		ChannelKillMove <- 2
-		ChannelKillConsume <- 2
-	}
-	go killDone(args.Restart)
-	return nil
-}
-func WaitKillSelf() {
-	killService := new(KillService)
-	if err := rpc.Register(killService); err != nil {
-		c_log.GlobalLogger.Error("注册rpc服务失败：", err)
-		return
-	}
-
-	// 等待并处理远程调用请求
-	for {
-		conn, err := config.KillSignalListener.Accept()
-		if err != nil {
-			continue
-		}
-		go rpc.ServeConn(conn)
-	}
-}
-
-func AddKillTimes(info string) {
-	MutexKill.Lock()
-	defer MutexKill.Unlock()
-	switch info {
-	case "1":
-		close(ChannelKillRosRecord)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死record打包goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-		ChannelKillDiskClean <- 1
-	case "2":
-		close(ChannelKillDiskClean)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死bag包数量维护goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "3":
-		close(ChannelKillWindowProducer)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死时间窗口生产者，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "4":
-		close(ChannelKillMove)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死bag包移动goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	case "5":
-		close(ChannelKillConsume)
-		KillTimes++
-		c_log.GlobalLogger.Infof("已杀死bag包消费goroutine，当前自杀进度 %v / %v", KillTimes, KillChannel)
-	}
-}
-
-func killDone(restart bool) {
-	for {
-		time.Sleep(time.Duration(1) * time.Second)
-		if KillChannel == KillTimes {
-			if restart {
-				_, err := util.ExecuteWithPath(config.LocalConfig.RestartCmd.Dir, config.LocalConfig.RestartCmd.Name, config.LocalConfig.RestartCmd.Args...)
-				if err != nil {
-					c_log.GlobalLogger.Info("启动新程序失败,【path】=", config.LocalConfig.RestartCmd.Dir, "【cmd】=", config.LocalConfig.RestartCmd.Name, config.LocalConfig.RestartCmd.Args, "：", err)
-					os.Exit(-1)
-				}
-				c_log.GlobalLogger.Info("数据采集任务更新，正常退出当前程序。")
-			} else {
-				c_log.GlobalLogger.Info("数据采集任务终止，正常退出当前程序。")
-			}
-			os.Exit(0)
-		}
-	}
-}

aarch64/pjisuv/common/service/rosbag_clean.go

@@ -1,37 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// BagCacheClean 保证本地缓存的包数量不超过设定值
-func BagCacheClean() {
-	c_log.GlobalLogger.Info("启动清理缓存的 goroutine 维护目录【", config.CloudConfig.BagDataDir, "】的 bag 包数量：", config.CloudConfig.BagNumber)
-	for {
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillDiskClean:
-			c_log.GlobalLogger.Info("data目录bag清理线程接收到自杀信号")
-			if signal == 1 {
-				AddKillTimes("2")
-				return
-			}
-		default:
-		}
-
-		// 1 ------- 每10秒清理一次 -------
-		time.Sleep(time.Duration(10) * time.Second)
-		// 2 ------- 获取目录下所有bag包 -------
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(config.CloudConfig.BagDataDir, ".bag")
-		// 3 如果打包数量超过n个，删除最旧的包{
-		if len(bags) > config.CloudConfig.BagNumber {
-			diff := len(bags) - config.CloudConfig.BagNumber
-			for i := 0; i < diff; i++ {
-				util.DeleteFile(bags[i])
-			}
-		}
-	}
-}

aarch64/pjisuv/common/service/rosbag_record.go

@@ -1,134 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"github.com/bluenviron/goroslib/v2"
-	"time"
-)
-
-// 打包rosbag
-func BagRecord(nodeName string) {
-	c_log.GlobalLogger.Info("【rosbag record】 goroutine - 启动")
-	for {
-		c_log.GlobalLogger.Info("校验必需的 ROS NODE 是否全部启动。")
-		canRecord := false
-		for !canRecord {
-			time.Sleep(time.Duration(2) * time.Second)
-			canRecord = isCanRecord(config.RosNode)
-		}
-		c_log.GlobalLogger.Info("ROS NODE 启动完成，正在启动record命令。")
-
-		var command []string
-		command = append(command, "record")
-		command = append(command, "--split")
-		command = append(command, "--duration=1")
-		for _, host := range config.CloudConfig.Hosts {
-			if host.Name == nodeName {
-				// 配置文件中的是node1和node2各自的所有topic，platformConfig中配置用户想缓存的topic
-				// 如果有网，配置文件中的是默认要采集的（如果平台没有填，则取默认）
-				if config.LocalConfig.Internet {
-					platformTopics := config.RecordTopics
-					// platformConfig中配置用户想缓存的topic，配置文件中的是默认要采集的（如果平台没有填，则取默认），取交集
-					if platformTopics == nil || len(platformTopics) == 0 {
-						c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，采集默认话题", platformTopics)
-						for _, topic2 := range host.Topics {
-							command = append(command, topic2)
-						}
-					} else {
-						c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
-						for _, topic1 := range config.RecordTopics {
-							command = append(command, topic1)
-						}
-					}
-				} else {
-					for _, topic2 := range host.Topics {
-						command = append(command, topic2)
-					}
-				}
-
-			}
-		}
-
-		// 2 ------- 调用 rosbag 打包命令，该命令自动阻塞 -------
-		// 不在此处压缩，因为 rosbag filter 时会报错。在上传到oss之前压缩即可。
-		// 包名格式：2023-11-15-17-35-20_0.bag
-		util.CreateDir(config.CloudConfig.BagDataDir)
-		//systemEnv := os.Environ()
-		//c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
-		//c_log.GlobalLogger.Info("record环境变量为：", config.RosbagEnvs)
-		cmd, err := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-		if err != nil {
-			c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
-			continue
-		}
-		c_log.GlobalLogger.Infof("启动record命令【%v】成功。", cmd)
-
-		recordProcessPid := cmd.Process.Pid
-		var recordSubProcessPid int
-		for {
-			time.Sleep(time.Duration(2) * time.Second)
-			recordSubProcessPid, err = util.GetSubProcessPid(recordProcessPid)
-			if err != nil {
-				c_log.GlobalLogger.Info("正在等待获取进程 ", recordProcessPid, " 的子进程的pid。（未获取到可能由于磁盘空间已满）")
-				continue
-			}
-			if recordSubProcessPid != 0 {
-				c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)
-				break
-			}
-		}
-		// 等待自杀信号
-		c_log.GlobalLogger.Info("rosbag record goroutine - 等待自杀信号")
-		select {
-		case signal := <-ChannelKillRosRecord:
-			if signal == 1 {
-				if err = util.KillProcessByPid(recordSubProcessPid); err != nil {
-					c_log.GlobalLogger.Errorf("程序阻塞，杀死record命令子进程出错，【pid】=%v,【err】=%v。", recordSubProcessPid, err)
-					select {} // 此处阻塞防止record命令一直录包占满存储
-				}
-				if err = cmd.Process.Kill(); err != nil {
-					c_log.GlobalLogger.Error("程序阻塞，杀死record命令父进程", recordProcessPid, "出错：", err)
-					select {} // 此处阻塞防止record命令一直录包占满存储
-				}
-				AddKillTimes("1")
-				return
-			}
-		}
-
-		// TODO 暂时不放开该逻辑。如果监控rosnode来判断是否杀死record，太麻烦，生成窗口的线程也需要关闭
-		//{
-		//	commonCfg.GlobalLogger.Info("正在监控rosnode是否全部关闭。")
-		//	for canRecord {
-		//		time.Sleep(time.Duration(1) * time.Second)
-		//		canRecord = isCanRecord(commonCfg.RosNode)
-		//	}
-		//	commonCfg.GlobalLogger.Info("rosnode已全部关闭，正在结束record进程。")
-		//
-		//	err = cmd.Process.Kill()
-		//	if err != nil {
-		//		commonCfg.GlobalLogger.Error("杀死record进程错误：", err)
-		//		continue
-		//	}
-		//}
-	}
-}
-
-func isCanRecord(n *goroslib.Node) bool {
-	time.Sleep(time.Duration(1) * time.Second)
-	nodes, err := n.MasterGetNodes()
-	if err != nil {
-		c_log.GlobalLogger.Error("获取rosnode出错：", err)
-		return false
-	}
-	myMap := nodes
-	mySlice := config.CloudConfig.Ros.Nodes
-	for _, element := range mySlice {
-		if _, ok := myMap[element]; !ok {
-			c_log.GlobalLogger.Info("rosnode：", element, " 未启动，需等待启动后才可启动record。")
-			return false
-		}
-	}
-	return true
-}

aarch64/pjisuv/common/service/rosbag_upload.go

@@ -1,166 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	commonUtil "cicv-data-closedloop/common/util"
-	"encoding/json"
-	"fmt"
-	"strings"
-	"time"
-)
-
-// RunTimeWindowConsumerQueue 依次上传时间窗口
-func RunTimeWindowConsumerQueue() {
-
-	//nodeName:= commonConfig.LocalConfig.Node.Name
-	c_log.GlobalLogger.Info("处理消费者队列goroutine - 启动")
-outLoop:
-	for { // 串行处理
-		// 收到自杀信号
-		select {
-		case signal := <-ChannelKillConsume:
-			c_log.GlobalLogger.Info("消费者队列接收到自杀信号：", signal)
-			if signal == 1 {
-				ChannelKillConsume <- 1
-				if len(entity.TimeWindowConsumerQueue) == 0 {
-					AddKillTimes("5")
-					return
-				}
-			} else { //signal == 2
-				AddKillTimes("5")
-				return
-			}
-		default:
-		}
-		time.Sleep(time.Duration(1) * time.Second)
-		waitLength := len(entity.TimeWindowConsumerQueue)
-		if waitLength == 0 {
-			continue outLoop
-		}
-		// 1 获取即将处理的窗口
-		currentTimeWindow := entity.TimeWindowConsumerQueue[0]
-		entity.RemoveHeadOfTimeWindowConsumerQueue()
-		c_log.GlobalLogger.Infof("开始处理窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-
-		// 2 获取目录和bags
-		dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, currentTimeWindow.FaultTime)
-		//bags, _ := commonUtil.ListAbsolutePathWithSuffixAndSort(dir, ".bag")
-		// 3 如果不是全量采集，则使用 filter 命令对 bag 包进行主题过滤。
-		// todo  需要采集回传的话题是根据触发器设置的，触发器设置了之后进行过滤
-		//if commonConfig.CloudConfig.FullCollect == false {
-		//	filterTopics := commonConfig.CollectTopics
-		//	if nodeName == commonConfig.CloudConfig.Hosts[0].Name {
-		//		filterTopics = currentTimeWindow.MasterTopics
-		//	} else {
-		//		filterTopics = currentTimeWindow.SlaveTopics
-		//	}
-		//	var topicsFilterSlice []string
-		//	for _, topic := range filterTopics {
-		//		topicsFilterSlice = append(topicsFilterSlice, "topic=='"+topic+"'")
-		//	}
-		//	for i, bag := range bags {
-		//		oldName := bag
-		//		newName := bag + "_filter"
-		//		filterCommand := []string{"filter", oldName, newName, "\"" + strings.Join(topicsFilterSlice, " or ") + "\""}
-		//		_, output, err := commonUtil.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, filterCommand...)
-		//		c_log.GlobalLogger.Info("正在过滤中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-		//		if err != nil {
-		//			c_log.GlobalLogger.Errorf("filter 命令执行出错【命令】=%v，【输出】=%v,【err】=%v", filterCommand, output, err)
-		//			continue
-		//		}
-		//		// 删除旧文件
-		//		_ = commonUtil.DeleteFile(oldName)
-		//		// 将新文件改回旧文件名
-		//		if err = os.Rename(newName, oldName); err != nil {
-		//			c_log.GlobalLogger.Info("修改文件名", oldName, "失败，放弃当前时间窗口", currentTimeWindow.FaultTime, "，错误为：", err)
-		//			continue outLoop
-		//		}
-		//	}
-		//}
-		//
-		//if commonConfig.CloudConfig.CompressBag  {
-		//	// 4 compress包，必须顺序执行，此时每个包会对应生成一个压缩过的包和原始包，原始包后缀为.orig.bag
-		//	c_log.GlobalLogger.Info("压缩bag数据包，故障时间为：", currentTimeWindow.FaultTime)
-		//	for i, bag := range bags {
-		//		oldName := bag
-		//		compressCommand := []string{"compress", "--bz2", oldName}
-		//		c_log.GlobalLogger.Info("正在压缩中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
-		//		if _, output, err := commonUtil.ExecuteWithEnvSync(commonConfig.RosbagEnvs, commonConfig.RosbagPath, compressCommand...); err != nil {
-		//			c_log.GlobalLogger.Errorf("compress 命令执行出错【命令】=%v，【输出】=%v,【err】=%v", compressCommand, output, err)
-		//			continue
-		//		}
-		//	}
-		//}
-
-		// 5 upload，必须顺序执行
-		//c_log.GlobalLogger.Info("发送bag数据包，故障时间为：", currentTimeWindow.FaultTime)
-		//start := time.Now()
-		//objectKey1 := commonConfig.OssEquBasePrefix + "data/" + nodeName + "_" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
-		objectKey2 := commonConfig.OssEquBasePrefix + "data_merge/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", currentTimeWindow.Length) + ".bag"
-		objectKey3 := commonConfig.OssEquBasePrefix + "data_parse/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", currentTimeWindow.Length) + "/"
-		//for i, bag := range bags {
-		//	startOne := time.Now()
-		//	bagSlice := strings.Split(bag, "/")
-		//	for {
-		//		{
-		//			commonConfig.OssMutex.Lock()
-		//			err := commonConfig.OssBucket.PutObjectFromFile(objectKey1+bagSlice[len(bagSlice)-1], bag)
-		//			commonConfig.OssMutex.Unlock()
-		//			if err != nil {
-		//				c_log.GlobalLogger.Info("因网络原因上传包 ", bag, " 时报错，需要等待网络恢复后重新上传：", err)
-		//				continue
-		//			}
-		//		}
-		//		c_log.GlobalLogger.Info("上传耗时 ", time.Since(startOne), "，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
-		//		break
-		//	}
-		//}
-		//c_log.GlobalLogger.Info("上传完成，总耗时：", time.Since(start))
-		if commonConfig.LocalConfig.Node.Name == "node1" {
-			// 在上传完成的包目录同级下添加一个目录同名的json
-			var triggerIds []string
-			for _, label := range currentTimeWindow.Labels {
-
-				if triggerId, ok := masterConfig.LabelMapTriggerId.Load(label); !ok {
-					c_log.GlobalLogger.Errorf("【label】=%v 没有对应的【triggerId】", label)
-				} else {
-					//c_log.GlobalLogger.Info("添加一个【triggerId】=", triggerId)
-					triggerIds = append(triggerIds, commonUtil.ToString(triggerId))
-				}
-			}
-			//c_log.GlobalLogger.Info("json 中添加【triggerIds】=", triggerIds)
-			callBackJsonBytes, _ := json.MarshalIndent(&entity.CallBack{
-				DataName:    currentTimeWindow.FaultTime,
-				DataSize:    "", // 由合并程序补充
-				EquipmentNo: commonConfig.LocalConfig.EquipmentNo,
-				SecretKey:   commonConfig.LocalConfig.SecretKey,
-				RosBagPath:  objectKey2,
-				FilePath:    objectKey3,
-				TaskId:      commonConfig.PlatformConfig.TaskConfigId,
-				TriggerId:   triggerIds,
-			}, "", "    ")
-			callBackJson := string(callBackJsonBytes)
-			c_log.GlobalLogger.Info("【callBackJson】=", callBackJson)
-
-			{
-				//commonConfig.OssMutex.Lock()
-				//err := commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
-				//commonConfig.OssMutex.Unlock()
-				//if err != nil {
-				//	c_log.GlobalLogger.Error("上传 callback.json", callBackJson, "失败：", err)
-				//}
-				// 删除本地所有已上传的bag文件
-				//if err := commonUtil.RemoveDir(dir); err != nil {
-				//	continue outLoop
-				//}
-				commonUtil.WriteStringToFile(callBackJson, dir+"callback.json")
-			}
-		}
-		c_log.GlobalLogger.Infof("结束处理窗口，【Label】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		c_log.GlobalLogger.Infof("待处理窗口个数为：%v", len(entity.TimeWindowConsumerQueue))
-	}
-}

