cicv_data_closed_loop/aarch64/kinglong/master/package/service/produce_window.go

package service

import (
	commonConfig "cicv-data-closedloop/aarch64/kinglong/common/config"
	"cicv-data-closedloop/aarch64/kinglong/common/service"
	masterConfig "cicv-data-closedloop/aarch64/kinglong/master/package/config"
	"cicv-data-closedloop/common/config/c_log"
	"cicv-data-closedloop/common/entity"
	"cicv-data-closedloop/common/util"
	"cicv-data-closedloop/kinglong_msgs"
	"github.com/bluenviron/goroslib/v2"
	"os"
	"sync"
	"time"
)

var (
	subscriber0Mutex sync.Mutex
	subscriber1Mutex sync.Mutex
	subscriber2Mutex sync.Mutex
	subscriber3Mutex sync.Mutex
	subscriber4Mutex sync.Mutex
	m                sync.RWMutex
	velocityX        float64
	velocityY        float64
	yaw              float64
)

// PrepareTimeWindowProducerQueue 负责监听所有主题并修改时间窗口
func PrepareTimeWindowProducerQueue() {
	c_log.GlobalLogger.Info("订阅者 goroutine，启动。")
	//创建订阅者0订阅主题 nodefault_info
	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfNodeFaultInfo)
	subscriber0, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  commonConfig.RosNode,
		Topic: masterConfig.TopicOfNodeFaultInfo,
		Callback: func(data *kinglong_msgs.FaultInfo) {
			if len(masterConfig.RuleOfNodefaultInfo) == 0 {
				//c_log.GlobalLogger.Info("话题 nodefault_info没有触发器")
				return
			}
			entity.Subscriber0TimeMutex.Lock()
			if time.Since(entity.Subscriber0Time).Seconds() > 1 {
				entity.Subscriber0TimeMutex.Unlock()
				subscriber0Mutex.Lock()
				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
				lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
				var faultLabel string
				for _, f := range masterConfig.RuleOfNodefaultInfo {
					faultLabel = f(data)
					if faultLabel != "" {
						saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						entity.Subscriber0Time = time.Now()
						break
					}
				}
				subscriber0Mutex.Unlock()
			}
			entity.Subscriber0TimeMutex.Unlock()
		}})
	if err != nil {
		c_log.GlobalLogger.Info("创建订阅者发生故障：", err)
		os.Exit(-1)
	}
	// 创建订阅者1订阅主题 cicv_location
	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfCicvLocation)
	subscriber1, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  commonConfig.RosNode,
		Topic: masterConfig.TopicOfCicvLocation,
		Callback: func(data *kinglong_msgs.PerceptionLocalization) {
			m.RLock()
			velocityX = data.VelocityX
			velocityY = data.VelocityY
			yaw = data.Yaw
			m.RUnlock()

			if len(masterConfig.RuleOfCicvLocation) == 0 {
				c_log.GlobalLogger.Info("话题 cicv_location 没有触发器")
				return
			}
			entity.Subscriber1TimeMutex.Lock()
			if time.Since(entity.Subscriber1Time).Seconds() > 1 {
				subscriber1Mutex.Lock()
				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
				lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
				// 更新共享变量
				var faultLabel string
				for _, f := range masterConfig.RuleOfCicvLocation {
					faultLabel = f(data)
					if faultLabel != "" {
						saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						entity.Subscriber1Time = time.Now()
						break
					}
				}
				subscriber1Mutex.Unlock()
			}
			entity.Subscriber1TimeMutex.Unlock()
		},
	})
	if err != nil {
		c_log.GlobalLogger.Info("创建订阅者发生故障：", err)
		os.Exit(-1)
	}
	c_log.GlobalLogger.Info("创建订阅者订阅话题 ", masterConfig.TopicOfTpperception)
	subscriber2, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  commonConfig.RosNode,
		Topic: masterConfig.TopicOfTpperception,
		Callback: func(data *kinglong_msgs.PerceptionObjects) {
			if len(masterConfig.RuleOfTpperception) == 0 {
				c_log.GlobalLogger.Info("话题 tpperception 没有触发器")
				return
			}
			entity.Subscriber2TimeMutex.Lock()
			// 判断是否是连续故障码
			if time.Since(entity.Subscriber2Time).Seconds() > 1 {
				// 2 不是连续故障码
				subscriber2Mutex.Lock()
				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
				lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
				var faultLabel string
				//c_log.GlobalLogger.Infof("TTC数据为：【velocityX】=%v，【velocityY】=%v", velocityX, velocityY)
				for _, f := range masterConfig.RuleOfTpperception {
					faultLabel = f(data, velocityX, velocityY, yaw)
					if faultLabel != "" {
						saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						entity.Subscriber2Time = time.Now()
						break
					}
				}
				subscriber2Mutex.Unlock()
			}
			entity.Subscriber2TimeMutex.Unlock()
		}})
	if err != nil {
		c_log.GlobalLogger.Info("创建订阅者2发生故障：", err)
		os.Exit(-1)
	}
	// 创建订阅者3订阅主题 fault_info
	c_log.GlobalLogger.Info("创建订阅者3订阅话题 ", masterConfig.TopicOfFaultInfo)
	subscriber3, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  commonConfig.RosNode,
		Topic: masterConfig.TopicOfFaultInfo,
		Callback: func(data *kinglong_msgs.FaultVec) {
			if len(masterConfig.RuleOfFaultInfo) == 0 {
				c_log.GlobalLogger.Info("话题 fault_info 没有触发器")
				return
			}
			entity.Subscriber3TimeMutex.Lock()
			if time.Since(entity.Subscriber3Time).Seconds() > 1 {
				// 2 不是连续故障码
				subscriber3Mutex.Lock()
				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
				lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
				var faultLabel string
				for _, f := range masterConfig.RuleOfFaultInfo {
					faultLabel = f(data)
					if faultLabel != "" {
						saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						entity.Subscriber3Time = time.Now()
						break
					}
				}
				subscriber3Mutex.Unlock()
			}
			entity.Subscriber3TimeMutex.Unlock()
		}})
	if err != nil {
		c_log.GlobalLogger.Info("创建订阅者3发生故障：", err)
		os.Exit(-1)
	}
	// 创建订阅者4订阅主题 data_read
	// TODO 高频率触发
	c_log.GlobalLogger.Info("创建订阅者4订阅话题 ", masterConfig.TopicOfDataRead)
	subscriber4, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  commonConfig.RosNode,
		Topic: masterConfig.TopicOfDataRead,
		Callback: func(data *kinglong_msgs.Retrieval) {
			if len(masterConfig.RuleOfDataRead) == 0 {
				//c_log.GlobalLogger.Info("话题 data_read 没有触发器")
				return
			}
			entity.Subscriber4TimeMutex.Lock()
			if time.Since(entity.Subscriber4Time).Seconds() > 1 {
				subscriber4Mutex.Lock()
				faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
				lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
				var faultLabel string
				for _, f := range masterConfig.RuleOfDataRead {
					faultLabel = f(data)
					if faultLabel != "" {
						saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						entity.Subscriber4Time = time.Now()
						break
					}
				}
				subscriber4Mutex.Unlock()
			}
			entity.Subscriber4TimeMutex.Unlock()
		},
	})
	if err != nil {
		c_log.GlobalLogger.Info("创建订阅者3发生故障：", err)
		os.Exit(-1)
	}
	select {
	case signal := <-service.ChannelKillWindowProducer:
		if signal == 1 {
			defer service.AddKillTimes("3")
			subscriber0.Close()
			subscriber1.Close()
			subscriber2.Close()
			subscriber3.Close()
			subscriber4.Close()
			commonConfig.RosNode.Close()
			return
		}
	}
}

