commit

README.md

@@ -3,6 +3,14 @@
 1.21.6
 
 # 编译
+## 一、进入容器
+docker exec -it aarch64ubuntu18 /bin/bash
+## 二、拉取代码
+cd /root/cicv-data-closedloop
+git pull
+## 三、编译
+sh build.sh
+## 四、宿主机复制
 cd /root/mlx/
 docker cp 23e9164d44d7:/root/cicv-data-closedloop ./
 

kinglong/control/main/control.go

@@ -1,6 +1,7 @@
 package main
 
 import (
+	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/kinglong/common/cfg"
 	"cicv-data-closedloop/kinglong/common/log"
 	commonService "cicv-data-closedloop/kinglong/common/svc"
@@ -49,11 +50,15 @@ func main() {
 			var slaveArgs *commonService.KillSignal
 			if status == "CHANGE" {
 				masterArgs = &commonService.KillSignal{NodeName: "master", DropUploadData: cfg.PlatformConfig.DropUploadData, Restart: true}
+				c_log.GlobalLogger.Info("更新任务，发送rpc重启信号到主节点：", masterArgs)
 				slaveArgs = &commonService.KillSignal{NodeName: "slave", DropUploadData: cfg.PlatformConfig.DropUploadData, Restart: true}
+				c_log.GlobalLogger.Info("更新任务，发送rpc重启信号到从节点：", slaveArgs)
 			}
 			if status == "NONE" {
 				masterArgs = &commonService.KillSignal{NodeName: "master", DropUploadData: cfg.PlatformConfig.DropUploadData, Restart: false}
+				c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号到主节点：", masterArgs)
 				slaveArgs = &commonService.KillSignal{NodeName: "slave", DropUploadData: cfg.PlatformConfig.DropUploadData, Restart: false}
+				c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号到从节点：", slaveArgs)
 			}
 
 			KillRpcClientMaster, err := rpc.Dial("tcp", commonConfig.CloudConfig.Hosts[0].Ip+":"+commonConfig.CloudConfig.RpcPort)

pji/common/cfg/cloud-config.yaml

@@ -11,7 +11,6 @@ bag-data-dir: /root/rosbag-handle/data/
 bag-copy-dir: /root/rosbag-handle/copy/
 triggers-dir: /root/rosbag-handle/triggers/
 time-window-send-gap: 6
-tcp-port: 12340
 rpc-port: 12341
 ros:
   master-address: 192.168.1.104:11311

pji/common/cfg/cloud_cfg.go

@@ -34,7 +34,6 @@ type cloudConfig struct {
 	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                 []Host    `yaml:"hosts"`

pji/common/util/parse_json.go

@@ -1,33 +0,0 @@
-package util
-
-import (
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/pji/common/ent"
-	"encoding/json"
-)
-
-func JsonStringToMap(source string) (map[string]interface{}, error) {
-	var dataMap map[string]interface{}
-	err := json.Unmarshal([]byte(source), &dataMap)
-	if err != nil {
-		return nil, err
-	} else {
-		return dataMap, nil
-	}
-}
-
-func MapToJsonString(inputMap map[string]interface{}) (string, error) {
-	jsonBytes, err := json.Marshal(inputMap)
-	if err != nil {
-		return "", err
-	}
-	return string(jsonBytes), nil
-}
-
-func TimeWindowToJson(msg ent.TimeWindow) string {
-	jsonData, err := json.Marshal(msg)
-	if err != nil {
-		c_log.GlobalLogger.Error("timeWindow", msg, "转换为json时出错:", err)
-	}
-	return string(jsonData)
-}

pji/common/util/util_json.go

@@ -0,0 +1,13 @@
+package util
+
+import (
+	"encoding/json"
+)
+
+func MapToJsonString(inputMap map[string]interface{}) (string, error) {
+	jsonBytes, err := json.Marshal(inputMap)
+	if err != nil {
+		return "", err
+	}
+	return string(jsonBytes), nil
+}

pji/control/main/control.go

@@ -2,7 +2,6 @@ package main
 
 import (
 	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/kinglong/common/cfg"
 	commonConfig "cicv-data-closedloop/pji/common/cfg"
 	commonService "cicv-data-closedloop/pji/common/svc"
 	controlConfig "cicv-data-closedloop/pji/control/package/cfg"
@@ -48,15 +47,15 @@ func main() {
 			// 3 发送rpc信号杀死采集程序
 			var masterArgs *commonService.KillSignal
 			if status == "CHANGE" {
-				c_log.GlobalLogger.Info("更新任务，发送rpc重启信号。")
 				masterArgs = &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：", masterArgs)
 			}
 			if status == "NONE" {
-				c_log.GlobalLogger.Info("杀死任务，发送rpc结束信号。")
 				masterArgs = &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：", masterArgs)
 			}
 
-			KillRpcClient, err := rpc.Dial("tcp", cfg.CloudConfig.Hosts[0].Ip+":"+cfg.CloudConfig.RpcPort)
+			KillRpcClient, err := rpc.Dial("tcp", commonConfig.CloudConfig.Hosts[0].Ip+":"+commonConfig.CloudConfig.RpcPort)
 			if err != nil {
 				c_log.GlobalLogger.Error("创建rpc连接master失败：", err)
 				KillRpcClient.Close()