package main
import (
"fmt"
)
type Rule struct {
Name string
DataType string
TopicName string
}
func generateRuleCode1(rules []Rule) string {
code := ""
for i, rule := range rules {
ifPart := "if"
if i > 0 {
ifPart = "} else if"
}
code += fmt.Sprintf(`
%s %s == topic2 { // %d
if f, ok1 := rule.(func(data *%s) string); ok1 {
%s = append(%s, f)
goto JudgeDone
}
log(triggerLocalPath)
continue
`, ifPart, rule.TopicName, i+1, rule.DataType, rule.Name, rule.Name)
}
code += "}"
return code
}
func generateRuleCode2(rules []Rule) string {
code := ""
for _, rule := range rules {
code += fmt.Sprintf(`
if topic == masterConfig.%s && len(masterConfig.%s) > 0 {
subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
Node: commonConfig.RosNode,
Topic: topic,
Callback: func(data *%s) {
subscribersTimeMutexes[i].Lock()
if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
subscribersMutexes[i].Lock()
faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
var faultLabel string
for _, f := range masterConfig.%s {
faultLabel = f(data)
if faultLabel != "" {
if !canCollect() {
break
}
subscribersTimes[i] = time.Now()
c_log.GlobalLogger.Errorf("触发事件【xxx】，开始采集。", faultLabel)
saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
break
}
}
subscribersMutexes[i].Unlock()
}
subscribersTimeMutexes[i].Unlock()
},
})
if err == nil {
create = true
}
}`, rule.TopicName, rule.Name, rule.DataType, rule.Name)
}
code += "}"
return code
}
func main() {
rules := []Rule{
{"Rule1", "std_msgs.Int16MultiArray", "Topic1"},
{"Rule2", "geometry_msgs.PoseStamped", "Topic2"},
{"Rule3", "dynamic_reconfigure.ConfigDescription", "Topic3"},
{"Rule4", "dynamic_reconfigure.Config", "Topic4"},
{"Rule5", "std_msgs.String", "Topic5"},
{"Rule6", "geometry_msgs.PoseWithCovarianceStamped", "Topic6"},
{"Rule7", "std_msgs.String", "Topic7"},
{"Rule8", "std_msgs.String", "Topic8"},
{"Rule9", "std_msgs.Bool", "Topic9"},
{"Rule10", "std_msgs.Int8", "Topic10"},
{"Rule11", "std_msgs.Int8", "Topic11"},
{"Rule12", "sensor_msgs.PointCloud2", "Topic12"},
{"Rule13", "sensor_msgs.BatteryState", "Topic13"},
{"Rule14", "std_msgs.Int16", "Topic14"},
{"Rule15", "visualization_msgs.Marker", "Topic15"},
{"Rule16", "std_msgs.String", "Topic16"},
{"Rule17", "sensor_msgs.CameraInfo", "Topic17"},
{"Rule18", "sensor_msgs.Image", "Topic18"},
{"Rule19", "sensor_msgs.CompressedImage", "Topic19"},
{"Rule20", "dynamic_reconfigure.ConfigDescription", "Topic20"},
{"Rule21", "dynamic_reconfigure.Config", "Topic21"},
{"Rule22", "sensor_msgs.CompressedImage", "Topic22"},
{"Rule23", "dynamic_reconfigure.ConfigDescription", "Topic23"},
{"Rule24", "dynamic_reconfigure.Config", "Topic24"},
{"Rule25", "theora_image_transport.Packet", "Topic25"},
{"Rule26", "dynamic_reconfigure.ConfigDescription", "Topic26"},
{"Rule27", "dynamic_reconfigure.Config", "Topic27"},
{"Rule28", "sensor_msgs.PointCloud2", "Topic28"},
{"Rule29", "sensor_msgs.CameraInfo", "Topic29"},
{"Rule30", "sensor_msgs.Image", "Topic30"},
{"Rule31", "sensor_msgs.CompressedImage", "Topic31"},
{"Rule32", "dynamic_reconfigure.ConfigDescription", "Topic32"},
{"Rule33", "dynamic_reconfigure.Config", "Topic33"},
{"Rule34", "sensor_msgs.CompressedImage", "Topic34"},
