cicv_data_closed_loop/test/rosbag_write_test.go

package test

import (
	"cicv-data-closedloop/pjisuv_msgs"
	"fmt"
	"log"
	"os"
	"testing"
	"time"

	"github.com/bluenviron/goroslib/v2"
	"github.com/foxglove/go-rosbag"
)

func TestWriteRosBag(t *testing.T) {

	// 指定文件路径
	filePath := "C:\\Users\\mlxengingin\\Desktop\\1118\\my-bag.bag"

	// 以读写模式打开（或创建并清空）文件
	f, err := os.OpenFile(filePath, os.O_RDWR|os.O_CREATE|os.O_TRUNC, 0644)
	if err != nil {
		// 打开（或创建并清空）文件时出错
		panic(fmt.Errorf("无法打开或创建文件: %v", err))
	}
	defer f.Close() // 确保文件在函数结束时被关闭

	// 后续的文件写入操作...
	t.Log("文件已成功打开（或创建并清空）。")

	writer, err := rosbag.NewWriter(f)
	if err != nil {
		panic(err)
	}

	err = writer.WriteConnection(&rosbag.Connection{
		Conn:  1,
		Topic: "/cicv_location",
		Data: rosbag.ConnectionHeader{
			Topic:             "/cicv_location",
			Type:              "perception_msgs/PerceptionLocalization",
			MD5Sum:            "b871ae769d4b537baab00d1c75ff3891",
			MessageDefinition: []byte("定位信息"),

			//// optional fields
			//CallerID: &callerID,
			//Latching: &latching,
		},
	})
	if err != nil {
		panic(err)
	}
	// -------------------------------------------------------------------------------------

	// create a node and connect to the master
	n, err := goroslib.NewNode(goroslib.NodeConf{
		Name:          "goroslib_sub",
		MasterAddress: "127.0.0.1:11311",
	})
	if err != nil {
		panic(err)
	}
	defer n.Close()

	// create a subscriber
	sub, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  n,
		Topic: "/cicv_location",
		Callback: func(msg *pjisuv_msgs.PerceptionLocalization) {
			log.Printf("Incoming: %+v\n", msg)
			nowInt := time.Now().Unix()
			data := pjisuv_msgs.PerceptionLocalization{}
			err = writer.WriteMessage(&rosbag.Message{
				Conn: 1,
				Time: uint64(nowInt),
				Data: []byte(msg),
			})
			if err != nil {
				panic(err)
			}
			t.Log("当前时间", uint64(nowInt))
			t.Log("保存数据", data)
		},
	})
	if err != nil {
		panic(err)
	}
	defer sub.Close()

	// // wait for CTRL-C
	// c := make(chan os.Signal, 1)
	// signal.Notify(c, os.Interrupt)
	// <-c
	// ------------------------------------------------------------------------------------

}