commit

plugin-compile/main/main.go → aarch64/plugin-compile/main/main.go

@@ -1,11 +1,11 @@
 package main
 
 import (
+	"cicv-data-closedloop/aarch64/plugin-compile/package/config/c_nacos"
+	"cicv-data-closedloop/aarch64/plugin-compile/package/config/c_oss"
+	"cicv-data-closedloop/aarch64/plugin-compile/package/handler/h_compile_plugin"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/handler/h_validate_request_header"
-	"cicv-data-closedloop/plugin-compile/package/config/c_nacos"
-	"cicv-data-closedloop/plugin-compile/package/config/c_oss"
-	"cicv-data-closedloop/plugin-compile/package/handler/h_compile_plugin"
 	"fmt"
 	"net/http"
 )

plugin-compile/package/handler/h_compile_plugin/compile_plugin.go → aarch64/plugin-compile/package/handler/h_compile_plugin/compile_plugin.go

@@ -1,10 +1,10 @@
 package h_compile_plugin
 
 import (
+	"cicv-data-closedloop/aarch64/plugin-compile/package/config/c_oss"
+	util2 "cicv-data-closedloop/aarch64/plugin-compile/package/util"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/entity"
-	"cicv-data-closedloop/plugin-compile/package/config/c_oss"
-	"cicv-data-closedloop/plugin-compile/package/util"
 	"encoding/json"
 	"fmt"
 	"github.com/google/uuid"
@@ -61,7 +61,7 @@ func (h *CompileHandler) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 	tempMiddlePath := uuid.New().String()[:8]
 	goLocalPath := codeDir + tempMiddlePath + "/main/" + tempMiddlePath + ".go"
 	c_log.GlobalLogger.Infof("下载源代码 %v --> %v", goObjectKey, goLocalPath)
-	if err := util.LimitDownload(c_oss.OssBucket, 41943040, goObjectKey, goLocalPath); err != nil {
+	if err := util2.LimitDownload(c_oss.OssBucket, 41943040, goObjectKey, goLocalPath); err != nil {
 		c_log.GlobalLogger.Error("下载源代码 ", goObjectKey, " 出错：", err)
 		result, _ := json.Marshal(entity.HttpResult{Status: false, Code: "1004", Message: "下载源代码 " + goObjectKey + " 出错。"})
 		_, _ = fmt.Fprintf(w, string(result))
@@ -80,7 +80,7 @@ func (h *CompileHandler) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 	copiedCompileCmdArgs := make([]string, len(compileCmdArgs))
 	copy(copiedCompileCmdArgs, compileCmdArgs)
 	copiedCompileCmdArgs = append(copiedCompileCmdArgs, "-o", soLocalPath, goLocalPath)
-	if _, output, err := util.ExecuteWithEnvAndDir(os.Environ(), codeDir, compileCmd, copiedCompileCmdArgs...); err != nil {
+	if _, output, err := util2.ExecuteWithEnvAndDir(os.Environ(), codeDir, compileCmd, copiedCompileCmdArgs...); err != nil {
 		c_log.GlobalLogger.Error("编译插件 ", goLocalPath, " 出错：【命令】=", compileCmd, " ", copiedCompileCmdArgs, "【output】=", output, "，【err】=", err)
 		result, _ := json.Marshal(entity.HttpResult{Status: false, Code: "1006", Message: "编译插件 " + goObjectKey + " 出错。"})
 		_, _ = fmt.Fprintf(w, string(result))
@@ -88,7 +88,7 @@ func (h *CompileHandler) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 	}
 
