commit

aarch64/pjibot_guide/common/config/c_cloud.go

@@ -19,7 +19,7 @@ type MonitorStruct struct {
 	Url string `yaml:"url"`
 }
 
-type platform struct {
+type PlatformStruct struct {
 	UrlDeviceAuth string `yaml:"url-device-auth"`
 	UrlTaskPoll   string `yaml:"url-task-poll"`
 	UrlTask       string `yaml:"url-task"`
@@ -30,23 +30,23 @@ type rosbagStruct struct {
 	Envs []string `yaml:"envs"`
 }
 
-type hostStruct struct {
+type HostStruct struct {
 	Name   string       `yaml:"name"`
 	Ip     string       `yaml:"ip"`
 	Topics []string     `yaml:"topics"`
 	Rosbag rosbagStruct `yaml:"rosbag"`
 }
 
-type ros struct {
+type RosStruct struct {
 	MasterAddress string   `yaml:"master-address"`
 	Nodes         []string `yaml:"nodes"`
 }
 
-type disk struct {
+type DiskStruct struct {
 	Name string `yaml:"name"`
 	Used uint64 `yaml:"used"`
 }
-type trigger struct {
+type TriggerStruct struct {
 	Label  string   `yaml:"label"`
 	Topics []string `yaml:"topics"`
 }
@@ -59,8 +59,15 @@ type CollectLimitStruct struct {
 	Year  int    `yaml:"year"`
 }
 
+type DataDirStruct struct {
+	Src     string `yaml:"src"`
+	Dest    string `yaml:"dest"`
+	Exclude string `yaml:"exclude"`
+}
+
 type cloudConfig struct {
 	CollectLimit          CollectLimitStruct `yaml:"collect-limit"`
+	DataDir               DataDirStruct      `yaml:"data-dir"`
 	MapBufFiles           []string           `yaml:"map-buf-files"`
 	FullCollect           bool               `yaml:"full-collect"`
 	ConfigRefreshInterval int                `yaml:"config-refresh-interval"` // 配置刷新时间间隔
@@ -73,11 +80,11 @@ type cloudConfig struct {
 	BagCopyDir            string             `yaml:"bag-copy-dir"`
 	TriggersDir           string             `yaml:"triggers-dir"`
 	RpcPort               string             `yaml:"rpc-port"`
-	Triggers              []trigger          `yaml:"triggers"`
-	Hosts                 []hostStruct       `yaml:"hosts"`
-	Ros                   ros                `yaml:"ros"`
-	Platform              platform           `yaml:"platform"`
-	Disk                  disk               `yaml:"disk"`
+	Triggers              []TriggerStruct    `yaml:"triggers"`
+	Hosts                 []HostStruct       `yaml:"hosts"`
+	Ros                   RosStruct          `yaml:"ros"`
+	Platform              PlatformStruct     `yaml:"platform"`
+	Disk                  DiskStruct         `yaml:"disk"`
 	Monitor               MonitorStruct      `yaml:"monitor"`
 }
 

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

@@ -8,9 +8,6 @@ collect-limit:
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
-  #  url-device-auth: http://1.202.169.139:8081/device/auth
-  #  url-task-poll: http://1.202.169.139:8081/device/task/poll
-  #  url-task: http://1.202.169.139:8081/device/task
   url-device-auth: http://36.110.106.156:11121/device/auth
   url-task-poll: http://36.110.106.156:11121/device/task/poll
   url-task: http://36.110.106.156:11121/device/task
@@ -19,6 +16,10 @@ config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 20000000000 # 磁盘占用阈值，单位bytes
+data-dir:
+  src: /root/pjirobot/data # 需要额外采集的 data 目录
+  dest: /root/pjirobot/data.zip # 需要额外采集的 data 目录压缩之后的包
+  exclude: /root/pjirobot/data/cicv-data-closedloop # 采集data目录时排除的子目录
 map-buf-files:
   - /root/pjirobot/data/mapBuf/forbid_area.json
   - /root/pjirobot/data/mapBuf/forbid_area.yaml
@@ -36,9 +37,6 @@ map-buf-files:
   - /root/pjirobot/data/mapBuf/stations.json
   - /root/pjirobot/data/mapBuf/stations_init.json
 map-bag-path: /root/cicv-data-closedloop/map.bag
-#bag-data-dir: /root/cicv-data-closedloop/data/
-#bag-copy-dir: /root/cicv-data-closedloop/copy/
-#triggers-dir: /root/cicv-data-closedloop/triggers/
 bag-data-dir: /root/pjirobot/data/cicv-data-closedloop/data/
 bag-copy-dir: /root/pjirobot/data/cicv-data-closedloop/copy/
 triggers-dir: /root/pjirobot/data/cicv-data-closedloop/triggers/

