更新gitignore

.gitignore

@@ -2,4 +2,5 @@ build
 install
 log
 .vscode
-deb_build
+deb_build
+nodes_log

src/autonomy/fu/src/fu_node.cpp

@@ -750,6 +750,8 @@ class fu_node : public rclcpp::Node
         reliability = msg->reliability;
         located = msg->enter_range;
         is_start = msg->is_start;
+
+        LOG_INFO("目标点位置： x -- %.2f , y -- %.2f", x, y);
     }
 
     void msg_callback_DetectLine(const sweeper_interfaces::msg::DetectLine::SharedPtr msg)
@@ -1638,7 +1640,7 @@ class fu_node : public rclcpp::Node
 int main(int argc, char** argv)
 {
     // 初始化日志系统
-    logger::Logger::Init("fu", "./log");
+    logger::Logger::Init("fu", "./nodes_log");
 
     rclcpp::init(argc, argv);
     auto node = std::make_shared<fu_node>("fu_node");

src/autonomy/pl/package.xml

@@ -13,6 +13,7 @@
   <depend>std_msgs</depend>
   <depend>sweeper_interfaces</depend>
   <depend>mc</depend>
+  <depend>logger</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

src/autonomy/pl/src/pl.cpp

@@ -218,11 +218,6 @@ void PL_ProcThread()
         des_pos = Road_Planning_Find_Aim_Point(road_pos, 3);        // 找到当前点后第 3 个点，作为目标点
         direction_pos = Road_Planning_Find_Aim_Point(road_pos, 6);  // 找到当前点后第 6 个点，判断直行/转弯
 
-        // printf("当前位置: %d\n", road_pos);
-        // printf("目标位置: %d\n", des_pos);
-        // printf("direction_pos: %d\n", direction_pos);
-        // printf("\n");
-
         drive_mode = straight_or_turn(g_rtk.direction, GPSPointQueue[direction_pos].Heading, 12);
 
         // 新增距离判断逻辑
@@ -233,6 +228,12 @@ void PL_ProcThread()
         double target_lat = GPSPointQueue[des_pos].LatitudeInfo;
         double target_head = GPSPointQueue[des_pos].Heading;
 
+        LOG_INFO_THROTTLE(1000, "当前位置: %d  经度: %.6f  纬度: %.6f  朝向: %.1f", road_pos, current_lon, current_lat,
+                          current_head);
+        LOG_INFO_THROTTLE(1000, "目标位置: %d  经度: %.6f  纬度: %.6f  朝向: %.1f", des_pos, target_lon, target_lat,
+                          target_head);
+        LOG_INFO_THROTTLE(1000, "############################################################");
+
         // 计算当前定位点与目标点距离
         double distance = ntzx_GPS_length(current_lon, current_lat, target_lon, target_lat);
         int nl_within_head = (abs(target_head - current_head) < 30) ? 1 : 0;

src/autonomy/pl/src/pl_node.cpp

@@ -229,7 +229,7 @@ int main(int argc, char** argv)
     initConfig();
     rclcpp::init(argc, argv);
     // 初始化日志系统
-    logger::Logger::Init("pl", "./log");
+    logger::Logger::Init("pl", "./nodes_log");
     /*创建对应节点的共享指针对象*/
     auto node = std::make_shared<pl_node>("pl_node");
     /* 运行节点，并检测退出信号*/

src/autonomy/route/src/route_node.cpp

@@ -253,7 +253,7 @@ int main(int argc, char** argv)
     init_main();
     rclcpp::init(argc, argv);
     /*初始化日志系统*/
-    logger::Logger::Init("route", "./log");
+    logger::Logger::Init("route", "./nodes_log");
     /*创建对应节点的共享指针对象*/
     auto node = std::make_shared<route_node>("route_node");
     /* 运行节点，并检测退出信号*/

src/base/mc/src/mc.cpp

@@ -44,7 +44,7 @@ int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
     /*初始化日志系统*/
-    logger::Logger::Init("mc", "./log");
+    logger::Logger::Init("mc", "./nodes_log");
 
     auto node = rclcpp::Node::make_shared("can_driver_node");
     LOG_INFO("Starting mc package...");

src/base/vehicle_params/src/vehicle_params_node.cpp

@@ -109,7 +109,7 @@ int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
     /*初始化日志系统*/
-    logger::Logger::Init("vehicle_params", "./log");
+    logger::Logger::Init("vehicle_params", "./nodes_log");
 
     rclcpp::spin(std::make_shared<VehicleParamsNode>());
     rclcpp::shutdown();

