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修复路径上传vid为空bug

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lyq 2026-01-21 10:20:58 +08:00
parent c52bce7aed
commit 707b5e0c66
1 changed files with 14 additions and 2 deletions
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16
src/autonomy/route/src/route_node.cpp
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@ -16,6 +16,7 @@
#include "rclcpp/rclcpp.hpp" #include "rclcpp/rclcpp.hpp"
#include "sweeper_interfaces/msg/rtk.hpp" #include "sweeper_interfaces/msg/rtk.hpp"
#include "sweeper_interfaces/msg/sub.hpp" #include "sweeper_interfaces/msg/sub.hpp"
#include "sweeper_interfaces/msg/vehicle_identity.hpp"
std::mutex collect_mutex; // 互斥锁，用于保护 isCollecting 变量 std::mutex collect_mutex; // 互斥锁，用于保护 isCollecting 变量
@ -113,6 +114,11 @@ class route_node : public rclcpp::Node
msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>( msg_subscribe_ = this->create_subscription<sweeper_interfaces::msg::Rtk>(
"rtk_message", 10, std::bind(&route_node::msg_callback, this, std::placeholders::_1)); "rtk_message", 10, std::bind(&route_node::msg_callback, this, std::placeholders::_1));
// identity（transient_local，确保晚启动也能拿到）
identity_sub_ = this->create_subscription<sweeper_interfaces::msg::VehicleIdentity>(
"/vehicle/identity", rclcpp::QoS(1).transient_local().reliable(),
std::bind(&route_node::identityCallback, this, std::placeholders::_1));
} }
private: private:
@ -170,9 +176,17 @@ class route_node : public rclcpp::Node
} }
} }
} }
void identityCallback(const sweeper_interfaces::msg::VehicleIdentity::SharedPtr msg)
{
vid = msg->vid;
LOG_INFO("Identity: VID=%s", msg->vid.c_str());
}
// 声明订阅者 // 声明订阅者
rclcpp::Subscription<sweeper_interfaces::msg::Sub>::SharedPtr sub_subscribe_; rclcpp::Subscription<sweeper_interfaces::msg::Sub>::SharedPtr sub_subscribe_;
rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr msg_subscribe_; rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr msg_subscribe_;
rclcpp::Subscription<sweeper_interfaces::msg::VehicleIdentity>::SharedPtr identity_sub_;
}; };
double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2) double ntzx_GPS_length(double lonti1, double lati1, double lonti2, double lati2)
@ -229,9 +243,7 @@ void init_main()
} }
if (reader.parse(in, root)) if (reader.parse(in, root))
{ {
vid = root["mqtt"]["vid"].asString();
upload_URL = root["mqtt"]["upload_url"].asString(); upload_URL = root["mqtt"]["upload_url"].asString();
LOG_INFO("vid:%s", vid.c_str());
} }
in.close(); // 关闭文件流 in.close(); // 关闭文件流
} }