commit

aarch64/pji/master/package/config/master_trigger_cfg.go

@@ -4,6 +4,10 @@ import (
 	"cicv-data-closedloop/aarch64/pji/common/config"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/util"
+	"cicv-data-closedloop/pji_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 	"plugin"
 	"strconv"
@@ -11,9 +15,26 @@ import (
 )
 
 var (
+	LabelMapTriggerId = make(map[string]string)
+
+	// 1
+	TopicOfDiagnostics = "/diagnostics"
+	RuleOfDiagnostics  []func(data *diagnostic_msgs.DiagnosticArray) string
+	// 2
+	TopicOfImu = "/imu"
+	RuleOfImu  []func(data *sensor_msgs.Imu) string
+	// 3
+	TopicOfLocateInfo = "/locate_info"
+	RuleOfLocateInfo  []func(data *pji_msgs.LocateInfo) string
+	// 4
 	TopicOfObstacleDetection = "/obstacle_detection"
 	RuleOfObstacleDetection  []func(data *std_msgs.UInt8) string
-	LabelMapTriggerId        = make(map[string]string)
+	// 5
+	TopicOfOdom = "/odom"
+	RuleOfOdom  []func(data *nav_msgs.Odometry) string
+	// 6
+	TopicOfSysInfo = "/sys_info"
+	RuleOfSysInfo  []func(data *pji_msgs.SysInfo) string
 )
 
 func InitTriggerConfig() {
@@ -54,14 +75,50 @@ func InitTriggerConfig() {
 			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
 			continue
 		}
-		// 判断规则类型
-		if TopicOfObstacleDetection == topic2 {
+		// 判断topic
+		// todo 如果是未知的topic，可以添加一个循环，更新平台配置，同理金龙车和多功能车
+		if TopicOfDiagnostics == topic2 { // 1
+			f, ok := rule.(func(*diagnostic_msgs.DiagnosticArray) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *diagnostic_msgs.DiagnosticArray) string):", err)
+				continue
+			}
+			RuleOfDiagnostics = append(RuleOfDiagnostics, f)
+		} else if TopicOfImu == topic2 { // 2
+			f, ok := rule.(func(data *sensor_msgs.Imu) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.Imu) string):", err)
+				continue
+			}
+			RuleOfImu = append(RuleOfImu, f)
+		} else if TopicOfLocateInfo == topic2 { // 3
+			f, ok := rule.(func(data *pji_msgs.LocateInfo) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pji_msgs.LocateInfo) string):", err)
+				continue
+			}
+			RuleOfLocateInfo = append(RuleOfLocateInfo, f)
+		} else if TopicOfObstacleDetection == topic2 { // 4
 			f, ok := rule.(func(data *std_msgs.UInt8) string)
 			if ok != true {
 				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *std_msgs.UInt8) string):", err)
 				continue
 			}
 			RuleOfObstacleDetection = append(RuleOfObstacleDetection, f)
+		} else if TopicOfOdom == topic2 { // 5
+			f, ok := rule.(func(data *nav_msgs.Odometry) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Odometry) string):", err)
+				continue
+			}
+			RuleOfOdom = append(RuleOfOdom, f)
+		} else if TopicOfSysInfo == topic2 { // 6
+			f, ok := rule.(func(data *pji_msgs.SysInfo) string)
+			if ok != true {
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pji_msgs.SysInfo) string):", err)
+				continue
+			}
+			RuleOfSysInfo = append(RuleOfSysInfo, f)
 		} else {
 			c_log.GlobalLogger.Error("未知的topic：", topic2)
 			continue