commit

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

@@ -15,10 +15,8 @@ import (
 )
 
 var (
-	subscriber0Mutex sync.Mutex
 	subscriber1Mutex sync.Mutex
 	subscriber2Mutex sync.Mutex
-	subscriber3Mutex sync.Mutex
 	subscriber4Mutex sync.Mutex
 	m                sync.RWMutex
 	velocityX        float64
@@ -29,8 +27,7 @@ var (
 // PrepareTimeWindowProducerQueue 负责监听所有主题并修改时间窗口
 func PrepareTimeWindowProducerQueue() {
 	c_log.GlobalLogger.Info("订阅者 goroutine，启动。")
-	// 创建订阅者1订阅主题 cicv_location
-	c_log.GlobalLogger.Info("创建订阅者1订阅话题 ", masterConfig.TopicOfCicvLocation)
+	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfCicvLocation)
 	subscriber1, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
 		Node:  commonConfig.RosNode,
 		Topic: masterConfig.TopicOfCicvLocation,
@@ -48,8 +45,7 @@ func PrepareTimeWindowProducerQueue() {
 			}
 			// 判断是否是连续故障码
 			entity.Subscriber1TimeMutex.Lock()
-			gap := time.Since(entity.Subscriber1Time).Seconds()
-			if gap > 1 {
+			if time.Since(entity.Subscriber1Time).Seconds() > 1 {
 				subscriber1Mutex.Lock()
 				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
@@ -70,11 +66,10 @@ func PrepareTimeWindowProducerQueue() {
 		},
 	})
 	if err != nil {
-		c_log.GlobalLogger.Info("创建订阅者1发生故障：", err)
+		c_log.GlobalLogger.Info("创建订阅者发生故障：", err)
 		os.Exit(-1)
 	}
-	// 创建订阅者2订阅主题 tpperception
-	c_log.GlobalLogger.Info("创建订阅者2订阅话题 ", masterConfig.TopicOfTpperception)
+	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfTpperception)
 	subscriber2, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
 		Node:  commonConfig.RosNode,
 		Topic: masterConfig.TopicOfTpperception,
@@ -85,8 +80,7 @@ func PrepareTimeWindowProducerQueue() {
 			}
 			// 判断是否是连续故障码
 			entity.Subscriber2TimeMutex.Lock()
-			gap := time.Since(entity.Subscriber2Time).Seconds()
-			if gap > 1 {
+			if time.Since(entity.Subscriber2Time).Seconds() > 1 {
 				// 2 不是连续故障码
 				subscriber2Mutex.Lock()
 				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
@@ -107,11 +101,10 @@ func PrepareTimeWindowProducerQueue() {
 			entity.Subscriber2TimeMutex.Unlock()
 		}})
 	if err != nil {
-		c_log.GlobalLogger.Info("创建订阅者2发生故障：", err)
+		c_log.GlobalLogger.Info("创建订阅者发生故障：", err)
 		os.Exit(-1)
 	}
-	// 创建订阅者4订阅主题 data_read
-	c_log.GlobalLogger.Info("创建订阅者4订阅话题 ", masterConfig.TopicOfDataRead)
+	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfDataRead)
 	subscriber4, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
 		Node:  commonConfig.RosNode,
 		Topic: masterConfig.TopicOfDataRead,
@@ -122,8 +115,7 @@ func PrepareTimeWindowProducerQueue() {
 			}
 			// 判断是否是连续故障码
 			entity.Subscriber4TimeMutex.Lock()
-			gap := time.Since(entity.Subscriber4Time).Seconds()
-			if gap > 1 {
+			if time.Since(entity.Subscriber4Time).Seconds() > 1 {
 				subscriber4Mutex.Lock()
 				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
@@ -142,17 +134,15 @@ func PrepareTimeWindowProducerQueue() {
 		},
 	})
 	if err != nil {
-		c_log.GlobalLogger.Info("创建订阅者3发生故障：", err)
+		c_log.GlobalLogger.Info("创建订阅者发生故障：", err)
 		os.Exit(-1)
 	}
 	select {
 	case signal := <-service.ChannelKillWindowProducer:
 		if signal == 1 {
 			defer service.AddKillTimes("3")
-			//subscriber0.Close()
 			subscriber1.Close()
 			subscriber2.Close()
-			//subscriber3.Close()
 			subscriber4.Close()
 			commonConfig.RosNode.Close()
 			return