aarch64/pjisuv/control/main.go

@@ -1,120 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"net/rpc"
-	"os"
-	"runtime"
-	"time"
-)
-
-func init() {
-	runtime.GOMAXPROCS(1)
-	// 初始化日志配置
-	c_log.InitLog(commonConfig.LogDir, commonConfig.ControlLogPrefix)
-	//c_log.InitLog("/userdata/cicv-data-closedloop/log/", "pjisuv-control")
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig()
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-}
-
-func main() {
-	if commonConfig.LocalConfig.Internet {
-		RunWithInternet()
-	} else {
-		RunWithoutInternet()
-	}
-}
-
-func RunWithInternet() {
-	lastStatus := "NONE"
-	wait := false
-	//  轮询任务接口判断是否有更新
-	for {
-		if wait { // 第一次就不等待一分钟了
-			time.Sleep(time.Duration(60) * time.Second)
-		}
-		wait = true
-		// 1 获取当前设备的任务的 status
-		status, err := commonConfig.GetStatus(commonConfig.PlatformConfig.TaskConfigId)
-		if err != nil {
-			c_log.GlobalLogger.Error("获取配置status失败：", err)
-			continue
-		}
-		c_log.GlobalLogger.Info("【lastStatus】=", lastStatus, "，【status】=", status)
-		// 2 判断 status
-		// UN_CHANGE 没有新的任务，无需更改
-		// CHANGE 有新的任务，需要杀死旧的任务并重启
-		// NONE 设备没有配置任务，需要杀死旧的任务
-		if status == "UN_CHANGE" {
-			lastStatus = "UN_CHANGE"
-			continue
-		} else if status == "CHANGE" || status == "NONE" {
-			if lastStatus == "CHANGE" && status == "CHANGE" { // 供更新使用
-				commonConfig.InitPlatformConfig()
-				continue
-			}
-			if lastStatus == "NONE" && status == "NONE" {
-				continue
-			}
-			// 3 发送rpc信号杀死两个服务，并重启程序
-			if lastStatus == "NONE" && status == "CHANGE" {
-				startMasterOrSlave()
-				lastStatus = status
-				c_log.GlobalLogger.Info("获取数据闭环平台最新配置。")
-				commonConfig.InitPlatformConfig()
-				continue
-			}
-			var killArgs commonService.KillSignal
-			if lastStatus == "UN_CHANGE" && status == "CHANGE" {
-				killArgs = commonService.KillSignal{DropUploadData: commonConfig.PlatformConfig.DropUploadData, Restart: true}
-				c_log.GlobalLogger.Info("更新任务，发送rpc重启信号到本地：", killArgs)
-			}
-			if lastStatus == "UN_CHANGE" && status == "NONE" {
-				killArgs = commonService.KillSignal{DropUploadData: commonConfig.PlatformConfig.DropUploadData, Restart: false}
-				c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号到本地：", killArgs)
-			}
-
-			KillRpcClient, err := rpc.Dial("tcp", commonConfig.LocalConfig.Node.Ip+":"+commonConfig.CloudConfig.RpcPort)
-			if err != nil {
-				// 此处如果连接失败说明采集程序已经停止了
-				lastStatus = "NONE"
-				c_log.GlobalLogger.Error("采集程序已经停止：", err)
-				continue
-			}
-
-			reply := 0
-			if err = KillRpcClient.Call("KillService.Kill", killArgs, &reply); err != nil {
-				c_log.GlobalLogger.Error("发送rpc请求到master失败：", err)
-				// 这里可能会报错 unexpected EOF 但是不影响，先注释 close 和 continue
-				//KillRpcClient.Close()
-				//continue
-			}
-			lastStatus = status
-			c_log.GlobalLogger.Info("结束任务后，将数据闭环平台配置置空。")
-			commonConfig.PlatformConfig = commonConfig.PlatformConfigStruct{}
-			if err = KillRpcClient.Close(); err != nil {
-				// 不做处理
-			}
-		} else {
-			c_log.GlobalLogger.Error("未知的采集任务状态。【status】=", status)
-		}
-	}
-}
-func RunWithoutInternet() {
-	startMasterOrSlave()
-}
-
-func startMasterOrSlave() {
-	if _, err := util.ExecuteWithPath(commonConfig.LocalConfig.RestartCmd.Dir, commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args...); err != nil {
-		c_log.GlobalLogger.Info("启动新程序失败,【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args, "：", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("启动任务，本地执行启动命令：【path】=", commonConfig.LocalConfig.RestartCmd.Dir, "【cmd】=", commonConfig.LocalConfig.RestartCmd.Name, commonConfig.LocalConfig.RestartCmd.Args)
-}

aarch64/pjisuv/master/README.md

@@ -1,4 +0,0 @@
-# config 目录
-加载触发器插件
-# produce_window.go
-监听 ros 数据，调用触发器函数

aarch64/pjisuv/master/config/trigger_init.go

@@ -1,547 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjisuv_msgs"
-	"cicv-data-closedloop/pjisuv_ticker"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
-	"plugin"
-	"slices"
-	"sync"
-)
-
-func InitTriggerConfig() {
-	config.OssMutex.Lock()
-	defer config.OssMutex.Unlock()
-	triggerLocalPathsMapTriggerId := make(map[string]string)
-	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
-	if config.LocalConfig.Internet {
-		// 1 获取数采任务的触发器列表
-		cloudTriggers := &config.PlatformConfig.TaskTriggers
-		// 2 获取本地触发器列表（触发器目录的一级子目录为【触发器ID_触发器Label】）
-		localTriggerIds := util.GetFirstLevelSubdirectories(config.CloudConfig.TriggersDir)
-		// 3 对比触发器列表，本地没有的则下载
-		for _, trigger := range *cloudTriggers {
-			id := util.ToString(trigger.TriggerId)
-			hasIdDir := slices.Contains(localTriggerIds, id) // 改成了 slices 工具库
-			triggerLocalDir := config.CloudConfig.TriggersDir + id + "/"
-			hasLabelSo, soPaths := util.CheckSoFilesInDirectory(triggerLocalDir)
-			var triggerLocalPath string
-			if hasIdDir && hasLabelSo { // 已存在的触发器需要判断是否大小一致
-				triggerLocalPath = soPaths[0]
-				ossSize, _ := util.GetOSSFileSize(config.OssBucket, trigger.TriggerScriptPath)
-				localSize, _ := util.GetFileSize(triggerLocalPath)
-				if ossSize == localSize {
-					c_log.GlobalLogger.Info("触发器插件 ", triggerLocalPath, " 存在且与云端触发器大小一致。")
-					triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-					continue
-				}
-			}
-			label := util.GetFileNameWithoutExtension(config.CloudConfig.TriggersDir + trigger.TriggerScriptPath)
-			triggerLocalPath = config.CloudConfig.TriggersDir + id + "/" + label + ".so"
-			c_log.GlobalLogger.Info("开始下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
-			_ = util.CreateParentDir(triggerLocalPath)
-			for {
-				if err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath); err != nil {
-					c_log.GlobalLogger.Error("下载触发器插件失败，再次尝试：", err)
-					continue
-				}
-				break
-			}
-			triggerLocalPathsMapTriggerId[triggerLocalPath] = id
-		}
-	} else {
-		errorCodeSoPath := "/mnt/media/sda1/cicv-data-closedloop/ErrorCode.so"
-		c_log.GlobalLogger.Info("无法连接互联网，提前准备触发器插件文件：", errorCodeSoPath)
-		triggerLocalPathsMapTriggerId[errorCodeSoPath] = "ErrorCodeId"
-	}
-
-	success := 0
-	// 加载所有触发器的文件
-	for triggerLocalPath, triggerId := range triggerLocalPathsMapTriggerId {
-		// 载入插件到数组
-		open, err := plugin.Open(triggerLocalPath)
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
-			continue
-		}
-		topic0, err := open.Lookup("Topic")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
-			continue
-		}
-		topic1, ok := topic0.(func() string)
-		if ok != true {
-			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
-			continue
-		}
-		topic2 := topic1()
-		rule, err := open.Lookup("Rule")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
-			continue
-		}
-
-		if pjisuv_ticker.TickerTopic == topic2 { // 定时任务触发器
-			if f, ok1 := rule.(func(shareVars *sync.Map)); ok1 {
-				RuleOfCicvTicker = append(RuleOfCicvTicker, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfAmrPose == topic2 { //1
-			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
-				RuleOfAmrPose1 = append(RuleOfAmrPose1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
-				RuleOfAmrPose3 = append(RuleOfAmrPose3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfBoundingBoxesFast == topic2 { //2
-			if f, ok1 := rule.(func(data *pjisuv_msgs.BoundingBoxArray) string); ok1 {
-				RuleOfBoundingBoxesFast1 = append(RuleOfBoundingBoxesFast1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string); ok3 {
-				RuleOfBoundingBoxesFast3 = append(RuleOfBoundingBoxesFast3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCameraFault == topic2 { //3
-			if f, ok1 := rule.(func(data *pjisuv_msgs.FaultVec) string); ok1 {
-				RuleOfCameraFault1 = append(RuleOfCameraFault1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string); ok3 {
-				RuleOfCameraFault3 = append(RuleOfCameraFault3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCanData == topic2 { //4
-			if f, ok1 := rule.(func(data *pjisuv_msgs.Frame) string); ok1 {
-				RuleOfCanData1 = append(RuleOfCanData1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string); ok3 {
-				RuleOfCanData3 = append(RuleOfCanData3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCh128x1LslidarPointCloud == topic2 { //5
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfCh128x1LslidarPointCloud1 = append(RuleOfCh128x1LslidarPointCloud1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfCh128x1LslidarPointCloud3 = append(RuleOfCh128x1LslidarPointCloud3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCh64wLLslidarPointCloud == topic2 { //6
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfCh64wLLslidarPointCloud1 = append(RuleOfCh64wLLslidarPointCloud1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfCh64wLLslidarPointCloud3 = append(RuleOfCh64wLLslidarPointCloud3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCh64wLScan == topic2 { //7
-			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
-				RuleOfCh64wLScan1 = append(RuleOfCh64wLScan1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string); ok3 {
-				RuleOfCh64wLScan3 = append(RuleOfCh64wLScan3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCh64wRLslidarPointCloud == topic2 { //8
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfCh64wRLslidarPointCloud1 = append(RuleOfCh64wRLslidarPointCloud1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfCh64wRLslidarPointCloud3 = append(RuleOfCh64wRLslidarPointCloud3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCh64wRScan == topic2 { //9
-			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
-				RuleOfCh64wRScan1 = append(RuleOfCh64wRScan1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string); ok3 {
-				RuleOfCh64wRScan3 = append(RuleOfCh64wRScan3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCicvLidarclusterMovingObjects == topic2 { //10
-			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string); ok1 {
-				RuleOfCicvLidarclusterMovingObjects1 = append(RuleOfCicvLidarclusterMovingObjects1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string); ok3 {
-				RuleOfCicvLidarclusterMovingObjects3 = append(RuleOfCicvLidarclusterMovingObjects3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCicvAmrTrajectory == topic2 { //11
-			if f, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string); ok1 {
-				RuleOfCicvAmrTrajectory1 = append(RuleOfCicvAmrTrajectory1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string); ok3 {
-				RuleOfCicvAmrTrajectory3 = append(RuleOfCicvAmrTrajectory3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCicvLocation == topic2 { //12
-			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string); ok1 {
-				RuleOfCicvLocation1 = append(RuleOfCicvLocation1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string); ok3 {
-				RuleOfCicvLocation3 = append(RuleOfCicvLocation3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCloudClusters == topic2 { //13
-			if f, ok1 := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray) string); ok1 {
-				RuleOfCloudClusters1 = append(RuleOfCloudClusters1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string); ok3 {
-				RuleOfCloudClusters3 = append(RuleOfCloudClusters3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfHeartbeatInfo == topic2 { //14
-			if f, ok1 := rule.(func(data *pjisuv_msgs.HeartBeatInfo) string); ok1 {
-				RuleOfHeartbeatInfo1 = append(RuleOfHeartbeatInfo1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string); ok3 {
-				RuleOfHeartbeatInfo3 = append(RuleOfHeartbeatInfo3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLidarPretreatmentCost == topic2 { //15
-			if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
-				RuleOfLidarPretreatmentCost1 = append(RuleOfLidarPretreatmentCost1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string); ok3 {
-				RuleOfLidarPretreatmentCost3 = append(RuleOfLidarPretreatmentCost3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLidarPretreatmentOdometry == topic2 { //16
-			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
-				RuleOfLidarPretreatmentOdometry1 = append(RuleOfLidarPretreatmentOdometry1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Odometry) string); ok3 {
-				RuleOfLidarPretreatmentOdometry3 = append(RuleOfLidarPretreatmentOdometry3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLidarRoi == topic2 { //17
-			if f, ok1 := rule.(func(data *geometry_msgs.PolygonStamped) string); ok1 {
-				RuleOfLidarRoi1 = append(RuleOfLidarRoi1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string); ok3 {
-				RuleOfLidarRoi3 = append(RuleOfLidarRoi3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLine1 == topic2 { //18
-			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
-				RuleOfLine11 = append(RuleOfLine11, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
-				RuleOfLine13 = append(RuleOfLine13, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfLine2 == topic2 { //19
-			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
-				RuleOfLine21 = append(RuleOfLine21, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
-				RuleOfLine23 = append(RuleOfLine23, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfMapPolygon == topic2 { //20
-			if f, ok1 := rule.(func(data *pjisuv_msgs.PolygonStamped) string); ok1 {
-				RuleOfMapPolygon1 = append(RuleOfMapPolygon1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string); ok3 {
-				RuleOfMapPolygon3 = append(RuleOfMapPolygon3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfObstacleDisplay == topic2 { //21
-			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
-				RuleOfObstacleDisplay1 = append(RuleOfObstacleDisplay1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
-				RuleOfObstacleDisplay3 = append(RuleOfObstacleDisplay3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfPjControlPub == topic2 { //22
-			if f, ok1 := rule.(func(data *pjisuv_msgs.CommonVehicleCmd) string); ok1 {
-				RuleOfPjControlPub1 = append(RuleOfPjControlPub1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string); ok3 {
-				RuleOfPjControlPub3 = append(RuleOfPjControlPub3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfPointsCluster == topic2 { //23
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfPointsCluster1 = append(RuleOfPointsCluster1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfPointsCluster3 = append(RuleOfPointsCluster3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfPointsConcat == topic2 { //24
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfPointsConcat1 = append(RuleOfPointsConcat1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfPointsConcat3 = append(RuleOfPointsConcat3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfReferenceDisplay == topic2 { //25
-			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
-				RuleOfReferenceDisplay1 = append(RuleOfReferenceDisplay1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
-				RuleOfReferenceDisplay3 = append(RuleOfReferenceDisplay3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfReferenceTrajectory == topic2 { //26
-			if f, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string); ok1 {
-				RuleOfReferenceTrajectory1 = append(RuleOfReferenceTrajectory1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string); ok3 {
-				RuleOfReferenceTrajectory3 = append(RuleOfReferenceTrajectory3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfRoiPoints == topic2 { //27
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfRoiPoints1 = append(RuleOfRoiPoints1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfRoiPoints3 = append(RuleOfRoiPoints3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfRoiPolygon == topic2 { //28
-			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
-				RuleOfRoiPolygon1 = append(RuleOfRoiPolygon1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
-				RuleOfRoiPolygon3 = append(RuleOfRoiPolygon3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTf == topic2 { //29
-			if f, ok1 := rule.(func(data *tf2_msgs.TFMessage) string); ok1 {
-				RuleOfTf1 = append(RuleOfTf1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string); ok3 {
-				RuleOfTf3 = append(RuleOfTf3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTpperception == topic2 { //30
-			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionObjects) string); ok1 {
-				RuleOfTpperception1 = append(RuleOfTpperception1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string); ok3 {
-				RuleOfTpperception3 = append(RuleOfTpperception3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTpperceptionVis == topic2 { //31
-			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
-				RuleOfTpperceptionVis1 = append(RuleOfTpperceptionVis1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
-				RuleOfTpperceptionVis3 = append(RuleOfTpperceptionVis3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTprouteplan == topic2 { //32
-			if f, ok1 := rule.(func(data *pjisuv_msgs.RoutePlan) string); ok1 {
-				RuleOfTprouteplan1 = append(RuleOfTprouteplan1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string); ok3 {
-				RuleOfTprouteplan3 = append(RuleOfTprouteplan3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfTrajectoryDisplay == topic2 { //33
-			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
-				RuleOfTrajectoryDisplay1 = append(RuleOfTrajectoryDisplay1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
-				RuleOfTrajectoryDisplay3 = append(RuleOfTrajectoryDisplay3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfUngroundCloudpoints == topic2 { //34
-			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
-				RuleOfUngroundCloudpoints1 = append(RuleOfUngroundCloudpoints1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
-				RuleOfUngroundCloudpoints3 = append(RuleOfUngroundCloudpoints3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfCameraImage == topic2 { //35
-			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
-				RuleOfCameraImage1 = append(RuleOfCameraImage1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.Image) string); ok3 {
-				RuleOfCameraImage3 = append(RuleOfCameraImage3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfDataRead == topic2 { //36
-			if f, ok1 := rule.(func(data *pjisuv_msgs.Retrieval) string); ok1 {
-				RuleOfDataRead1 = append(RuleOfDataRead1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string); ok3 {
-				RuleOfDataRead3 = append(RuleOfDataRead3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfPjiGps == topic2 { //37
-			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string); ok1 {
-				RuleOfPjiGps1 = append(RuleOfPjiGps1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string); ok3 {
-				RuleOfPjiGps3 = append(RuleOfPjiGps3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfFaultInfo == topic2 { //38
-			if f, ok1 := rule.(func(data *pjisuv_msgs.FaultVec) string); ok1 {
-				RuleOfFaultInfo1 = append(RuleOfFaultInfo1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string); ok3 {
-				RuleOfFaultInfo3 = append(RuleOfFaultInfo3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else if TopicOfPjVehicleFdbPub == topic2 { //39
-			if f, ok1 := rule.(func(data *pjisuv_msgs.VehicleFdb) string); ok1 {
-				RuleOfPjVehicleFdbPub1 = append(RuleOfPjVehicleFdbPub1, f)
-				goto JudgeDone
-			}
-			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string); ok3 {
-				RuleOfPjVehicleFdbPub3 = append(RuleOfPjVehicleFdbPub3, f)
-				goto JudgeDone
-			}
-			log(triggerLocalPath)
-			continue
-		} else {
-			c_log.GlobalLogger.Error("未知的topic：", topic2)
-			continue
-		}
-	JudgeDone:
-		label, err := open.Lookup("Label")
-		if err != nil {
-			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
-			continue
-		}
-		labelFunc := label.(func() string)
-		labelString := labelFunc()
-		LabelMapTriggerId.Store(labelString, triggerId)
-		success++
-	}
-	c_log.GlobalLogger.Info("一共应加载", len(triggerLocalPathsMapTriggerId), "个触发器，实际加载 ", success, " 个触发器。")
-}
-
-func log(triggerLocalPath string) {
-	c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的 Rule 方法参数格式不正确。")
-}

