commit

aarch64/pjisuv/master/config/trigger_init.go

@@ -58,7 +58,7 @@ func InitTriggerConfig() {
 		}
 	} else {
 		errorCodeSoPath := "/mnt/media/sda1/cicv-data-closedloop/ErrorCode.so"
-		c_log.GlobalLogger.Error("无法连接互联网，提前准备触发器插件文件：", errorCodeSoPath)
+		c_log.GlobalLogger.Info("无法连接互联网，提前准备触发器插件文件：", errorCodeSoPath)
 		triggerLocalPathsMapTriggerId[errorCodeSoPath] = "ErrorCodeId"
 	}
 
@@ -539,7 +539,7 @@ func InitTriggerConfig() {
 		LabelMapTriggerId.Store(labelString, triggerId)
 		success++
 	}
-	c_log.GlobalLogger.Info("一共应加载", len(config.PlatformConfig.TaskTriggers), "个触发器，实际加载 ", success, " 个触发器。")
+	c_log.GlobalLogger.Info("一共应加载", len(triggerLocalPathsMapTriggerId), "个触发器，实际加载 ", success, " 个触发器。")
 }
 
 func log(triggerLocalPath string) {

aarch64/pjisuv/master/main.go

@@ -35,8 +35,8 @@ func init() {
 	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
 	// 等待重启，接收到重启信号，会把信号分发给以下channel
 	go commonService.WaitKillSelf()
-	// 定时上传故障码日志
-	masterService.ForFaultCodeLog()
+	//// 定时上传故障码日志
+	//masterService.ForFaultCodeLog()
 }
 
 func main() {

aarch64/pjisuv/start-soc1.sh

@@ -1,2 +1,2 @@
 #!/bin/bash
-chmod 777 /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe & nohup /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe > /mnt/media/sda1/cicv-data-closedloop/log/pjisuv-master.out 2>&1 &
+chmod 777 /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe & nohup /mnt/media/sda1/cicv-data-closedloop/pjisuv-master.exe > /mnt/media/sda1/cicv-data-closedloop/log/master.out 2>&1 &

aarch64/pjisuv/金龙车-cloud-config.yaml

@@ -23,13 +23,13 @@ time-window-send-gap: 6
 tcp-port: 12340
 rpc-port: 12341
 ros:
-  master-address: 192.168.1.102:11311
+  master-address: 192.168.1.104:11311
   nodes:
     - /ins # 定位
 
 hosts:
   - name: node1
-    ip: 192.168.1.102
+    ip: 192.168.1.104
     rosbag:
       path: "/opt/ros/melodic/bin/rosbag"
       envs:
@@ -86,7 +86,7 @@ hosts:
       - /reference_display
       - /lidar_roi
   - name: node2
-    ip: 192.168.1.103
+    ip: 192.168.1.105
     rosbag:
       path: "/opt/ros/melodic/bin/rosbag"
       envs:
@@ -108,6 +108,10 @@ hosts:
         - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
         - "ROS_DISTRO=melodic"
     topics:
+      - ""
+      - ""
 triggers:
   - label: ""
-    topics: ""
+    topics:
+      - ""
+      - ""

trigger/kinglong/fault_info/ErrorCode/main/ErrorCode.go

@@ -20,5 +20,10 @@ func Rule(data *kinglong_msgs.FaultVec) string {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
+	for _, infoVec := range data.InfoVec {
+		if infoVec.ErrorCode != 0 {
+			return Label()
+		}
+	}
 	return ""
 }