{"Rule35", "dynamic_reconfigure.ConfigDescription", "Topic35"},
{"Rule36", "dynamic_reconfigure.Config", "Topic36"},
{"Rule37", "theora_image_transport.Packet", "Topic37"},
{"Rule38", "dynamic_reconfigure.ConfigDescription", "Topic38"},
{"Rule39", "dynamic_reconfigure.Config", "Topic39"},
{"Rule40", "geometry_msgs.PoseStamped", "Topic40"},
{"Rule41", "geometry_msgs.PoseStamped", "Topic41"},
{"Rule42", "nav_msgs.Path", "Topic42"},
{"Rule43", "std_msgs.Int8", "Topic43"},
{"Rule44", "std_msgs.Bool", "Topic44"},
{"Rule45", "nav_msgs.Path", "Topic45"},
{"Rule46", "geometry_msgs.PoseStamped", "Topic46"},
{"Rule47", "geometry_msgs.PoseStamped", "Topic47"},
{"Rule48", "geometry_msgs.PoseStamped", "Topic48"},
{"Rule49", "std_msgs.String", "Topic49"},
{"Rule50", "visualization_msgs.MarkerArray", "Topic50"},
{"Rule51", "geometry_msgs.PolygonStamped", "Topic51"},
{"Rule52", "nav_msgs.OccupancyGrid", "Topic52"},
{"Rule53", "nav_msgs.OccupancyGrid", "Topic53"},
{"Rule54", "nav_msgs.OccupancyGrid", "Topic54"},
{"Rule55", "std_msgs.Float32", "Topic55"},
{"Rule56", "std_msgs.Int32", "Topic56"},
{"Rule57", "nav_msgs.Path", "Topic57"},
{"Rule58", "clean_msg.ErrorInfo", "Topic58"},
{"Rule59", "nav_msgs.OccupancyGrid", "Topic59"},
{"Rule60", "nav_msgs.OccupancyGrid", "Topic60"},
{"Rule61", "nav_msgs.OccupancyGrid", "Topic61"},
{"Rule62", "nav_msgs.OccupancyGrid", "Topic62"},
{"Rule63", "nav_msgs.OccupancyGrid", "Topic63"},
{"Rule64", "nav_msgs.OccupancyGrid", "Topic64"},
{"Rule65", "std_msgs.String", "Topic65"},
{"Rule66", "std_msgs.Bool", "Topic66"},
{"Rule67", "std_msgs.Bool", "Topic67"},
{"Rule68", "geometry_msgs.PolygonStamped", "Topic68"},
{"Rule69", "geometry_msgs.PointStamped", "Topic69"},
{"Rule70", "std_msgs.String", "Topic70"},
{"Rule71", "geometry_msgs.Twist", "Topic71"},
{"Rule72", "geometry_msgs.Twist", "Topic72"},
{"Rule73", "nav_msgs.Path", "Topic73"},
{"Rule74", "common_msgs.CreateMapInfo", "Topic74"},
{"Rule75", "geometry_msgs.Twist", "Topic75"},
{"Rule76", "common_msgs.SensorStatus", "Topic76"},
{"Rule77", "geometry_msgs.PoseArray", "Topic77"},
{"Rule78", "nav_msgs.Path", "Topic78"},
{"Rule79", "common_msgs.IdentifierObjsInfo", "Topic79"},
{"Rule80", "common_msgs.McuDiagnostic", "Topic80"},
{"Rule81", "diagnostic_msgs.DiagnosticArray", "Topic81"},
{"Rule82", "std_msgs.Int8", "Topic82"},
{"Rule83", "std_msgs.Int16", "Topic83"},
{"Rule84", "geometry_msgs.Vector3Stamped", "Topic84"},
{"Rule85", "sensor_msgs.LaserScan", "Topic85"},
{"Rule86", "sensor_msgs.PointCloud2", "Topic86"},
{"Rule87", "std_msgs.String", "Topic87"},
{"Rule88", "std_msgs.String", "Topic88"},
{"Rule89", "std_msgs.String", "Topic89"},
{"Rule90", "std_msgs.Int32", "Topic90"},
{"Rule91", "common_msgs.TaskInfo", "Topic91"},
{"Rule92", "common_msgs.MapInfo", "Topic92"},
{"Rule93", "nav_msgs.Path", "Topic93"},
{"Rule94", "common_msgs.VideoStream", "Topic94"},
{"Rule95", "sensor_msgs.PointCloud2", "Topic95"},
{"Rule96", "nav_msgs.Path", "Topic96"},
{"Rule97", "sensor_msgs.PointCloud2", "Topic97"},
{"Rule98", "sensor_msgs.PointCloud2", "Topic98"},
{"Rule99", "sensor_msgs.PointCloud2", "Topic99"},
{"Rule100", "geometry_msgs.PointStamped", "Topic100"},