aarch64/pjisuv/master/config/trigger_var.go

@@ -1,268 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"cicv-data-closedloop/pjisuv_ticker"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
-	"sync"
-)
-
-var (
-	LabelMapTriggerId = new(sync.Map)
-
-	// 0
-	// 定时任务触发器，详见 pjisuv_ticker包
-	TopicOfCicvTicker = pjisuv_ticker.TickerTopic
-	RuleOfCicvTicker  = make([]func(shareVars *sync.Map), 0) // tick代表定时任务间隔时间；对于长度为0的slice，无论是使用var还是make创建，它们在内存占用上的差异通常可以忽略不计
-
-	// 1
-	TopicOfAmrPose = "/amr_pose"
-	RuleOfAmrPose1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfAmrPose3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
-
-	// 2
-	TopicOfBoundingBoxesFast = "/bounding_boxes_fast"
-	RuleOfBoundingBoxesFast1 []func(data *pjisuv_msgs.BoundingBoxArray) string
-	RuleOfBoundingBoxesFast3 []func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string
-
-	// 3
-	TopicOfCameraFault = "/camera_fault"
-	RuleOfCameraFault1 []func(data *pjisuv_msgs.FaultVec) string
-	RuleOfCameraFault3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
-
-	// 4
-	TopicOfCanData = "/can_data"
-	RuleOfCanData1 []func(data *pjisuv_msgs.Frame) string
-	RuleOfCanData3 []func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string
-
-	// 5
-	TopicOfCh128x1LslidarPointCloud = "/ch128x1/lslidar_point_cloud"
-	RuleOfCh128x1LslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh128x1LslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 6
-	TopicOfCh64wLLslidarPointCloud = "/ch64w_l/lslidar_point_cloud"
-	RuleOfCh64wLLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh64wLLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 7
-	TopicOfCh64wLScan = "/ch64w_l/scan"
-	RuleOfCh64wLScan1 []func(data *sensor_msgs.LaserScan) string
-	RuleOfCh64wLScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
-
-	// 8
-	TopicOfCh64wRLslidarPointCloud = "/ch64w_r/lslidar_point_cloud"
-	RuleOfCh64wRLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh64wRLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 9
-	TopicOfCh64wRScan = "/ch64w_r/scan"
-	RuleOfCh64wRScan1 []func(data *sensor_msgs.LaserScan) string
-	RuleOfCh64wRScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
-
-	// 10
-	TopicOfCicvLidarclusterMovingObjects = "/cicv/lidarcluster_moving_objects"
-	RuleOfCicvLidarclusterMovingObjects1 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string
-	RuleOfCicvLidarclusterMovingObjects3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string
-
-	// 11
-	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
-	RuleOfCicvAmrTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
-	RuleOfCicvAmrTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
-
-	// 12
-	TopicOfCicvLocation = "/cicv_location"
-	RuleOfCicvLocation1 []func(data *pjisuv_msgs.PerceptionLocalization) string
-	RuleOfCicvLocation3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
-
-	// 13
-	TopicOfCloudClusters = "/cloud_clusters"
-	RuleOfCloudClusters1 []func(data *pjisuv_msgs.AutowareCloudClusterArray) string
-	RuleOfCloudClusters3 []func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string
-
-	// 14
-	TopicOfHeartbeatInfo = "/heartbeat_info"
-	RuleOfHeartbeatInfo1 []func(data *pjisuv_msgs.HeartBeatInfo) string
-	RuleOfHeartbeatInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string
-
-	// 15
-	TopicOfLidarPretreatmentCost = "/lidarPretreatment_Cost"
-	RuleOfLidarPretreatmentCost1 []func(data *geometry_msgs.Vector3Stamped) string
-	RuleOfLidarPretreatmentCost3 []func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string
-
-	// 16
-	TopicOfLidarPretreatmentOdometry = "/lidar_pretreatment/odometry"
-	RuleOfLidarPretreatmentOdometry1 []func(data *nav_msgs.Odometry) string
-	RuleOfLidarPretreatmentOdometry3 []func(shareVars *sync.Map, data *nav_msgs.Odometry) string
-
-	// 17
-	TopicOfLidarRoi = "/lidar_roi"
-	RuleOfLidarRoi1 []func(data *geometry_msgs.PolygonStamped) string
-	RuleOfLidarRoi3 []func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string
-
-	// 18
-	TopicOfLine1 = "/line_1"
-	RuleOfLine11 []func(data *nav_msgs.Path) string
-	RuleOfLine13 []func(shareVars *sync.Map, data *nav_msgs.Path) string
-
-	// 19
-	TopicOfLine2 = "/line_2"
-	RuleOfLine21 []func(data *nav_msgs.Path) string
-	RuleOfLine23 []func(shareVars *sync.Map, data *nav_msgs.Path) string
-
-	// 20
-	TopicOfMapPolygon = "/map_polygon"
-	RuleOfMapPolygon1 []func(data *pjisuv_msgs.PolygonStamped) string
-	RuleOfMapPolygon3 []func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string
-
-	// 21
-	TopicOfObstacleDisplay = "/obstacle_display"
-	RuleOfObstacleDisplay1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfObstacleDisplay3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
-
-	// 22
-	TopicOfPjControlPub = "/pj_control_pub"
-	RuleOfPjControlPub1 []func(data *pjisuv_msgs.CommonVehicleCmd) string
-	RuleOfPjControlPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string
-
-	// 23
-	TopicOfPointsCluster = "/points_cluster"
-	RuleOfPointsCluster1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfPointsCluster3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 24
-	TopicOfPointsConcat = "/points_concat"
-	RuleOfPointsConcat1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfPointsConcat3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 25
-	TopicOfReferenceDisplay = "/reference_display"
-	RuleOfReferenceDisplay1 []func(data *nav_msgs.Path) string
-	RuleOfReferenceDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
-
-	// 26
-	TopicOfReferenceTrajectory = "/reference_trajectory"
-	RuleOfReferenceTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
-	RuleOfReferenceTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
-
-	// 27
-	TopicOfRoiPoints = "/roi/points"
-	RuleOfRoiPoints1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfRoiPoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 28
-	TopicOfRoiPolygon = "/roi/polygon"
-	RuleOfRoiPolygon1 []func(data *nav_msgs.Path) string
-	RuleOfRoiPolygon3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
-
-	// 29
-	TopicOfTf = "/tf"
-	RuleOfTf1 []func(data *tf2_msgs.TFMessage) string
-	RuleOfTf3 []func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string
-
-	// 30
-	TopicOfTpperception = "/tpperception"
-	RuleOfTpperception1 []func(data *pjisuv_msgs.PerceptionObjects) string
-	RuleOfTpperception3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string
-
-	// 31
-	TopicOfTpperceptionVis = "/tpperception/vis"
-	RuleOfTpperceptionVis1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfTpperceptionVis3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
-
-	// 32
-	TopicOfTprouteplan = "/tprouteplan"
-	RuleOfTprouteplan1 []func(data *pjisuv_msgs.RoutePlan) string
-	RuleOfTprouteplan3 []func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string
-
-	// 33
-	TopicOfTrajectoryDisplay = "/trajectory_display"
-	RuleOfTrajectoryDisplay1 []func(data *nav_msgs.Path) string
-	RuleOfTrajectoryDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
-
-	// 34
-	TopicOfUngroundCloudpoints = "/unground_cloudpoints"
-	RuleOfUngroundCloudpoints1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfUngroundCloudpoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
-
-	// 35
-	TopicOfCameraImage = "/camera_image"
-	RuleOfCameraImage1 []func(data *sensor_msgs.Image) string
-	RuleOfCameraImage3 []func(shareVars *sync.Map, data *sensor_msgs.Image) string
-
-	// 36
-	TopicOfDataRead = "/data_read"
-	RuleOfDataRead1 []func(data *pjisuv_msgs.Retrieval) string
-	RuleOfDataRead3 []func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string
-
-	// 37
-	TopicOfPjiGps = "/pji_gps"
-	RuleOfPjiGps1 []func(data *pjisuv_msgs.PerceptionLocalization) string
-	RuleOfPjiGps3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
-
-	// 38
-	TopicOfFaultInfo = "/fault_info"
-	RuleOfFaultInfo1 []func(data *pjisuv_msgs.FaultVec) string
-	RuleOfFaultInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
-
-	//39
-	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
-	RuleOfPjVehicleFdbPub1 []func(data *pjisuv_msgs.VehicleFdb) string
-	RuleOfPjVehicleFdbPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string
-
-	//40
-	TopicOfEndPointMessage = "/end_point_message"
-	RuleOfEndPointMessage1 []func(data *geometry_msgs.Point) string
-	RuleOfEndPointMessage3 []func(shareVars *sync.Map, data *geometry_msgs.Point) string
-
-	// todo 这里是全量的topic，添加topic则需要同时在下面的数组添加；也需要在produce_window.go中添加新的订阅者
-	AllTopics = []string{
-		TopicOfCicvTicker,                    // 0
-		TopicOfAmrPose,                       // 1
-		TopicOfBoundingBoxesFast,             // 2
-		TopicOfCameraFault,                   // 3
-		TopicOfCanData,                       // 4
-		TopicOfCh128x1LslidarPointCloud,      // 5
-		TopicOfCh64wLLslidarPointCloud,       // 6
-		TopicOfCh64wLScan,                    // 7
-		TopicOfCh64wRLslidarPointCloud,       // 8
-		TopicOfCh64wRScan,                    // 9
-		TopicOfCicvLidarclusterMovingObjects, // 10
-		TopicOfCicvAmrTrajectory,             // 11
-		TopicOfCicvLocation,                  // 12
-		TopicOfCloudClusters,                 // 13
-		TopicOfHeartbeatInfo,                 // 14
-		TopicOfLidarPretreatmentCost,         // 15
-		TopicOfLidarPretreatmentOdometry,     // 16
-		TopicOfLidarRoi,                      // 17
-		TopicOfLine1,                         // 18
-		TopicOfLine2,                         // 19
-		TopicOfMapPolygon,                    // 20
-		TopicOfObstacleDisplay,               // 21
-		TopicOfPjControlPub,                  // 22
-		TopicOfPointsCluster,                 // 23
-		TopicOfPointsConcat,                  // 24
-		TopicOfReferenceDisplay,              // 25
-		TopicOfReferenceTrajectory,           // 26
-		TopicOfRoiPoints,                     // 27
-		TopicOfRoiPolygon,                    // 28
-		TopicOfTf,                            // 29
-		TopicOfTpperception,                  // 30
-		TopicOfTpperceptionVis,               // 31
-		TopicOfTprouteplan,                   // 32
-		TopicOfTrajectoryDisplay,             // 33
-		TopicOfUngroundCloudpoints,           // 34
-		TopicOfCameraImage,                   // 35
-		TopicOfDataRead,                      // 36
-		TopicOfPjiGps,                        // 37
-		TopicOfFaultInfo,                     // 38
-		TopicOfPjVehicleFdbPub,               // 39
-		TopicOfEndPointMessage,               // 40
-	}
-
-	AllTopicsNumber = len(AllTopics)
-)

