commit

aarch64/pjisuv/common/service/rosbag_upload.go

@@ -104,8 +104,8 @@ outLoop:
 		objectKey2 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_merge/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + ".bag"
 		objectKey3 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_parse/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
 		for i, bag := range bags {
+			startOne := time.Now()
 			bagSlice := strings.Split(bag, "/")
-			c_log.GlobalLogger.Info("正在上传中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
 			commonConfig.OssMutex.Lock()
 			err := commonConfig.OssBucket.PutObjectFromFile(objectKey1+bagSlice[len(bagSlice)-1], bag)
 			commonConfig.OssMutex.Unlock()
@@ -113,8 +113,9 @@ outLoop:
 				c_log.GlobalLogger.Info("上传包 ", bag, " 时报错：", err)
 				continue
 			}
+			c_log.GlobalLogger.Info("上传耗时 ", time.Since(startOne), "，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
 		}
-		c_log.GlobalLogger.Info("上传完成，花费时间：", time.Since(start))
+		c_log.GlobalLogger.Info("上传完成，总耗时：", time.Since(start))
 		if commonConfig.LocalConfig.Node.Name == "node1" {
 			// 在上传完成的包目录同级下添加一个目录同名的json
 			var triggerIds []string

aarch64/pjisuv/master/package/service/produce_window.go

@@ -12,7 +12,6 @@ import (
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_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"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
 	"sync"
@@ -988,267 +987,6 @@ func PrepareTimeWindowProducerQueue() {
 			})
 		}
 		// 36
-		if topic == masterConfig.TopicOfCameraObstacles && len(masterConfig.RuleOfCameraObstacles) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.CameraObjectList) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfCameraObstacles {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 37
-		if topic == masterConfig.TopicOfCamRes && len(masterConfig.RuleOfCamRes) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *sensor_msgs.Image) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfCamRes {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 38
-		if topic == masterConfig.TopicOfCamObjects && len(masterConfig.RuleOfCamObjects) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.CameraObjectList) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfCamObjects {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 39
-		if topic == masterConfig.TopicOfTftrafficlight && len(masterConfig.RuleOfTftrafficlight) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.TrafficLightDetection) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfTftrafficlight {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 40
-		if topic == masterConfig.TopicOfStationStatus && len(masterConfig.RuleOfStationStatus) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *std_msgs.Bool) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfStationStatus {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 41
-		if topic == masterConfig.TopicOfDestinationPose && len(masterConfig.RuleOfDestinationPose) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *visualization_msgs.MarkerArray) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfDestinationPose {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 42
-		if topic == masterConfig.TopicOfMapDisplay && len(masterConfig.RuleOfMapDisplay) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *nav_msgs.Path) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfMapDisplay {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 43
-		if topic == masterConfig.TopicOfRoutingRviz && len(masterConfig.RuleOfRoutingRviz) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *nav_msgs.Path) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfRoutingRviz {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 44
-		if topic == masterConfig.TopicOfRouteMessage && len(masterConfig.RuleOfRouteMessage) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.Route) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfRouteMessage {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-		// 45
-		if topic == masterConfig.TopicOfRouteResultMessage && len(masterConfig.RuleOfRouteResultMessage) > 0 {
-			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  commonConfig.RosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.Route) {
-					subscribersTimeMutexes[i].Lock()
-					if time.Since(subscribersTimes[i]).Seconds() > 1 {
-						subscribersMutexes[i].Lock()
-						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
-						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
-						var faultLabel string
-						for _, f := range masterConfig.RuleOfRouteResultMessage {
-							faultLabel = f(data)
-							if faultLabel != "" {
-								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-								subscribersTimes[i] = time.Now()
-								break
-							}
-						}
-						subscribersMutexes[i].Unlock()
-					}
-					subscribersTimeMutexes[i].Unlock()
-				},
-			})
-		}
-
-		// 46
 		if topic == masterConfig.TopicOfDataRead && len(masterConfig.RuleOfDataRead) > 0 {
 			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  commonConfig.RosNode,