commit

.idea/.gitignore

@@ -1,8 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml
-# Editor-based HTTP Client requests
-/httpRequests/
-# Datasource local storage ignored files
-/dataSources/
-/dataSources.local.xml

.idea/cicv-data-closedloop.iml

@@ -1,9 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="WEB_MODULE" version="4">
-  <component name="Go" enabled="true" />
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

.idea/dataSources.xml

@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="DataSourceManagerImpl" format="xml" multifile-model="true">
-    <data-source source="LOCAL" name="36.110.106.156" uuid="d3edc464-7775-4251-9430-305a6c8c39c3">
-      <driver-ref>mysql.8</driver-ref>
-      <synchronize>true</synchronize>
-      <jdbc-driver>com.mysql.cj.jdbc.Driver</jdbc-driver>
-      <jdbc-url>jdbc:mysql://36.110.106.156:3306</jdbc-url>
-      <working-dir>$ProjectFileDir$</working-dir>
-    </data-source>
-    <data-source source="LOCAL" name="@localhost" uuid="656b84ef-baa2-423d-95fe-000a2972e769">
-      <driver-ref>redis</driver-ref>
-      <synchronize>true</synchronize>
-      <jdbc-driver>jdbc.RedisDriver</jdbc-driver>
-      <jdbc-url>jdbc:redis://36.110.106.156:6379/0</jdbc-url>
-      <working-dir>$ProjectFileDir$</working-dir>
-    </data-source>
-  </component>
-</project>

.idea/inspectionProfiles/Project_Default.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <profile version="1.0">
-    <option name="myName" value="Project Default" />
-    <inspection_tool class="GoCommentStart" enabled="false" level="WEAK WARNING" enabled_by_default="false" />
-  </profile>
-</component>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/cicv-data-closedloop.iml" filepath="$PROJECT_DIR$/.idea/cicv-data-closedloop.iml" />
-    </modules>
-  </component>
-</project>

.idea/sqldialects.xml

@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="SqlDialectMappings">
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/collect_limit-insert_new.sql" dialect="MySQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-reset-by-id.sql" dialect="MySQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-select-all.sql" dialect="MySQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-select-details-by-id.sql" dialect="MySQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-select-latest-by-team_name.sql" dialect="GenericSQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-update-deduct_score_offline-by-id.sql" dialect="MySQL" />
-    <file url="file://$PROJECT_DIR$/amd64/score_server/sql/exam-update-end_time-by-id.sql" dialect="MySQL" />
-    <file url="PROJECT" dialect="MySQL" />
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

go.mod

@@ -22,6 +22,7 @@ require (
 	github.com/chenzhuoyu/base64x v0.0.0-20230717121745-296ad89f973d // indirect
 	github.com/chenzhuoyu/iasm v0.9.1 // indirect
 	github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc // indirect
+	github.com/foxglove/go-rosbag v0.0.6 // indirect
 	github.com/gabriel-vasile/mimetype v1.4.3 // indirect
 	github.com/gin-contrib/sse v0.1.0 // indirect
 	github.com/go-ole/go-ole v1.2.6 // indirect
@@ -40,9 +41,11 @@ require (
 	github.com/modern-go/reflect2 v1.0.2 // indirect
 	github.com/pelletier/go-toml/v2 v2.1.1 // indirect
 	github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311 // indirect
+	github.com/pierrec/lz4/v4 v4.1.18 // indirect
 	github.com/pkg/errors v0.9.1 // indirect
 	github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect
 	github.com/rogpeppe/go-internal v1.10.0 // indirect
+	github.com/stretchr/testify v1.8.4 // indirect
 	github.com/tklauser/go-sysconf v0.3.13 // indirect
 	github.com/tklauser/numcpus v0.7.0 // indirect
 	github.com/twitchyliquid64/golang-asm v0.15.1 // indirect

