commit

aarch64/pjisuv/common/service/rosbag_upload.go

@@ -144,18 +144,24 @@ outLoop:
 			}, "", "    ")
 			callBackJson := string(callBackJsonBytes)
 			c_log.GlobalLogger.Info("【callBackJson】=", callBackJson)
-			commonConfig.OssMutex.Lock()
-			err := commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
-			commonConfig.OssMutex.Unlock()
-			if err != nil {
-				c_log.GlobalLogger.Error("上传 callback.json", callBackJson, "失败：", err)
+
+			{
+				//commonConfig.OssMutex.Lock()
+				//err := commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
+				//commonConfig.OssMutex.Unlock()
+				//if err != nil {
+				//	c_log.GlobalLogger.Error("上传 callback.json", callBackJson, "失败：", err)
+				//}
+				// 删除本地所有已上传的bag文件
+				//if err := commonUtil.RemoveDir(dir); err != nil {
+				//	continue outLoop
+				//}
+				commonUtil.WriteStringToFile(callBackJson, "/mnt/media/sda1/cicv-data-closedloop/data/"+currentTimeWindow.FaultTime+"/")
+
 			}
-		}
+			c_log.GlobalLogger.Infof("结束处理窗口，【Label】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
 
-		// 删除本地所有已上传的bag文件
-		c_log.GlobalLogger.Infof("结束处理窗口，【Label】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.FaultTime, currentTimeWindow.Length)
-		if err := commonUtil.RemoveDir(dir); err != nil {
-			continue outLoop
 		}
+
 	}
 }