{"Rule101", "nav_msgs.Path", "Topic101"},
{"Rule102", "geometry_msgs.PoseStamped", "Topic102"},
{"Rule103", "geometry_msgs.PoseWithCovarianceStamped", "Topic103"},
{"Rule104", "geometry_msgs.Pose", "Topic104"},
{"Rule105", "std_msgs.String", "Topic105"},
{"Rule106", "std_msgs.String", "Topic106"},
{"Rule107", "std_msgs.String", "Topic107"},
{"Rule108", "std_msgs.String", "Topic108"},
{"Rule109", "std_msgs.Float64", "Topic109"},
{"Rule110", "std_msgs.String", "Topic110"},
{"Rule111", "std_msgs.String", "Topic111"},
{"Rule112", "sensor_msgs.Imu", "Topic112"},
{"Rule113", "std_msgs.String", "Topic113"},
{"Rule114", "std_msgs.Int8", "Topic114"},
{"Rule115", "std_msgs.Int16", "Topic115"},
{"Rule116", "std_msgs.String", "Topic116"},
{"Rule117", "std_msgs.String", "Topic117"},
{"Rule118", "geometry_msgs.PoseWithCovarianceStamped", "Topic118"},
{"Rule119", "sensor_msgs.JointState", "Topic119"},
{"Rule120", "std_msgs.String", "Topic120"},
{"Rule121", "cartographer_ros_msgs.LandmarkList", "Topic121"},
{"Rule122", "nav_msgs.Odometry", "Topic122"},
{"Rule123", "sensor_msgs.LaserScan", "Topic123"},
{"Rule124", "std_msgs.String", "Topic124"},
{"Rule125", "nav_msgs.Path", "Topic125"},
{"Rule126", "std_msgs.String", "Topic126"},
{"Rule127", "std_msgs.String", "Topic127"},
{"Rule128", "std_msgs.String", "Topic128"},
{"Rule129", "std_msgs.String", "Topic129"},
{"Rule130", "geometry_msgs.PoseWithCovarianceStamped", "Topic130"},
{"Rule131", "std_msgs.String", "Topic131"},
{"Rule132", "std_msgs.String", "Topic132"},
{"Rule133", "common_msgs.LocateInfo", "Topic133"},
{"Rule134", "std_msgs.Bool", "Topic134"},
{"Rule135", "std_msgs.Float64MultiArray", "Topic135"},
{"Rule136", "std_msgs.String", "Topic136"},
{"Rule137", "std_msgs.String", "Topic137"},
{"Rule138", "nav_msgs.OccupancyGrid", "Topic138"},
{"Rule139", "std_msgs.String", "Topic139"},
{"Rule140", "nav_msgs.Path", "Topic140"},
{"Rule141", "std_msgs.String", "Topic141"},
{"Rule142", "std_msgs.String", "Topic142"},
{"Rule143", "nav_msgs.MapMetaData", "Topic143"},
{"Rule144", "nav_msgs.Path", "Topic144"},
{"Rule145", "geometry_msgs.PoseStamped", "Topic145"},
{"Rule146", "nav_msgs.OccupancyGrid", "Topic146"},
{"Rule147", "nav_msgs.OccupancyGrid", "Topic147"},
{"Rule148", "std_msgs.String", "Topic148"},
{"Rule149", "std_msgs.String", "Topic149"},
{"Rule150", "std_msgs.String", "Topic150"},
{"Rule151", "std_msgs.String", "Topic151"},
{"Rule152", "std_msgs.Bool", "Topic152"},
{"Rule153", "sensor_msgs.CameraInfo", "Topic153"},
{"Rule154", "sensor_msgs.Image", "Topic154"},
{"Rule155", "sensor_msgs.CompressedImage", "Topic155"},
{"Rule156", "dynamic_reconfigure.ConfigDescription", "Topic156"},
{"Rule157", "dynamic_reconfigure.Config", "Topic157"},
{"Rule158", "sensor_msgs.CompressedImage", "Topic158"},
{"Rule159", "dynamic_reconfigure.ConfigDescription", "Topic159"},
{"Rule160", "dynamic_reconfigure.Config", "Topic160"},
{"Rule161", "theora_image_transport.Packet", "Topic161"},
{"Rule162", "dynamic_reconfigure.ConfigDescription", "Topic162"},
{"Rule163", "dynamic_reconfigure.Config", "Topic163"},
{"Rule164", "sensor_msgs.CameraInfo", "Topic164"},
{"Rule165", "sensor_msgs.Image", "Topic165"},
