cicv_data_closed_loop/aarch64/pjisuv/common/service/rosbag_upload.go

package service

import (
	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/package/config"
	"cicv-data-closedloop/common/config/c_log"
	"cicv-data-closedloop/common/domain"
	"cicv-data-closedloop/common/entity"
	commonUtil "cicv-data-closedloop/common/util"
	"fmt"
	"os"
	"strings"
	"time"
)

// RunTimeWindowConsumerQueue 依次上传时间窗口
func RunTimeWindowConsumerQueue(nodeName string) {
	c_log.GlobalLogger.Info("处理消费者队列goroutine - 启动")
outLoop:
	for { // 串行处理
		// 收到自杀信号
		select {
		case signal := <-ChannelKillConsume:
			if signal == 1 {
				ChannelKillConsume <- 1
				if len(entity.TimeWindowConsumerQueue) == 0 {
					AddKillTimes("5")
					return
				}
			} else { //signal == 2
				AddKillTimes("5")
				return
			}
		default:
		}
		time.Sleep(time.Duration(1) * time.Second)
		waitLength := len(entity.TimeWindowConsumerQueue)
		if waitLength == 0 {
			continue outLoop
		}
		c_log.GlobalLogger.Infof("待处理窗口个数为：%v", len(entity.TimeWindowConsumerQueue))
		// 1 获取即将处理的窗口
		currentTimeWindow := entity.TimeWindowConsumerQueue[0]
		entity.RemoveHeaOfdTimeWindowConsumerQueue()
		c_log.GlobalLogger.Infof("开始处理窗口，【Lable】=%v，【TriggerIds】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.TriggerIds, currentTimeWindow.FaultTime, currentTimeWindow.Length)

		// 2 获取目录
		dir := domain.GetCopyDir(commonConfig.CloudConfig.BagCopyDir, currentTimeWindow.FaultTime)
		bags, _ := commonUtil.ListAbsolutePathWithSuffixAndSort(dir, ".bag")
		bagNumber := len(bags)
		if bagNumber > currentTimeWindow.Length {
			bagNumber = currentTimeWindow.Length
			bags = bags[0:currentTimeWindow.Length]
		}

		// 3 如果不是全量采集，则使用 filter 命令对 bag 包进行主题过滤。
		if commonConfig.CloudConfig.FullCollect == false {
			var filterTopics []string
			if nodeName == commonConfig.CloudConfig.Hosts[0].Name {
				filterTopics = currentTimeWindow.MasterTopics
			} else {
				filterTopics = currentTimeWindow.SlaveTopics
			}
			var topicsFilterSlice []string
			for _, topic := range filterTopics {
				topicsFilterSlice = append(topicsFilterSlice, "topic=='"+topic+"'")
			}
			for i, bag := range bags {
				oldName := bag
				newName := bag + "_filter"
				filterCommand := []string{"filter", oldName, newName, "\"" + strings.Join(topicsFilterSlice, " or ") + "\""}
				_, output, err := commonUtil.ExecuteWithEnvSync(os.Environ(), "rosbag", filterCommand...)
				c_log.GlobalLogger.Info("正在过滤中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
				if err != nil {
					c_log.GlobalLogger.Errorf("filter 命令执行出错【命令】=%v，【输出】=%v,【err】=%v", filterCommand, output, err)
					continue
				}
				// 删除旧文件
				_ = commonUtil.DeleteFile(oldName)
				// 将新文件改回旧文件名
				if err = os.Rename(newName, oldName); err != nil {
					c_log.GlobalLogger.Info("修改文件名", oldName, "失败，放弃当前时间窗口", currentTimeWindow.FaultTime, "，错误为：", err)
					continue outLoop
				}
			}
		}

