commit

test/rosbag_write_test.go

@@ -1,26 +1,61 @@
 package test
 
 import (
+	"cicv-data-closedloop/pjisuv_msgs"
 	"fmt"
+	"log"
 	"os"
 	"testing"
+	"time"
 
+	"github.com/bluenviron/goroslib/v2"
 	"github.com/foxglove/go-rosbag"
 )
 
 func TestWriteRosBag(t *testing.T) {
 
-	// Check if the file exists, if not create it
-	f, err := os.OpenFile("my-bag.bag", os.O_RDWR|os.O_CREATE, 0644)
+	// create a node and connect to the master
+	n, err := goroslib.NewNode(goroslib.NodeConf{
+		Name:          "goroslib_sub",
+		MasterAddress: "127.0.0.1:11311",
+	})
 	if err != nil {
 		panic(err)
 	}
-	defer func(f *os.File) {
-		err := f.Close()
-		if err != nil {
-			fmt.Printf("Error closing file: %s\n", err)
-		}
-	}(f)
+	defer n.Close()
+
+	// create a subscriber
+	sub, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
+		Node:  n,
+		Topic: "test_topic",
+		Callback: func(msg *pjisuv_msgs.PerceptionLocalization) {
+			log.Printf("Incoming: %+v\n", msg)
+		},
+	})
+	if err != nil {
+		panic(err)
+	}
+	defer sub.Close()
+
+	// // wait for CTRL-C
+	// c := make(chan os.Signal, 1)
+	// signal.Notify(c, os.Interrupt)
+	// <-c
+	// ------------------------------------------------------------------------------------
+
+	// 指定文件路径
+	filePath := "C:\\Users\\mlxengingin\\Desktop\\1118\\my-bag.bag"
+
+	// 以读写模式打开（或创建并清空）文件
+	f, err := os.OpenFile(filePath, os.O_RDWR|os.O_CREATE|os.O_TRUNC, 0644)
+	if err != nil {
+		// 打开（或创建并清空）文件时出错
+		panic(fmt.Errorf("无法打开或创建文件: %v", err))
+	}
+	defer f.Close() // 确保文件在函数结束时被关闭
+
+	// 后续的文件写入操作...
+	t.Log("文件已成功打开（或创建并清空）。")
 
 	writer, err := rosbag.NewWriter(f)
 	if err != nil {
@@ -29,10 +64,10 @@ func TestWriteRosBag(t *testing.T) {
 
 	err = writer.WriteConnection(&rosbag.Connection{
 		Conn:  1,
-		Topic: "/foo",
+		Topic: "/cicv_location",
 		Data: rosbag.ConnectionHeader{
-			Topic:             "/foo",
-			Type:              "Foo",
+			Topic:             "/cicv_location",
+			Type:              "perception_msgs/PerceptionLocalization",
 			MD5Sum:            "abc",
 			MessageDefinition: []byte{0x01, 0x02, 0x03},
 
@@ -45,17 +80,19 @@ func TestWriteRosBag(t *testing.T) {
 		panic(err)
 	}
 
-	for i := 0; i < 100; i++ {
-		data := "hello"
+	for i := 0; i < 10000; i++ {
+		nowInt := time.Now().Unix()
+		data := pjisuv_msgs.PerceptionLocalization{}
 		err = writer.WriteMessage(&rosbag.Message{
-			Conn: 0,
-			Time: uint64(i),
+			Conn: 1,
+			Time: uint64(nowInt),
 			Data: []byte(data),
 		})
 		if err != nil {
 			panic(err)
 		}
-		fmt.Println("保存数据", data)
+		t.Log("当前时间", uint64(nowInt))
+		t.Log("保存数据", data)
 	}
 
 }