aarch64/pjisuv/master/main.go

@@ -1,58 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
-	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
-	masterService "cicv-data-closedloop/aarch64/pjisuv/master/service"
-	"cicv-data-closedloop/common/config/c_log"
-)
-
-func init() {
-	// 初始化日志配置
-	// runtime.GOMAXPROCS(1)
-	c_log.InitLog(commonConfig.LogDir, commonConfig.MasterLogPrefix)
-	//c_log.InitLog("/userdata/cicv-data-closedloop/log/", "pjisuv-master")
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig()
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	// 初始化数据闭环平台的配置（第3处配置，在数据闭环平台接口）
-	commonConfig.InitPlatformConfig()
-	// 初始化ros节点
-	commonConfig.InitRosConfig()
-	// 发送资源占用信息
-	go commonConfig.SendResourceUsage()
-	// 维护data目录缓存的包数量
-	go commonService.BagCacheClean()
-	// 磁盘占用过高时根据缓存策略处理copy目录
-	go commonService.DiskClean()
-	// 初始化加载触发器插件文件
-	masterConfig.InitTriggerConfig()
-	// 初始化rpc监听
-	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
-	// 等待重启，接收到重启信号，会把信号分发给以下channel
-	go commonService.WaitKillSelf()
-	//// 定时上传故障码日志
-	//masterService.ForFaultCodeLog()
-}
-
-func main() {
-
-	// 1 负责打包数据到data目录
-	go commonService.BagRecord(commonConfig.CloudConfig.Hosts[0].Name)
-	// 2 负责触发场景，并修改timeWindow
-	go masterService.ProduceWindow()
-	// 3 负责处理触发窗口
-	go masterService.RunTimeWindowProducerQueue()
-	// 4 排队运行时间窗口
-	go commonService.RunTimeWindowConsumerQueue()
-
-	//// todo 算法比赛临时使用
-	//go service.ForCompetition()
-
-	// 阻塞主线程，等待其他线程执行。
-	select {}
-}

aarch64/pjisuv/master/service/for_competition.go

@@ -1,207 +0,0 @@
-package service
-
-//
-//import (
-//	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-//	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-//	"cicv-data-closedloop/common/config/c_log"
-//	"cicv-data-closedloop/common/util"
-//	"cicv-data-closedloop/pjisuv_msgs"
-//	"github.com/bluenviron/goroslib/v2"
-//	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-//	"os"
-//	"strings"
-//	"sync"
-//	"time"
-//)
-//
-//var (
-//	dir       = "/userdata/competition/"
-//	dirBak    = "/userdata/competition-bak/"
-//	ossPrefix = "competition/"
-//	// v20240604 添加 /pj_vehicle_fdb_pub 判断人工接管场景
-//	commandArgs            = []string{"record", "--split", "--duration=1", "/pji_gps", "/data_read", "/pj_vehicle_fdb_pub"}
-//	topic                  = "/team_name"
-//	urlExamTick            = "http://36.110.106.142:12341/web_server/exam/tick"
-//	urlExamBegin           = "http://36.110.106.142:12341/web_server/exam/begin"
-//	urlExamEnd             = "http://36.110.106.142:12341/web_server/exam/end"
-//	cacheMutex             sync.Mutex
-//	cacheTeamName          = make(map[string]time.Time)
-//	heartBeatTimeThreshold = 5 * time.Second // 心跳时间
-//	bakSecondNumber        = 3600
-//	cachePositionX         = -999.00
-//	cachePositionY         = -999.00
-//	cacheAutoMode          = -1                // 自动驾驶状态 0 人工 1 自动
-//	InitialPositionX       = 565266.0482367771 // todo 需要比赛确认起点
-//	InitialPositionY       = 4329773.48728322  // todo 需要比赛确认起点
-//)
-//
-//// todo 实车比赛临时使用
-//// history record命令无法录制（）
-//func ForCompetition() {
-//	go dataCollection()
-//	go dataCollectionBak(bakSecondNumber) // 需要再车上备份的数据，防止网络差传不回来
-//	go location()                         // 记录经纬度和速度
-//	go mode()                             // 记录自动驾驶状态
-//	go tick()
-//}
-//
-//// 全量数据采集
-//func dataCollection() {
-//	c_log.GlobalLogger.Info("开始采集实车算法比赛全量数据。")
-//	util.CreateDir(dir)
-//	// 1 打包
-//	c_log.GlobalLogger.Info("采集实车算法比赛全量数据的环境变量为：", commonConfig.RosbagEnvs)
-//	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dir, commonConfig.RosbagPath, commandArgs...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序崩溃。执行record命令", command, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	// 2 扫描目录文件
-//	for {
-//		time.Sleep(time.Duration(2) * time.Second)
-//		files, _ := util.ListAbsolutePathAndSort(dir)
-//		if len(files) >= 2 {
-//			//c_log.GlobalLogger.Info("扫描实车比赛数据采集目录，", files)
-//			for i := range files {
-//				if i == len(files)-1 { // 最后一个包在录制中，不上传
-//					break
-//				}
-//				c_log.GlobalLogger.Debug("上传实车算法比赛全量数据包", files[i])
-//				bagSlice := strings.Split(files[i], "/")
-//				commonConfig.OssMutex.Lock()
-//				_ = commonConfig.OssBucket.PutObjectFromFile(ossPrefix+config.LocalConfig.EquipmentNo+"/"+bagSlice[len(bagSlice)-1], files[i])
-//				commonConfig.OssMutex.Unlock()
-//				_ = util.DeleteFile(files[i])
-//			}
-//		}
-//	}
-//}
-//
-//// 全量数据采集
-//func dataCollectionBak(bakSecondNumber int) {
-//	c_log.GlobalLogger.Info("开始备份实车算法比赛全量数据。")
-//	util.CreateDir(dirBak)
-//	// 1 打包
-//	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dirBak, commonConfig.RosbagPath, commandArgs...)
-//	if err != nil {
-//		c_log.GlobalLogger.Error("程序崩溃。备份目录执行record命令", command, "出错：", err)
-//		os.Exit(-1)
-//	}
-//	// 2 扫描目录文件
-//	for {
-//		time.Sleep(time.Duration(2) * time.Second)
-//		files, _ := util.ListAbsolutePathAndSort(dirBak)
-//		if len(files) >= bakSecondNumber {
-//			// 超出阈值就删除心跳+1个文件
-//			_ = util.DeleteFile(files[0])
-//			_ = util.DeleteFile(files[1])
-//			_ = util.DeleteFile(files[2])
-//		}
-//	}
-//}
-//
-//// data格式为队伍编号
-//// 保存单次考试时间区间
-//func location() {
-//	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-//		Node:  commonConfig.RosNode,
-//		Topic: "/cicv_location",
-//		Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
-//			cachePositionX = data.PositionX
-//			cachePositionY = data.PositionY
-//		},
-//	})
-//}
-//
-//func mode() {
-//	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-//		Node:  commonConfig.RosNode,
-//		Topic: "/pj_vehicle_fdb_pub",
-//		Callback: func(data *pjisuv_msgs.VehicleFdb) {
-//			cacheAutoMode = int(data.Automode)
-//		},
-//	})
-//}
-//
-//// data格式为队伍编号
-//// 保存单次考试时间区间
-//func tick() {
-//	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-//		Node:  commonConfig.RosNode,
-//		Topic: topic,
-//		Callback: func(data *std_msgs.String) {
-//			if cacheAutoMode == 1 { // 只有在自动驾驶状态才发送心跳
-//				//if math.Abs(positionX-InitialPositionX) > 5.00 || math.Abs(positionY-InitialPositionY) > 5.00 { // todo 测试临时使用起点判断
-//				teamName := data.Data
-//				response, err := util.HttpPostJsonWithHeaders(
-//					urlExamTick,
-//					map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-//					map[string]string{
-//						"teamName":    teamName,
-//						"positionX":   util.ToString(cachePositionX),
-//						"positionY":   util.ToString(cachePositionY),
-//						"equipmentNo": config.LocalConfig.EquipmentNo, // 设备编号
-//					},
-//				)
-//				if err != nil {
-//					c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端报错，错误信息为：%v。", teamName, err)
-//				}
-//				c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端，响应结果为：%v。", teamName, response)
-//			}
-//		},
-//	})
-//}
-//
-////// data格式为队伍编号
-////// 保存单次考试时间区间
-////func examBeginBak() {
-////	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-////		Node:  commonConfig.RosNode,
-////		Topic: topic,
-////		Callback: func(data *std_msgs.String) {
-////			teamName := data.Data
-////			cacheMutex.Lock()
-////			{
-////				if !util.ContainsKey(cacheTeamName, teamName) { // 1 如果缓存数组中没有此队名，代表考试开始，缓存此队名，和当前时间戳
-////					examBeginTime := time.Now()
-////					cacheTeamName[teamName] = examBeginTime
-////					_, _ = util.HttpPostJsonWithHeaders(
-////						urlExamBegin,
-////						map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-////						map[string]string{"teamName": teamName},
-////					)
-////					c_log.GlobalLogger.Infof("队伍 %v 的考试开始。", teamName)
-////				} else { // 2 如果缓存数组中有此队名，代表考试进行中，刷新时间戳
-////					cacheTeamName[teamName] = time.Now()
-////				}
-////			}
-////			cacheMutex.Unlock()
-////		},
-////	})
-////}
-////
-////func examEndBak() {
-////	for {
-////		time.Sleep(time.Duration(1) * time.Second)
-////		cacheMutex.Lock()
-////		{
-////			var keysToDelete []string
-////			for teamName, heartBeatTime := range cacheTeamName {
-////				if time.Since(heartBeatTime) > heartBeatTimeThreshold { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
-////					keysToDelete = append(keysToDelete, teamName)
-////				}
-////			}
-////			for _, teamName := range keysToDelete { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
-////				delete(cacheTeamName, teamName)
-////				_, _ = util.HttpPostJsonWithHeaders(
-////					urlExamEnd,
-////					map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-////					map[string]string{"teamName": teamName},
-////				)
-////				c_log.GlobalLogger.Infof("队伍 %v 的考试结束。", teamName)
-////			}
-////		}
-////		cacheMutex.Unlock()
-////	}
-////}

aarch64/pjisuv/master/service/for_fault_log.go

@@ -1,88 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/aarch64/pjisuv/master/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/sirupsen/logrus"
-	"os"
-	"path/filepath"
-	"runtime"
-	"time"
-)
-
-var (
-	faultLogger *logrus.Logger
-	logPath     string
-	regularTime = 1 * time.Hour // 日志上传周期
-
-)
-
-func ForFaultCodeLog() {
-	initLog("/mnt/media/sda1/cicv-data-closedloop/fault_code/", "fault_code")
-	receiveFault()
-	//uploadLodRegularly()
-}
-
-// 初始化日志配置
-func initLog(logDir string, prefix string) {
-	time.Sleep(time.Duration(1) * time.Second)
-	// 创建、追加、读写，777，所有权限
-	logPath = logDir + prefix + "-" + time.Now().Format("2006-01-02-15-04-05") + ".log"
-	err := util.CreateParentDir(logPath)
-	if err != nil {
-		os.Exit(-1)
-	}
-	f, err := os.OpenFile(logPath, os.O_CREATE|os.O_APPEND|os.O_RDWR, os.ModePerm)
-	if err != nil {
-		os.Exit(-1)
-	}
-	faultLogger = logrus.New()
-	faultLogger.SetOutput(f)
-	faultLogger.SetReportCaller(true) // 开启行号显示
-	faultLogger.SetFormatter(&logrus.JSONFormatter{
-		CallerPrettyfier: func(frame *runtime.Frame) (string, string) {
-			fileName := filepath.Base(frame.File)
-			return "", fmt.Sprintf("%s:%d", fileName, frame.Line)
-		},
-	})
-	faultLogger.Info("初始化 faultLogger - 成功")
-}
-
-func receiveFault() {
-	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-		Node:  commonConfig.RosNode,
-		Topic: config.TopicOfFaultInfo,
-		Callback: func(data *pjisuv_msgs.FaultVec) {
-			codeString := ""
-			for _, info := range data.InfoVec {
-				codeString = codeString + util.ToString(info.ErrorCode)
-			}
-			faultLogger.Errorf("接收到故障码：【%v】", codeString)
-		},
-	})
-}
-
-func uploadLodRegularly() {
-	// 1 创建一个定时器，每隔一秒触发一次
-	ticker := time.NewTicker(regularTime)
-	// 2 使用goroutine运行一个无限循环
-	go func() {
-		for {
-			select {
-			// 定时器触发时执行的代码
-			case <-ticker.C:
-				commonConfig.OssMutex.Lock()
-				err := commonConfig.OssBucket.PutObjectFromFile(commonConfig.OssEquBasePrefix+"fault_code/"+filepath.Base(logPath), logPath)
-				commonConfig.OssMutex.Unlock()
-				if err != nil {
-					c_log.GlobalLogger.Error("上传故障码日志失败：", err)
-				}
-			}
-		}
-	}()
-}