{"Rule166", "sensor_msgs.CompressedImage", "Topic166"},
{"Rule167", "dynamic_reconfigure.ConfigDescription", "Topic167"},
{"Rule168", "dynamic_reconfigure.Config", "Topic168"},
{"Rule169", "sensor_msgs.CompressedImage", "Topic169"},
{"Rule170", "dynamic_reconfigure.ConfigDescription", "Topic170"},
{"Rule171", "dynamic_reconfigure.Config", "Topic171"},
{"Rule172", "theora_image_transport.Packet", "Topic172"},
{"Rule173", "dynamic_reconfigure.ConfigDescription", "Topic173"},
{"Rule174", "dynamic_reconfigure.Config", "Topic174"},
{"Rule175", "sensor_msgs.PointCloud2", "Topic175"},
{"Rule176", "sensor_msgs.CameraInfo", "Topic176"},
{"Rule177", "sensor_msgs.Image", "Topic177"},
{"Rule178", "sensor_msgs.CompressedImage", "Topic178"},
{"Rule179", "dynamic_reconfigure.ConfigDescription", "Topic179"},
{"Rule180", "dynamic_reconfigure.Config", "Topic180"},
{"Rule181", "sensor_msgs.CompressedImage", "Topic181"},
{"Rule182", "dynamic_reconfigure.ConfigDescription", "Topic182"},
{"Rule183", "dynamic_reconfigure.Config", "Topic183"},
{"Rule184", "theora_image_transport.Packet", "Topic184"},
{"Rule185", "dynamic_reconfigure.ConfigDescription", "Topic185"},
{"Rule186", "dynamic_reconfigure.Config", "Topic186"},
{"Rule187", "sensor_msgs.CameraInfo", "Topic187"},
{"Rule188", "sensor_msgs.Image", "Topic188"},
{"Rule189", "sensor_msgs.CompressedImage", "Topic189"},
{"Rule190", "dynamic_reconfigure.ConfigDescription", "Topic190"},
{"Rule191", "dynamic_reconfigure.Config", "Topic191"},
{"Rule192", "sensor_msgs.CompressedImage", "Topic192"},
{"Rule193", "dynamic_reconfigure.ConfigDescription", "Topic193"},
{"Rule194", "dynamic_reconfigure.Config", "Topic194"},
{"Rule195", "theora_image_transport.Packet", "Topic195"},
{"Rule196", "dynamic_reconfigure.ConfigDescription", "Topic196"},
{"Rule197", "dynamic_reconfigure.Config", "Topic197"},
{"Rule198", "sensor_msgs.PointCloud2", "Topic198"},
{"Rule199", "geometry_msgs.PoseStamped", "Topic199"},
{"Rule200", "geometry_msgs.PoseStamped", "Topic200"},
{"Rule201", "std_msgs.UInt8", "Topic201"},
{"Rule202", "nav_msgs.Odometry", "Topic202"},
{"Rule203", "std_msgs.String", "Topic203"},
{"Rule204", "std_msgs.String", "Topic204"},
{"Rule205", "nav_msgs.Odometry", "Topic205"},
{"Rule206", "sensor_msgs.Imu", "Topic206"},
{"Rule207", "sensor_msgs.PointCloud2", "Topic207"},
{"Rule208", "geometry_msgs.PoseArray", "Topic208"},
{"Rule209", "sensor_msgs.PointCloud2", "Topic209"},
{"Rule210", "sensor_msgs.LaserScan", "Topic210"},
{"Rule211", "geometry_msgs.PoseWithCovarianceStamped", "Topic211"},
{"Rule212", "geometry_msgs.Vector3Stamped", "Topic212"},
{"Rule213", "std_msgs.String", "Topic213"},
{"Rule214", "common_msgs.FunctionAreas", "Topic214"},
{"Rule215", "std_msgs.Bool", "Topic215"},
{"Rule216", "nav_msgs.Path", "Topic216"},
{"Rule217", "std_msgs.Float64MultiArray", "Topic217"},
{"Rule218", "std_msgs.String", "Topic218"},
{"Rule219", "std_msgs.String", "Topic219"},
{"Rule220", "std_msgs.String", "Topic220"},
{"Rule221", "geometry_msgs.PoseStamped", "Topic221"},
{"Rule222", "geometry_msgs.PoseWithCovarianceStamped", "Topic222"},
{"Rule223", "std_msgs.String", "Topic223"},
{"Rule224", "std_msgs.String", "Topic224"},
