commit

aarch64/pji/common/config/yaml/引导机器人默认配置文件双摄像头-local-config.yaml

@@ -4,7 +4,7 @@ node:
   ip: 192.168.1.104
 rosparam-path: /opt/ros/melodic/bin/rosparam
 # 获取oss连接信息的接口url
-url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
+url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
 # 朴津机器人数据前缀
 oss-base-prefix: pji-double-camera/
 # oss上的配置文件的名称

aarch64/pjisuv/master/main.go

@@ -2,7 +2,9 @@ package main
 
 import (
 	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/aarch64/pjisuv/master/service"
+	commonService "cicv-data-closedloop/aarch64/pjisuv/common/service"
+	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
+	masterService "cicv-data-closedloop/aarch64/pjisuv/master/service"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/util"
 )
@@ -28,32 +30,32 @@ func init() {
 	commonConfig.InitRosConfig()
 	// 发送资源占用信息
 	go commonConfig.SendResourceUsage()
-	//// 维护data目录缓存的包数量
-	//go commonService.BagCacheClean()
-	//// 磁盘占用过高时根据缓存策略处理copy目录
-	//go commonService.DiskClean()
-	//// 初始化加载触发器插件文件
-	//masterConfig.InitTriggerConfig()
-	//// 初始化rpc监听
-	//commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
-	//// 等待重启，接收到重启信号，会把信号分发给以下channel
-	//go commonService.WaitKillSelf()
+	// 维护data目录缓存的包数量
+	go commonService.BagCacheClean()
+	// 磁盘占用过高时根据缓存策略处理copy目录
+	go commonService.DiskClean()
+	// 初始化加载触发器插件文件
+	masterConfig.InitTriggerConfig()
+	// 初始化rpc监听
+	commonConfig.InitKillSignalListener(commonConfig.CloudConfig.Hosts[0].Ip)
+	// 等待重启，接收到重启信号，会把信号分发给以下channel
+	go commonService.WaitKillSelf()
 
 }
 
 func main() {
 
-	//// 1 负责打包数据到data目录
-	//go commonService.BagRecord(commonConfig.CloudConfig.Hosts[0].Name)
-	//// 2 启动第4个线程，负责监控故障，并修改timeWindow
-	//go svc.PrepareTimeWindowProducerQueue()
-	//// 3
-	//go svc.RunTimeWindowProducerQueue()
-	//// 4 排队运行时间窗口
-	//go commonService.RunTimeWindowConsumerQueue(commonConfig.CloudConfig.Hosts[0].Name)
-
-	// todo 算法比赛临时使用
-	go service.ForCompetition()
+	// 1 负责打包数据到data目录
+	go commonService.BagRecord(commonConfig.CloudConfig.Hosts[0].Name)
+	// 2 启动第4个线程，负责监控故障，并修改timeWindow
+	go masterService.PrepareTimeWindowProducerQueue()
+	// 3
+	go masterService.RunTimeWindowProducerQueue()
+	// 4 排队运行时间窗口
+	go commonService.RunTimeWindowConsumerQueue(commonConfig.CloudConfig.Hosts[0].Name)
+
+	//// todo 算法比赛临时使用
+	//go service.ForCompetition()
 
 	// 阻塞主线程，等待其他线程执行。
 	select {}