commit

aarch64/pji/common/config/c_cloud.go

@@ -52,6 +52,8 @@ type cloudConfig struct {
 	BagNumber             int           `yaml:"bag-number"`
 	TimeWindowSendGap     int           `yaml:"time-window-send-gap"` // 主节点向从节点发送窗口的最小时间间隔
 	MapBagPath            string        `yaml:"map-bag-path"`
+	TfstaticBagPath       string        `yaml:"tfstatic-bag-path"`
+	CostmapBagPath        string        `yaml:"costmap-bag-path"`
 	BagDataDir            string        `yaml:"bag-data-dir"`
 	BagCopyDir            string        `yaml:"bag-copy-dir"`
 	TriggersDir           string        `yaml:"triggers-dir"`

aarch64/pji/common/config/yaml/pjibot-P1YNYD1M228000127-cloud-config.yaml

@@ -12,6 +12,8 @@ disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 19000000000 # 磁盘占用阈值，单位bytes
 map-bag-path: /root/cicv-data-closedloop/map.bag
+tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
+costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
 bag-data-dir: /root/cicv-data-closedloop/data/
 bag-copy-dir: /root/cicv-data-closedloop/copy/
 triggers-dir: /root/cicv-data-closedloop/triggers/

aarch64/pji/master/package/service/collect_map.go

@@ -7,7 +7,13 @@ import (
 	"os"
 )
 
-func CollectMap() {
+func CollectOneMsg() {
+	collectMap()
+	collectTfStatic()
+	collectCostmap()
+}
+
+func collectMap() {
 
 	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
 	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/map.bag"
@@ -21,16 +27,70 @@ func CollectMap() {
 	command = append(command, "/map")
 	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
 	if err != nil {
-		c_log.GlobalLogger.Error("程序异常退出。采集地图", command, "出错：", s, "----", err)
+		c_log.GlobalLogger.Error("程序异常退出。采集/map包", command, "出错：", s, "----", err)
+		os.Exit(-1)
+	}
+	c_log.GlobalLogger.Error("采集/map包", command, "完成。")
+	config.OssMutex.Lock()
+	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
+	config.OssMutex.Unlock()
+	if err != nil {
+		c_log.GlobalLogger.Error("程序异常退出。上传/map包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
+		os.Exit(-1)
+	}
+	c_log.GlobalLogger.Error("上传/map包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
+}
+func collectTfStatic() {
+
+	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
+	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/tfstatic.bag"
+
+	var command []string
+	command = append(command, "record")
+	command = append(command, "-O")
+	command = append(command, config.CloudConfig.MapBagPath)
+	command = append(command, "-l")
+	command = append(command, "1")
+	command = append(command, "/tf_static")
+	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
+	if err != nil {
+		c_log.GlobalLogger.Error("程序异常退出。采集/tf_static包", command, "出错：", s, "----", err)
+		os.Exit(-1)
+	}
+	c_log.GlobalLogger.Error("采集/tf_static包", command, "完成。")
+	config.OssMutex.Lock()
+	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
+	config.OssMutex.Unlock()
+	if err != nil {
+		c_log.GlobalLogger.Error("程序异常退出。上传/tf_static包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
+		os.Exit(-1)
+	}
+	c_log.GlobalLogger.Error("上传/tf_static包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
+}
+func collectCostmap() {
+
+	// rosbag record -O /root/cicv-data-closedloop/map_data.bag -l 1 /map
+	ossMapBagObjectKey := config.LocalConfig.OssBasePrefix + config.LocalConfig.EquipmentNo + "/costmap.bag"
+
+	var command []string
+	command = append(command, "record")
+	command = append(command, "-O")
+	command = append(command, config.CloudConfig.MapBagPath)
+	command = append(command, "-l")
+	command = append(command, "1")
+	command = append(command, "/move_base/global_costmap/costmap")
+	_, s, err := util.ExecuteWithEnvAndDir(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
+	if err != nil {
+		c_log.GlobalLogger.Error("程序异常退出。采集/move_base/global_costmap/costmap包", command, "出错：", s, "----", err)
 		os.Exit(-1)
 	}
-	c_log.GlobalLogger.Error("采集地图包", command, "完成。")
+	c_log.GlobalLogger.Error("采集/move_base/global_costmap/costmap包", command, "完成。")
 	config.OssMutex.Lock()
 	err = config.OssBucket.PutObjectFromFile(ossMapBagObjectKey, config.CloudConfig.MapBagPath)
 	config.OssMutex.Unlock()
 	if err != nil {
-		c_log.GlobalLogger.Error("程序异常退出。上传地图包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
+		c_log.GlobalLogger.Error("程序异常退出。上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "->", ossMapBagObjectKey, "出错：", err)
 		os.Exit(-1)
 	}
-	c_log.GlobalLogger.Error("上传地图包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
+	c_log.GlobalLogger.Error("上传/move_base/global_costmap/costmap包", config.CloudConfig.MapBagPath, "------", ossMapBagObjectKey, "成功。")
 }

amd64/dispatch-server/main.go → amd64/dispatch_server/main.go

@@ -5,8 +5,8 @@ package main
 */
 
 import (
-	"cicv-data-closedloop/amd64/dispatch-server/package/entity"
-	"cicv-data-closedloop/amd64/dispatch-server/package/handler"
+	"cicv-data-closedloop/amd64/dispatch_server/package/entity"
+	"cicv-data-closedloop/amd64/dispatch_server/package/handler"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/config/c_nacos"
 	"cicv-data-closedloop/common/config/c_oss"

amd64/dispatch-server/package/handler/start_project.go → amd64/dispatch_server/package/handler/start_project.go

@@ -1,7 +1,7 @@
 package handler
 
 import (
-	entity2 "cicv-data-closedloop/amd64/dispatch-server/package/entity"
+	entity2 "cicv-data-closedloop/amd64/dispatch_server/package/entity"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/entity"
 	"github.com/gin-gonic/gin"

test/json/main/main.go

@@ -1,7 +1,7 @@
 package main
 
 import (
-	"cicv-data-closedloop/amd64/dispatch-server/package/entity"
+	"cicv-data-closedloop/amd64/dispatch_server/package/entity"
 	"encoding/json"
 	"fmt"
 )