commit

aarch64/pjisuv/master/service/produce_window.go

@@ -2136,18 +2136,36 @@ func ProduceWindow() {
 }
 
 func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *commonEntity.TimeWindow) {
+	var taskBeforeTime, taskAfterTime, taskMaxTime int
+	{
+		if commonConfig.PlatformConfig.TaskBeforeTime == 0 {
+			taskBeforeTime = 5
+		} else {
+			taskBeforeTime = commonConfig.PlatformConfig.TaskBeforeTime
+		}
+		if commonConfig.PlatformConfig.TaskAfterTime == 0 {
+			taskAfterTime = 4
+		} else {
+			taskAfterTime = commonConfig.PlatformConfig.TaskAfterTime
+		}
+		if commonConfig.PlatformConfig.TaskMaxTime == 0 {
+			taskMaxTime = 60
+		} else {
+			taskMaxTime = commonConfig.PlatformConfig.TaskMaxTime
+		}
+	}
 	saveTimeWindowMutex.Lock()
 	defer saveTimeWindowMutex.Unlock()
 	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
 	if lastTimeWindow == nil || util.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) { // 如果是不在旧故障窗口内，添加一个新窗口
-		exceptBegin := util.TimeCustomChange(faultHappenTime, -commonConfig.PlatformConfig.TaskBeforeTime)
+		exceptBegin := util.TimeCustomChange(faultHappenTime, -taskBeforeTime)
 		finalTimeWindowBegin := ""
 		if util.TimeCustom1LessEqualThanTimeCustom2(exceptBegin, latestTimeWindowEnd) { // 窗口最早时间不能早于上一个窗口结束时间
 			finalTimeWindowBegin = latestTimeWindowEnd
 		} else {
 			finalTimeWindowBegin = exceptBegin
 		}
-		latestTimeWindowEnd = util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
+		latestTimeWindowEnd = util.TimeCustomChange(faultHappenTime, taskAfterTime)
 		newTimeWindow := commonEntity.TimeWindow{
 			FaultTime:       faultHappenTime,
 			TimeWindowBegin: finalTimeWindowBegin,
@@ -2164,9 +2182,9 @@ func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *c
 		commonEntity.TimeWindowProducerQueueMutex.RLock()
 		defer commonEntity.TimeWindowProducerQueueMutex.RUnlock()
 		// 更新故障窗口end时间
-		expectEnd := util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime) // 窗口期望关闭时间是触发时间加上后置时间
+		expectEnd := util.TimeCustomChange(faultHappenTime, taskAfterTime) // 窗口期望关闭时间是触发时间加上后置时间
 		expectLength := util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
-		if expectLength < commonConfig.PlatformConfig.TaskMaxTime {
+		if expectLength < taskMaxTime {
 			latestTimeWindowEnd = expectEnd
 			lastTimeWindow.TimeWindowEnd = latestTimeWindowEnd
 			lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, lastTimeWindow.TimeWindowEnd)

aarch64/pjisuv/金龙车-cloud-config.yaml

@@ -33,17 +33,33 @@ hosts:
     rosbag:
       path: "/opt/ros/noetic/bin/rosbag"
       envs:
+        - "SHELL=/bin/bash"
         - "ROS_VERSION=1"
+        - "SUDO_GID=1000"
         - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
         - "ROS_PYTHON_VERSION=3"
+        - "SUDO_COMMAND=/usr/bin/su"
+        - "SUDO_USER=pji"
         - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
+        - "ROSLISP_PACKAGE_DIRECTORIES="
+        - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
+        - "LOGNAME=root"
         - "ROS_IP=192.168.1.104"
+        - "HOME=/root"
+        - "LANG=en_US.UTF-8"
         - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
+        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
+        - "LESSCLOSE=/usr/bin/lesspipe %s %s"
+        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
+        - "USER=root"
+        - "LD_LIBARAY_PATH=/usr/local/lib:"
         - "ROS_MASTER_URI=http://192.168.1.104:11311"
         - "ROS_HOSTNAME=192.168.1.104"
         - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
+        - "PATH=/usr/local/cuda-11.4/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
+        - "_=/usr/bin/env"
     topics:
       - /cam_3D # 感知
       - /car_wheel