commit

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

@@ -8,7 +8,7 @@ bag-number: 10
 config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
-  used: 5000000 # 磁盘占用阈值，单位bytes
+  used: 20000000 # 磁盘占用阈值，单位bytes
 bag-data-dir: /root/rosbag-handle/data/
 bag-copy-dir: /root/rosbag-handle/copy/
 triggers-dir: /root/rosbag-handle/triggers/

aarch64/pji/common/service/disk_clean.go

@@ -30,7 +30,7 @@ func DiskClean() {
 		diskUsed, _ := util.GetDiskUsed(commonConfig.CloudConfig.Disk.Name)
 		if diskUsed > commonConfig.CloudConfig.Disk.Used {
 			policy := commonConfig.PlatformConfig.TaskCachePolicy
-			c_log.GlobalLogger.Errorf("磁盘占用超过 %v，触发删除规则 %v", commonConfig.CloudConfig.Disk.Used, policyToDescription[policy])
+			c_log.GlobalLogger.Errorf("磁盘占用 %v 超过 %v，触发删除规则 %v", diskUsed, commonConfig.CloudConfig.Disk.Used, policyToDescription[policy])
 			// 2 获取策略
 			if policy == "TTL" {
 				// 1 获取时间窗口队列中的第二个

aarch64/pji/common/service/rosbag_record.go

@@ -12,16 +12,45 @@ import (
 
 var (
 	recordEnv = []string{
-		"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",
+		"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",
+		"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",
-		"ROS_HOSTNAME=192.168.1.104",
+		"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",
 	}
 )
 
@@ -61,9 +90,9 @@ func BagRecord(nodeName string) {
 		c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
 	parent:
 		for {
-			allEnv := append(systemEnv, recordEnv...)
-			c_log.GlobalLogger.Info("全部环境变量为：", allEnv)
-			cmd, err = util.ExecuteWithEnvAndDirAsync(allEnv, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
+			//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...)
 			if err != nil {
 				c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
 				continue