commit

aarch64/kinglong/common/config/c_cloud.go

@@ -23,8 +23,8 @@ type rosbagStruct struct {
 type hostStruct struct {
 	Name   string       `yaml:"name"`
 	Ip     string       `yaml:"ip"`
-	Topics []string     `yaml:"topics"`
 	Rosbag rosbagStruct `yaml:"rosbag"`
+	Topics []string     `yaml:"topics"`
 }
 
 type ros struct {

aarch64/kinglong/common/config/c_local.go

@@ -30,7 +30,7 @@ type localConfig struct {
 
 var (
 	LocalConfig     localConfig
-	localConfigPath = "/mnt/media/sda1/rosbag-handle/config/local-config.yaml"
+	localConfigPath = "/mnt/media/sda1/cicv-data-closedloop/config/local-config.yaml"
 )
 
 func InitLocalConfig() {

aarch64/kinglong/common/config/yaml/cloud-config-v2304.yaml → aarch64/kinglong/common/config/yaml/kinglong3-v2304-cloud-config.yaml

@@ -4,15 +4,14 @@ platform:
   url-device-auth: http://139.9.199.227:30991/device/auth
   url-task-poll: http://139.9.199.227:30991/device/task/poll
   url-task: http://139.9.199.227:30991/device/task
-full-collect: true
 bag-number: 120
 config-refresh-interval: 60
 disk:
   name: /dev/vdb # 磁盘名称
-  used: 5242880 # 磁盘占用阈值，单位bytes
-bag-data-dir: /mnt/media/sda1/rosbag-handle/data/
-bag-copy-dir: /mnt/media/sda1/rosbag-handle/copy/
-triggers-dir: /mnt/media/sda1/rosbag-handle/triggers/
+  used: 800000000000 # 磁盘占用阈值，单位bytes
+bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
+bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
+triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
 time-window-send-gap: 6
 tcp-port: 12340
 rpc-port: 12341
@@ -52,7 +51,26 @@ ros:
 hosts:
   - name: node1
     ip: 192.168.1.102
-    rosbag-path: "/opt/ros/melodic/bin/rosbag"
+    rosbag:
+      path: "/opt/ros/melodic/bin/rosbag"
+      envs:
+        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
+        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
+        - "USER=root"
+        - "ROS_OS_OVERRIDE=openembedded"
+        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
+        - "HOME=/home/root"
+        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
+        - "ROS_ROOT=/opt/ros/melodic/share/ros"
+        - "ROS_MASTER_URI=http://192.168.1.102:11311"
+        - "ROS_VERSION=1"
+        - "ROS_PYTHON_VERSION=2"
+        - "ROS_IP=192.168.1.102"
+        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
+        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
+        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
+        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
+        - "ROS_DISTRO=melodic"
     topics:
       - /AutoModeStatus
       - /cam_objects
@@ -80,7 +98,26 @@ hosts:
       - /vehicle_info
   - name: node2
     ip: 192.168.1.103
-    rosbag-path: "/opt/ros/melodic/bin/rosbag"
+    rosbag:
+      path: "/opt/ros/melodic/bin/rosbag"
+      envs:
+        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
+        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
+        - "USER=root"
+        - "ROS_OS_OVERRIDE=openembedded"
+        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
+        - "HOME=/home/root"
+        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
+        - "ROS_ROOT=/opt/ros/melodic/share/ros"
+        - "ROS_MASTER_URI=http://192.168.1.102:11311"
+        - "ROS_VERSION=1"
+        - "ROS_PYTHON_VERSION=2"
+        - "ROS_IP=192.168.1.103"
+        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
+        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
+        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
+        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
+        - "ROS_DISTRO=melodic"
     topics:
       - /ch128x1/lslidar_main
       - /ch64_left/lslidar_left
@@ -92,6 +129,7 @@ hosts:
       - /tpperception
       - /tpperception/hmi
       - /unground_cloudpoints
+full-collect: true
 triggers:
   - label: rapidaccel
     topics: