commit

aarch64/pjisuv/master/package/config/master_trigger_config.go

@@ -8,7 +8,6 @@ import (
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
 	"plugin"
@@ -159,46 +158,6 @@ var (
 	RuleOfCameraImage  []func(data *sensor_msgs.Image) string
 
 	//36
-	TopicOfCameraObstacles = "/camera_obstacles"
-	RuleOfCameraObstacles  []func(data *pjisuv_msgs.CameraObjectList) string
-
-	//37
-	TopicOfCamRes = "/cam_res"
-	RuleOfCamRes  []func(data *sensor_msgs.Image) string
-
-	//38
-	TopicOfCamObjects = "/cam_objects"
-	RuleOfCamObjects  []func(data *pjisuv_msgs.CameraObjectList) string
-
-	//39
-	TopicOfTftrafficlight = "/tftrafficlight"
-	RuleOfTftrafficlight  []func(data *pjisuv_msgs.TrafficLightDetection) string
-
-	//40
-	TopicOfStationStatus = "/station_status"
-	RuleOfStationStatus  []func(data *std_msgs.Bool) string
-
-	//41
-	TopicOfDestinationPose = "/destination_pose"
-	RuleOfDestinationPose  []func(data *visualization_msgs.MarkerArray) string
-
-	//42
-	TopicOfMapDisplay = "/map_display"
-	RuleOfMapDisplay  []func(data *nav_msgs.Path) string
-
-	//43
-	TopicOfRoutingRviz = "/routing_rviz"
-	RuleOfRoutingRviz  []func(data *nav_msgs.Path) string
-
-	//44
-	TopicOfRouteMessage = "/route_message"
-	RuleOfRouteMessage  []func(data *pjisuv_msgs.Route) string
-
-	//45
-	TopicOfRouteResultMessage = "/route_result_message"
-	RuleOfRouteResultMessage  []func(data *pjisuv_msgs.Route) string
-
-	//46
 	TopicOfDataRead = "/data_read"
 	RuleOfDataRead  []func(data *pjisuv_msgs.Retrieval) string
 
@@ -490,77 +449,7 @@ func InitTriggerConfig() {
 				continue
 			}
 			RuleOfCameraImage = append(RuleOfCameraImage, f)
-		} else if TopicOfCameraObstacles == topic2 { //36
-			f, ok := rule.(func(data *pjisuv_msgs.CameraObjectList) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.CameraObjectList) string):", err)
-				continue
-			}
-			RuleOfCameraObstacles = append(RuleOfCameraObstacles, f)
-		} else if TopicOfCamRes == topic2 { //37
-			f, ok := rule.(func(data *sensor_msgs.Image) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.Image) string):", err)
-				continue
-			}
-			RuleOfCamRes = append(RuleOfCamRes, f)
-		} else if TopicOfCamObjects == topic2 { //38
-			f, ok := rule.(func(data *pjisuv_msgs.CameraObjectList) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.CameraObjectList) string):", err)
-				continue
-			}
-			RuleOfCamObjects = append(RuleOfCamObjects, f)
-		} else if TopicOfTftrafficlight == topic2 { //39
-			f, ok := rule.(func(data *pjisuv_msgs.TrafficLightDetection) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.TrafficLightDetection) string):", err)
-				continue
-			}
-			RuleOfTftrafficlight = append(RuleOfTftrafficlight, f)
-		} else if TopicOfStationStatus == topic2 { //40
-			f, ok := rule.(func(data *std_msgs.Bool) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *std_msgs.Bool) string):", err)
-				continue
-			}
-			RuleOfStationStatus = append(RuleOfStationStatus, f)
-		} else if TopicOfDestinationPose == topic2 { //41
-			f, ok := rule.(func(data *visualization_msgs.MarkerArray) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *visualization_msgs.MarkerArray) string):", err)
-				continue
-			}
-			RuleOfDestinationPose = append(RuleOfDestinationPose, f)
-		} else if TopicOfMapDisplay == topic2 { //42
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
-			}
-			RuleOfMapDisplay = append(RuleOfMapDisplay, f)
-		} else if TopicOfRoutingRviz == topic2 { //43
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
-			}
-			RuleOfRoutingRviz = append(RuleOfRoutingRviz, f)
-		} else if TopicOfRouteMessage == topic2 { //44
-			f, ok := rule.(func(data *pjisuv_msgs.Route) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Route) string):", err)
-				continue
-			}
-			RuleOfRouteMessage = append(RuleOfRouteMessage, f)
-		} else if TopicOfRouteResultMessage == topic2 { //45
-			f, ok := rule.(func(data *pjisuv_msgs.Route) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Route) string):", err)
-				continue
-			}
-			RuleOfRouteResultMessage = append(RuleOfRouteResultMessage, f)
-		} else if TopicOfDataRead == topic2 { //46
+		} else if TopicOfDataRead == topic2 { //36
 			f, ok := rule.(func(data *pjisuv_msgs.Retrieval) string)
 			if ok != true {
 				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Retrieval) string):", err)

aarch64/topic-echo/main/main.go

@@ -10,7 +10,6 @@ import (
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
 	"os"
@@ -53,7 +52,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//4 TODO 消息不一致
+		//4 一致
+		// history 消息不一致
 		if topic == pjisuvConfig.TopicOfCanData {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -116,7 +116,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//11 TODO 该topic没有数据发出
+		//11 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfCicvAmrTrajectory {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -134,7 +135,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//13 TODO 消息不一致
+		//13 一致
+		// history 消息不一致
 		if topic == pjisuvConfig.TopicOfCloudClusters {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -242,7 +244,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//25 TODO 没有数据发出
+		//25 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfReferenceDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -251,7 +254,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//26 TODO 没有数据发出
+		//26 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfReferenceTrajectory {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -260,7 +264,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//27 TODO 没有数据发出
+		//27 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfRoiPoints {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -296,7 +301,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//31 TODO 没有数据发出
+		//31 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfTpperceptionVis {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -314,7 +320,8 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//33 todo 没有数据发出
+		//33 一致
+		// history 没有数据发出（未开启自动驾驶）
 		if topic == pjisuvConfig.TopicOfTrajectoryDisplay {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -342,96 +349,6 @@ func main() {
 				}})
 		}
 		//36 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfCameraObstacles {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.CameraObjectList) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//37 todo 连接失败
-		if topic == pjisuvConfig.TopicOfCamRes {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *sensor_msgs.Image) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//38 todo 本人话题输入错误
-		if topic == pjisuvConfig.TopicOfCamObjects {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.CameraObjectList) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//39 todo 连接失败
-		if topic == pjisuvConfig.TopicOfTftrafficlight {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.TrafficLightDetection) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//40 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfStationStatus {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *std_msgs.Bool) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//41 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfDestinationPose {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *visualization_msgs.MarkerArray) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//42 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfMapDisplay {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *nav_msgs.Path) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//43 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfRoutingRviz {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *nav_msgs.Path) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//44 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfRouteMessage {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.Route) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//45 todo 没有数据发出
-		if topic == pjisuvConfig.TopicOfRouteResultMessage {
-			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-				Node:  rosNode,
-				Topic: topic,
-				Callback: func(data *pjisuv_msgs.Route) {
-					fmt.Println("收到话题", topic, "的数据", data)
-				}})
-		}
-		//46 todo 没有数据发出
 		if topic == pjisuvConfig.TopicOfDataRead {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,