aarch64/pjisuv/master/service/move_bag_and_send_window.go

@@ -1,102 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"net"
-	"time"
-)
-
-// 依次处理时间窗口，从data目录移动到copy目录
-func RunTimeWindowProducerQueue() {
-	c_log.GlobalLogger.Info("生产者队列goroutine - 启动")
-	for {
-		// 1 监控自杀信号
-		select {
-		case signal := <-commonService.ChannelKillMove:
-			if signal == 1 {
-				commonService.ChannelKillMove <- 1
-				if len(entity.TimeWindowProducerQueue) == 0 {
-					commonService.AddKillTimes("4")
-					return
-				}
-			} else { //signal == 2
-				commonService.AddKillTimes("4")
-				return
-			}
-		default:
-		}
-		time.Sleep(time.Duration(1) * time.Second)
-		// 2 处理
-		if len(entity.TimeWindowProducerQueue) == 0 {
-			continue
-		}
-		currentTimeWindow := entity.TimeWindowProducerQueue[0]                                         // 当前窗口
-		bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagDataDir, ".bag") // data目录的bag包列表
-		move := false
-		bigger := false
-		for _, bag := range bags {
-			bagTime := util.GetBagTime(bag) // bag包对应的时间
-			// 3 如果bag时间在窗口时间区间内，则从data移动到copy
-			if util.BagTimeInInterval(bagTime, currentTimeWindow.TimeWindowBegin, currentTimeWindow.TimeWindowEnd) {
-				domain.MoveFromDataToCopy(currentTimeWindow.FaultTime, commonConfig.CloudConfig.BagDataDir, bag, commonConfig.CloudConfig.BagCopyDir)
-				move = true
-			} else {
-				// 4 如果已经生成了新的包，则当前窗口已经移动完成了
-				if util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin) {
-					bigger = true
-					break
-				}
-			}
-		}
-		// 5 如果没有包可以供当前窗口移动，且已经生成了更新的包，则当前窗口已经可以上传
-		if !move && bigger {
-			currentTimeWindow.CanUpload = "yes"
-			// 如果第一个已经大于了timeWindowEnd，则触发上传并删除
-			// todo 校验补齐机制，可能损耗性能，暂时搁置
-			//domain.SupplyCopyBags(commonConfig.CloudConfig.BagDataDir, commonConfig.CloudConfig.BagCopyDir, currentTimeWindow)
-			entity.RefreshTcpSendTime()
-			go sendTimeWindowByTcp(currentTimeWindow)
-			entity.RemoveHeadOfTimeWindowProducerQueue()
-			entity.AddTimeWindowToTimeWindowConsumerQueue(currentTimeWindow)
-			// 获取copy目录下的字典json，key为触发时间，value为label
-			timeToLabelJson, _ := util.ReadFile(commonConfig.CloudConfig.TimeToLabelJsonPath)
-			timeToLabelMap, _ := util.JsonStringToMap(timeToLabelJson)
-			if timeToLabelMap == nil {
-				timeToLabelMap = make(map[string]interface{})
-			}
-			timeToLabelMap[currentTimeWindow.FaultTime] = util.ToString(currentTimeWindow.Labels)
-			timeToLabelJson, _ = util.MapToJsonString(timeToLabelMap)
-			_ = util.WriteFile(timeToLabelJson, commonConfig.CloudConfig.TimeToLabelJsonPath)
-			continue
-		} else { // 保证当前窗口只发送一次，每间隔5秒发一次非yes窗口
-			if int(time.Since(entity.TcpSendTime).Seconds()) > commonConfig.CloudConfig.TimeWindowSendGap {
-				currentTimeWindow.CanUpload = "no"
-				//c_log.GlobalLogger.Info("每隔", commonConfig.CloudConfig.TimeWindowSendGap, "秒发送一次tcp消息")
-				entity.RefreshTcpSendTime()
-				go sendTimeWindowByTcp(currentTimeWindow)
-			}
-		}
-	}
-}
-
-func sendTimeWindowByTcp(timeWindow entity.TimeWindow) {
-	socket := commonConfig.CloudConfig.Hosts[1].Ip + ":" + commonConfig.CloudConfig.TcpPort
-	tcpConn, err := net.Dial("tcp", socket)
-	if err != nil {
-		c_log.GlobalLogger.Error("建立tcp连接", socket, "失败：", err)
-		return
-	}
-	defer tcpConn.Close()
-	// 发送数据
-	send, _ := entity.TimeWindowToJson(timeWindow)
-	_, err = tcpConn.Write([]byte(send))
-	if err != nil {
-		c_log.GlobalLogger.Error("master发送给slave时间窗口", timeWindow, "失败：", err)
-		return
-	}
-}

