commit

aarch64/pjisuv/master/package/config/master_trigger_config.go

@@ -4,7 +4,7 @@ import (
 	"cicv-data-closedloop/aarch64/pjisuv/common/config"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/kinglong_msgs"
+	"cicv-data-closedloop/pjisuv_msgs"
 	"plugin"
 	"strconv"
 	"strings"
@@ -16,11 +16,11 @@ var (
 	TopicOfTpperception  = "/tpperception"
 	TopicOfFaultInfo     = "/fault_info"
 	TopicOfDataRead      = "/data_read"
-	RuleOfNodefaultInfo  []func(data *kinglong_msgs.FaultInfo) string
-	RuleOfCicvLocation   []func(data *kinglong_msgs.PerceptionLocalization) string
-	RuleOfTpperception   []func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string
-	RuleOfFaultInfo      []func(data *kinglong_msgs.FaultVec) string
-	RuleOfDataRead       []func(data *kinglong_msgs.Retrieval) string
+	RuleOfNodefaultInfo  []func(data *pjisuv_msgs.FaultInfo) string
+	RuleOfCicvLocation   []func(data *pjisuv_msgs.PerceptionLocalization) string
+	RuleOfTpperception   []func(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string
+	RuleOfFaultInfo      []func(data *pjisuv_msgs.FaultVec) string
+	RuleOfDataRead       []func(data *pjisuv_msgs.Retrieval) string
 	LabelMapTriggerId    = make(map[string]string)
 )
 
@@ -63,37 +63,37 @@ func InitTriggerConfig() {
 			continue
 		}
 		if TopicOfNodeFaultInfo == topic2 {
-			f, ok := rule.(func(data *kinglong_msgs.FaultInfo) string)
+			f, ok := rule.(func(data *pjisuv_msgs.FaultInfo) string)
 			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultInfo) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.FaultInfo) string):", err)
 				continue
 			}
 			RuleOfNodefaultInfo = append(RuleOfNodefaultInfo, f)
 		} else if TopicOfCicvLocation == topic2 {
-			f, ok := rule.(func(data *kinglong_msgs.PerceptionLocalization) string)
+			f, ok := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string)
 			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionLocalization) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PerceptionLocalization) string):", err)
 				continue
 			}
 			RuleOfCicvLocation = append(RuleOfCicvLocation, f)
 		} else if TopicOfTpperception == topic2 {
-			f, ok := rule.(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string)
+			f, ok := rule.(func(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string)
 			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string):", err)
 				continue
 			}
 			RuleOfTpperception = append(RuleOfTpperception, f)
 		} else if TopicOfFaultInfo == topic2 {
-			f, ok := rule.(func(data *kinglong_msgs.FaultVec) string)
+			f, ok := rule.(func(data *pjisuv_msgs.FaultVec) string)
 			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultVec) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.FaultVec) string):", err)
 				continue
 			}
 			RuleOfFaultInfo = append(RuleOfFaultInfo, f)
 		} else if TopicOfDataRead == topic2 {
-			f, ok := rule.(func(data *kinglong_msgs.Retrieval) string)
+			f, ok := rule.(func(data *pjisuv_msgs.Retrieval) string)
 			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.Retrieval) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Retrieval) string):", err)
 				continue
 			}
 			RuleOfDataRead = append(RuleOfDataRead, f)

kinglong/master/pkg/cfg/master_trigger_cfg.go

@@ -4,7 +4,7 @@ import (
 	"cicv-data-closedloop/kinglong/common/cfg"
 	"cicv-data-closedloop/kinglong/common/cutil"
 	"cicv-data-closedloop/kinglong/common/log"
-	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/kinglong_msgs"
 	"plugin"
 	"strconv"
 	"strings"
@@ -16,11 +16,11 @@ var (
 	TopicOfTpperception  = "/tpperception"
 	TopicOfFaultInfo     = "/fault_info"
 	TopicOfDataRead      = "/data_read"
-	RuleOfNodefaultInfo  []func(data *pjisuv_msgs.FaultInfo) string
-	RuleOfCicvLocation   []func(data *pjisuv_msgs.PerceptionLocalization) string
-	RuleOfTpperception   []func(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string
-	RuleOfFaultInfo      []func(data *pjisuv_msgs.FaultVec) string
-	RuleOfDataRead       []func(data *pjisuv_msgs.Retrieval) string
+	RuleOfNodefaultInfo  []func(data *kinglong_msgs.FaultInfo) string
+	RuleOfCicvLocation   []func(data *kinglong_msgs.PerceptionLocalization) string
+	RuleOfTpperception   []func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string
+	RuleOfFaultInfo      []func(data *kinglong_msgs.FaultVec) string
+	RuleOfDataRead       []func(data *kinglong_msgs.Retrieval) string
 	LabelMapTriggerId    = make(map[string]string)
 )
 
@@ -63,35 +63,35 @@ func InitTriggerConfig() {
 			continue
 		}
 		if TopicOfNodeFaultInfo == topic2 {
-			f, ok := rule.(func(data *pjisuv_msgs.FaultInfo) string)
+			f, ok := rule.(func(data *kinglong_msgs.FaultInfo) string)
 			if ok != true {
 				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultInfo) string):", err)
 				continue
 			}
 			RuleOfNodefaultInfo = append(RuleOfNodefaultInfo, f)
 		} else if TopicOfCicvLocation == topic2 {
-			f, ok := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string)
+			f, ok := rule.(func(data *kinglong_msgs.PerceptionLocalization) string)
 			if ok != true {
 				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionLocalization) string):", err)
 				continue
 			}
 			RuleOfCicvLocation = append(RuleOfCicvLocation, f)
 		} else if TopicOfTpperception == topic2 {
-			f, ok := rule.(func(data *pjisuv_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string)
+			f, ok := rule.(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string)
 			if ok != true {
 				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string):", err)
 				continue
 			}
 			RuleOfTpperception = append(RuleOfTpperception, f)
 		} else if TopicOfFaultInfo == topic2 {
-			f, ok := rule.(func(data *pjisuv_msgs.FaultVec) string)
+			f, ok := rule.(func(data *kinglong_msgs.FaultVec) string)
 			if ok != true {
 				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultVec) string):", err)
 				continue
 			}
 			RuleOfFaultInfo = append(RuleOfFaultInfo, f)
 		} else if TopicOfDataRead == topic2 {
-			f, ok := rule.(func(data *pjisuv_msgs.Retrieval) string)
+			f, ok := rule.(func(data *kinglong_msgs.Retrieval) string)
 			if ok != true {
 				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.Retrieval) string):", err)
 				continue