 	// 4 校验插件是否能用
-	if _, output, err := util.Execute(vaildateCmd, soLocalPath); err != nil || output != "0" {
+	if _, output, err := util2.Execute(vaildateCmd, soLocalPath); err != nil || output != "0" {
 		c_log.GlobalLogger.Error("插件 ", goLocalPath, " 校验失败：【命令】=", vaildateCmd, " ", soLocalPath, "【output】=", output)
 		result, _ := json.Marshal(entity.HttpResult{Status: false, Code: "1007", Message: "插件 " + soObjectKey + " 校验失败。"})
 		_, _ = fmt.Fprintf(w, string(result))
@@ -96,14 +96,14 @@ func (h *CompileHandler) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 	}
 	c_log.GlobalLogger.Error("插件 ", soLocalPath, " 校验成功。")
 	// 5 如果插件能用，将插件上传到 oss
-	if err := util.LimitUpload(c_oss.OssBucket, 41943040, soObjectKey, soLocalPath); err != nil {
+	if err := util2.LimitUpload(c_oss.OssBucket, 41943040, soObjectKey, soLocalPath); err != nil {
 		c_log.GlobalLogger.Error("上传插件 ", soObjectKey, " 出错：", err)
 		result, _ := json.Marshal(entity.HttpResult{Status: false, Code: "1008", Message: "上传插件 " + soObjectKey + " 出错。"})
 		_, _ = fmt.Fprintf(w, string(result))
 		return
 	}
 	// 6 删除本地缓存的源代码和插件
-	if err := util.RemoveDir(codeDir + tempMiddlePath + "/"); err != nil {
+	if err := util2.RemoveDir(codeDir + tempMiddlePath + "/"); err != nil {
 		c_log.GlobalLogger.Error("删除本地缓存目录 ", codeDir+tempMiddlePath+"/", " 出错：", err)
 		result, _ := json.Marshal(entity.HttpResult{Status: false, Code: "1009", Message: "删除本地缓存出错。"})
 		_, _ = fmt.Fprintf(w, string(result))

build.sh

@@ -8,8 +8,8 @@ go build -o ./exe/pji-master.exe ./pji/master/main/master.go
 go build -o ./exe/pji-control.exe ./pji/control/main/control.go
 
 # 插件编译接口
-go build -o ./exe/plugin-vaildate.exe ./plugin-vaildate/main/main.go
-go build -o ./exe/plugin-compile.exe ./plugin-compile/main/main.go
+go build -o ./exe/plugin-vaildate.exe ./aarch64/plugin-vaildate/main/main.go
+go build -o ./exe/plugin-compile.exe ./aarch64/plugin-compile/main/main.go
 
 # 金龙车插件
 #go build --buildmode=plugin -o ./so/kinglong/overspeed.so ./trigger/kinglong/cicv_location/overspeed/main/overspeed.go

kinglong/common/cfg/cloud-config-20240123.yaml

@@ -53,10 +53,29 @@ hosts:
     ip: 192.168.1.102
     topics:
       - /camera_image
+      - /cam_res
+      - /fusion/vis/velocity
+      - /cicv/lidartracking_moving_objects
       - /cicv_location
-      - /heartbeat_info
+      - /cicv/lidarfusionmovingobject
+      - /cicv/lidardeeplearning_moving_objects
+      - /cicv/lidarcluster_moving_objects
+      - /cam_objects
+      - /f_radar_objects
+      - /fusion/vis/box
+      - /cicv_amr_trajectory
+      - /map_polygon
+      - /reference_trajectory
+      - /tprouteplan
       - /jinlong_control_pub
+      - /vehicle_info
+      - /tftrafficlight
+      - /cicv_location_JL
+      - /jinlong_flag_pub
+      - /car_wheel
+      - /nodefault_info
       - /AutoModeStatus
+      - /heartbeat_info
       - /data_read
   - name: node2
     ip: 192.168.1.103
@@ -68,10 +87,10 @@ hosts:
       - /roi/points
       - /roi/polygon
       - /unground_cloudpoints
-      - /cicv/lidarcluster_moving_objects
+      - /points_concat
       - /tpperception
       - /tpperception/hmi
-      - /points_concat
+      -
 triggers:
   - label: rapidaccel
     topics: