commit

.idea/dataSources.xml

@@ -8,5 +8,12 @@
       <jdbc-url>jdbc:mysql://36.110.106.156:3306</jdbc-url>
       <working-dir>$ProjectFileDir$</working-dir>
     </data-source>
+    <data-source source="LOCAL" name="@localhost" uuid="656b84ef-baa2-423d-95fe-000a2972e769">
+      <driver-ref>redis</driver-ref>
+      <synchronize>true</synchronize>
+      <jdbc-driver>jdbc.RedisDriver</jdbc-driver>
+      <jdbc-url>jdbc:redis://36.110.106.156:6379/0</jdbc-url>
+      <working-dir>$ProjectFileDir$</working-dir>
+    </data-source>
   </component>
 </project>

aarch64/pjisuv/master/config/trigger_var.go

@@ -12,7 +12,7 @@ import (
 )
 
 var (
-	LabelMapTriggerId sync.Map
+	LabelMapTriggerId = new(sync.Map)
 	// 扩展
 	TopicOfCicvExtend = "/cicv_extend"
 	RuleOfCicvExtend  []func(param pjisuv_param.PjisuvParam) string
@@ -21,194 +21,233 @@ var (
 	TopicOfAmrPose = "/amr_pose"
 	RuleOfAmrPose1 []func(data *visualization_msgs.MarkerArray) string
 	RuleOfAmrPose2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
+	RuleOfAmrPose3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//2
 	TopicOfBoundingBoxesFast = "/bounding_boxes_fast"
 	RuleOfBoundingBoxesFast1 []func(data *pjisuv_msgs.BoundingBoxArray) string
 	RuleOfBoundingBoxesFast2 []func(data *pjisuv_msgs.BoundingBoxArray, param *pjisuv_param.PjisuvParam) string
+	RuleOfBoundingBoxesFast3 []func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string
 
 	//3
 	TopicOfCameraFault = "/camera_fault"
 	RuleOfCameraFault1 []func(data *pjisuv_msgs.FaultVec) string
 	RuleOfCameraFault2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
+	RuleOfCameraFault3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
 
 	//4
 	TopicOfCanData = "/can_data"
 	RuleOfCanData1 []func(data *pjisuv_msgs.Frame) string
 	RuleOfCanData2 []func(data *pjisuv_msgs.Frame, param *pjisuv_param.PjisuvParam) string
+	RuleOfCanData3 []func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string
 
 	//5
 	TopicOfCh128x1LslidarPointCloud = "/ch128x1/lslidar_point_cloud"
 	RuleOfCh128x1LslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfCh128x1LslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfCh128x1LslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//6
 	TopicOfCh64wLLslidarPointCloud = "/ch64w_l/lslidar_point_cloud"
 	RuleOfCh64wLLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfCh64wLLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfCh64wLLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//7
 	TopicOfCh64wLScan = "/ch64w_l/scan"
 	RuleOfCh64wLScan1 []func(data *sensor_msgs.LaserScan) string
 	RuleOfCh64wLScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
+	RuleOfCh64wLScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
 
 	//8
 	TopicOfCh64wRLslidarPointCloud = "/ch64w_r/lslidar_point_cloud"
 	RuleOfCh64wRLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfCh64wRLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfCh64wRLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//9
 	TopicOfCh64wRScan = "/ch64w_r/scan"
 	RuleOfCh64wRScan1 []func(data *sensor_msgs.LaserScan) string
 	RuleOfCh64wRScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
+	RuleOfCh64wRScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
 
 	//10
 	TopicOfCicvLidarclusterMovingObjects = "/cicv/lidarcluster_moving_objects"
 	RuleOfCicvLidarclusterMovingObjects1 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string
 	RuleOfCicvLidarclusterMovingObjects2 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects, param *pjisuv_param.PjisuvParam) string
+	RuleOfCicvLidarclusterMovingObjects3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string
 
 	//11
 	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
 	RuleOfCicvAmrTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
 	RuleOfCicvAmrTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
+	RuleOfCicvAmrTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
 