func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *entity.TimeWindow) {
	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
	if lastTimeWindow == nil || util.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) {
		// 2-1 如果是不在旧故障窗口内，添加一个新窗口
		newTimeWindow := entity.TimeWindow{
			FaultTime:       faultHappenTime,
			TimeWindowBegin: util.TimeCustomChange(faultHappenTime, -commonConfig.PlatformConfig.TaskBeforeTime),
			TimeWindowEnd:   util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime),
			Length:          commonConfig.PlatformConfig.TaskBeforeTime + commonConfig.PlatformConfig.TaskAfterTime + 1,
			Labels:          []string{faultLabel},
			MasterTopics:    masterTopics,
			SlaveTopics:     slaveTopics,
		}
		c_log.GlobalLogger.Infof("不在旧故障窗口内，向生产者队列添加一个新窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", newTimeWindow.Labels, newTimeWindow.FaultTime, newTimeWindow.Length)
		entity.AddTimeWindowToTimeWindowProducerQueue(newTimeWindow)
	} else {
		// 2-2 如果在旧故障窗口内
		entity.TimeWindowProducerQueueMutex.RLock()
		defer entity.TimeWindowProducerQueueMutex.RUnlock()
		// 2-2-1 更新故障窗口end时间
		maxEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime)
		expectEnd := util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
		if util.TimeCustom1GreaterTimeCustom2(expectEnd, maxEnd) {
			lastTimeWindow.TimeWindowEnd = maxEnd
			lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
		} else {
			if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
				lastTimeWindow.TimeWindowEnd = expectEnd
				lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
			}
		}
		// 2-2-2 更新label
		labels := lastTimeWindow.Labels
		lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
		// 2-2-3 更新 topic
		sourceMasterTopics := lastTimeWindow.MasterTopics
		lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
		sourceSlaveTopics := lastTimeWindow.SlaveTopics
		lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
		c_log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", lastTimeWindow.Labels, lastTimeWindow.FaultTime, lastTimeWindow.Length)

	}
}

func getTopicsOfNode(faultLabel string) (masterTopics []string, slaveTopics []string) {
	// 获取所有需要采集的topic
	var faultCodeTopics []string
	for _, code := range commonConfig.CloudConfig.Triggers {
		if code.Label == faultLabel {
			faultCodeTopics = code.Topics
		}
	}
	// 根据不同节点采集的topic进行分配采集
	for _, acceptTopic := range faultCodeTopics {
		for _, host := range commonConfig.CloudConfig.Hosts {
			for _, topic := range host.Topics {
				if host.Name == commonConfig.CloudConfig.Hosts[0].Name && acceptTopic == topic {
					masterTopics = append(masterTopics, acceptTopic)
				}
				if host.Name == commonConfig.CloudConfig.Hosts[1].Name && acceptTopic == topic {
					slaveTopics = append(slaveTopics, acceptTopic)
				}
			}
		}
	}
	return masterTopics, slaveTopics
}