feat:根据任务调度&采集话题

aarch64/jili/common/config/c_global_var.go

@@ -1,8 +1,8 @@
 package config
 
 var (
-	//LogDir            = "/mnt/media/sda1/cicv-data-closedloop/log/"
-	LogDir            = "D:\\Project\\cicv_data_closed_loop/log/"
+	//LogDir            = "D:\\Project\\cicv_data_closed_loop/log/"
+	LogDir            = "/mnt/media/sda1/cicv-data-closedloop/log/"
 	ControlLogPrefix  = "control"
 	MasterLogPrefix   = "master"
 	SlaveLogPrefix    = "slave"

aarch64/jili/多功能车-cloud-config.yaml

@@ -39,7 +39,7 @@ ros:
 # /camera_image,/cicv_amr_trajectory,/pj_control_pub,/data_read,/tftrafficlight,/cicv_amr_trajectory,/trajectory_display,/reference_display,/reference_trajectory,/tprouteplan,/map_polygon,/vehicle_info,/target_line,/parking_line,/station_status,/pj_control_pub,/pj_control_debug_pub,/tar_traj_pub,/park_task,/parking_line,/map_display,/v2x_planner,/end_point_message,/heartbeat_info,/fault_info,/planning_fault_info,/nodefault_info,/points_concat,/tpperception,/cicv_location,/tpperception,/pull_over,/pj_vehicle_fdb_pub,/pre_line,/target_line,/amr_pose,/destination_pose,/lidar_roi,/obstacle_display,/target_point_pub,/fusion/traffic_light,/roi/polygon,/tpperception/vis
 hosts:
   - name: node1
-    ip: 192.168.1.102
+    ip: 192.168.1.104
     rosbag:
       path: "/opt/ros/melodic/bin/rosbag"
       envs:
@@ -51,10 +51,10 @@ hosts:
         - "HOME=/home/root"
         - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
         - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
+        - "ROS_MASTER_URI=http://192.168.1.104:11311"
         - "ROS_VERSION=1"
         - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.102"
+        - "ROS_IP=192.168.1.104"
         - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
         - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
         - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
@@ -64,9 +64,8 @@ hosts:
       - /camera_image # /camera_output
       - /cicv_amr_trajectory
       - /pj_control_pub # /control
-      - /data_read
+      - /data_read  # gart多功能车没有（需亚伦部署）
       - /tftrafficlight
-      - /cicv_amr_trajectory
       - /trajectory_display
       - /reference_display
       - /reference_trajectory
@@ -86,10 +85,10 @@ hosts:
       - /end_point_message
       - /heartbeat_info
       - /fault_info
-      - /planning_fault_info
+      - /planning_fault_info # gart多功能车没有
       - /nodefault_info
   - name: node2
-    ip: 192.168.1.103
+    ip: 192.168.1.105
     rosbag:
       path: "/opt/ros/melodic/bin/rosbag"
       envs:
@@ -101,10 +100,10 @@ hosts:
         - "HOME=/home/root"
         - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
         - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
+        - "ROS_MASTER_URI=http://192.168.1.104:11311"
         - "ROS_VERSION=1"
         - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.103"
+        - "ROS_IP=192.168.1.105"
         - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
         - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
         - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
@@ -124,9 +123,9 @@ hosts:
       - /lidar_roi
       - /obstacle_display
       - /target_point_pub
-      - /fusion/traffic_light
+      - /fusion/traffic_light  # gart多功能车没有
       - /roi/polygon
-      - /tpperception/vis
+      - /tpperception/vis  # gart多功能车没有
 triggers:
   - label: rapidaccel
     topics:

aarch64/jili/多功能车-test-local-config.yaml

@@ -14,8 +14,8 @@ oss-base-prefix: jili/
 # 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: /mnt/media/sda1/cicv-data-closedloop/config/cloud-config.yaml
-cloud-config-local-path: D:\Project\cicv_data_closed_loop\aarch64\jili\多功能车-cloud-config.yaml
+cloud-config-local-path: /mnt/media/sda1/cicv-data-closedloop/config/cloud-config.yaml
+#cloud-config-local-path: D:\Project\cicv_data_closed_loop\aarch64\jili\多功能车-cloud-config.yaml
 restart-cmd:
   dir: "/mnt/media/sda1/cicv-data-closedloop/"
   name: "sh"

test/oss_test.go

@@ -90,19 +90,19 @@ func TestDeleteDir(t *testing.T) {
 
 func TestOssConnect(t *testing.T) {
 	// 1. 上传文件到oss
-	//err := commonConfig.OssBucket.PutObjectFromFile("test/cloud-config.yaml", "D:\\cloud-config.yaml")
+	//err := commonConfig.OssBucket.PutObjectFromFile("test/Brake.go", "D:\\\\cloud-config-2.yaml")
 	//if err != nil {
 	//	panic(err)
 	//}
 	// 2. 下载oss文件到本地
-	//err = commonConfig.OssBucket.GetObjectToFile("test/cloud-config.yaml", "D:\\cloud-config-2.yaml")
-	//if err != nil {
-	//	panic(err)
-	//}
-	err := commonConfig.OssBucket.GetObjectToFile("oss-accesslog/dcl2025-04-01-11-00-00-0001", "D:\\dcl2025-04-01-11-00-00-0001l")
+	err := commonConfig.OssBucket.GetObjectToFile("test/cloud-config.yaml", "D:\\cloud-config-3.yaml")
 	if err != nil {
 		panic(err)
 	}
+	//err := commonConfig.OssBucket.GetObjectToFile("oss-accesslog/dcl2025-04-01-11-00-00-0001", "D:\\dcl2025")
+	//if err != nil {
+	//	panic(err)
+	//}
 	//// 2 获取oss的Content-Type文件大小
 	//size, _ := util.GetOSSFileSize(config.OssBucket, "1709907833304/demo.py")
 	//fmt.Println("云上文件大小为", size)

trigger/pjisuv/cicv_location/Brake/main/Brake.go

@@ -21,9 +21,9 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	if data.AccelX*9.8 < -14.0 && OutsideWorkshopFlag == true {
+	//OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
+	//OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
+	if data.AccelX*9.8 < -6.0 {
 		return Label()
 	}
 	return ""

trigger/pjisuv/cicv_location/OverSpeed/main/OverSpeed.go

@@ -22,10 +22,16 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 		}
 	}()
 	//threshold := 65.0
-	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	threshold := 10.0
-	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold && OutsideWorkshopFlag == true {
+	//OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
+	//OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
+	threshold := 40.0
+	//if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold && OutsideWorkshopFlag == true {
+	//	return "OverSpeed"
+	//} else {
+	//	return ""
+	//}
+
+	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold {
 		return "OverSpeed"
 	} else {
 		return ""