 	//12
 	TopicOfCicvLocation = "/cicv_location"
 	RuleOfCicvLocation1 []func(data *pjisuv_msgs.PerceptionLocalization) string
 	RuleOfCicvLocation2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
+	RuleOfCicvLocation3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 
 	//13
 	TopicOfCloudClusters = "/cloud_clusters"
 	RuleOfCloudClusters1 []func(data *pjisuv_msgs.AutowareCloudClusterArray) string
 	RuleOfCloudClusters2 []func(data *pjisuv_msgs.AutowareCloudClusterArray, param *pjisuv_param.PjisuvParam) string
+	RuleOfCloudClusters3 []func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string
 
 	//14
 	TopicOfHeartbeatInfo = "/heartbeat_info"
 	RuleOfHeartbeatInfo1 []func(data *pjisuv_msgs.HeartBeatInfo) string
 	RuleOfHeartbeatInfo2 []func(data *pjisuv_msgs.HeartBeatInfo, param *pjisuv_param.PjisuvParam) string
+	RuleOfHeartbeatInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string
 
 	//15
 	TopicOfLidarPretreatmentCost = "/lidarPretreatment_Cost"
 	RuleOfLidarPretreatmentCost1 []func(data *geometry_msgs.Vector3Stamped) string
 	RuleOfLidarPretreatmentCost2 []func(data *geometry_msgs.Vector3Stamped, param *pjisuv_param.PjisuvParam) string
+	RuleOfLidarPretreatmentCost3 []func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string
 
 	//16
 	TopicOfLidarPretreatmentOdometry = "/lidar_pretreatment/odometry"
 	RuleOfLidarPretreatmentOdometry1 []func(data *nav_msgs.Odometry) string
 	RuleOfLidarPretreatmentOdometry2 []func(data *nav_msgs.Odometry, param *pjisuv_param.PjisuvParam) string
+	RuleOfLidarPretreatmentOdometry3 []func(shareVars *sync.Map, data *nav_msgs.Odometry) string
 
 	//17
 	TopicOfLidarRoi = "/lidar_roi"
 	RuleOfLidarRoi1 []func(data *geometry_msgs.PolygonStamped) string
 	RuleOfLidarRoi2 []func(data *geometry_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
+	RuleOfLidarRoi3 []func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string
 
 	//18
 	TopicOfLine1 = "/line_1"
 	RuleOfLine11 []func(data *nav_msgs.Path) string
 	RuleOfLine12 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
+	RuleOfLine13 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//19
 	TopicOfLine2 = "/line_2"
 	RuleOfLine21 []func(data *nav_msgs.Path) string
 	RuleOfLine22 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
+	RuleOfLine23 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//20
 	TopicOfMapPolygon = "/map_polygon"
 	RuleOfMapPolygon1 []func(data *pjisuv_msgs.PolygonStamped) string
 	RuleOfMapPolygon2 []func(data *pjisuv_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
+	RuleOfMapPolygon3 []func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string
 
 	//21
 	TopicOfObstacleDisplay = "/obstacle_display"
 	RuleOfObstacleDisplay1 []func(data *visualization_msgs.MarkerArray) string
 	RuleOfObstacleDisplay2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
+	RuleOfObstacleDisplay3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//22
 	TopicOfPjControlPub = "/pj_control_pub"
 	RuleOfPjControlPub1 []func(data *pjisuv_msgs.CommonVehicleCmd) string
 	RuleOfPjControlPub2 []func(data *pjisuv_msgs.CommonVehicleCmd, param *pjisuv_param.PjisuvParam) string
+	RuleOfPjControlPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string
 
 	//23
 	TopicOfPointsCluster = "/points_cluster"
 	RuleOfPointsCluster1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfPointsCluster2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfPointsCluster3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//24
 	TopicOfPointsConcat = "/points_concat"
 	RuleOfPointsConcat1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfPointsConcat2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfPointsConcat3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//25
 	TopicOfReferenceDisplay = "/reference_display"
 	RuleOfReferenceDisplay1 []func(data *nav_msgs.Path) string
 	RuleOfReferenceDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
+	RuleOfReferenceDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//26
 	TopicOfReferenceTrajectory = "/reference_trajectory"
 	RuleOfReferenceTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
 	RuleOfReferenceTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
+	RuleOfReferenceTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
 
