commit

aarch64/pji/common/config/c_cloud.go

@@ -43,6 +43,7 @@ type cloudConfig struct {
 	BagCopyDir            string    `yaml:"bag-copy-dir"`
 	TriggersDir           string    `yaml:"triggers-dir"`
 	RpcPort               string    `yaml:"rpc-port"`
+	RecordEnvs            []string  `yaml:"record-envs"`
 	Triggers              []trigger `yaml:"triggers"`
 	Hosts                 []host    `yaml:"hosts"`
 	Ros                   ros       `yaml:"ros"`

aarch64/pji/common/config/yaml/cloud-config-pji1.yaml

@@ -14,6 +14,46 @@ bag-copy-dir: /root/rosbag-handle/copy/
 triggers-dir: /root/rosbag-handle/triggers/
 time-window-send-gap: 6
 rpc-port: 12341
+record-envs:
+  - "LESSOPEN=| /usr/bin/lesspipe %s"
+  - "C_INCLUDE_PATH=/usr/include/drm:"
+  - "MAIL=/var/mail/root"
+  - "USER=root"
+  - "SSH_CLIENT=10.1.136.99 54061 22"
+  - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
+  - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu "
+  - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
+  - "SHLVL=1"
+  - "HOME=/root"
+  - "OLDPWD=/root/rosbag-handle/log"
+  - "SSH_TTY=/dev/pts/0"
+  - "ROS_PYTHON_VERSION=2"
+  - "GOROOT=/usr/local/go"
+  - "PCMANFM_OUTLINE_MODE=on"
+  - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
+  - "ROS_DISTRO=melodic"
+  - "LOGNAME=root"
+  - "_=/bin/sh"
+  - "ROS_VERSION=1"
+  - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
+  - "XDG_SESSION_ID=5"
+  - "GST_GL_API=gles2"
+  - "TERM=xterm-256color"
+  - "PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin"
+  - "XDG_RUNTIME_DIR=/run/user/0"
+  - "GST_GL_PLATFORM=egl"
+  - "LANG=C.UTF-8"
+  - "ROS_ROOT=/opt/ros/melodic/share/ros"
+  - "ROSLISP_PACKAGE_DIRECTORIES="
+  - "GOPATH=/root/go"
+  - "SHELL=/bin/bash"
+  - "ROS_MASTER_URI=http://192.168.1.104:11311"
+  - "LESSCLOSE=/usr/bin/lesspipe %s %s"
+  - "PWD=/root/rosbag-handle"
+  - "SSH_CONNECTION=10.1.136.99 54061 192.168.1.104 22"
+  - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
+  - "ROS_HOSTNAME=192.168.1.104"
+  - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
 ros:
   master-address: 192.168.1.104:11311
   nodes:

aarch64/pji/common/service/rosbag_record.go

@@ -10,50 +10,6 @@ import (
 	"time"
 )
 
-var (
-	recordEnv = []string{
-		"LESSOPEN=| /usr/bin/lesspipe %s",
-		"C_INCLUDE_PATH=/usr/include/drm:",
-		"MAIL=/var/mail/root",
-		"USER=root",
-		"SSH_CLIENT=10.1.136.99 54061 22",
-		"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
-		"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu ",
-		"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
-		"SHLVL=1",
-		"HOME=/root",
-		"OLDPWD=/root/rosbag-handle/log",
-		"SSH_TTY=/dev/pts/0",
-		"ROS_PYTHON_VERSION=2",
-		"GOROOT=/usr/local/go",
-		"PCMANFM_OUTLINE_MODE=on",
-		"CPLUS_INCLUDE_PATH=/usr/include/drm:",
-		"ROS_DISTRO=melodic",
-		"LOGNAME=root",
-		"_=/bin/sh",
-		"ROS_VERSION=1",
-		"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
-		"XDG_SESSION_ID=5",
-		"GST_GL_API=gles2",
-		"TERM=xterm-256color",
-		"PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin",
-		"XDG_RUNTIME_DIR=/run/user/0",
-		"GST_GL_PLATFORM=egl",
-		"LANG=C.UTF-8",
-		"ROS_ROOT=/opt/ros/melodic/share/ros",
-		"ROSLISP_PACKAGE_DIRECTORIES=",
-		"GOPATH=/root/go",
-		"SHELL=/bin/bash",
-		"ROS_MASTER_URI=http://192.168.1.104:11311",
-		"LESSCLOSE=/usr/bin/lesspipe %s %s",
-		"PWD=/root/rosbag-handle",
-		"SSH_CONNECTION=10.1.136.99 54061 192.168.1.104 22",
-		"PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages",
-		"ROS_HOSTNAME=192.168.1.104",
-		"CMAKE_PREFIX_PATH=/opt/ros/melodic",
-	}
-)
-
 // BagRecord 打包rosbag
 func BagRecord(nodeName string) {
 	var err error
@@ -91,8 +47,8 @@ func BagRecord(nodeName string) {
 	parent:
 		for {
 			//allEnv := append(systemEnv, recordEnv...)
-			c_log.GlobalLogger.Info("全部环境变量为：", recordEnv)
-			cmd, err = util.ExecuteWithEnvAndDirAsync(recordEnv, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
+			c_log.GlobalLogger.Info("record环境变量为：", config.CloudConfig.RecordEnvs)
+			cmd, err = util.ExecuteWithEnvAndDirAsync(config.CloudConfig.RecordEnvs, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
 			if err != nil {
 				c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
 				continue

aarch64/pjisuv/common/config/c_cloud.go

@@ -45,6 +45,7 @@ type cloudConfig struct {
 	TriggersDir           string    `yaml:"triggers-dir"`
 	TcpPort               string    `yaml:"tcp-port"`
 	RpcPort               string    `yaml:"rpc-port"`
+	RecordEnvs            []string  `yaml:"record-envs"`
 	Triggers              []trigger `yaml:"triggers"`
 	Hosts                 []host    `yaml:"hosts"`
 	Ros                   ros       `yaml:"ros"`

aarch64/pjisuv/common/config/yaml/cloud-config.yaml

@@ -16,6 +16,8 @@ triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
 time-window-send-gap: 6
 tcp-port: 12340
 rpc-port: 12341
+record-envs:
+  - ""
 ros:
   master-address: 192.168.1.102:11311
   nodes: