cicv_data_closed_loop/aarch64/topic-echo/main/main.go

package main

import (
	"cicv-data-closedloop/common/util"
	"cicv-data-closedloop/kinglong_msgs"
	"fmt"
	"github.com/bluenviron/goroslib/v2"
	"os"
)

var (
	TopicOfNodeFaultInfo = "/nodefault_info"
	TopicOfCicvLocation  = "/cicv_location"
	TopicOfTpperception  = "/tpperception"
	TopicOfFaultInfo     = "/fault_info"
	TopicOfDataRead      = "/data_read"
)

func main() {
	rosNode, _ := goroslib.NewNode(goroslib.NodeConf{
		Name:          "cicvDataClosedloopTopicEcho",
		MasterAddress: "127.0.0.1:11311",
	})
	eType := util.ToString(os.Args[1])
	topic := util.ToString(os.Args[2])
	if eType == "kinglong" {
		if topic == TopicOfNodeFaultInfo {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfNodeFaultInfo,
				Callback: func(data *kinglong_msgs.FaultInfo) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfCicvLocation {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfCicvLocation,
				Callback: func(data *kinglong_msgs.PerceptionLocalization) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfTpperception {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfTpperception,
				Callback: func(data *kinglong_msgs.PerceptionObjects) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfFaultInfo {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfFaultInfo,
				Callback: func(data *kinglong_msgs.FaultVec) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfDataRead {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfDataRead,
				Callback: func(data *kinglong_msgs.Retrieval) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
	}

	if eType == "pjisuv" {
		if topic == TopicOfNodeFaultInfo {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfNodeFaultInfo,
				Callback: func(data *kinglong_msgs.FaultInfo) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfCicvLocation {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfCicvLocation,
				Callback: func(data *kinglong_msgs.PerceptionLocalization) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfTpperception {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfTpperception,
				Callback: func(data *kinglong_msgs.PerceptionObjects) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfFaultInfo {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfFaultInfo,
				Callback: func(data *kinglong_msgs.FaultVec) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
		if topic == TopicOfDataRead {
			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  rosNode,
				Topic: TopicOfDataRead,
				Callback: func(data *kinglong_msgs.Retrieval) {
					fmt.Println("收到话题", topic, "的数据", data)
				}})
		}
	}

	select {}

}