		// 4 compress包，必须顺序执行，此时每个包会对应生成一个压缩过的包和原始包，原始包后缀为.orig.bag
		c_log.GlobalLogger.Info("压缩bag数据包，故障时间为：", currentTimeWindow.FaultTime)
		for i, bag := range bags {
			oldName := bag
			compressCommand := []string{"compress", "--bz2", oldName}
			c_log.GlobalLogger.Info("正在压缩中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。")
			if _, output, err := commonUtil.ExecuteWithEnvSync(os.Environ(), "rosbag", compressCommand...); err != nil {
				c_log.GlobalLogger.Errorf("compress 命令执行出错【命令】=%v，【输出】=%v,【err】=%v", compressCommand, output, err)
				continue
			}
		}
		// 5 upload，必须顺序执行
		c_log.GlobalLogger.Info("发送bag数据包，故障时间为：", currentTimeWindow.FaultTime)
		start := time.Now()
		objectKey1 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data/" + nodeName + "_" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
		objectKey2 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_merge/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + ".bag"
		objectKey3 := commonConfig.LocalConfig.OssBasePrefix + commonConfig.LocalConfig.EquipmentNo + "/data_parse/" + currentTimeWindow.FaultTime + "_" + strings.Join(currentTimeWindow.Labels, "_") + "_" + fmt.Sprintf("%d", bagNumber) + "/"
		for i, bag := range bags {
			bagSlice := strings.Split(bag, "/")
			c_log.GlobalLogger.Info("正在上传中，【FaultTime】=", currentTimeWindow.FaultTime, "【Label】=", currentTimeWindow.Labels, "，进度", i+1, "/", bagNumber, "。【", bag, "】-------【", objectKey1+bagSlice[len(bagSlice)-1], "】")
			err := commonConfig.OssBucket.PutObjectFromFile(objectKey1+bagSlice[len(bagSlice)-1], bag)
			if err != nil {
				c_log.GlobalLogger.Info("上传包 ", bag, " 时报错：", err)
				continue
			}
		}
		c_log.GlobalLogger.Info("上传完成，花费时间：", time.Since(start))
		// 在上传完成的包目录同级下添加一个目录同名的json
		var triggerIds []string
		for _, label := range currentTimeWindow.Labels {
			triggerIdToAppend := masterConfig.LabelMapTriggerId[label]
			if triggerIdToAppend == "" {
				c_log.GlobalLogger.Errorf("【label】=%v 没有对应的【triggerId】", triggerIdToAppend)
			}
			c_log.GlobalLogger.Info("添加一个【triggerId】=", triggerIdToAppend)
			triggerIds = append(triggerIds, triggerIdToAppend)
		}
		c_log.GlobalLogger.Info("json 中添加【triggerIds】=", triggerIds)
		callBackJson, _ := commonUtil.MapToJsonString(map[string]interface{}{
			"dataName":    currentTimeWindow.FaultTime,
			"dataSize":    "", // 由合并程序补充
			"equipmentNo": commonConfig.LocalConfig.EquipmentNo,
			"secretKey":   commonConfig.LocalConfig.SecretKey,
			"rosBagPath":  objectKey2,
			"filePath":    objectKey3,
			"taskId":      commonConfig.PlatformConfig.TaskConfigId,
			"triggerId":   triggerIds,
		})
		c_log.GlobalLogger.Info("【callBackJson】=", callBackJson)
		err := commonConfig.OssBucket.PutObject(objectKey3+"callback.json", strings.NewReader(callBackJson))
		if err != nil {
			c_log.GlobalLogger.Error("上传 callback.json", callBackJson, "失败：", err)
		}

		// 删除本地所有已上传的bag文件
		c_log.GlobalLogger.Infof("结束处理窗口，【Label】=%v，【TriggerIds】=%v，【FaultTime】=%v，【Length】=%v", currentTimeWindow.Labels, currentTimeWindow.TriggerIds, currentTimeWindow.FaultTime, currentTimeWindow.Length)
		if err = commonUtil.RemoveDir(dir); err != nil {
			continue outLoop
		}

	}
}