src/common/logger/README.md

@@ -51,7 +51,7 @@ ament_target_dependencies(your_target
 
 ```cpp
 // 初始化日志系统
-logger::Logger::Init("node_name", "./log");
+logger::Logger::Init("node_name", "./nodes_log");
 
 // 业务逻辑...
 

src/common/logger/src/logger.cpp

@@ -106,8 +106,16 @@ void Logger::InitLogFile()
     struct tm tm_info;
     localtime_r(&now_c, &tm_info);
 
+    // 按节点名称和日期创建子目录
+    char sub_dir[256];
+    snprintf(sub_dir, sizeof(sub_dir), "%s/%s/%04d%02d%02d", log_dir_.c_str(), name_.c_str(),
+             tm_info.tm_year + 1900, tm_info.tm_mon + 1, tm_info.tm_mday);
+    
+    // 创建子目录
+    std::filesystem::create_directories(sub_dir);
+
     char filename[256];
-    snprintf(filename, sizeof(filename), "%s/%s_%04d%02d%02d_%02d%02d%02d.log", log_dir_.c_str(), name_.c_str(),
+    snprintf(filename, sizeof(filename), "%s/%s_%04d%02d%02d_%02d%02d%02d.log", sub_dir, name_.c_str(),
              tm_info.tm_year + 1900, tm_info.tm_mon + 1, tm_info.tm_mday, tm_info.tm_hour, tm_info.tm_min,
              tm_info.tm_sec);
 

src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp

@@ -170,7 +170,7 @@ int main(int argc, char** argv)
 
     rclcpp::init(argc, argv);
     /*初始化日志系统*/
-    logger::Logger::Init("mqtt_report", "./log");
+    logger::Logger::Init("mqtt_report", "./nodes_log");
 
     Config config;
 

src/communication/sub/src/main.cpp

@@ -81,7 +81,7 @@ int main(int argc, char** argv)
     // 4) ROS2 spin
     rclcpp::init(argc, argv);
     /*初始化日志系统*/
-    logger::Logger::Init("sub", "./log");
+    logger::Logger::Init("sub", "./nodes_log");
 
     LOG_INFO("MQTT address: %s", cfg.address.c_str());
     LOG_INFO("MQTT topic template: %s", cfg.remote_topic_template.c_str());

src/communication/task_manager/src/task_manager_main.cpp

@@ -478,7 +478,7 @@ int main(int argc, char** argv)
     signal(SIGINT, signalHandler);
 
     // 初始化日志系统
-    logger::Logger::Init("task_manager", "./log");
+    logger::Logger::Init("task_manager", "./nodes_log");
 
     // 默认配置路径
     std::string config_path = "config.json";

src/control/ctrl_arbiter/package.xml

@@ -11,11 +11,12 @@
 
   <depend>sweeper_interfaces</depend>
   <depend>rclcpp</depend>
-  
+  <depend>logger</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

src/control/ctrl_arbiter/src/ctrl_arbiter.cpp

@@ -108,7 +108,7 @@ class ArbitrationNode : public rclcpp::Node
 int main(int argc, char* argv[])
 {
     // 初始化日志系统
-    logger::Logger::Init("ctrl_arbiter", "./log");
+    logger::Logger::Init("ctrl_arbiter", "./nodes_log");
 
     rclcpp::init(argc, argv);
     auto node = std::make_shared<ArbitrationNode>();

src/control/radio_ctrl/src/radio_ctrl.cpp

@@ -206,7 +206,7 @@ class SBUSNode : public rclcpp::Node
 int main(int argc, char* argv[])
 {
     // 初始化日志系统
-    logger::Logger::Init("radio_ctrl", "./log");
+    logger::Logger::Init("radio_ctrl", "./nodes_log");
 
     rclcpp::init(argc, argv);
     rclcpp::spin(std::make_shared<SBUSNode>());  // 启动节点

src/control/remote_ctrl/src/remote_ctrl_node.cpp

@@ -392,7 +392,7 @@ class RemoteCtrlNode : public rclcpp::Node
 int main(int argc, char* argv[])
 {
     // 初始化日志系统
-    logger::Logger::Init("remote_ctrl", "./log");
+    logger::Logger::Init("remote_ctrl", "./nodes_log");
 
     // ===============================
     // 1. 默认配置路径 + 手动解析 --config

src/perception/rtk/src/rtk_node.cpp

@@ -195,7 +195,7 @@ class rtk_node : public rclcpp::Node
 int main(int argc, char** argv)
 {
     // 初始化日志系统
-    logger::Logger::Init("rtk", "./log");
+    logger::Logger::Init("rtk", "./nodes_log");
 
     // unsigned int a = -1;
     // LOG_DEBUG("%u\n", a);