aarch64/pjibot_guide/common/config/yaml/引导机器人默认配置文件单摄像头-cloud-config.yaml

@@ -1,173 +0,0 @@
----
-collect-limit:
-  url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
-  day: 1
-  week: 3
-  month: 12
-  year: 144
-monitor:
-  url: http://36.110.106.142:12341/web_server/monitor/insert
-platform:
-  url-device-auth: http://1.202.169.139:8081/device/auth
-  url-task-poll: http://1.202.169.139:8081/device/task/poll
-  url-task: http://1.202.169.139:8081/device/task
-full-collect: false
-bag-number: 10
-config-refresh-interval: 60
-disk:
-  name: /dev/mmcblk0p8 # 磁盘名称
-  used: 20000000000 # 磁盘占用阈值，单位bytes
-map-bag-path: /root/cicv-data-closedloop/map.bag
-bag-data-dir: /root/cicv-data-closedloop/data/
-bag-copy-dir: /root/cicv-data-closedloop/copy/
-triggers-dir: /root/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /adapters_nav
-    - /amcl
-    - /auto_dock
-    - /camera/camera
-    - /engine
-    - /lidar_filter_bz
-    - /localization_monitor_node
-    - /ltme_node
-    - /map_merge_node
-    - /mode_manage
-    - /monitor
-    - /move_base
-    - /node_diagnostics
-    - /node_map_convert
-    - /node_ota
-    - /pointcloud_to_laserscan
-    - /robot_pose_publisher_node
-    - /robot_state_publisher
-    - /robot_static_node
-    - /rosout
-    - /scan_map_icp_amcl_node
-    - /sensor_fusion_node
-    - /slip_check_node
-    - /srf_laser_odometry_node
-    - /trii_receive
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "C_INCLUDE_PATH=/usr/include/drm:"
-        - "USER=root"
-        - "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"
-        - "ROS_PYTHON_VERSION=2"
-        - "PCMANFM_OUTLINE_MODE=on"
-        - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
-        - "ROS_DISTRO=melodic"
-        - "ROS_VERSION=1"
-        - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
-        - "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"
-        - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROSLISP_PACKAGE_DIRECTORIES="
-        - "ROS_MASTER_URI=http://192.168.1.104:11311"
-        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
-        - "ROS_HOSTNAME=192.168.1.104"
-        - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
-    topics:
-      - /amcl_pose
-      - /camera/color/image_raw
-#      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /move_base/local_costmap/costmap
-      - /move_base/local_costmap/costmap_updates
-      - /scan
-      - /scan_map_icp_amcl_node/scan_point_transformed
-      - /sys_info
-triggers:
-  - label: detectfault
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: unstabledriving
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: locationfailed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: obstacledetection
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: overspeed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: cpuoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: memoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed

aarch64/pjibot_guide/common/config/yaml/引导机器人默认配置文件单摄像头-local-config.yaml

@@ -1,18 +0,0 @@
-type: 1 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
-node:
-  name: node1
-  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
-# 朴津机器人数据前缀
-oss-base-prefix: pji/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/root/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-master.sh"

aarch64/pjibot_guide/common/service/rosbag_upload.go

@@ -141,10 +141,13 @@ outLoop:
 			c_log.GlobalLogger.Error("callBackMap", callBackMap, "转json失败：", err)
 		}
 		commonConfig.OssMutex.Lock()
+		// 上传callback.json
 		err = commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
+		// 额外采集mapBuf
 		for _, file := range commonConfig.CloudConfig.MapBufFiles {
 			err = commonConfig.OssBucket.PutObjectFromFile(objectKey3+filepath.Base(file), file)
 		}
+		// 额外采集data目录
 		commonConfig.OssMutex.Unlock()
 		if err != nil {
 			c_log.GlobalLogger.Error("上传 callback.json 或 mapBuf 文件失败：", err)