commit

aarch64/pji/common/config/c_cloud.go

@@ -51,6 +51,7 @@ type cloudConfig struct {
 	ConfigRefreshInterval int           `yaml:"config-refresh-interval"` // 配置刷新时间间隔
 	BagNumber             int           `yaml:"bag-number"`
 	TimeWindowSendGap     int           `yaml:"time-window-send-gap"` // 主节点向从节点发送窗口的最小时间间隔
+	MapBagPath            string        `yaml:"map-bag-path"`
 	BagDataDir            string        `yaml:"bag-data-dir"`
 	BagCopyDir            string        `yaml:"bag-copy-dir"`
 	TriggersDir           string        `yaml:"triggers-dir"`

aarch64/pji/common/config/yaml/pjibot-P1YNYD1M228000127-cloud-config.yaml

@@ -11,6 +11,7 @@ config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 19000000000 # 磁盘占用阈值，单位bytes
+map-bag-path: /root/cicv-data-closedloop/map.bag
 bag-data-dir: /root/cicv-data-closedloop/data/
 bag-copy-dir: /root/cicv-data-closedloop/copy/
 triggers-dir: /root/cicv-data-closedloop/triggers/

aarch64/pji/common/config/yaml/单摄像头-cloud-config.yaml

@@ -11,6 +11,7 @@ config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 20000000000 # 磁盘占用阈值，单位bytes
+map-bag-path: /root/cicv-data-closedloop/map.bag
 bag-data-dir: /root/cicv-data-closedloop/data/
 bag-copy-dir: /root/cicv-data-closedloop/copy/
 triggers-dir: /root/cicv-data-closedloop/triggers/

aarch64/pji/common/config/yaml/双摄像头-cloud-config.yaml

@@ -11,6 +11,7 @@ config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 20000000000 # 磁盘占用阈值，单位bytes
+map-bag-path: /root/cicv-data-closedloop/map.bag
 bag-data-dir: /root/cicv-data-closedloop/data/
 bag-copy-dir: /root/cicv-data-closedloop/copy/
 triggers-dir: /root/cicv-data-closedloop/triggers/

aarch64/pji/master/package/service/collect_map.go

@@ -10,12 +10,11 @@ import (
 func CollectMap() {
 
 	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
-	localMapBagPath := "/root/cicv-data-closedloop/map.bag"
 	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/map.bag"
 
 	var command []string
 	command = append(command, "record")
-	command = append(command, "-O "+localMapBagPath)
+	command = append(command, "-O "+config.CloudConfig.MapBagPath)
 	command = append(command, "-l 1")
 	_, err := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
 	if err != nil {
@@ -23,7 +22,7 @@ func CollectMap() {
 		os.Exit(-1)
 	}
 	config.OssMutex.Lock()
-	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, localMapBagPath)
+	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
 	config.OssMutex.Unlock()
 	if err != nil {
 		c_log.GlobalLogger.Error("程序异常退出。上传地图包", ossMapBagObjectKey, "->", ossMapBagObjectKey, "出错：", err)