aarch64/pjisuv/master/service/produce_window.go

@@ -1,2304 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/aarch64/pjisuv/common/service"
-	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
-	"cicv-data-closedloop/common/config/c_log"
-	commonEntity "cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjisuv_msgs"
-	"cicv-data-closedloop/pjisuv_ticker"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
-	"math"
-	"sync"
-	"time"
-)
-
-type Weather struct {
-	WeatherID   []int
-	temperature float64
-	humidity    float64
-}
-type Point struct {
-	x, y float64
-}
-type Location struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	LeftCurveFlag  bool = false
-	RightCurveFlag bool = false //用来判断车辆是左转还是右转
-	//定义了车间四个边界点，将车间抽象成一个四边形
-	LocationCount = 0
-	vertices      = []Point{
-		{x: 456128.413, y: 4397847.78},
-		{x: 456288.257, y: 4397953.51},
-		{x: 456359.022, y: 4397822.84},
-		{x: 456191.065, y: 4397733.3},
-	}
-	//定义园区部门Ｔ字路口的经纬度坐标值
-	point3 = Location{39.73040966605621, 116.48995329696209}
-	point4 = Location{39.73083727413453, 116.49079780188244}
-	point5 = Location{39.72976753711939, 116.49043130389033}
-	point6 = Location{39.73012466515933, 116.49128381717591}
-	point7 = Location{39.729251498328246, 116.49077484625299}
-	point8 = Location{39.72964529630643, 116.49164592200161}
-
-	pointlist = []Location{point3, point4, point5, point6, point7, point8}
-
-	cicvLocationTime = time.Now()
-	// -----------------------------共享变量
-	//cicv_location
-	//NumOfCicvLocation = 0
-	SpeedSlice   = []float64{}
-	AccelXSlice  = []float64{}
-	JunctionFlag = false
-	//Yowslice          = make([]float64, 0)
-	//AngleSlice        = make([][]float64, 0)
-	// /tpperception
-	countSideBySide           int     = 0
-	Frame                     float32 = 0.0
-	ObjDicOfTpperception              = make(map[uint32][][]float32)
-	objTypeDicOfTpperception          = make(map[uint32]uint8)
-	objSpeedDicOfTpperception         = make(map[uint32]float64)
-	PreCloseTargetSlice               = []uint32{}
-	// /pji_control_pub
-	numCountPjiControlCommandOfPjControlPub int
-	egoSteeringCmdOfPjControlPub            []float64
-	egoThrottleCmdOfPjControlPub            []float64
-	// /data_read
-	numCountDataReadOfDataRead int
-	egoSteeringRealOfDataRead  []float64
-	egoThrottleRealOfDataRead  []float64
-	GearPosSlice               = []int16{}
-	// --------------------------------------------------
-	shareVars           = new(sync.Map)
-	saveTimeWindowMutex sync.Mutex // 保存时间窗口需要锁，防止数据竟态
-	latestTimeWindowEnd = util.GetTimeCustom(time.Now())
-	triggerInterval     = 3.0 // 每个触发器3秒触发一次
-)
-
-// 负责监听所有主题并修改时间窗口
-func ProduceWindow() {
-	c_log.GlobalLogger.Info("订阅者 goroutine，启动。")
-
-	var err error
-	subscribers := make([]*goroslib.Subscriber, masterConfig.AllTopicsNumber)
-	subscribersTimes := make([]time.Time, masterConfig.AllTopicsNumber)
-	subscribersTimeMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	subscribersMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	for i, topic := range masterConfig.AllTopics {
-		for {
-			// 定时器，区别于订阅者
-			if topic == pjisuv_ticker.TickerTopic {
-				// 1 把所有触发器函数执行一遍，触发器内部创建额外的定时任务goroutine
-				for _, f := range masterConfig.RuleOfCicvTicker {
-					f(shareVars)
-				}
-				// 2 创建goroutine接收定时任务触发器返回的Label和Time，执行触发逻辑
-				go func() {
-					for {
-						time.Sleep(time.Duration(1)) // 降低循环频率
-						select {
-						case tickInfo := <-pjisuv_ticker.TickerChan:
-							faultLabel := tickInfo.FaultLabel
-							faultHappenTime := tickInfo.FaultHappenTime
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-						default:
-						}
-					}
-				}()
-			}
-			create := false // 判断是否创建成功，用于打印日志
-			// 1
-			if topic == masterConfig.TopicOfAmrPose && (len(masterConfig.RuleOfAmrPose1) > 0 || len(masterConfig.RuleOfAmrPose3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *visualization_msgs.MarkerArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfAmrPose1) > 0 {
-								for _, f := range masterConfig.RuleOfAmrPose1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfAmrPose3) > 0 {
-								for _, f := range masterConfig.RuleOfAmrPose3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 2
-			if topic == masterConfig.TopicOfBoundingBoxesFast &&
-				(len(masterConfig.RuleOfBoundingBoxesFast1) > 0 ||
-					len(masterConfig.RuleOfBoundingBoxesFast3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.BoundingBoxArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfBoundingBoxesFast1) > 0 {
-								for _, f := range masterConfig.RuleOfBoundingBoxesFast1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfBoundingBoxesFast3) > 0 {
-								for _, f := range masterConfig.RuleOfBoundingBoxesFast3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 3
-			if topic == masterConfig.TopicOfCameraFault &&
-				(len(masterConfig.RuleOfCameraFault1) > 0 ||
-					len(masterConfig.RuleOfCameraFault3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.FaultVec) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCameraFault1) > 0 {
-								for _, f := range masterConfig.RuleOfCameraFault1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCameraFault3) > 0 {
-								for _, f := range masterConfig.RuleOfCameraFault3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 4
-			if topic == masterConfig.TopicOfCanData &&
-				(len(masterConfig.RuleOfCanData1) > 0 ||
-					len(masterConfig.RuleOfCanData3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.Frame) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCanData1) > 0 {
-								for _, f := range masterConfig.RuleOfCanData1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCanData3) > 0 {
-								for _, f := range masterConfig.RuleOfCanData3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 5
-			if topic == masterConfig.TopicOfCh128x1LslidarPointCloud &&
-				(len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh128x1LslidarPointCloud3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 {
-								for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCh128x1LslidarPointCloud3) > 0 {
-								for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 6
-			if topic == masterConfig.TopicOfCh64wLLslidarPointCloud &&
-				(len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh64wLLslidarPointCloud3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCh64wLLslidarPointCloud3) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 7
-			if topic == masterConfig.TopicOfCh64wLScan &&
-				(len(masterConfig.RuleOfCh64wLScan1) > 0 ||
-					len(masterConfig.RuleOfCh64wLScan3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.LaserScan) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCh64wLScan1) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wLScan1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCh64wLScan3) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wLScan3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 8
-			if topic == masterConfig.TopicOfCh64wRLslidarPointCloud &&
-				(len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh64wRLslidarPointCloud3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCh64wRLslidarPointCloud3) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 9
-			if topic == masterConfig.TopicOfCh64wRScan &&
-				(len(masterConfig.RuleOfCh64wRScan1) > 0 ||
-					len(masterConfig.RuleOfCh64wRScan3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.LaserScan) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCh64wRScan1) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wRScan1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCh64wRScan3) > 0 {
-								for _, f := range masterConfig.RuleOfCh64wRScan3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 10
-			if topic == masterConfig.TopicOfCicvLidarclusterMovingObjects &&
-				(len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 ||
-					len(masterConfig.RuleOfCicvLidarclusterMovingObjects3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.PerceptionCicvMovingObjects) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 {
-								for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCicvLidarclusterMovingObjects3) > 0 {
-								for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 11 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfCicvAmrTrajectory {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.Trajectory) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCicvAmrTrajectory1) > 0 {
-								for _, f := range masterConfig.RuleOfCicvAmrTrajectory1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCicvAmrTrajectory3) > 0 {
-								for _, f := range masterConfig.RuleOfCicvAmrTrajectory3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-						// 更新共享变量
-
-						Trajectorypoints := data.Trajectoryinfo.Trajectorypoints
-						if len(Trajectorypoints) > 2 {
-							StartHeading := Trajectorypoints[0].Heading
-							EndHeading := Trajectorypoints[len(Trajectorypoints)-1].Heading
-							diffHeading := StartHeading - EndHeading
-							//fmt.Println(diffHeading)
-
-							if diffHeading < -1.0 && diffHeading > -3.0 {
-								LeftCurveFlag = true
-								//fmt.Println(diffHeading)
-							} else {
-								LeftCurveFlag = false
-							}
-							if diffHeading > 1.0 && diffHeading < 3.0 {
-								RightCurveFlag = true
-								//fmt.Println(diffHeading)
-							} else {
-								RightCurveFlag = false
-							}
-
-						} else {
-							LeftCurveFlag = false
-							RightCurveFlag = false
-						}
-						shareVars.Store("LeftCurveFlag", LeftCurveFlag)
-						shareVars.Store("RightCurveFlag", RightCurveFlag)
-
-						currentCurvateres := make([]float64, 0)
-						for _, point := range data.Trajectoryinfo.Trajectorypoints {
-							currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))
-						}
-						shareVars.Store("LastCurvaturesOfCicvAmrTrajectory", currentCurvateres)
-						shareVars.Store("DecisionType", data.Trajectoryinfo.DecisionType)
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 12 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfCicvLocation {
-				LocationCount++
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCicvLocation1) > 0 {
-								for _, f := range masterConfig.RuleOfCicvLocation1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCicvLocation3) > 0 {
-								for _, f := range masterConfig.RuleOfCicvLocation3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-						// 更新共享变量
-						if LocationCount%10 == 0 {
-							enterflag := IfEnter(pointlist, 12.0, data.Latitude, data.Longitude)
-							shareVars.Store("EnterJunctionFlag", enterflag)
-							LocationCount = 0
-						}
-
-						AbsSpeed := math.Sqrt(math.Pow(data.VelocityX, 2) + math.Pow(data.VelocityY, 2))
-						AccelXSlice = append(AccelXSlice, data.AccelX)
-						shareVars.Store("AbsSpeed", AbsSpeed)
-						shareVars.Store("AccelXSlice", AccelXSlice)
-						shareVars.Store("VelocityXOfCicvLocation", data.VelocityX)
-						shareVars.Store("VelocityYOfCicvLocation", data.VelocityY)
-						shareVars.Store("VelocityZOfCicvLocation", data.VelocityZ)
-						shareVars.Store("YawOfCicvLocation", data.Yaw)
-						shareVars.Store("AngularVelocityZOfCicvLocation", data.AngularVelocityZ)
-						shareVars.Store("PositionXOfCicvLocation", data.PositionX)
-						shareVars.Store("PositionYOfCicvLocation", data.PositionY)
-						shareVars.Store("Latitude", data.Latitude)
-						shareVars.Store("Longitude", data.Longitude)
-						//SpeedSlice 用于自车频繁起停触发器-FrequentStartsAndStops
-						SpeedSlice = append(SpeedSlice, AbsSpeed)
-						if len(SpeedSlice) > 6000 {
-							SpeedSlice = SpeedSlice[1:]
-						}
-						shareVars.Store("SpeedSlice", SpeedSlice)
-						/*用于 陡坡-DescendingSteepHill/ClimbingSteepHill 侧翻预警-RolloverWarning 触发器
-						if NumOfCicvLocation%10==0{
-							AngleSlice[0] = append(AngleSlice[0], data.Qx)
-							AngleSlice[1] = append(AngleSlice[1], data.Qy)
-							AngleSlice[2] = append(AngleSlice[2], data.Qz)
-							AngleSlice[3] = append(AngleSlice[3], data.Qw)
-							shareVars.Store("AngleSlice", AngleSlice)
-							NumOfCicvLocation=1
-						}
-						NumOfCicvLocation++
-						*/
-
-						/*用于 掉头TurnAround触发器
-						Yowslice = append(Yowslice, data.Yaw)
-						if len(Yowslice) >= 600 {
-							Yowslice = Yowslice[1:]
-						}
-						shareVars.Store("Yowslice", Yowslice)
-						*/
-
-						// 用于判断是否在车间内
-						if time.Since(cicvLocationTime).Seconds() > 1 {
-							p := Point{x: data.PositionX, y: data.PositionY}
-							OutsideWorkshopFlag := isPointInPolygon(p, vertices) //在车间返回０，不在车间返回１
-							shareVars.Store("OutsideWorkshopFlag", OutsideWorkshopFlag)
-							cicvLocationTime = time.Now()
-						}
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 13
-			if topic == masterConfig.TopicOfCloudClusters &&
-				(len(masterConfig.RuleOfCloudClusters1) > 0 ||
-					len(masterConfig.RuleOfCloudClusters3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.AutowareCloudClusterArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCloudClusters1) > 0 {
-								for _, f := range masterConfig.RuleOfCloudClusters1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCloudClusters3) > 0 {
-								for _, f := range masterConfig.RuleOfCloudClusters3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 14
-			if topic == masterConfig.TopicOfHeartbeatInfo &&
-				(len(masterConfig.RuleOfHeartbeatInfo1) > 0 ||
-					len(masterConfig.RuleOfHeartbeatInfo3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.HeartBeatInfo) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfHeartbeatInfo1) > 0 {
-								for _, f := range masterConfig.RuleOfHeartbeatInfo1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfHeartbeatInfo3) > 0 {
-								for _, f := range masterConfig.RuleOfHeartbeatInfo3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 15
-			if topic == masterConfig.TopicOfLidarPretreatmentCost &&
-				(len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 ||
-					len(masterConfig.RuleOfLidarPretreatmentCost3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *geometry_msgs.Vector3Stamped) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 {
-								for _, f := range masterConfig.RuleOfLidarPretreatmentCost1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfLidarPretreatmentCost3) > 0 {
-								for _, f := range masterConfig.RuleOfLidarPretreatmentCost3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 16
-			if topic == masterConfig.TopicOfLidarPretreatmentOdometry &&
-				(len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 ||
-					len(masterConfig.RuleOfLidarPretreatmentOdometry3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Odometry) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 {
-								for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfLidarPretreatmentOdometry3) > 0 {
-								for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 17
-			if topic == masterConfig.TopicOfLidarRoi &&
-				(len(masterConfig.RuleOfLidarRoi1) > 0 ||
-					len(masterConfig.RuleOfLidarRoi3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *geometry_msgs.PolygonStamped) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfLidarRoi1) > 0 {
-								for _, f := range masterConfig.RuleOfLidarRoi1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfLidarRoi3) > 0 {
-								for _, f := range masterConfig.RuleOfLidarRoi3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 18
-			if topic == masterConfig.TopicOfLine1 &&
-				(len(masterConfig.RuleOfLine11) > 0 ||
-					len(masterConfig.RuleOfLine13) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Path) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfLine11) > 0 {
-								for _, f := range masterConfig.RuleOfLine11 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfLine13) > 0 {
-								for _, f := range masterConfig.RuleOfLine13 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 19
-			if topic == masterConfig.TopicOfLine2 &&
-				(len(masterConfig.RuleOfLine21) > 0 ||
-					len(masterConfig.RuleOfLine23) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Path) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfLine21) > 0 {
-								for _, f := range masterConfig.RuleOfLine21 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfLine23) > 0 {
-								for _, f := range masterConfig.RuleOfLine23 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 20
-			if topic == masterConfig.TopicOfMapPolygon &&
-				(len(masterConfig.RuleOfMapPolygon1) > 0 ||
-					len(masterConfig.RuleOfMapPolygon3) > 0) {
-
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.PolygonStamped) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfMapPolygon1) > 0 {
-								for _, f := range masterConfig.RuleOfMapPolygon1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfMapPolygon3) > 0 {
-								for _, f := range masterConfig.RuleOfMapPolygon3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 21
-			if topic == masterConfig.TopicOfObstacleDisplay &&
-				(len(masterConfig.RuleOfObstacleDisplay1) > 0 ||
-					len(masterConfig.RuleOfObstacleDisplay3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *visualization_msgs.MarkerArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfObstacleDisplay1) > 0 {
-								for _, f := range masterConfig.RuleOfObstacleDisplay1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfObstacleDisplay3) > 0 {
-								for _, f := range masterConfig.RuleOfObstacleDisplay3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 22 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfPjControlPub {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.CommonVehicleCmd) {
-
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfPjControlPub1) > 0 {
-								for _, f := range masterConfig.RuleOfPjControlPub1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfPjControlPub3) > 0 {
-								for _, f := range masterConfig.RuleOfPjControlPub3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-						// 更新共享变量
-						numCountPjiControlCommandOfPjControlPub++
-						if numCountPjiControlCommandOfPjControlPub == 10 {
-							egoSteeringCmdOfPjControlPub = append(egoSteeringCmdOfPjControlPub, data.ICPVCmdStrAngle)
-							egoThrottleCmdOfPjControlPub = append(egoThrottleCmdOfPjControlPub, data.ICPVCmdAccPelPosAct)
-							numCountPjiControlCommandOfPjControlPub = 0
-						}
-						shareVars.Store("NumCountPjiControlCommandOfPjControlPub", numCountPjiControlCommandOfPjControlPub)
-						shareVars.Store("EgoSteeringCmdOfPjControlPub", egoSteeringCmdOfPjControlPub)
-						shareVars.Store("EgoThrottleCmdOfPjControlPub", egoThrottleCmdOfPjControlPub)
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 23
-			if topic == masterConfig.TopicOfPointsCluster &&
-				(len(masterConfig.RuleOfPointsCluster1) > 0 ||
-					len(masterConfig.RuleOfPointsCluster3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfPointsCluster1) > 0 {
-								for _, f := range masterConfig.RuleOfPointsCluster1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfPointsCluster3) > 0 {
-								for _, f := range masterConfig.RuleOfPointsCluster3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 24
-			if topic == masterConfig.TopicOfPointsConcat &&
-				(len(masterConfig.RuleOfPointsConcat1) > 0 ||
-					len(masterConfig.RuleOfPointsConcat3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfPointsConcat1) > 0 {
-								for _, f := range masterConfig.RuleOfPointsConcat1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfPointsConcat3) > 0 {
-								for _, f := range masterConfig.RuleOfPointsConcat3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 25
-			if topic == masterConfig.TopicOfReferenceDisplay &&
-				(len(masterConfig.RuleOfReferenceDisplay1) > 0 ||
-					len(masterConfig.RuleOfReferenceDisplay3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Path) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfReferenceDisplay1) > 0 {
-								for _, f := range masterConfig.RuleOfReferenceDisplay1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfReferenceDisplay3) > 0 {
-								for _, f := range masterConfig.RuleOfReferenceDisplay3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 26
-			if topic == masterConfig.TopicOfReferenceTrajectory &&
-				(len(masterConfig.RuleOfReferenceTrajectory1) > 0 ||
-					len(masterConfig.RuleOfReferenceTrajectory3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.Trajectory) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfReferenceTrajectory1) > 0 {
-								for _, f := range masterConfig.RuleOfReferenceTrajectory1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfReferenceTrajectory3) > 0 {
-								for _, f := range masterConfig.RuleOfReferenceTrajectory3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 27
-			if topic == masterConfig.TopicOfRoiPoints &&
-				(len(masterConfig.RuleOfRoiPoints1) > 0 ||
-					len(masterConfig.RuleOfRoiPoints3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfRoiPoints1) > 0 {
-								for _, f := range masterConfig.RuleOfRoiPoints1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfRoiPoints3) > 0 {
-								for _, f := range masterConfig.RuleOfRoiPoints3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 28
-			if topic == masterConfig.TopicOfRoiPolygon &&
-				(len(masterConfig.RuleOfRoiPolygon1) > 0 ||
-					len(masterConfig.RuleOfRoiPolygon3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Path) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfRoiPolygon1) > 0 {
-								for _, f := range masterConfig.RuleOfRoiPolygon1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfRoiPolygon3) > 0 {
-								for _, f := range masterConfig.RuleOfRoiPolygon3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 29
-			if topic == masterConfig.TopicOfTf &&
-				(len(masterConfig.RuleOfTf1) > 0 ||
-					len(masterConfig.RuleOfTf3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *tf2_msgs.TFMessage) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfTf1) > 0 {
-								for _, f := range masterConfig.RuleOfTf1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfTf3) > 0 {
-								for _, f := range masterConfig.RuleOfTf3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 30 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfTpperception {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.PerceptionObjects) {
-
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfTpperception1) > 0 {
-								for _, f := range masterConfig.RuleOfTpperception1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfTpperception3) > 0 {
-								for _, f := range masterConfig.RuleOfTpperception3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-
-						// 更新共享变量
-						for _, obj := range data.Objs {
-							YawOfCicvLocation, _ := shareVars.Load("YawOfCicvLocation")
-							diffh := float64(obj.Heading) - YawOfCicvLocation.(float64)
-							if diffh < -180.0 {
-								diffh = 360.0 + diffh
-							} else if diffh > 180.0 {
-								diffh = 360.0 - diffh
-							} else {
-								diffh = math.Abs(diffh)
-							}
-
-							if math.Abs(float64(obj.X)) >= 30 || math.Abs(float64(obj.Y)) >= 30 {
-								continue
-							}
-							if _, ok := ObjDicOfTpperception[obj.Id]; !ok {
-								ObjDicOfTpperception[obj.Id] = [][]float32{{}, {}, {}, {}, {}, {}, {}, {}}
-							}
-							ObjDicOfTpperception[obj.Id][0] = append(ObjDicOfTpperception[obj.Id][0], obj.X)
-							ObjDicOfTpperception[obj.Id][1] = append(ObjDicOfTpperception[obj.Id][1], obj.Y)
-							ObjDicOfTpperception[obj.Id][2] = append(ObjDicOfTpperception[obj.Id][2], obj.Vxrel)
-							absspeed := math.Sqrt(math.Pow(float64(obj.Vxabs), 2) + math.Pow(float64(obj.Vyabs), 2))
-							ObjDicOfTpperception[obj.Id][3] = append(ObjDicOfTpperception[obj.Id][3], float32(absspeed))
-							ObjDicOfTpperception[obj.Id][4] = append(ObjDicOfTpperception[obj.Id][4], obj.Heading)
-							ObjDicOfTpperception[obj.Id][5] = append(ObjDicOfTpperception[obj.Id][5], Frame)
-							ObjDicOfTpperception[obj.Id][6] = append(ObjDicOfTpperception[obj.Id][6], float32(obj.Type))
-							ObjDicOfTpperception[obj.Id][7] = append(ObjDicOfTpperception[obj.Id][7], float32(diffh))
-							if len(ObjDicOfTpperception[obj.Id][0]) >= 100 {
-								ObjDicOfTpperception[obj.Id][0] = ObjDicOfTpperception[obj.Id][0][1:]
-								ObjDicOfTpperception[obj.Id][1] = ObjDicOfTpperception[obj.Id][1][1:]
-								ObjDicOfTpperception[obj.Id][2] = ObjDicOfTpperception[obj.Id][2][1:]
-								ObjDicOfTpperception[obj.Id][3] = ObjDicOfTpperception[obj.Id][3][1:]
-								ObjDicOfTpperception[obj.Id][4] = ObjDicOfTpperception[obj.Id][4][1:]
-								ObjDicOfTpperception[obj.Id][5] = ObjDicOfTpperception[obj.Id][5][1:]
-								ObjDicOfTpperception[obj.Id][6] = ObjDicOfTpperception[obj.Id][6][1:]
-								ObjDicOfTpperception[obj.Id][7] = ObjDicOfTpperception[obj.Id][7][1:]
-							}
-
-							objTypeDicOfTpperception[obj.Id] = obj.Type
-							objSpeedDicOfTpperception[obj.Id] = math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
-						}
-						shareVars.Store("ObjDicOfTpperception", ObjDicOfTpperception)
-						shareVars.Store("ObjTypeDicOfTpperception", objTypeDicOfTpperception)
-						shareVars.Store("ObjSpeedDicOfTpperception", objSpeedDicOfTpperception)
-						shareVars.Store("countSideBySide", countSideBySide)
-
-						Frame++
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 31
-			if topic == masterConfig.TopicOfTpperceptionVis &&
-				(len(masterConfig.RuleOfTpperceptionVis1) > 0 ||
-					len(masterConfig.RuleOfTpperceptionVis3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *visualization_msgs.MarkerArray) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfTpperceptionVis1) > 0 {
-								for _, f := range masterConfig.RuleOfTpperceptionVis1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfTpperceptionVis3) > 0 {
-								for _, f := range masterConfig.RuleOfTpperceptionVis3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 32
-			if topic == masterConfig.TopicOfTprouteplan &&
-				(len(masterConfig.RuleOfTprouteplan1) > 0 ||
-					len(masterConfig.RuleOfTprouteplan3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.RoutePlan) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfTprouteplan1) > 0 {
-								for _, f := range masterConfig.RuleOfTprouteplan1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfTprouteplan3) > 0 {
-								for _, f := range masterConfig.RuleOfTprouteplan3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 33
-			if topic == masterConfig.TopicOfTrajectoryDisplay &&
-				(len(masterConfig.RuleOfTrajectoryDisplay1) > 0 ||
-					len(masterConfig.RuleOfTrajectoryDisplay3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *nav_msgs.Path) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfTrajectoryDisplay1) > 0 {
-								for _, f := range masterConfig.RuleOfTrajectoryDisplay1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfTrajectoryDisplay3) > 0 {
-								for _, f := range masterConfig.RuleOfTrajectoryDisplay3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 34
-			if topic == masterConfig.TopicOfUngroundCloudpoints &&
-				(len(masterConfig.RuleOfUngroundCloudpoints1) > 0 ||
-					len(masterConfig.RuleOfUngroundCloudpoints3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.PointCloud2) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfUngroundCloudpoints1) > 0 {
-								for _, f := range masterConfig.RuleOfUngroundCloudpoints1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfUngroundCloudpoints3) > 0 {
-								for _, f := range masterConfig.RuleOfUngroundCloudpoints3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 35
-			if topic == masterConfig.TopicOfCameraImage &&
-				(len(masterConfig.RuleOfCameraImage1) > 0 ||
-					len(masterConfig.RuleOfCameraImage3) > 0) {
-
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *sensor_msgs.Image) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfCameraImage1) > 0 {
-								for _, f := range masterConfig.RuleOfCameraImage1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfCameraImage3) > 0 {
-								for _, f := range masterConfig.RuleOfCameraImage3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-
-			// 36 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfDataRead {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.Retrieval) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfDataRead1) > 0 {
-								for _, f := range masterConfig.RuleOfDataRead1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfDataRead3) > 0 {
-								for _, f := range masterConfig.RuleOfDataRead3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-						// 更新共享变量
-						numCountDataReadOfDataRead++
-						if numCountDataReadOfDataRead == 10 {
-							egoSteeringRealOfDataRead = append(egoSteeringRealOfDataRead, data.ActStrWhAng)
-							egoThrottleRealOfDataRead = append(egoThrottleRealOfDataRead, data.AccPed2)
-							numCountDataReadOfDataRead = 0
-						}
-						GearPosSlice = append(GearPosSlice, data.GearPos)
-						shareVars.Store("NumCountDataReadOfDataRead", numCountDataReadOfDataRead)
-						shareVars.Store("EgoSteeringRealOfDataRead", egoSteeringRealOfDataRead)
-						shareVars.Store("EgoThrottleRealOfDataRead", egoThrottleRealOfDataRead)
-						shareVars.Store("ActStrWhAngOfDataRead", data.ActStrWhAng)
-						shareVars.Store("GearPosSlice", GearPosSlice)
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 37
-			if topic == masterConfig.TopicOfPjiGps &&
-				(len(masterConfig.RuleOfPjiGps1) > 0 ||
-					len(masterConfig.RuleOfPjiGps3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfPjiGps1) > 0 {
-								for _, f := range masterConfig.RuleOfPjiGps1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfPjiGps3) > 0 {
-								for _, f := range masterConfig.RuleOfPjiGps3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 38
-			if topic == masterConfig.TopicOfFaultInfo &&
-				(len(masterConfig.RuleOfFaultInfo1) > 0 ||
-					len(masterConfig.RuleOfFaultInfo3) > 0) {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.FaultVec) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfFaultInfo1) > 0 {
-								for _, f := range masterConfig.RuleOfFaultInfo1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										for _, infoVec := range data.InfoVec {
-											c_log.GlobalLogger.Info("接收到故障码：", infoVec.ErrorCode)
-										}
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfFaultInfo3) > 0 {
-								for _, f := range masterConfig.RuleOfFaultInfo3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										for _, infoVec := range data.InfoVec {
-											c_log.GlobalLogger.Info("接收到故障码：", infoVec.ErrorCode)
-										}
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 39 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfPjVehicleFdbPub {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *pjisuv_msgs.VehicleFdb) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfPjVehicleFdbPub1) > 0 {
-								for _, f := range masterConfig.RuleOfPjVehicleFdbPub1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfPjVehicleFdbPub3) > 0 {
-								for _, f := range masterConfig.RuleOfPjVehicleFdbPub3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-						// 更新共享变量
-						shareVars.Store("AutomodeOfPjVehicleFdbPub", data.Automode)
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			// 40 有共享变量的订阅者必须被创建
-			if topic == masterConfig.TopicOfEndPointMessage {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *geometry_msgs.Point) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
-							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
-							faultLabel := ""
-							if len(masterConfig.RuleOfEndPointMessage1) > 0 {
-								for _, f := range masterConfig.RuleOfEndPointMessage1 {
-									faultLabel = f(data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-							if len(masterConfig.RuleOfEndPointMessage3) > 0 {
-								for _, f := range masterConfig.RuleOfEndPointMessage3 {
-									faultLabel = f(shareVars, data)
-									if faultLabel != "" {
-										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-										subscribersTimes[i] = time.Now()
-										goto TriggerSuccess
-									}
-								}
-							}
-						TriggerSuccess:
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-
-						// 更新共享变量
-						shareVars.Store("EndPointX", data.X)
-						shareVars.Store("EndPointY", data.Y)
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			if err != nil {
-				c_log.GlobalLogger.Infof("创建订阅者报错，可能由于节点未启动，再次尝试【%v】", err)
-				time.Sleep(time.Duration(2) * time.Second)
-				continue
-			} else {
-				if create {
-					c_log.GlobalLogger.Infof("创建订阅者订阅话题【%v】", topic)
-				}
-				break
-			}
-		}
-
-	}
-	c_log.GlobalLogger.Infof("全部订阅者创建完成。")
-	select {
-	case signal := <-service.ChannelKillWindowProducer:
-		if signal == 1 {
-			commonConfig.RosNode.Close()
-			service.AddKillTimes("3")
-			return
-		}
-	}
-}
-
-func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *commonEntity.TimeWindow) {
-	var taskBeforeTime, taskAfterTime, taskMaxTime int
-	{
-		if commonConfig.PlatformConfig.TaskBeforeTime == 0 {
-			taskBeforeTime = 5
-		} else {
-			taskBeforeTime = commonConfig.PlatformConfig.TaskBeforeTime
-		}
-		if commonConfig.PlatformConfig.TaskAfterTime == 0 {
-			taskAfterTime = 4
-		} else {
-			taskAfterTime = commonConfig.PlatformConfig.TaskAfterTime
-		}
-		if commonConfig.PlatformConfig.TaskMaxTime == 0 {
-			taskMaxTime = 60
-		} else {
-			taskMaxTime = commonConfig.PlatformConfig.TaskMaxTime
-		}
-	}
-	saveTimeWindowMutex.Lock()
-	defer saveTimeWindowMutex.Unlock()
-	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
-	if lastTimeWindow == nil || util.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) { // 如果是不在旧故障窗口内，添加一个新窗口
-		exceptBegin := util.TimeCustomChange(faultHappenTime, -taskBeforeTime)
-		finalTimeWindowBegin := ""
-		if util.TimeCustom1LessEqualThanTimeCustom2(exceptBegin, latestTimeWindowEnd) { // 窗口最早时间不能早于上一个窗口结束时间
-			finalTimeWindowBegin = latestTimeWindowEnd
-		} else {
-			finalTimeWindowBegin = exceptBegin
-		}
-		latestTimeWindowEnd = util.TimeCustomChange(faultHappenTime, taskAfterTime)
-		newTimeWindow := commonEntity.TimeWindow{
-			FaultTime:       faultHappenTime,
-			TimeWindowBegin: finalTimeWindowBegin,
-			TimeWindowEnd:   latestTimeWindowEnd,
-			Length:          util.CalculateDifferenceOfTimeCustom(finalTimeWindowBegin, latestTimeWindowEnd),
-			Labels:          []string{faultLabel},
-			MasterTopics:    masterTopics,
-			SlaveTopics:     slaveTopics,
-		}
-		c_log.GlobalLogger.Infof("不在旧故障窗口内，向生产者队列添加一个新窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", newTimeWindow.Labels, newTimeWindow.FaultTime, newTimeWindow.Length)
-
-		commonEntity.AddTimeWindowToTimeWindowProducerQueue(newTimeWindow)
-	} else { // 如果在旧故障窗口内
-		commonEntity.TimeWindowProducerQueueMutex.RLock()
-		defer commonEntity.TimeWindowProducerQueueMutex.RUnlock()
-		// 更新故障窗口end时间
-		expectEnd := util.TimeCustomChange(faultHappenTime, taskAfterTime) // 窗口期望关闭时间是触发时间加上后置时间
-		expectLength := util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-		if expectLength < taskMaxTime {
-			latestTimeWindowEnd = expectEnd
-			lastTimeWindow.TimeWindowEnd = latestTimeWindowEnd
-			lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, lastTimeWindow.TimeWindowEnd)
-		}
-		// 更新label
-		labels := lastTimeWindow.Labels
-		lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
-		// 更新 topic
-		sourceMasterTopics := lastTimeWindow.MasterTopics
-		lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
-		sourceSlaveTopics := lastTimeWindow.SlaveTopics
-		lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
-		c_log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", lastTimeWindow.Labels, lastTimeWindow.FaultTime, lastTimeWindow.Length)
-	}
-}
-
-func getTopicsOfNode(faultLabel string) (masterTopics []string, slaveTopics []string) {
-	// 获取所有需要采集的topic
-	var faultCodeTopics []string
-	for _, code := range commonConfig.CloudConfig.Triggers {
-		if code.Label == faultLabel {
-			faultCodeTopics = code.Topics
-		}
-	}
-	// 根据不同节点采集的topic进行分配采集
-	for _, acceptTopic := range faultCodeTopics {
-		for _, host := range commonConfig.CloudConfig.Hosts {
-			for _, topic := range host.Topics {
-				if host.Name == commonConfig.CloudConfig.Hosts[0].Name && acceptTopic == topic {
-					masterTopics = append(masterTopics, acceptTopic)
-				}
-				if host.Name == commonConfig.CloudConfig.Hosts[1].Name && acceptTopic == topic {
-					slaveTopics = append(slaveTopics, acceptTopic)
-				}
-			}
-		}
-	}
-	return masterTopics, slaveTopics
-}
-func isPointInPolygon(p Point, vertices []Point) bool {
-	intersections := 0
-	for i := 0; i < len(vertices); i++ {
-		j := (i + 1) % len(vertices)
-		if rayIntersectsSegment(p, vertices[i], vertices[j]) {
-			intersections++
-		}
-	}
-	return !(intersections%2 == 1)
-}
-
-func rayIntersectsSegment(p, p1, p2 Point) bool {
-	if p1.y > p2.y {
-		p1, p2 = p2, p1
-	}
-	if p.y == p1.y || p.y == p2.y {
-		p.y += 0.0001
-	}
-
-	if p.y < p1.y || p.y > p2.y {
-		return false
-	}
-
-	if p.x > max(p1.x, p2.x) {
-		return false
-	}
-
-	if p.x < min(p1.x, p2.x) {
-		return true
-	}
-
-	blueSlope := (p.y-p1.y)*(p2.x-p1.x)/(p2.y-p1.y) + p1.x
-	return p.x < blueSlope
-}
-
-func min(a, b float64) float64 {
-	if a < b {
-		return a
-	}
-	return b
-}
-
-func max(a, b float64) float64 {
-	if a > b {
-		return a
-	}
-	return b
-}
-
-// 判断Ego是否在交叉口，在的话返回true
-func IfEnter(pointlist []Location, radius float64, lat, lon float64) bool {
-	// 判断是否进入点列表中的区域
-	point1 := Location{Latitude: lat, Longitude: lon}
-	for _, point := range pointlist {
-		d := distance(point1, point)
-		if d <= radius {
-			return true
-		}
-	}
-	return false
-}
-
-// 计算两点之间的距离（米）
-func distance(point1, point2 Location) float64 {
-	// 经纬度转弧度
-	lat1 := point1.Latitude * math.Pi / 180
-	lon1 := point1.Longitude * math.Pi / 180
-	lat2 := point2.Latitude * math.Pi / 180
-	lon2 := point2.Longitude * math.Pi / 180
-
-	// 计算距离
-	dlon := lon2 - lon1
-	dlat := lat2 - lat1
-	a := math.Sin(dlat/2)*math.Sin(dlat/2) + math.Sin(dlon/2)*math.Sin(dlon/2)*math.Cos(lat1)*math.Cos(lat2)
-	c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
-	d := 6371000 * c
-	return d
-}

