commit

aarch64/pjisuv/common/config/yaml/cloud-config.yaml

@@ -3,7 +3,7 @@ platform:
   url-device-auth: http://139.9.199.227:30991/device/auth
   url-task-poll: http://139.9.199.227:30991/device/task/poll
   url-task: http://139.9.199.227:30991/device/task
-full-collect: false
+full-collect: true
 bag-number: 120
 config-refresh-interval: 60
 disk-usage: 90
@@ -19,25 +19,24 @@ ros:
   nodes:
     - /camera_output
     - /ins
-    - /planner_s4
-    - /cam_node
-    - /map_engine_node
-    - /line2polygon
     - /lidar_pretreatment
     - /sensorfusion
+    - /planner_s4
+    - /control
 hosts:
   - name: node1
     ip: 192.168.1.102
     topics:
       - /camera_image # /camera_output
-      - /cicv_location  # /ins
+      - /cicv_amr_trajectory #  /planner_s4
-      - /heartbeat_info # /planner_s4、/cam_node、/map_engine_node、/camera_output、/ins、/line2polygon
+      - /pj_control_pub # /control
-#      - /data_read
+  #      - /data_read
   - name: node2
     ip: 192.168.1.103
     topics:
       - /points_concat  # /lidar_pretreatment
       - /tpperception # /sensorfusion
+      - /cicv_location  # /ins
 triggers:
   - label: rapidaccel
     topics:

aarch64/pjisuv/common/util/send_tcp.go

@@ -1,16 +0,0 @@
-package util
-
-import (
-	"cicv-data-closedloop/kinglong/common/log"
-	"encoding/json"
-	"net"
-)
-
-func SendJsonByTcp(conn net.Conn, data string) {
-	if err := json.NewEncoder(conn).Encode(data); err != nil {
-		log.GlobalLogger.Error("发送tcp数据", data, "失败：", err)
-		return
-	} else {
-		log.GlobalLogger.Info("发送tcp数据", data, "成功：", err)
-	}
-}

aarch64/pjisuv/common/util/util_exec.go

@@ -1,34 +0,0 @@
-package util
-
-import (
-	"os/exec"
-)
-
-func Execute(name string, arg ...string) (*exec.Cmd, string, error) {
-	cmd := exec.Command(name, arg...)
-	combinedOutput, err := cmd.CombinedOutput()
-	if err != nil {
-		return nil, "", err
-	}
-	return cmd, string(combinedOutput), nil
-}
-
-func ExecuteWithPath(path string, name string, arg ...string) (*exec.Cmd, error) {
-	cmd := exec.Command(name, arg...)
-	cmd.Dir = path
-	err := cmd.Start()
-	if err != nil {
-		return nil, err
-	} else {
-		return cmd, nil
-	}
-}
-
-func KillProcessByPID(pid string) error {
-	cmd := exec.Command("kill", "-9", pid)
-	err := cmd.Run()
-	if err != nil {
-		return err
-	}
-	return nil
-}

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

@@ -135,6 +135,7 @@ func PrepareTimeWindowProducerQueue() {
 					faultHappenTime := util.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
+					c_log.GlobalLogger.Infof("TTC数据为：【velocityX】=%v，【velocityY】=%v", velocityX, velocityY)
 					for _, f := range masterConfig.RuleOfTpperception {
 						faultLabel = f(data, velocityX, velocityY, yaw)
 						if faultLabel != "" {

kinglong/common/util/send_tcp.go

@@ -1,16 +0,0 @@
-package util
-
-import (
-	"cicv-data-closedloop/kinglong/common/log"
-	"encoding/json"
-	"net"
-)
-
-func SendJsonByTcp(conn net.Conn, data string) {
-	if err := json.NewEncoder(conn).Encode(data); err != nil {
-		log.GlobalLogger.Error("发送tcp数据", data, "失败：", err)
-		return
-	} else {
-		log.GlobalLogger.Info("发送tcp数据", data, "成功：", err)
-	}
-}

reobag-record.sh

@@ -0,0 +1,10 @@
+rosbag record --split --duration=1 \
+/camera_image \
+/cicv_amr_trajectory \
+/pj_control_pub \
+/points_concat \
+/tpperception \
+/cicv_location
+
+
+rosbag record --split --duration=1 /camera_image

trigger/pjisuv/cicv_location/brake/main/brake.go

@@ -13,7 +13,7 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
-	if data.AccelX*9.8 < -2.5 {
+	if data.AccelX*9.8 < -4.0 {
 		return "brake"
 	} else {
 		return ""

trigger/pjisuv/tpperception/TTC/main/TTC.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 )
 
@@ -19,7 +20,8 @@ func Rule(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY floa
 			theta := DegreesToRadians(yaw)
 			vxrel := (float64(obj.Vxabs)-velocityX)*math.Cos(theta) + (float64(obj.Vyabs)-velocityY)*math.Sin(theta)
 			ttc := -((float64(obj.X) - 5.2) / (vxrel + 0.001))
-			if ttc >= 0 && ttc <= 3 {
+			fmt.Println("TTC值为：", ttc)
+			if ttc >= 0 && ttc <= 5 {
 				return "TTC"
 			}
 		}