commit

kinglong/common/cfg/cloud-config-v2304.yaml

@@ -51,44 +51,43 @@ hosts:
   - name: node1
     ip: 192.168.1.102
     topics:
+      - /AutoModeStatus
+      - /cam_objects
       - /cam_res
-      - /fusion/vis/velocity
-      - /cicv/lidartracking_moving_objects
-      - /cicv_location
-      - /cicv/lidarfusionmovingobject
+      - /car_wheel
       - /cicv/lidardeeplearning_moving_objects
       - /cicv/lidarcluster_moving_objects
-      - /cam_objects
+      - /cicv/lidarfusionmovingobject
+      - /cicv/lidartrackingmovingobjects
+      - /cicv_location
+      - /cicv_location_JL
+      - /cicv_amr_trajectory
+      - /data_read
       - /f_radar_objects
       - /fusion/vis/box
-      - /cicv_amr_trajectory
+      - /fusion/vis/velocity
+      - /heartbeat_info
+      - /jinlong_control_pub
+      - /jinlong_flag_pub
       - /map_polygon
+      - /nodefault_info
       - /reference_trajectory
+      - /tftrafficlight
       - /tprouteplan
-      - /jinlong_control_pub
       - /vehicle_info
-      - /tftrafficlight
-      - /cicv_location_JL
-      - /jinlong_flag_pub
-      - /car_wheel
-      - /nodefault_info
-      - /AutoModeStatus
-      - /heartbeat_info
-      - /data_read
   - name: node2
     ip: 192.168.1.103
     topics:
       - /ch128x1/lslidar_main
+      - /ch64_left/lslidar_left
       - /ch64_mid/lslidar_mid
       - /ch64_right/lslidar_right
-      - /ch64_left/lslidar_left
+      - /points_concat
       - /roi/points
       - /roi/polygon
-      - /unground_cloudpoints
-      - /points_concat
       - /tpperception
       - /tpperception/hmi
-      -
+      - /unground_cloudpoints
 triggers:
   - label: rapidaccel
     topics:

kinglong/common/cfg/local-config.yaml

@@ -14,4 +14,4 @@ restart-cmd:
   dir: "/mnt/media/sda1/rosbag-handle/"
   name: "sh"
   args:
-    - "start-master.sh"
+    - "start.sh"

kinglong/control/main/control.go

@@ -6,14 +6,14 @@ import (
 	commonConfig "cicv-data-closedloop/kinglong/common/cfg"
 	"cicv-data-closedloop/kinglong/common/log"
 	commonService "cicv-data-closedloop/kinglong/common/svc"
-	controlConfig "cicv-data-closedloop/kinglong/control/pkg/cfg"
 	"net/rpc"
 	"os"
+	"runtime"
 	"time"
 )
 
 func init() {
-	//runtime.GOMAXPROCS(1)
+	runtime.GOMAXPROCS(1)
 	// 初始化日志配置
 	log.InitLogConfig()
 	// 初始化本地配置文件（第1处配置，在本地文件）
@@ -22,8 +22,6 @@ func init() {
 	cfg.InitOssConfig()
 	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
 	cfg.InitCloudConfig()
-	// 初始化rpc客户端，用于杀死旧的采集程序
-	controlConfig.InitRpcClient()
 }
 
 func main() {

kinglong/control/pkg/cfg/control_rpc_client.go

@@ -1,22 +0,0 @@
-package cfg
-
-import (
-	commonConfig "cicv-data-closedloop/kinglong/common/cfg"
-	"cicv-data-closedloop/kinglong/common/log"
-	"net/rpc"
-)
-
-var KillRpcClientMaster *rpc.Client
-var KillRpcClientSlave *rpc.Client
-
-func InitRpcClient() {
-	var err error
-	KillRpcClientMaster, err = rpc.Dial("tcp", commonConfig.CloudConfig.Hosts[0].Ip+":"+commonConfig.CloudConfig.RpcPort)
-	if err != nil {
-		log.GlobalLogger.Error("创建rpc连接master失败：", err)
-	}
-	KillRpcClientSlave, err = rpc.Dial("tcp", commonConfig.CloudConfig.Hosts[1].Ip+":"+commonConfig.CloudConfig.RpcPort)
-	if err != nil {
-		log.GlobalLogger.Error("创建rpc连接slave失败：", err)
-	}
-}