aarch64/pjisuv/remove.sh

@@ -1,3 +0,0 @@
-#!/bin/bash
-
-rm -rf ./*.log ./log/* ./timeToLabel.json ./data/* ./copy /*

aarch64/pjisuv/slave/main.go

@@ -1,55 +0,0 @@
-package main
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
-	slaveConfig "cicv-data-closedloop/aarch64/pjisuv/slave/package/config"
-	slaveService "cicv-data-closedloop/aarch64/pjisuv/slave/package/service"
-	"cicv-data-closedloop/common/config/c_log"
-)
-
-// init 初始化函数
-func init() {
-	//runtime.GOMAXPROCS(1)
-	c_log.InitLog(commonConfig.LogDir, commonConfig.SlaveLogPrefix)
-	// 初始化本地配置文件（第1处配置，在本地文件）
-	commonConfig.InitLocalConfig()
-	// 初始化Oss连接信息
-	commonConfig.InitOssConfig()
-	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
-	commonConfig.InitCloudConfig()
-	if commonConfig.CloudConfig.RefreshCloudConfig {
-		go commonConfig.RefreshCloudConfig()
-	}
-	// 初始化数据闭环平台的配置（第3处配置，在数据闭环平台接口）
-	commonConfig.InitPlatformConfig()
-	// 初始化ros节点
-	commonConfig.InitRosConfig()
-	// 发送资源占用信息
-	go commonConfig.SendResourceUsage()
-	// 维护data目录缓存的包数量
-	go commonService.BagCacheClean()
-	// 磁盘占用过高时根据缓存策略处理copy目录
-	go commonService.DiskClean()
-	slaveConfig.InitTcpListener()
-	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[1].Ip)
-	// 等待重启，接收到重启信号，会把信号分发给以下channel
-	go commonService.WaitKillSelf()
-}
-
-// main 主函数
-func main() {
-
-	// 1 负责打包数据到data目录
-	go commonService.BagRecord(commonConfig.CloudConfig.Hosts[1].Name)
-	// 2 负责监控故障，并修改timeWindow
-	go slaveService.PrepareTimeWindowProducerQueue()
-	// 3
-	go slaveService.RunTimeWindowProducerQueue()
-	// 4 排队运行时间窗口
-	go commonService.RunTimeWindowConsumerQueue()
-
-	// 阻塞主线程，等待其他线程执行。
-	select {}
-
-}

aarch64/pjisuv/slave/package/config/slave_tcp_config.go

@@ -1,22 +0,0 @@
-package config
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"net"
-	"os"
-)
-
-var TcpListener net.Listener
-
-func InitTcpListener() {
-	c_log.GlobalLogger.Info("从节点初始化TCP端口监听 - 开始。")
-	socket := config.CloudConfig.Hosts[1].Ip + ":" + config.CloudConfig.TcpPort
-	var err error
-	TcpListener, err = net.Listen("tcp", socket)
-	if err != nil {
-		c_log.GlobalLogger.Error("监听tcp端口失败:", err)
-		os.Exit(-1)
-	}
-	c_log.GlobalLogger.Info("从节点初始化TCP端口监听 - 成功：", socket)
-}

