commit

src/main/java/com/cicv/oss/config/adapter/controller/OssController.java

@@ -38,4 +38,5 @@ public class OssController {
         }
     }
 
+
 }

src/main/java/com/cicv/oss/config/adapter/controller/RosController.java

@@ -0,0 +1,42 @@
+package com.cicv.oss.config.adapter.controller;
+
+import com.cicv.oss.config.adapter.entity.OssConfigInfo;
+import com.cicv.oss.config.infra.config.OssConfig;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.io.Resource;
+import org.springframework.core.io.ResourceLoader;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.ServletOutputStream;
+import javax.servlet.http.HttpServletResponse;
+import java.io.InputStream;
+import java.net.URLEncoder;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+
+@RestController
+@RequestMapping("/ros")
+public class RosController {
+
+    @Autowired
+    private ResourceLoader resourceLoader;
+
+    @GetMapping("/config")
+    public void download(HttpServletResponse response, @RequestParam("fileName") String fileName) {
+        try {
+            response.setContentType("application/octet-stream;charset=utf-8");
+            response.setHeader("Content-Disposition", "attachment;filename=" + URLEncoder.encode(fileName, "utf-8"));
+            byte[] buffer = new byte[1024];
+            org.springframework.core.io.Resource resource = resourceLoader.getResource("classpath:your-file.txt");
+            InputStream inputStream = resource.getInputStream();
+            ServletOutputStream outputStream = response.getOutputStream();
+            for (int bytesRead = inputStream.read(buffer); bytesRead >= 0; bytesRead = inputStream.read(buffer)) {
+                outputStream.write(buffer, 0, bytesRead);
+            }
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+
+}

src/main/resources/config.yaml

@@ -0,0 +1,78 @@
+#缓存包数量
+bag-number: 30
+#磁盘占有率
+disk-usage: 70.0
+# 规则
+rule-code: 1
+# 是否压缩
+compress: true
+# 滚动策略 1 扔旧的 2 不录制 3 先丢低优先级的
+roll-policy: 1
+
+nodes:
+  - name: "node1"
+    ip: "192.168.2.230"
+    topics:
+      - "/camera_image"
+      - "/cicv_location"
+  - name: "node2"
+    ip: "192.168.2.231"
+    topics:
+      - "/nodefault_info"
+      - "/points_concat"
+      - "/tpperception"
+
+fault:
+  #故障间隔
+  time-interval: 30
+  # 故障码主题
+  listen-topic-0: "/cicv_location"
+  listen-topic-1: "/tpperception"
+  listen-topic-2: "/nodefault_info"
+  # 故障码列表
+  codes:
+    - code: "1"
+      label: "perceptionfault"
+      priority: 1
+      before: 5
+      after: 5
+    - code: "2"
+      label: "plannerfault"
+      priority: 2
+      before: 5
+      after: 10
+    - code: "3"
+      label: "controlfault"
+      priority: 3
+      before: 5
+      after: 10
+    - code: "4"
+      label: "driverfault"
+      priority: 4
+      before: 5
+      after: 10
+    - code: "5"
+      label: "enginefault"
+      priority: 5
+      before: 5
+      after: 10
+    - code: "6"
+      label: "overspeed"
+      priority: 5
+      before: 5
+      after: 10
+    - code: "7"
+      label: "rapid_accel"
+      priority: 5
+      before: 5
+      after: 10
+    - code: "8"
+      label: "brake"
+      priority: 5
+      before: 5
+      after: 10
+    - code: "9"
+      label: "TTC"
+      priority: 5
+      before: 5
+      after: 10