commit

deploy/build-rosbag_command.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# 在cicv-data-closedloop根目录执行命令
+go build -o ./deploy/exe/rosbag_command.exe ./tools/rosbag_command/main/main.go

tools/record/main/main.go

@@ -1,40 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-)
-
-func main() {
-	// 定义一个字符串切片来存储转换后的结果
-	envVars := []string{
-		"C_INCLUDE_PATH=/usr/include/drm:",
-		"USER=root",
-		"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
-		"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu",
-		"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
-		"SHLVL=1",
-		"HOME=/root",
-		"ROS_PYTHON_VERSION=2",
-		"PCMANFM_OUTLINE_MODE=on",
-		"CPLUS_INCLUDE_PATH=/usr/include/drm:",
-		"ROS_DISTRO=melodic",
-		"ROS_VERSION=1",
-		"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
-		"PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin",
-		"ROS_ROOT=/opt/ros/melodic/share/ros",
-		"ROSLISP_PACKAGE_DIRECTORIES=",
-		"ROS_MASTER_URI=http://192.168.1.104:11311",
-		"PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages",
-		"ROS_HOSTNAME=192.168.1.104",
-		"CMAKE_PREFIX_PATH=/opt/ros/melodic",
-	}
-	// 1 启动父命令
-	c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
-
-	cmd, _ := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
-	recordProcessPid := cmd.Process.Pid
-	recordSubProcessPid, _ := util.GetSubProcessPid(recordProcessPid)
-	c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)
-}

tools/rosbag_command/main/main.go

@@ -0,0 +1,69 @@
+package main
+
+import (
+	"cicv-data-closedloop/common/config/c_log"
+	"cicv-data-closedloop/common/util"
+	"errors"
+	"fmt"
+	"strings"
+	"time"
+)
+
+// 用于执行rosbag命令
+func main() {
+	//// 定义一个字符串切片来存储转换后的结果
+	//envVars := []string{
+	//	"C_INCLUDE_PATH=/usr/include/drm:",
+	//	"USER=root",
+	//	"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
+	//	"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu",
+	//	"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
+	//	"SHLVL=1",
+	//	"HOME=/root",
+	//	"ROS_PYTHON_VERSION=2",
+	//	"PCMANFM_OUTLINE_MODE=on",
+	//	"CPLUS_INCLUDE_PATH=/usr/include/drm:",
+	//	"ROS_DISTRO=melodic",
+	//	"ROS_VERSION=1",
+	//	"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
+	//	"PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin",
+	//	"ROS_ROOT=/opt/ros/melodic/share/ros",
+	//	"ROSLISP_PACKAGE_DIRECTORIES=",
+	//	"ROS_MASTER_URI=http://192.168.1.104:11311",
+	//	"PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages",
+	//	"ROS_HOSTNAME=192.168.1.104",
+	//	"CMAKE_PREFIX_PATH=/opt/ros/melodic",
+	//}
+	//// 1 启动父命令
+	//c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
+	//
+	//cmd, _ := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
+	//recordProcessPid := cmd.Process.Pid
+	//recordSubProcessPid, _ := util.GetSubProcessPid(recordProcessPid)
+	//c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)
+
+	for {
+		time.Sleep(time.Duration(2) * time.Second)
+		snCode, err := getSnCode()
+		if err != nil {
+			c_log.GlobalLogger.Error("获取sn码失败：", err.Error())
+			continue
+		}
+		fmt.Println("SN码为:", snCode)
+		break
+	}
+}
+
+func getSnCode() (string, error) {
+	rosparamPath := "/opt/ros/melodic/bin/rosparam"
+	var command []string
+	command = append(command, "get")
+	command = append(command, "sn")
+	_, snOutput, err := util.ExecuteSync(rosparamPath, command...)
+	if err != nil {
+		return "", errors.New("执行获取sn码命令" + rosparamPath + util.ToString(command) + "出错：" + util.ToString(err))
+	}
+	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
+	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
+	return snCode, nil
+}