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@@ -145,33 +145,6 @@ ipcMain.on('upload-file', async (event, {filePath, uploadUrl}) => {
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event.reply('upload-file-response', {success: false, message: 'File does not exist'});
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return;
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}
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- // 读取文件
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- // fs.readFile(filePath, async (err, data) => {
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- // if(err) {
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- // console.log("Error reading file:", err);
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- // event.reply('upload-file-response', { success: false, message: err.message });
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- // return;
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- // }
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- //
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- // // 创建formData对象
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- // const formData = new FormData();
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- // formData.append('file', new Blob([data]), path.basename(filePath));
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- //
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- // try {
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- // // 使用axios上传文件
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- // const response = await axios.post(uploadUrl, formData, {
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- // headers: {
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- // 'Content-Type': 'multipart/form-data'
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- // }
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- // })
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- // console.log('response', response)
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- // event.reply('upload-file-response', { success: true, message: 'File uploaded successfully' });
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- // } catch (err) {
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- // console.log("Error uploading file:", err);
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- // event.reply('upload-file-response', { success: false, message: err.message });
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- // }
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- // })
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-
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try {
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const result = await uploadFile(filePath, uploadUrl);
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console.log("result", result);
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@@ -248,6 +221,27 @@ ipcMain.on('docker-import', (event, filePath, tag) => {
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});
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});
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+// 更新地图
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+ipcMain.on('update-map', (event, {container_name, file_path}) => {
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+ const command = 'bash /home/cicv/work/pji_desktop/map_update/run_map_update.sh ' + container_name + ' ' + file_path;
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+ console.log('command：', command);
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+
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+ processManager.startProcess('update-map', command, (error, stdout, stderr) => {
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+ if (error) {
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+ console.error(`exec error: ${error}`);
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+ // event.reply('update-map-response', { success: false, message: error.message });
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+ } else {
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+ console.log(`stdout: ${stdout}`);
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+ console.error(`stderr: ${stderr}`);
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+ if (stdout.toString().includes('Result JSON file created')) { // 判断结束标志
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+ event.reply('update-map-response', { success: true, message: 'Update map successfully' });
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+ } else {
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+ event.reply('update-map-response', { success: false, message: 'Error updating map' });
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+ }
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+ }
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+ });
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+});
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+
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// 生成world
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ipcMain.on('generate-world', (event, {rosbag_path}) => {
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const command = 'bash /home/cicv/work/pji_desktop/simulation/generate_world.sh ' + rosbag_path
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@@ -430,4 +424,187 @@ ipcMain.handle('process-evaluation-files', async (event, {N, equipmentNo, sceneN
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} else {
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return { success: false, message: "Error uploading evaluation results", data: [] }
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}
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+})
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+
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+async function uploadMapResult(filePath, uploadUrl) {
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+ // 查找文件是否存在
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+ let fileExists = fs.existsSync(filePath)
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+ let uploadResult = await uploadFileWithRetry(filePath, uploadUrl);
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+ if (!fileExists) return { success: false, message: "Error uploading map results", data: [] }
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+ // console.log("uploadResult", uploadResult);
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+ if (!uploadResult.status) {
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+ return { success: false, message: "Error uploading map results", data: [] }
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+ }
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+ return { success: true, message: "", data: uploadResult }
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+}
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+
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+// 读取并上传地图更新结果
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+ipcMain.handle('process-map-update-files', async (event, {equipmentNo, timeStamp}) => {
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+ let result = {}
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+ equipmentNo = "pji-test"
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+ timeStamp = Date.now()
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+ // 记录时间戳
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+ console.log("timeStamp", timeStamp);
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+ const mapBufDir = "/home/cicv/work/pji_desktop/map_update/data/bag_folder/mapBuf";
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+ const resultDir = "/home/cicv/work/pji_desktop/map_update/data/bag_folder/result";
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+ const updateMapDir = "/home/cicv/work/pji_desktop/map_update/data/bag_folder/update_map";
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+
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+ // 读取result*.json
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+ // 文件路径 - result*.json
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+ const jsonPrefix = "result";
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+ let files = fs.readdirSync(resultDir);
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+ let matchedFile = files.find(file => file.startsWith(jsonPrefix))
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+ let jsonFilePath = ""
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+ if (matchedFile) {
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+ // 如果找到匹配的文件
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+ jsonFilePath = path.join(resultDir, matchedFile);
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+ }
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+
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+ console.log("jsonFilePath", jsonFilePath);
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+
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+ // 文件路径 - 更新前pgm
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+ const prePgmPath = path.join(mapBufDir, "map.pgm");
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+ console.log("prePgmPath", prePgmPath);
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+ // 文件路径 - 更新后pgm
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+ const pgmSuffix = ".pgm";
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+ files = fs.readdirSync(updateMapDir);
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+ matchedFile = files.find(file => file.endsWith(pgmSuffix))
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+ let updatePgmPath = ""
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+ if (matchedFile) {
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+ // 如果找到匹配的文件
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+ updatePgmPath = path.join(updateMapDir, matchedFile);
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+ }
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+ console.log("updatePgmPath", updatePgmPath);
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+ // 文件路径 - 更新前png
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+ const prePngPath = path.join(mapBufDir, "map_pre.png");
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+ console.log("prePngPath", prePngPath);
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+ // 文件路径 - 更新后png
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+ const updatePngPath = path.join(mapBufDir, "map_update.png");
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+ console.log("updatePngPath", updatePngPath);