{"Rule225", "localization_monitor.RobotStatus", "Topic225"},
{"Rule226", "std_msgs.Float64MultiArray", "Topic226"},
{"Rule227", "std_msgs.String", "Topic227"},
{"Rule228", "actionlib_msgs.GoalID", "Topic228"},
{"Rule229", "ipa_building_msgs.MapSegmentationActionFeedback", "Topic229"},
{"Rule230", "ipa_building_msgs.MapSegmentationActionGoal", "Topic230"},
{"Rule231", "dynamic_reconfigure.ConfigDescription", "Topic231"},
{"Rule232", "dynamic_reconfigure.Config", "Topic232"},
{"Rule233", "ipa_building_msgs.MapSegmentationActionResult", "Topic233"},
{"Rule234", "nav_msgs.OccupancyGrid", "Topic234"},
{"Rule235", "actionlib_msgs.GoalStatusArray", "Topic235"},
{"Rule236", "rosgraph_msgs.Log", "Topic236"},
{"Rule237", "rosgraph_msgs.Log", "Topic237"},
{"Rule238", "nav_msgs.Path", "Topic238"},
{"Rule239", "geometry_msgs.Vector3Stamped", "Topic239"},
{"Rule240", "sensor_msgs.LaserScan", "Topic240"},
{"Rule241", "sensor_msgs.LaserScan", "Topic241"},
{"Rule242", "sensor_msgs.LaserScan", "Topic242"},
{"Rule243", "sensor_msgs.LaserScan", "Topic243"},
{"Rule244", "sensor_msgs.LaserScan", "Topic244"},
{"Rule245", "sensor_msgs.PointCloud2", "Topic245"},
{"Rule246", "sensor_msgs.PointCloud2", "Topic246"},
{"Rule247", "visualization_msgs.MarkerArray", "Topic247"},
{"Rule248", "common_msgs.SensorTask", "Topic248"},
{"Rule249", "std_msgs.String", "Topic249"},
{"Rule250", "geometry_msgs.Vector3Stamped", "Topic250"},
{"Rule251", "common_msgs.SonarList", "Topic251"},
{"Rule252", "nav_msgs.Odometry", "Topic252"},
{"Rule253", "sensor_msgs.LaserScan", "Topic253"},
{"Rule254", "std_msgs.Bool", "Topic254"},
{"Rule255", "sensor_msgs.LaserScan", "Topic255"},
{"Rule256", "std_msgs.String", "Topic256"},
{"Rule257", "std_msgs.Bool", "Topic257"},
{"Rule258", "sensor_msgs.CameraInfo", "Topic258"},
{"Rule259", "common_msgs.SysInfo", "Topic259"},
{"Rule260", "sensor_msgs.Image", "Topic260"},
{"Rule261", "sensor_msgs.CompressedImage", "Topic261"},
{"Rule262", "dynamic_reconfigure.ConfigDescription", "Topic262"},
{"Rule263", "dynamic_reconfigure.Config", "Topic263"},
{"Rule264", "sensor_msgs.CompressedImage", "Topic264"},
{"Rule265", "dynamic_reconfigure.ConfigDescription", "Topic265"},
{"Rule266", "dynamic_reconfigure.Config", "Topic266"},
{"Rule267", "theora_image_transport.Packet", "Topic267"},
{"Rule268", "dynamic_reconfigure.ConfigDescription", "Topic268"},
{"Rule269", "dynamic_reconfigure.Config", "Topic269"},
{"Rule270", "std_msgs.Bool", "Topic270"},
{"Rule271", "geometry_msgs.PoseStamped", "Topic271"},
{"Rule272", "geometry_msgs.Vector3Stamped", "Topic272"},
{"Rule273", "common_msgs.TaskFeedbackInfo", "Topic273"},
{"Rule274", "common_msgs.Points", "Topic274"},
{"Rule275", "tf2_msgs.TFMessage", "Topic275"},
{"Rule276", "std_msgs.String", "Topic276"},
{"Rule277", "tf2_msgs.TFMessage", "Topic277"},
{"Rule278", "nav_msgs.Path", "Topic278"},
{"Rule279", "common_msgs.UpLoadFileList", "Topic279"},
{"Rule280", "sensor_msgs.Range", "Topic280"},
{"Rule281", "sensor_msgs.LaserScan", "Topic281"},
{"Rule282", "sensor_msgs.LaserScan", "Topic282"},
{"Rule283", "sensor_msgs.LaserScan", "Topic283"},
{"Rule284", "sensor_msgs.LaserScan", "Topic284"},
}
code := generateRuleCode2(rules)
fmt.Println(code)
}