cicv_data_closed_loop/tools/rosbag_command/main/main.go

package main

import (
	"cicv-data-closedloop/common/util"
	"errors"
	"fmt"
	"strings"
	"time"
)

// var rosparamPath = "/opt/ros/melodic/bin/rosparam" // 室内引导服务机器人
var rosparamPath = "/opt/ros/noetic/bin/rosparam" // 室内清洁服务机器人
// 用于执行rosbag命令
func main() {
	//// 定义一个字符串切片来存储转换后的结果
	//envVars := []string{
	//	"C_INCLUDE_PATH=/usr/include/drm:",
	//	"USER=root",
	//	"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
	//	"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu",
	//	"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
	//	"SHLVL=1",
	//	"HOME=/root",
	//	"ROS_PYTHON_VERSION=2",
	//	"PCMANFM_OUTLINE_MODE=on",
	//	"CPLUS_INCLUDE_PATH=/usr/include/drm:",
	//	"ROS_DISTRO=melodic",
	//	"ROS_VERSION=1",
	//	"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
	//	"PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin",
	//	"ROS_ROOT=/opt/ros/melodic/share/ros",
	//	"ROSLISP_PACKAGE_DIRECTORIES=",
	//	"ROS_MASTER_URI=http://192.168.1.104:11311",
	//	"PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages",
	//	"ROS_HOSTNAME=192.168.1.104",
	//	"CMAKE_PREFIX_PATH=/opt/ros/melodic",
	//}
	//// 1 启动父命令
	//c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
	//
	//cmd, _ := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
	//recordProcessPid := cmd.Process.Pid
	//recordSubProcessPid, _ := util.GetSubProcessPid(recordProcessPid)
	//c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)

	for {
		time.Sleep(time.Duration(2) * time.Second)
		snCode, err := getSnCode()
		if err != nil {
			fmt.Println("获取sn码失败：", err.Error())
			continue
		}
		fmt.Println("SN码为:", snCode)
		break
	}
}

func getSnCode() (string, error) {
	var command []string
	command = append(command, "get")
	command = append(command, "sn")
	_, snOutput, err := util.ExecuteSync(rosparamPath, command...)
	if err != nil {
		return "", errors.New("执行获取sn码命令" + rosparamPath + util.ToString(command) + "出错：" + util.ToString(err))
	}
	fmt.Println("执行获取sn码命令", command, "成功，结果为：", snOutput)
	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
	return snCode, nil
}