aarch64/pjisuv/master/service/for_competition.go

@@ -1,206 +1,207 @@
 package service
 
-import (
-	"cicv-data-closedloop/aarch64/pjisuv/common/config"
-	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
-	"cicv-data-closedloop/common/config/c_log"
-	"cicv-data-closedloop/common/util"
-	"cicv-data-closedloop/pjisuv_msgs"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"os"
-	"strings"
-	"sync"
-	"time"
-)
-
-var (
-	dir       = "/userdata/competition/"
-	dirBak    = "/userdata/competition-bak/"
-	ossPrefix = "competition/"
-	// v20240604 添加 /pj_vehicle_fdb_pub 判断人工接管场景
-	commandArgs            = []string{"record", "--split", "--duration=1", "/pji_gps", "/data_read", "/pj_vehicle_fdb_pub"}
-	topic                  = "/team_name"
-	urlExamTick            = "http://36.110.106.142:12341/web_server/exam/tick"
-	urlExamBegin           = "http://36.110.106.142:12341/web_server/exam/begin"
-	urlExamEnd             = "http://36.110.106.142:12341/web_server/exam/end"
-	cacheMutex             sync.Mutex
-	cacheTeamName          = make(map[string]time.Time)
-	heartBeatTimeThreshold = 5 * time.Second // 心跳时间
-	bakSecondNumber        = 3600
-	cachePositionX         = -999.00
-	cachePositionY         = -999.00
-	cacheAutoMode          = -1                // 自动驾驶状态 0 人工 1 自动
-	InitialPositionX       = 565266.0482367771 // todo 需要比赛确认起点
-	InitialPositionY       = 4329773.48728322  // todo 需要比赛确认起点
-)
-
-// todo 实车比赛临时使用
-// history record命令无法录制（）
-func ForCompetition() {
-	go dataCollection()
-	go dataCollectionBak(bakSecondNumber) // 需要再车上备份的数据，防止网络差传不回来
-	go location()                         // 记录经纬度和速度
-	go mode()                             // 记录自动驾驶状态
-	go tick()
-}
-
-// 全量数据采集
-func dataCollection() {
-	c_log.GlobalLogger.Info("开始采集实车算法比赛全量数据。")
-	util.CreateDir(dir)
-	// 1 打包
-	c_log.GlobalLogger.Info("采集实车算法比赛全量数据的环境变量为：", commonConfig.RosbagEnvs)
-	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dir, commonConfig.RosbagPath, commandArgs...)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃。执行record命令", command, "出错：", err)
-		os.Exit(-1)
-	}
-	// 2 扫描目录文件
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		files, _ := util.ListAbsolutePathAndSort(dir)
-		if len(files) >= 2 {
-			//c_log.GlobalLogger.Info("扫描实车比赛数据采集目录，", files)
-			for i := range files {
-				if i == len(files)-1 { // 最后一个包在录制中，不上传
-					break
-				}
-				c_log.GlobalLogger.Debug("上传实车算法比赛全量数据包", files[i])
-				bagSlice := strings.Split(files[i], "/")
-				commonConfig.OssMutex.Lock()
-				_ = commonConfig.OssBucket.PutObjectFromFile(ossPrefix+config.LocalConfig.EquipmentNo+"/"+bagSlice[len(bagSlice)-1], files[i])
-				commonConfig.OssMutex.Unlock()
-				_ = util.DeleteFile(files[i])
-			}
-		}
-	}
-}
-
-// 全量数据采集
-func dataCollectionBak(bakSecondNumber int) {
-	c_log.GlobalLogger.Info("开始备份实车算法比赛全量数据。")
-	util.CreateDir(dirBak)
-	// 1 打包
-	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dirBak, commonConfig.RosbagPath, commandArgs...)
-	if err != nil {
-		c_log.GlobalLogger.Error("程序崩溃。备份目录执行record命令", command, "出错：", err)
-		os.Exit(-1)
-	}
-	// 2 扫描目录文件
-	for {
-		time.Sleep(time.Duration(2) * time.Second)
-		files, _ := util.ListAbsolutePathAndSort(dirBak)
-		if len(files) >= bakSecondNumber {
-			// 超出阈值就删除心跳+1个文件
-			_ = util.DeleteFile(files[0])
-			_ = util.DeleteFile(files[1])
-			_ = util.DeleteFile(files[2])
-		}
-	}
-}
-
-// data格式为队伍编号
-// 保存单次考试时间区间
-func location() {
-	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-		Node:  commonConfig.RosNode,
-		Topic: "/cicv_location",
-		Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
-			cachePositionX = data.PositionX
-			cachePositionY = data.PositionY
-		},
-	})
-}
-
-func mode() {
-	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-		Node:  commonConfig.RosNode,
-		Topic: "/pj_vehicle_fdb_pub",
-		Callback: func(data *pjisuv_msgs.VehicleFdb) {
-			cacheAutoMode = int(data.Automode)
-		},
-	})
-}
-
-// data格式为队伍编号
-// 保存单次考试时间区间
-func tick() {
-	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
-		Node:  commonConfig.RosNode,
-		Topic: topic,
-		Callback: func(data *std_msgs.String) {
-			if cacheAutoMode == 1 { // 只有在自动驾驶状态才发送心跳
-				//if math.Abs(positionX-InitialPositionX) > 5.00 || math.Abs(positionY-InitialPositionY) > 5.00 { // todo 测试临时使用起点判断
-				teamName := data.Data
-				response, err := util.HttpPostJsonWithHeaders(
-					urlExamTick,
-					map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-					map[string]string{
