commit

aarch64/pjisuv/common/service/rosbag_record.go

@@ -5,7 +5,6 @@ import (
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/util"
 	"github.com/bluenviron/goroslib/v2"
-	"os"
 	"time"
 )
 
@@ -37,8 +36,8 @@ func BagRecord(nodeName string) {
 		// 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)
+		//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 {

aarch64/pjisuv/master/service/for_competition.go

@@ -9,25 +9,22 @@ import (
 	"time"
 )
 
-/*
-实车比赛临时使用
-*/
-
 var (
-	timeInterval = "5"
-	dir          = "/home/root/competition/"
+	dir         = "/home/root/competition/"
+	Log         = c_log.GlobalLogger
+	commandArgs = []string{"record", "--split", "--duration=5", "/pji_gps", "/data_read"}
 )
 
+// ForCompetition todo 实车比赛临时使用
+// history record命令无法录制（）
 func ForCompetition() {
-	c_log.GlobalLogger.Info("开始采集实车算法比赛全量数据。")
+	Log.Info("开始采集实车算法比赛全量数据。")
 	util.CreateDir(dir)
 	// 1 打包
-	var commandArgs = []string{"record", "--split", "--duration=" + timeInterval, "/pji_gps", "/data_read"}
-
-	c_log.GlobalLogger.Info("采集实车算法比赛全量数据的环境变量为：", commonConfig.RosbagEnvs)
+	Log.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)
+		Log.Error("程序崩溃。执行record命令", command, "出错：", err)
 		os.Exit(-1)
 	}
 	// 2 扫描目录文件
@@ -35,12 +32,12 @@ func ForCompetition() {
 		time.Sleep(time.Duration(2) * time.Second)
 		files, _ := util.ListAbsolutePathAndSort(dir)
 		if len(files) >= 2 {
-			c_log.GlobalLogger.Info("扫描试车比赛数据采集目录，", files)
+			Log.Info("扫描试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.Info("上传实车算法比赛全量数据包", files[i])
+				Log.Info("上传实车算法比赛全量数据包", files[i])
 				bagSlice := strings.Split(files[0], "/")
 				commonConfig.OssMutex.Lock()
 				_ = commonConfig.OssBucket.PutObjectFromFile("competition/"+bagSlice[len(bagSlice)-1], files[0])