cicv_data_closed_loop/kinglong/master/pkg/cfg/master_trigger_cfg.go

package cfg

import (
	"cicv-data-closedloop/kinglong/common/cfg"
	"cicv-data-closedloop/kinglong/common/cutil"
	"cicv-data-closedloop/kinglong/common/log"
	"cicv-data-closedloop/kinglong_msgs"
	"plugin"
	"strconv"
	"strings"
)

var (
	TopicOfNodeFaultInfo = "/nodefault_info"
	TopicOfCicvLocation  = "/cicv_location"
	TopicOfTpperception  = "/tpperception"
	TopicOfFaultInfo     = "/fault_info"
	TopicOfDataRead      = "/data_read"
	RuleOfNodefaultInfo  []func(data *kinglong_msgs.FaultInfo) string
	RuleOfCicvLocation   []func(data *kinglong_msgs.PerceptionLocalization) string
	RuleOfTpperception   []func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string
	RuleOfFaultInfo      []func(data *kinglong_msgs.FaultVec) string
	RuleOfDataRead       []func(data *kinglong_msgs.Retrieval) string
	LabelMapTriggerId    = make(map[string]string)
)

func InitTriggerConfig() {
	log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
	// 下载所有触发器的文件
	for _, trigger := range cfg.PlatformConfig.TaskTriggers {
		// 获取文件名
		pathSplit := strings.Split(trigger.TriggerScriptPath, "/")
		fileName := pathSplit[len(pathSplit)-1]
		// 下载
		triggerLocalPath := cfg.CloudConfig.TriggersDir + fileName
		cutil.CreateParentDir(triggerLocalPath)
		log.GlobalLogger.Info("下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
		err := cfg.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath)
		if err != nil {
			log.GlobalLogger.Error("下载 oss 上的触发器插件失败：", err)
			continue
		}
		// 载入插件到数组
		open, err := plugin.Open(triggerLocalPath)
		if err != nil {
			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
			continue
		}
		topic0, err := open.Lookup("Topic")
		if err != nil {
			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
			continue
		}
		topic1, ok := topic0.(func() string)
		if ok != true {
			log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
			continue
		}
		topic2 := topic1()
		rule, err := open.Lookup("Rule")
		if err != nil {
			log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
			continue
		}
		if TopicOfNodeFaultInfo == topic2 {
			f, ok := rule.(func(data *kinglong_msgs.FaultInfo) string)
			if ok != true {
				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultInfo) string):", err)
				continue
			}
			RuleOfNodefaultInfo = append(RuleOfNodefaultInfo, f)
		} else if TopicOfCicvLocation == topic2 {
			f, ok := rule.(func(data *kinglong_msgs.PerceptionLocalization) string)
			if ok != true {
				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionLocalization) string):", err)
				continue
			}
			RuleOfCicvLocation = append(RuleOfCicvLocation, f)
		} else if TopicOfTpperception == topic2 {
			f, ok := rule.(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string)
			if ok != true {
				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.PerceptionObjects, velocityX float64, velocityY float64, yaw float64) string):", err)
				continue
			}
			RuleOfTpperception = append(RuleOfTpperception, f)
		} else if TopicOfFaultInfo == topic2 {
			f, ok := rule.(func(data *kinglong_msgs.FaultVec) string)
			if ok != true {
				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.FaultVec) string):", err)
				continue
			}
			RuleOfFaultInfo = append(RuleOfFaultInfo, f)
		} else if TopicOfDataRead == topic2 {
			f, ok := rule.(func(data *kinglong_msgs.Retrieval) string)
			if ok != true {
				log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *kinglong_msgs.Retrieval) string):", err)
				continue
			}
			RuleOfDataRead = append(RuleOfDataRead, f)
		} else {
			log.GlobalLogger.Error("未知的topic：", topic2)
			continue
		}

		label, err := open.Lookup("Label")
		if err != nil {
			log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
			continue
		}
		labelFunc := label.(func() string)
		labelString := labelFunc()
		LabelMapTriggerId[labelString] = strconv.Itoa(trigger.TriggerId)
		log.GlobalLogger.Info("主节点加载触发器插件：【ros topic】=", topic2, "，【触发器label】=", labelString, "【触发器ID】=", trigger.TriggerId, "【label和id映射关系】=", LabelMapTriggerId)
	}
	log.GlobalLogger.Info("主节点加载触发器插件 - 成功。")
}