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@@ -0,0 +1,49 @@
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+package dpi_boot
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+
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+import (
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+ "cicv-data-closedloop/common/util"
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+ "fmt"
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+ "github.com/bluenviron/goroslib/v2"
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+ "github.com/bluenviron/goroslib/v2/pkg/msg"
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+ "time"
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+)
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+
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+type HeartBeatInfo struct {
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+ msg.Package `ros:"diag_msgs"`
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+ ModuleName string `rosname:"module_name"`
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+ Rate int8 `rosname:"rate"`
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+ timestamp float64 `rosname:"timestamp"`
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+}
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+
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+var lastTime time.Time
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+
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+func main() {
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+ // 1 启动 shell 脚本 dpi_start.sh
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+ _, s, err := util.ExecuteWithDirSync("/data", "sh", "dpi_start.sh")
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+ if err != nil {
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+ fmt.Println("执行启动命令报错，执行结果为：", s, "，错误信息为：", err)
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+ }
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+ // 2 监听 ros 话题 /heartbeat_info
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+ rosNode, _ := goroslib.NewNode(goroslib.NodeConf{
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+ Name: "dpi_with_heartbeatInfo",
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+ MasterAddress: "127.0.0.1:11311",
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+ })
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+ _, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
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+ Node: rosNode,
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+ Topic: "/heartbeat_info",
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+ Callback: func(data *HeartBeatInfo) {
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+ lastTime = time.Now()
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+ }})
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+ // 3 超过5秒没有接收到数据则执行 dpi_stop.sh 和 dpi_start.sh
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+ if time.Since(lastTime) > 5.00 {
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+ _, s, err = util.ExecuteWithDirSync("/data", "sh", "dpi_stop.sh")
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+ if err != nil {
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+ fmt.Println("执行停止命令报错，执行结果为：", s, "，错误信息为：", err)
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+ }
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+ _, s, err = util.ExecuteWithDirSync("/data", "sh", "dpi_start.sh")
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+ if err != nil {
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+ fmt.Println("执行启动命令报错，执行结果为：", s, "，错误信息为：", err)
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+ }
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+ }
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+
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+}
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