 	//27
 	TopicOfRoiPoints = "/roi/points"
 	RuleOfRoiPoints1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfRoiPoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfRoiPoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//28
 	TopicOfRoiPolygon = "/roi/polygon"
 	RuleOfRoiPolygon1 []func(data *nav_msgs.Path) string
 	RuleOfRoiPolygon2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
+	RuleOfRoiPolygon3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//29
 	TopicOfTf = "/tf"
 	RuleOfTf1 []func(data *tf2_msgs.TFMessage) string
 	RuleOfTf2 []func(data *tf2_msgs.TFMessage, param *pjisuv_param.PjisuvParam) string
+	RuleOfTf3 []func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string
 
 	//30
 	TopicOfTpperception = "/tpperception"
 	RuleOfTpperception1 []func(data *pjisuv_msgs.PerceptionObjects) string
 	RuleOfTpperception2 []func(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string
+	RuleOfTpperception3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string
 
 	//31
 	TopicOfTpperceptionVis = "/tpperception/vis"
 	RuleOfTpperceptionVis1 []func(data *visualization_msgs.MarkerArray) string
 	RuleOfTpperceptionVis2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
+	RuleOfTpperceptionVis3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//32
 	TopicOfTprouteplan = "/tprouteplan"
 	RuleOfTprouteplan1 []func(data *pjisuv_msgs.RoutePlan) string
 	RuleOfTprouteplan2 []func(data *pjisuv_msgs.RoutePlan, param *pjisuv_param.PjisuvParam) string
+	RuleOfTprouteplan3 []func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string
 
 	//33
 	TopicOfTrajectoryDisplay = "/trajectory_display"
 	RuleOfTrajectoryDisplay1 []func(data *nav_msgs.Path) string
 	RuleOfTrajectoryDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
+	RuleOfTrajectoryDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//34
 	TopicOfUngroundCloudpoints = "/unground_cloudpoints"
 	RuleOfUngroundCloudpoints1 []func(data *sensor_msgs.PointCloud2) string
 	RuleOfUngroundCloudpoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
+	RuleOfUngroundCloudpoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//35
 	TopicOfCameraImage = "/camera_image"
 	RuleOfCameraImage1 []func(data *sensor_msgs.Image) string
 	RuleOfCameraImage2 []func(data *sensor_msgs.Image, param *pjisuv_param.PjisuvParam) string
+	RuleOfCameraImage3 []func(shareVars *sync.Map, data *sensor_msgs.Image) string
 
 	//36
 	TopicOfDataRead = "/data_read"
 	RuleOfDataRead1 []func(data *pjisuv_msgs.Retrieval) string
 	RuleOfDataRead2 []func(data *pjisuv_msgs.Retrieval, param *pjisuv_param.PjisuvParam) string
+	RuleOfDataRead3 []func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string
 
 	//37
 	TopicOfPjiGps = "/pji_gps"
 	RuleOfPjiGps1 []func(data *pjisuv_msgs.PerceptionLocalization) string
 	RuleOfPjiGps2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
+	RuleOfPjiGps3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 
 	//38
 	TopicOfFaultInfo = "/fault_info"
 	RuleOfFaultInfo1 []func(data *pjisuv_msgs.FaultVec) string
 	RuleOfFaultInfo2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
+	RuleOfFaultInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
 
 	//39
 	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
 	RuleOfPjVehicleFdbPub1 []func(data *pjisuv_msgs.VehicleFdb) string
 	RuleOfPjVehicleFdbPub2 []func(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string
+	RuleOfPjVehicleFdbPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string
 )

test/context_test.go

@@ -1,7 +1,15 @@
 package test
 
-import "testing"
+import (
+	"context"
+	"fmt"
+	"testing"
+)
 
 func TestContest(t *testing.T) {
-
+	ctx := context.Background()
+	ctx = context.WithValue(ctx, "traceId", "qcrao-2019")
+	ctx = context.WithValue(ctx, "traceId2", "qcrao-2020")
+	fmt.Println(ctx.Value("traceId"))
+	fmt.Println(ctx.Value("traceId2"))
 }

test/sync_map_test.go

@@ -0,0 +1,14 @@
+package test
+
+import (
+	"fmt"
+	"sync"
+	"testing"
+)
+
+func TestSyncMap(t *testing.T) {
+	m := new(sync.Map)
+	m.Store("k1", "v1")
+	value, ok := m.Load("k1")
+	fmt.Println(value, ok)
+}