-						"teamName":    teamName,
-						"positionX":   util.ToString(cachePositionX),
-						"positionY":   util.ToString(cachePositionY),
-						"equipmentNo": config.LocalConfig.EquipmentNo, // 设备编号
-					},
-				)
-				if err != nil {
-					c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端报错，错误信息为：%v。", teamName, err)
-				}
-				c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端，响应结果为：%v。", teamName, response)
-			}
-		},
-	})
-}
-
+//
+//import (
+//	"cicv-data-closedloop/aarch64/pjisuv/common/config"
+//	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
+//	"cicv-data-closedloop/common/config/c_log"
+//	"cicv-data-closedloop/common/util"
+//	"cicv-data-closedloop/pjisuv_msgs"
+//	"github.com/bluenviron/goroslib/v2"
+//	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+//	"os"
+//	"strings"
+//	"sync"
+//	"time"
+//)
+//
+//var (
+//	dir       = "/userdata/competition/"
+//	dirBak    = "/userdata/competition-bak/"
+//	ossPrefix = "competition/"
+//	// v20240604 添加 /pj_vehicle_fdb_pub 判断人工接管场景
+//	commandArgs            = []string{"record", "--split", "--duration=1", "/pji_gps", "/data_read", "/pj_vehicle_fdb_pub"}
+//	topic                  = "/team_name"
+//	urlExamTick            = "http://36.110.106.142:12341/web_server/exam/tick"
+//	urlExamBegin           = "http://36.110.106.142:12341/web_server/exam/begin"
+//	urlExamEnd             = "http://36.110.106.142:12341/web_server/exam/end"
+//	cacheMutex             sync.Mutex
+//	cacheTeamName          = make(map[string]time.Time)
+//	heartBeatTimeThreshold = 5 * time.Second // 心跳时间
+//	bakSecondNumber        = 3600
+//	cachePositionX         = -999.00
+//	cachePositionY         = -999.00
+//	cacheAutoMode          = -1                // 自动驾驶状态 0 人工 1 自动
+//	InitialPositionX       = 565266.0482367771 // todo 需要比赛确认起点
+//	InitialPositionY       = 4329773.48728322  // todo 需要比赛确认起点
+//)
+//
+//// todo 实车比赛临时使用
+//// history record命令无法录制（）
+//func ForCompetition() {
+//	go dataCollection()
+//	go dataCollectionBak(bakSecondNumber) // 需要再车上备份的数据，防止网络差传不回来
+//	go location()                         // 记录经纬度和速度
+//	go mode()                             // 记录自动驾驶状态
+//	go tick()
+//}
+//
+//// 全量数据采集
+//func dataCollection() {
+//	c_log.GlobalLogger.Info("开始采集实车算法比赛全量数据。")
+//	util.CreateDir(dir)
+//	// 1 打包
+//	c_log.GlobalLogger.Info("采集实车算法比赛全量数据的环境变量为：", commonConfig.RosbagEnvs)
+//	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dir, commonConfig.RosbagPath, commandArgs...)
+//	if err != nil {
+//		c_log.GlobalLogger.Error("程序崩溃。执行record命令", command, "出错：", err)
+//		os.Exit(-1)
+//	}
+//	// 2 扫描目录文件
+//	for {
+//		time.Sleep(time.Duration(2) * time.Second)
+//		files, _ := util.ListAbsolutePathAndSort(dir)
+//		if len(files) >= 2 {
+//			//c_log.GlobalLogger.Info("扫描实车比赛数据采集目录，", files)
+//			for i := range files {
+//				if i == len(files)-1 { // 最后一个包在录制中，不上传
+//					break
+//				}
+//				c_log.GlobalLogger.Debug("上传实车算法比赛全量数据包", files[i])
+//				bagSlice := strings.Split(files[i], "/")
+//				commonConfig.OssMutex.Lock()
+//				_ = commonConfig.OssBucket.PutObjectFromFile(ossPrefix+config.LocalConfig.EquipmentNo+"/"+bagSlice[len(bagSlice)-1], files[i])
+//				commonConfig.OssMutex.Unlock()
+//				_ = util.DeleteFile(files[i])
+//			}
+//		}
+//	}
+//}
+//
+//// 全量数据采集
+//func dataCollectionBak(bakSecondNumber int) {
+//	c_log.GlobalLogger.Info("开始备份实车算法比赛全量数据。")
+//	util.CreateDir(dirBak)
+//	// 1 打包
+//	command, err := util.ExecuteWithEnvAndDirAsync(commonConfig.RosbagEnvs, dirBak, commonConfig.RosbagPath, commandArgs...)
+//	if err != nil {
+//		c_log.GlobalLogger.Error("程序崩溃。备份目录执行record命令", command, "出错：", err)
+//		os.Exit(-1)
+//	}
+//	// 2 扫描目录文件
+//	for {
+//		time.Sleep(time.Duration(2) * time.Second)
+//		files, _ := util.ListAbsolutePathAndSort(dirBak)
+//		if len(files) >= bakSecondNumber {
+//			// 超出阈值就删除心跳+1个文件
+//			_ = util.DeleteFile(files[0])
+//			_ = util.DeleteFile(files[1])
+//			_ = util.DeleteFile(files[2])
+//		}
+//	}
+//}
+//
 //// data格式为队伍编号
 //// 保存单次考试时间区间
-//func examBeginBak() {
+//func location() {
 //	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 //		Node:  commonConfig.RosNode,
-//		Topic: topic,
-//		Callback: func(data *std_msgs.String) {
-//			teamName := data.Data
-//			cacheMutex.Lock()
-//			{
-//				if !util.ContainsKey(cacheTeamName, teamName) { // 1 如果缓存数组中没有此队名，代表考试开始，缓存此队名，和当前时间戳
-//					examBeginTime := time.Now()
