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@@ -5,6 +5,7 @@ import (
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"fmt"
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"github.com/bluenviron/goroslib/v2"
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"github.com/bluenviron/goroslib/v2/pkg/msg"
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+ "sync"
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"time"
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)
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@@ -16,8 +17,10 @@ type HeartBeatInfo struct {
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}
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var lastTime time.Time
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+var mutex sync.Mutex
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func main() {
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+ lastTime = time.Now()
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// 1 启动 shell 脚本 dpi_start.sh
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_, s, err := util.ExecuteWithDirSync("/data", "sh", "dpi_start.sh")
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@@ -33,13 +36,18 @@ func main() {
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Node: rosNode,
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Topic: "/heartbeat_info",
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Callback: func(data *HeartBeatInfo) {
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+ fmt.Println("监听到数据：", data)
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+ mutex.Lock()
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lastTime = time.Now()
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+ mutex.Unlock()
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}})
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// 3 超过5秒没有接收到数据则执行 dpi_stop.sh 和 dpi_start.sh
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+
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for {
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time.Sleep(1 * time.Second)
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+ mutex.Lock()
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if time.Since(lastTime) > 5.00 {
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- fmt.Println("超过5秒没有监听到/heart_info数据，即将重启dpi。")
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+ fmt.Println("超过5秒没有监听到/heartbeat_info数据，即将重启dpi。")
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_, s, err = util.ExecuteWithDirSync("/data", "sh", "dpi_stop.sh")
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if err != nil {
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fmt.Println("执行停止命令报错，执行结果为：", s, "，错误信息为：", err)
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@@ -49,6 +57,7 @@ func main() {
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fmt.Println("执行启动命令报错，执行结果为：", s, "，错误信息为：", err)
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}
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}
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+ mutex.Unlock()
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}
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}
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