commit

aarch64/pjisuv/common/config/c_cloud.go

@@ -45,6 +45,7 @@ type trigger struct {
 }
 
 type cloudConfig struct {
+	CleanBeforeStart      bool          `yaml:"clean-before-start"`
 	FullCollect           bool          `yaml:"full-collect"`
 	ConfigRefreshInterval int           `yaml:"config-refresh-interval"` // 配置刷新时间间隔
 	BagNumber             int           `yaml:"bag-number"`
@@ -117,6 +118,11 @@ func InitCloudConfig() {
 	util.CreateDir(CloudConfig.BagCopyDir)
 	timeToLabelJson, _ := util.MapToJsonString(map[string]interface{}{"time": "label"})
 	_ = util.WriteFile(timeToLabelJson, CloudConfig.TimeToLabelJsonPath)
+
+	if CloudConfig.CleanBeforeStart { // 判断是否需要清空原数据缓存
+		_ = util.RemoveSubFiles(CloudConfig.BagDataDir)
+		_ = util.RemoveSubFiles(CloudConfig.BagCopyDir)
+	}
 }
 
 // RefreshCloudConfig 初始化业务配置

aarch64/pjisuv/common/config/yaml/pjisuv-003-cloud-config.yaml

@@ -1,11 +1,13 @@
 ---
+clean-before-start: true
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
   url-device-auth: http://1.202.169.139:8081/device/auth
   url-task-poll: http://1.202.169.139:8081/device/task/poll
   url-task: http://1.202.169.139:8081/device/task
-bag-number: 120
+full-collect: true
+bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
 config-refresh-interval: 60
 disk:
   name: /dev/vdb # 磁盘名称
@@ -54,7 +56,7 @@ hosts:
         - "ROS_DISTRO=melodic"
     topics:
       - /camera_image # /camera_output
-      - /cicv_amr_trajectory # /planner_s4 换成了 /planner_s4_gd
+      - /cicv_amr_trajectory
       - /pj_control_pub # /control
       - /data_read
   - name: node2
@@ -83,9 +85,8 @@ hosts:
       - /points_concat  # /lidar_pretreatment
       - /tpperception # /sensorfusion
       - /cicv_location  # /ins
-full-collect: true  #如果不是全量采集需要根据triggers过滤
 triggers:
-  - label: rapidaccel 
+  - label: rapidaccel
     topics:
       - /tpperception
       - /points_concat

aarch64/pjisuv/common/config/yaml/pjisuv-008-cloud-config.yaml

@@ -1,11 +1,13 @@
 ---
+clean-before-start: true
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
   url-device-auth: http://1.202.169.139:8081/device/auth
   url-task-poll: http://1.202.169.139:8081/device/task/poll
   url-task: http://1.202.169.139:8081/device/task
-bag-number: 120
+full-collect: true
+bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
 config-refresh-interval: 60
 disk:
   name: /dev/vdb # 磁盘名称
@@ -54,7 +56,7 @@ hosts:
         - "ROS_DISTRO=melodic"
     topics:
       - /camera_image # /camera_output
-      - /cicv_amr_trajectory # /planner_s4 换成了 /planner_s4_gd
+      - /cicv_amr_trajectory
       - /pj_control_pub # /control
       - /data_read
   - name: node2
@@ -83,9 +85,8 @@ hosts:
       - /points_concat  # /lidar_pretreatment
       - /tpperception # /sensorfusion
       - /cicv_location  # /ins
-full-collect: true  #如果不是全量采集需要根据triggers过滤
 triggers:
-  - label: rapidaccel 
+  - label: rapidaccel
     topics:
       - /tpperception
       - /points_concat

aarch64/pjisuv/common/config/yaml/pjisuv-012-cloud-config.yaml

@@ -1,11 +1,13 @@
 ---
+clean-before-start: true
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
   url-device-auth: http://1.202.169.139:8081/device/auth
   url-task-poll: http://1.202.169.139:8081/device/task/poll
   url-task: http://1.202.169.139:8081/device/task
-bag-number: 120
+full-collect: true
+bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
 config-refresh-interval: 60
 disk:
   name: /dev/vdb # 磁盘名称
@@ -54,7 +56,7 @@ hosts:
         - "ROS_DISTRO=melodic"
     topics:
       - /camera_image # /camera_output
-      - /cicv_amr_trajectory # /planner_s4 换成了 /planner_s4_gd
+      - /cicv_amr_trajectory
       - /pj_control_pub # /control
       - /data_read
   - name: node2
@@ -83,9 +85,8 @@ hosts:
       - /points_concat  # /lidar_pretreatment
       - /tpperception # /sensorfusion
       - /cicv_location  # /ins
-full-collect: true  #如果不是全量采集需要根据triggers过滤
 triggers:
-  - label: rapidaccel 
+  - label: rapidaccel
     topics:
       - /tpperception
       - /points_concat

aarch64/pjisuv/master/main.go

@@ -6,7 +6,6 @@ import (
 	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
 	masterService "cicv-data-closedloop/aarch64/pjisuv/master/service"
 	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
 )
 
 func init() {
@@ -20,9 +19,6 @@ func init() {
 	commonConfig.InitOssConfig()
 	// 初始化业务逻辑配置信息，配置文件在oss上（第2处配置，在oss文件）
 	commonConfig.InitCloudConfig()
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagDataDir)
-	_ = util.RemoveSubFiles(commonConfig.CloudConfig.BagCopyDir)
-
 	go commonConfig.RefreshCloudConfig()
 	// 初始化数据闭环平台的配置（第3处配置，在数据闭环平台接口）
 	commonConfig.InitPlatformConfig()