-//					cacheTeamName[teamName] = examBeginTime
-//					_, _ = util.HttpPostJsonWithHeaders(
-//						urlExamBegin,
-//						map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-//						map[string]string{"teamName": teamName},
-//					)
-//					c_log.GlobalLogger.Infof("队伍 %v 的考试开始。", teamName)
-//				} else { // 2 如果缓存数组中有此队名，代表考试进行中，刷新时间戳
-//					cacheTeamName[teamName] = time.Now()
-//				}
-//			}
-//			cacheMutex.Unlock()
+//		Topic: "/cicv_location",
+//		Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
+//			cachePositionX = data.PositionX
+//			cachePositionY = data.PositionY
 //		},
 //	})
 //}
 //
-//func examEndBak() {
-//	for {
-//		time.Sleep(time.Duration(1) * time.Second)
-//		cacheMutex.Lock()
-//		{
-//			var keysToDelete []string
-//			for teamName, heartBeatTime := range cacheTeamName {
-//				if time.Since(heartBeatTime) > heartBeatTimeThreshold { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
-//					keysToDelete = append(keysToDelete, teamName)
-//				}
-//			}
-//			for _, teamName := range keysToDelete { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
-//				delete(cacheTeamName, teamName)
-//				_, _ = util.HttpPostJsonWithHeaders(
-//					urlExamEnd,
+//func mode() {
+//	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+//		Node:  commonConfig.RosNode,
+//		Topic: "/pj_vehicle_fdb_pub",
+//		Callback: func(data *pjisuv_msgs.VehicleFdb) {
+//			cacheAutoMode = int(data.Automode)
+//		},
+//	})
+//}
+//
+//// data格式为队伍编号
+//// 保存单次考试时间区间
+//func tick() {
+//	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+//		Node:  commonConfig.RosNode,
+//		Topic: topic,
+//		Callback: func(data *std_msgs.String) {
+//			if cacheAutoMode == 1 { // 只有在自动驾驶状态才发送心跳
+//				//if math.Abs(positionX-InitialPositionX) > 5.00 || math.Abs(positionY-InitialPositionY) > 5.00 { // todo 测试临时使用起点判断
+//				teamName := data.Data
+//				response, err := util.HttpPostJsonWithHeaders(
+//					urlExamTick,
 //					map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
-//					map[string]string{"teamName": teamName},
+//					map[string]string{
+//						"teamName":    teamName,
+//						"positionX":   util.ToString(cachePositionX),
+//						"positionY":   util.ToString(cachePositionY),
+//						"equipmentNo": config.LocalConfig.EquipmentNo, // 设备编号
+//					},
 //				)
-//				c_log.GlobalLogger.Infof("队伍 %v 的考试结束。", teamName)
+//				if err != nil {
+//					c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端报错，错误信息为：%v。", teamName, err)
+//				}
+//				c_log.GlobalLogger.Infof("队伍 %v 的心跳发送到云端，响应结果为：%v。", teamName, response)
 //			}
-//		}
-//		cacheMutex.Unlock()
-//	}
+//		},
+//	})
 //}
+//
+////// data格式为队伍编号
+////// 保存单次考试时间区间
+////func examBeginBak() {
+////	_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
+////		Node:  commonConfig.RosNode,
+////		Topic: topic,
+////		Callback: func(data *std_msgs.String) {
+////			teamName := data.Data
+////			cacheMutex.Lock()
+////			{
+////				if !util.ContainsKey(cacheTeamName, teamName) { // 1 如果缓存数组中没有此队名，代表考试开始，缓存此队名，和当前时间戳
+////					examBeginTime := time.Now()
+////					cacheTeamName[teamName] = examBeginTime
+////					_, _ = util.HttpPostJsonWithHeaders(
+////						urlExamBegin,
+////						map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
+////						map[string]string{"teamName": teamName},
+////					)
+////					c_log.GlobalLogger.Infof("队伍 %v 的考试开始。", teamName)
+////				} else { // 2 如果缓存数组中有此队名，代表考试进行中，刷新时间戳
+////					cacheTeamName[teamName] = time.Now()
+////				}
+////			}
+////			cacheMutex.Unlock()
+////		},
+////	})
+////}
+////
+////func examEndBak() {
+////	for {
+////		time.Sleep(time.Duration(1) * time.Second)
+////		cacheMutex.Lock()
+////		{
+////			var keysToDelete []string
+////			for teamName, heartBeatTime := range cacheTeamName {
+////				if time.Since(heartBeatTime) > heartBeatTimeThreshold { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
+////					keysToDelete = append(keysToDelete, teamName)
+////				}
+////			}
+////			for _, teamName := range keysToDelete { // 检查缓存中的队名，如果超过心跳时间，则代表考试结束，删除缓存中的队名
+////				delete(cacheTeamName, teamName)
+////				_, _ = util.HttpPostJsonWithHeaders(
+////					urlExamEnd,
+////					map[string]string{"Authorization": "U9yKpD6kZZDDe4LFKK6myAxBUT1XRrDM"},
+////					map[string]string{"teamName": teamName},
+////				)
+////				c_log.GlobalLogger.Infof("队伍 %v 的考试结束。", teamName)
+////			}
+////		}
+////		cacheMutex.Unlock()
+////	}
+////}