go.sum

@@ -18,6 +18,8 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/foxglove/go-rosbag v0.0.6 h1:LcWr1LqdS1NxWO4+mbPfo7d1jpL3gybqRmX1abD8eAw=
+github.com/foxglove/go-rosbag v0.0.6/go.mod h1:Kz3doYZfPO6OIawx4tFm9MU9COkuzcYaI963psJeLrA=
 github.com/gabriel-vasile/mimetype v1.4.3 h1:in2uUcidCuFcDKtdcBxlR0rJ1+fsokWf+uqxgUFjbI0=
 github.com/gabriel-vasile/mimetype v1.4.3/go.mod h1:d8uq/6HKRL6CGdk+aubisF/M5GcPfT7nKyLpA0lbSSk=
 github.com/gin-contrib/sse v0.1.0 h1:Y/yl/+YNO8GZSjAhjMsSuLt29uWRFHdHYUb5lYOV9qE=
@@ -80,6 +82,8 @@ github.com/pelletier/go-toml/v2 v2.1.1 h1:LWAJwfNvjQZCFIDKWYQaM62NcYeYViCmWIwmOS
 github.com/pelletier/go-toml/v2 v2.1.1/go.mod h1:tJU2Z3ZkXwnxa4DPO899bsyIoywizdUvyaeZurnPPDc=
 github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311 h1:zyWXQ6vu27ETMpYsEMAsisQ+GqJ4e1TPvSNfdOPF0no=
 github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311/go.mod h1:vBmVV0Do6hSBHC8uKUQ71JGW+ZGQq74llk/7bXwjDoI=
+github.com/pierrec/lz4/v4 v4.1.18 h1:xaKrnTkyoqfh1YItXl56+6KJNVYWlEEPuAQW9xsplYQ=
+github.com/pierrec/lz4/v4 v4.1.18/go.mod h1:gZWDp/Ze/IJXGXf23ltt2EXimqmTUXEy0GFuRQyBid4=
 github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA=
 github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=

test/rosbag_write_test.go

@@ -1 +1,58 @@
 package test
+
+import (
+	"fmt"
+	"github.com/foxglove/go-rosbag"
+	"os"
+	"testing"
+)
+
+func TestWriteRosBag(t *testing.T) {
+
+	// Check if the file exists, if not create it
+	f, err := os.OpenFile("my-bag.bag", os.O_RDWR|os.O_CREATE, 0644)
+	if err != nil {
+		panic(err)
+	}
+	defer func(f *os.File) {
+		err := f.Close()
+		if err != nil {
+			fmt.Printf("Error closing file: %s\n", err)
+		}
+	}(f)
+
+	writer, err := rosbag.NewWriter(f)
+	if err != nil {
+		panic(err)
+	}
+
+	err = writer.WriteConnection(&rosbag.Connection{
+		Conn:  1,
+		Topic: "/foo",
+		Data: rosbag.ConnectionHeader{
+			Topic:             "/foo",
+			Type:              "Foo",
+			MD5Sum:            "abc",
+			MessageDefinition: []byte{0x01, 0x02, 0x03},
+
+			//// optional fields
+			//CallerID: &callerID,
+			//Latching: &latching,
+		},
+	})
+	if err != nil {
+		panic(err)
+	}
+
+	for i := 0; i < 100; i++ {
+		err = writer.WriteMessage(&rosbag.Message{
+			Conn: 0,
+			Time: uint64(i),
+			Data: []byte("hello"),
+		})
+		if err != nil {
+			panic(err)
+		}
+	}
+
+}

trigger/pjibot_guide/obstacle_detection/obstacledetection/main/obstacledetection.go

@@ -1,6 +1,8 @@
 package main
 
 import (
+	"fmt"
+
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 )
 
@@ -19,7 +21,15 @@ func Rule(data *std_msgs.UInt8) string {
 		2-表示前方有障碍物但能绕过去
 		3-表示前方有障碍物且局部规划不过去
 	*/
-	if data.Data == 3 {
+	switch data.Data {
+	case 0:
+		fmt.Println("无法避障触发器的当前状态为 0，表示导航前方无障碍物")
+	case 1:
+		fmt.Println("无法避障触发器的当前状态为 1，表示找不到全局路径")
+	case 2:
+		fmt.Println("无法避障触发器的当前状态为 2，表示前方有障碍物但能绕过去")
+	case 3:
+		fmt.Println("无法避障触发器的当前状态为 3，表示前方有障碍物且局部规划不过去")
 		return "obstacledetection"
 	}
 	return ""