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+
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+ try {
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+ // 读取json文件
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+ const jsonData = fs.readFileSync(jsonFilePath, "utf-8");
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+ const parsedData = JSON.parse(jsonData);
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+ console.log("parsedData", parsedData);
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+
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+ const mapId = parsedData["origin_pgm_id"];
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+
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+ // 上传 更新前pgm
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+ let uploadUrl = "http://127.0.0.1:8888/map/upload/map?equipmentNo=" + equipmentNo + "&mapId=" + mapId +
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+ "&timeStamp=" + timeStamp ;
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+
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+ // 上传文件
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+ // 上传 更新前pgm
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+ let res = await uploadMapResult(prePgmPath, uploadUrl);
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+ if (!res.success) {
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+ return { success: false, message: "Error uploading map results", data: [] }
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+ }
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+ let prePgmUrl = res.data.details
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+ console.log("prePgmUrl", prePgmUrl);
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+
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+ // 上传 更新前png
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+ res = await uploadMapResult(prePngPath, uploadUrl);
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+ if (!res.success) {
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+ return { success: false, message: "Error uploading map results", data: [] }
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+ }
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+ let prePngUrl = res.data.details
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+ console.log("prePngUrl", prePngUrl);
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+
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+ // 上传 更新后pgm
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+ res = await uploadMapResult(updatePgmPath, uploadUrl);
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+ if (!res.success) {
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+ return { success: false, message: "Error uploading map results", data: [] }
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+ }
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+ let updatePgmUrl = res.data.details
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+ console.log("updatePgmUrl", updatePgmUrl);
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+
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+ // 上传 更新后png
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+ res = await uploadMapResult(updatePngPath, uploadUrl);
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+ if (!res.success) {
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+ return { success: false, message: "Error uploading map results", data: [] }
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+ }
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+ let updatePngUrl = res.data.details
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+ console.log("updatePngUrl", updatePngUrl);
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+
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+ result = {
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+ "jsonData": parsedData,
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+ "prePgmUrl": prePgmUrl,
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+ "prePngUrl": prePngUrl,
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+ "updatePgmUrl": updatePgmUrl,
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+ "updatePngUrl": updatePngUrl
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+ }
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+
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+ return { success: true, message: "Evaluation results uploaded successfully", data: result }
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+ } catch (error) {
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+ console.log("error", error);
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+ }
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+
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+
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+
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+ // // 遍历评价结果文件夹，读取并上传相关数据
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+ // for (let i = 1; i <= N; i++) {
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+ // const subDir = path.join(evalDir, `${i}/result`);
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+ // console.log("subDir", subDir);
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+ // // 文件路径 - report.json
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+ // const jsonFilePath = path.join(subDir, "report.json");
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+ // console.log("jsonFilePath", jsonFilePath);
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+ // // 文件路径 - report.pdf
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+ // const pdfFilePath = path.join(subDir, "report.pdf");
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+ // console.log("pdfFilePath", pdfFilePath);
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+ // // 文件路径 - test-${i}.bag
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+ // const bagFilePath = path.join(bagDir, `test-${i}.bag`);
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+ // console.log("bagFilePath", bagFilePath);
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+ //
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+ // const uploadPdfUrl = "http://127.0.0.1:8888/simulation/upload/pdf?equipmentNo=" + equipmentNo + "&sceneNo=" + sceneNo +
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+ // "&timeStamp=" + timeStamp + "&round=" + i;
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+ //
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+ // const uploadBagUrl = "http://127.0.0.1:8888/simulation/upload/bag?equipmentNo=" + equipmentNo + "&sceneNo=" + sceneNo +
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+ // "&timeStamp=" + timeStamp + "&round=" + i;
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+ //
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+ // try {
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+ // // 读取json文件
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+ // const jsonData = fs.readFileSync(jsonFilePath, "utf-8");
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+ // const parsedData = JSON.parse(jsonData);
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+ // console.log("parsedData", parsedData);
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+ // // 上传pdf文件
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+ // // 查找pdf文件是否存在
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+ // let pdfFileExists = fs.existsSync(pdfFilePath)
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+ // // pdf文件不存在
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+ // if (!pdfFileExists) break
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+ // // pdf文件存在
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+ // const uploadPdfResult = await uploadFileWithRetry(pdfFilePath, uploadPdfUrl);
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+ // console.log("uploadPdfResult", uploadPdfResult);
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+ // if (!uploadPdfResult.status) {
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+ // break
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+ // }
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+ //
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+ // // 上传bag文件
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+ // // 查找bag文件是否存在
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+ // let bagFileExists = fs.existsSync(bagFilePath)
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+ // // bag文件不存在
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+ // if (!bagFileExists) break
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+ // // bag文件存在
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+ // const uploadBagResult = await uploadFile(bagFilePath, uploadBagUrl);
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+ // console.log("uploadBagResult", uploadBagResult);
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+ // if (!uploadBagResult.status) { break}
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+ // // 整合结果
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+ // result.push({
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+ // "round": i,
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+ // "jsonData": parsedData,
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+ // "uploadPdfKey": uploadPdfResult.details,
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+ // "uploadBagKey": uploadBagResult.details,
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+ // "timeStamp": timeStamp
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+ // })
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+ // } catch (error) {
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+ // console.log("error", error);
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+ // return { success: false, message: "Error uploading evaluation results", data: [] }
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+ // }
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+ // }
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+ // // 判断数据上传是否完整
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+ // if (result.length === N) {
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+ // return { success: true, message: "Evaluation results uploaded successfully", data: result }
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+ // } else {
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+ // return { success: false, message: "Error uploading evaluation results", data: [] }
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+ // }
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})
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