commit

aarch64/pjisuv/common/service/disk_clean.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"

aarch64/pjisuv/common/service/kill_self.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	"cicv-data-closedloop/aarch64/pjisuv/common/config"

aarch64/pjisuv/common/service/rosbag_clean.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	"cicv-data-closedloop/aarch64/pjisuv/common/config"

aarch64/pjisuv/common/service/rosbag_record.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	"cicv-data-closedloop/aarch64/pjisuv/common/config"

aarch64/pjisuv/common/service/rosbag_upload.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"

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

@@ -1,9 +1,9 @@
 package config
 
 import (
-	"cicv-data-closedloop/kinglong/common/cfg"
-	"cicv-data-closedloop/kinglong/common/cutil"
-	"cicv-data-closedloop/kinglong/common/log"
+	"cicv-data-closedloop/aarch64/pjisuv/common/config"
+	"cicv-data-closedloop/common/config/c_log"
+	"cicv-data-closedloop/common/util"
 	"cicv-data-closedloop/kinglong_msgs"
 	"plugin"
 	"strconv"
@@ -25,92 +25,92 @@ var (
 )
 
 func InitTriggerConfig() {
-	log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
+	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
 	// 下载所有触发器的文件
-	for _, trigger := range cfg.PlatformConfig.TaskTriggers {
+	for _, trigger := range config.PlatformConfig.TaskTriggers {
 		// 获取文件名
 		pathSplit := strings.Split(trigger.TriggerScriptPath, "/")
 		fileName := pathSplit[len(pathSplit)-1]
 		// 下载
-		triggerLocalPath := cfg.CloudConfig.TriggersDir + fileName
-		cutil.CreateParentDir(triggerLocalPath)
-		log.GlobalLogger.Info("下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
-		err := cfg.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath)
+		triggerLocalPath := config.CloudConfig.TriggersDir + fileName
+		_ = util.CreateParentDir(triggerLocalPath)
+		c_log.GlobalLogger.Info("下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
+		err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath)
 		if err != nil {
-			log.GlobalLogger.Error("下载 oss 上的触发器插件失败：", err)
+			c_log.GlobalLogger.Error("下载 oss 上的触发器插件失败：", err)
 			continue
 		}
 		// 载入插件到数组
 		open, err := plugin.Open(triggerLocalPath)
 		if err != nil {
-			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
+			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
 			continue
 		}
 		topic0, err := open.Lookup("Topic")
 		if err != nil {
-			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
+			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
 			continue
 		}
 		topic1, ok := topic0.(func() string)
 		if ok != true {
-			log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
+			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
 			continue
 		}
 		topic2 := topic1()
 		rule, err := open.Lookup("Rule")
 		if err != nil {
-			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
+			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
 			continue
 		}
 		if TopicOfNodeFaultInfo == topic2 {
 			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)
+				c_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 *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)
+				c_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 *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)
+				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)
 				continue
 			}
 			RuleOfTpperception = append(RuleOfTpperception, f)
 		} else if TopicOfFaultInfo == topic2 {
 			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)
+				c_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 *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)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.Retrieval) string):", err)
 				continue
 			}
 			RuleOfDataRead = append(RuleOfDataRead, f)
 		} else {
-			log.GlobalLogger.Error("未知的topic：", topic2)
+			c_log.GlobalLogger.Error("未知的topic：", topic2)
 			continue
 		}
 
 		label, err := open.Lookup("Label")
 		if err != nil {
-			log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
+			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
 			continue
 		}
 		labelFunc := label.(func() string)
 		labelString := labelFunc()
 		LabelMapTriggerId[labelString] = strconv.Itoa(trigger.TriggerId)
-		log.GlobalLogger.Info("主节点加载触发器插件：【ros topic】=", topic2, "，【触发器label】=", labelString, "【触发器ID】=", trigger.TriggerId, "【label和id映射关系】=", LabelMapTriggerId)
+		c_log.GlobalLogger.Info("主节点加载触发器插件：【ros topic】=", topic2, "，【触发器label】=", labelString, "【触发器ID】=", trigger.TriggerId, "【label和id映射关系】=", LabelMapTriggerId)
 	}
-	log.GlobalLogger.Info("主节点加载触发器插件 - 成功。")
+	c_log.GlobalLogger.Info("主节点加载触发器插件 - 成功。")
 }

aarch64/pjisuv/slave/package/config/slave_tcp_config.go

@@ -1,4 +1,4 @@
-package cfg
+package config
 
 import (
 	commonConfig "cicv-data-closedloop/kinglong/common/cfg"

aarch64/pjisuv/slave/package/service/accept_window.go

@@ -1,8 +1,8 @@
-package svc
+package service
 
 import (
 	"cicv-data-closedloop/aarch64/pjisuv/common/service"
-	slaveConfig "cicv-data-closedloop/aarch64/pjisuv/slave/package/config"
+	"cicv-data-closedloop/aarch64/pjisuv/slave/package/config"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/entity"
 	"context"
@@ -16,11 +16,11 @@ func PrepareTimeWindowProducerQueue() {
 	// 处理退出信号
 	go func() {
 		select {
-		case signal := <-svc.ChannelKillWindowProducer:
+		case signal := <-service.ChannelKillWindowProducer:
 			if signal == 1 {
 				cancel()
-				slaveConfig.TcpListener.Close()
-				svc.AddKillTimes("3")
+				config.TcpListener.Close()
+				service.AddKillTimes("3")
 				return
 			}
 		}
@@ -31,7 +31,7 @@ func PrepareTimeWindowProducerQueue() {
 		case <-ctx.Done():
 			return
 		default:
-			conn, err := slaveConfig.TcpListener.Accept()
+			conn, err := config.TcpListener.Accept()
 			if err != nil {
 				select {
 				case <-ctx.Done():

aarch64/pjisuv/slave/package/service/move_bag.go

@@ -1,4 +1,4 @@
-package svc
+package service
 
 import (
 	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"