aarch64/pjisuv/slave/package/service/accept_window.go

@@ -1,62 +0,0 @@
-package service
-
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/service"
-	"cicv-data-closedloop/aarch64/pjisuv/slave/package/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/entity"
-	"context"
-	"encoding/json"
-	"sync"
-)
-
-func PrepareTimeWindowProducerQueue() {
-	var prepareTimeWindowProducerQueueMutex sync.Mutex
-	ctx, cancel := context.WithCancel(context.Background())
-	// 处理退出信号
-	go func() {
-		select {
-		case signal := <-service.ChannelKillWindowProducer:
-			if signal == 1 {
-				cancel()
-				config.TcpListener.Close()
-				service.AddKillTimes("3")
-				return
-			}
-		}
-	}()
-
-	for {
-		select {
-		case <-ctx.Done():
-			return
-		default:
-			conn, err := config.TcpListener.Accept()
-			if err != nil {
-				select {
-				case <-ctx.Done():
-					return
-				default:
-					c_log.GlobalLogger.Error("接受连接错误:", err)
-					continue
-				}
-			}
-			prepareTimeWindowProducerQueueMutex.Lock()
-			buffer := make([]byte, 2048)
-			total, err := conn.Read(buffer)
-			if err != nil {
-				c_log.GlobalLogger.Error("读取数据错误:", err)
-				continue
-			}
-			var timeWindow entity.TimeWindow
-			err = json.Unmarshal(buffer[:total], &timeWindow)
-			if err != nil {
-				c_log.GlobalLogger.Error("解析Json时出错:", err)
-				continue
-			}
-			entity.AddTimeWindowToTimeWindowProducerQueue(timeWindow)
-			prepareTimeWindowProducerQueueMutex.Unlock()
-		}
-
-	}
-}

aarch64/pjisuv/slave/package/service/move_bag.go

@@ -1,71 +0,0 @@
-package service
-
-import (
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/domain"
-	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/common/util"
-	"time"
-)
-
-// 将时间窗口内的包全部move出去，并等待当前时间窗口结束触发上传
-func RunTimeWindowProducerQueue() {
-	c_log.GlobalLogger.Info("生产者队列 - 启动")
-	for { // 必须串行排队处理
-		select {
-		case signal := <-commonService.ChannelKillMove:
-			c_log.GlobalLogger.Info("生产者队列接收到自杀信号", signal)
-			if signal == 1 {
-				commonService.ChannelKillMove <- 1
-				if len(entity.TimeWindowProducerQueue) == 0 {
-					commonService.AddKillTimes("4")
-					return
-				}
-			} else { //signal == 2
-				commonService.AddKillTimes("4")
-				return
-			}
-		default:
-		}
-		time.Sleep(time.Duration(1) * time.Second)
-		if len(entity.TimeWindowProducerQueue) > 0 {
-			currentTimeWindow := entity.TimeWindowProducerQueue[0]
-			// 将时间窗口移出准备队列
-			entity.RemoveHeadOfTimeWindowProducerQueue()
-			if currentTimeWindow.CanUpload == "yes" {
-				c_log.GlobalLogger.Info("从节点接收到可上传的timeWindow")
-			}
-			if currentTimeWindow.CanUpload == "no" {
-				c_log.GlobalLogger.Info("从节点接收到不可上传的timeWindow")
-			}
-
-			// 2 timeWindow不可以上传，则将data目录下的数据move到copy目录
-			bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagDataDir, ".bag")
-			for _, bag := range bags {
-				bagTime := util.GetBagTime(bag)
-				compare1 := util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin)
-				compare2 := util.TimeCustom1LessEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowEnd)
-				if compare1 && compare2 {
-					// 将bag包移动到Copy目录
-					domain.MoveFromDataToCopy(currentTimeWindow.FaultTime, commonConfig.CloudConfig.BagDataDir, bag, commonConfig.CloudConfig.BagCopyDir)
-				} else {
-					if util.TimeCustom1GreaterEqualThanTimeCustom2(bagTime, currentTimeWindow.TimeWindowBegin) {
-						// 必须已经生成了窗口之后的包才算窗口结束了
-						break
-					}
-				}
-			}
-			// 判断是否可上传
-			if currentTimeWindow.CanUpload == "yes" {
-				// 1 timeWindow可以上传
-				c_log.GlobalLogger.Info("timeWindow可以上传：", currentTimeWindow)
-				// 补充bag包
-				//domain.SupplyCopyBags(commonConfig.CloudConfig.BagDataDir, commonConfig.CloudConfig.BagCopyDir, currentTimeWindow)
-				// 将时间窗口加入运行队列
-				entity.AddTimeWindowToTimeWindowConsumerQueue(currentTimeWindow)
-			}
-		}
-	}
-}

aarch64/pjisuv/start-soc1.sh

@@ -1,2 +0,0 @@
-#!/bin/bash
-chmod 777 /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe & nohup /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe > /mnt/media/sda1/cicv-data-closedloop/log/master.out 2>&1 &

aarch64/pjisuv/start-soc2.sh

@@ -1,2 +0,0 @@
-#!/bin/bash
-chmod 777 /mnt/media/sda1/cicv-data-closedloop/pjisuv-slave.exe & nohup /mnt/media/sda1/cicv-data-closedloop/pjisuv-slave.exe > /mnt/media/sda1/cicv-data-closedloop/log/pjisuv-slave.out 2>&1 &

aarch64/pjisuv/多功能车-cloud-config.yaml

@@ -1,175 +0,0 @@
----
-
-refresh-cloud-config: false
-compress-bag: false
-clean-before-start: false
-monitor:
-  url: http://36.110.106.142:12341/web_server/monitor/insert
-platform:
-  url-device-auth: http://1.202.169.139:8081/device/auth
-  url-task-poll: http://1.202.169.139:8081/device/task/poll
-  url-task: http://1.202.169.139:8081/device/task
-full-collect: true
-bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
-config-refresh-interval: 60
-disk:
-  name: /dev/vdb # 磁盘名称
-  used: 900000000000 # 磁盘占用阈值，单位bytes
-  path:
-    - /mnt/media/sda1/cicv-data-closedloop
-bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
-bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
-time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
-triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-tcp-port: 12340
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.102:11311
-  nodes:
-    - /camera_output
-    - /ins
-    - /lidar_pretreatment
-    - /sensorfusion
-    - /control
-
-# /camera_image,/cicv_amr_trajectory,/pj_control_pub,/data_read,/tftrafficlight,/cicv_amr_trajectory,/trajectory_display,/reference_display,/reference_trajectory,/tprouteplan,/map_polygon,/vehicle_info,/target_line,/parking_line,/station_status,/pj_control_pub,/pj_control_debug_pub,/tar_traj_pub,/park_task,/parking_line,/map_display,/v2x_planner,/end_point_message,/heartbeat_info,/fault_info,/planning_fault_info,/nodefault_info,/points_concat,/tpperception,/cicv_location,/tpperception,/pull_over,/pj_vehicle_fdb_pub,/pre_line,/target_line,/amr_pose,/destination_pose,/lidar_roi,/obstacle_display,/target_point_pub,/fusion/traffic_light,/roi/polygon,/tpperception/vis
-hosts:
-  - name: node1
-    ip: 192.168.1.102
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
-        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
-        - "USER=root"
-        - "ROS_OS_OVERRIDE=openembedded"
-        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
-        - "HOME=/home/root"
-        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
-        - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
-        - "ROS_VERSION=1"
-        - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.102"
-        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
-        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
-        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
-        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
-        - "ROS_DISTRO=melodic"
-    topics:
-      - /camera_image # /camera_output
-      - /cicv_amr_trajectory
-      - /pj_control_pub # /control
-      - /data_read
-      - /tftrafficlight
-      - /cicv_amr_trajectory
-      - /trajectory_display
-      - /reference_display
-      - /reference_trajectory
-      - /tprouteplan
-      - /map_polygon
-      - /vehicle_info
-      - /target_line
-      - /parking_line
-      - /station_status
-      - /pj_control_pub
-      - /pj_control_debug_pub
-      - /tar_traj_pub
-      - /park_task
-      - /parking_line
-      - /map_display
-      - /v2x_planner
-      - /end_point_message
-      - /heartbeat_info
-      - /fault_info
-      - /planning_fault_info
-      - /nodefault_info
-  - name: node2
-    ip: 192.168.1.103
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
-        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
-        - "USER=root"
-        - "ROS_OS_OVERRIDE=openembedded"
-        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
-        - "HOME=/home/root"
-        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
-        - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
-        - "ROS_VERSION=1"
-        - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.103"
-        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
-        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
-        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
-        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
-        - "ROS_DISTRO=melodic"
-    topics:
-      - /points_concat  # /lidar_pretreatment
-      - /tpperception # /sensorfusion
-      - /cicv_location  # /ins
-      - /tpperception
-      - /pull_over
-      - /pj_vehicle_fdb_pub
-      - /pre_line
-      - /target_line
-      - /amr_pose
-      - /destination_pose
-      - /lidar_roi
-      - /obstacle_display
-      - /target_point_pub
-      - /fusion/traffic_light
-      - /roi/polygon
-      - /tpperception/vis
-triggers:
-  - label: rapidaccel
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: brake
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: EmergencyStop
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: AutoDLimit
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: lanechange
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: brakefault
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: takeover
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image
-  - label: TTC
-    topics:
-      - /tpperception
-      - /points_concat
-      - /cicv_location
-      - /camera_image

aarch64/pjisuv/多功能车-soc1-local-config.yaml

@@ -1,22 +0,0 @@
-# 是否联通互联网
-internet: true
-# 节点名称和IP
-node:
-  name: node1
-  ip: 192.168.1.102
-# 数据闭环平台参数
-equipment-no: pjisuv-012
-secret-key: wdf47xgggqxmnko2
-# 获取oss连接信息的接口url
-url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
-# 金龙车数据前缀
-oss-base-prefix: pjisuv/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /mnt/media/sda1/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/mnt/media/sda1/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-soc1.sh"

aarch64/pjisuv/多功能车-soc2-local-config.yaml

@@ -1,22 +0,0 @@
-# 是否联通互联网
-internet: true
-# 节点名称和IP
-node:
-  name: node2
-  ip: 192.168.1.103
-# 数据闭环平台参数
-equipment-no: pjisuv-012
-secret-key: wdf47xgggqxmnko2
-# 获取oss连接信息的接口url
-url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
-# 金龙车数据前缀
-oss-base-prefix: pjisuv/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /mnt/media/sda1/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/mnt/media/sda1/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-soc2.sh"

aarch64/pjisuv/金龙中巴3号-soc1-local-config.yaml

@@ -1,22 +0,0 @@
-# 是否联通互联网
-internet: false
-# 节点名称和IP
-node:
-  name: node1
-  ip: 192.168.1.104
-# 数据闭环平台参数
-equipment-no: kinglong-003
-secret-key: ri6uhgae
-# 获取oss连接信息的接口url
-url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
-# 金龙车数据前缀
-oss-base-prefix: kinglong/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /mnt/media/sda1/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/mnt/media/sda1/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-soc1.sh"

aarch64/pjisuv/金龙车-cloud-config.yaml

@@ -1,130 +0,0 @@
----
-
-refresh-cloud-config: false
-compress-bag: false
-clean-before-start: false
-monitor:
-  url: http://36.110.106.142:12341/web_server/monitor/insert
-platform:
-  url-device-auth: http://1.202.169.139:8081/device/auth
-  url-task-poll: http://1.202.169.139:8081/device/task/poll
-  url-task: http://1.202.169.139:8081/device/task
-full-collect: true
-bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
-config-refresh-interval: 60
-disk:
-  name: /dev/vdb # 磁盘名称
-  used: 900000000000 # 磁盘占用阈值，单位bytes
-  path:
-    - /mnt/media/sda1/cicv-data-closedloop
-bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
-bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
-time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
-triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-tcp-port: 12340
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /ins # 定位
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/noetic/bin/rosbag"
-      envs:
-        - "SHELL=/bin/bash"
-        - "ROS_VERSION=1"
-        - "SUDO_GID=1000"
-        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
-        - "ROS_PYTHON_VERSION=3"
-        - "SUDO_COMMAND=/usr/bin/su"
-        - "SUDO_USER=pji"
-        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
-        - "ROSLISP_PACKAGE_DIRECTORIES="
-        - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
-        - "LOGNAME=root"
-        - "ROS_IP=192.168.1.104"
-        - "HOME=/root"
-        - "LANG=en_US.UTF-8"
-        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
-        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
-        - "LESSCLOSE=/usr/bin/lesspipe %s %s"
-        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
-        - "USER=root"
-        - "LD_LIBARAY_PATH=/usr/local/lib:"
-        - "ROS_MASTER_URI=http://192.168.1.104:11311"
-        - "ROS_HOSTNAME=192.168.1.104"
-        - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
-        - "PATH=/usr/local/cuda-11.4/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
-        - "ROS_ROOT=/opt/ros/noetic/share/ros"
-        - "ROS_DISTRO=noetic"
-        - "_=/usr/bin/env"
-    topics:
-      - /fault_info
-      - /cam_3D # 感知
-      - /car_wheel
-      - /ch64w/rear
-      - /ch64w_l/lslidar_point_cloud
-      - /ch64w_q/lslidar_point_cloud
-      - /ch64w_r/lslidar_point_cloud
-      - /cicv/lidarfusionmovingobject
-      - /cicv_location
-      - /f_radar_objects
-      - /fusion/vis/box
-      - /fusion/vis/camera
-      - /fusion/vis/camera_text
-      - /fusion/vis/velocity
-      - /lidar_objects_cluster
-      - /lidar_objects_deeplearning
-      - /lidar_objects_fusion
-      - /lslidar_point_cloud
-      - /map_polygon
-      - /roi/polygon/rosout
-      - /cicv_amr_trajectory # 规划控制
-      - /trajectory_display
-      - /reference_trajectory
-      - /tpperception
-      - /tprouteplan
-      - /jinglong_control_pub
-      - /vehicle_info
-      - /tftrafficlight
-      - /DestinationLocationInfo
-      - /end_point_message
-      - /amr_pose
-      - /map_display
-      - /obstacle_display
-      - /reference_display
-      - /lidar_roi
-  - name: node2
-    ip: 192.168.1.105
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
-        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
-        - "USER=root"
-        - "ROS_OS_OVERRIDE=openembedded"
-        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
-        - "HOME=/home/root"
-        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
-        - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
-        - "ROS_VERSION=1"
-        - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.103"
-        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
-        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
-        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
-        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
-        - "ROS_DISTRO=melodic"
-    topics:
-      - ""
-      - ""
-triggers:
-  - label: ""
-    topics:
-      - ""
-      - ""