aarch64/pjisuv/master/service/for_fault_log.go

@@ -25,7 +25,7 @@ var (
 func ForFaultCodeLog() {
 	initLog("/mnt/media/sda1/cicv-data-closedloop/fault_code/", "fault_code")
 	receiveFault()
-	uploadLodRegularly()
+	//uploadLodRegularly()
 }
 
 // InitLog 初始化日志配置

common/util/u_io.go

@@ -1,6 +1,7 @@
 package util
 
 import (
+	"fmt"
 	"io"
 	"os"
 	"path/filepath"
@@ -186,3 +187,21 @@ func ListAbsolutePathAndSort(dir string) ([]string, error) {
 	})
 	return result, nil
 }
+
+// WriteStringToFile 将字符串写入指定的文件路径
+func WriteStringToFile(content string, filePath string) {
+	// 方法一：使用os包
+	file, err := os.Create(filePath)
+	if err != nil {
+		fmt.Println("创建文件失败:", err)
+		return
+	}
+	defer file.Close()
+
+	_, err = file.WriteString(content)
+	if err != nil {
+		fmt.Println("写入文件失败:", err)
+		return
+	}
+	fmt.Println("字符串成功写入文件（os包）")
+}

trigger/pjisuv/cicv_location/rapidaccel/main/rapidaccel.go

@@ -0,0 +1,21 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+)
+
+func Topic() string {
+	return "/cicv_location"
+}
+
+func Label() string {
+	return "rapidaccel"
+}
+
+func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	if data.AccelX*9.8 > 2.0 {
+		return "rapidaccel"
+	} else {
+		return ""
+	}
+}