Merge branch 'master' of http://36.153.162.171:3000/lyq/sweeper_200

radio_ctrl.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+source install/setup.bash  # ros workspace
+{
+	gnome-terminal --title="radio" --tab "XXD_ros" -- bash -c "ros2 run radio_ctrl radio_ctrl_node" 
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="mc" --tab "XXD_ros" -- bash -c "ros2 run mc mc_node"
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="ctrl_arbiter" --tab "XXD_ros" -- bash -c "ros2 run ctrl_arbiter ctrl_arbiter_node"
+}&
+sleep 0.2s
+
+{
+	gnome-terminal --title="report" --tab "XXD_ros" -- bash -c "ros2 run mqtt_report mqtt_report_node"
+}&
+sleep 0.2s

src/airy/rslidar_sdk-main/src/rs_driver/cmake/rs_driverConfig.cmake

@@ -19,8 +19,8 @@ if(${ENABLE_TRANSFORM})
   add_definitions("-DENABLE_TRANSFORM")
 endif(${ENABLE_TRANSFORM})
 
-set(rs_driver_INCLUDE_DIRS "/home/alvin/project/zxwl/sweeper/200_123/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
+set(rs_driver_INCLUDE_DIRS "/home/nvidia/Downloads/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
-set(RS_DRIVER_INCLUDE_DIRS "/home/alvin/project/zxwl/sweeper/200_123/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
+set(RS_DRIVER_INCLUDE_DIRS "/home/nvidia/Downloads/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
 
 set(rs_driver_LIBRARIES "pthread;pcap")
 set(RS_DRIVER_LIBRARIES "pthread;pcap")

src/mqtt_report/config/config(copy).json

@@ -6,4 +6,13 @@
     "info_topic": "/zxwl/vehicle/{vid}/info",
     "fault_topic": "/zxwl/vehicle/{vid}/fault"
   }
+},
+{
+  "vid": "V060003",
+  "mqtt": {
+    "ip": "36.153.162.171",
+    "port": 19683,
+    "info_topic": "/zxwl/vehicle/{vid}/info",
+    "fault_topic": "/zxwl/vehicle/{vid}/fault"
+  }
 }

src/mqtt_report/include/mqtt_report/mqtt_client.hpp

@@ -38,7 +38,6 @@ public:
         }
     }
 
-    // 连接服务器，支持最大重试次数
     bool connect(int max_retries = 5)
     {
         std::lock_guard<std::mutex> lock(mtx_);
@@ -48,7 +47,7 @@ public:
         MQTTClient_connectOptions conn_opts = MQTTClient_connectOptions_initializer;
         conn_opts.keepAliveInterval = 20;
         conn_opts.cleansession = 1;
-        conn_opts.connectTimeout = 5; // ✅ 限制阻塞时间
+        conn_opts.connectTimeout = 5;
 
         if (!username_.empty())
         {

src/mqtt_report/src/mqtt_report.cpp

@@ -323,7 +323,7 @@ private:
         for (int code : vehicle_error_code.getAllErrorCodes())
         {
             std::string fault_json = generateFaultJson(code, config.vid, getCurrentTimestampMs());
-            if (!mqtt_client_.publish(fault_topic_, fault_json, 1)) // QoS=1
+            if (!mqtt_client_.publish(fault_topic_, fault_json, 0))
             {
                 RCLCPP_WARN(this->get_logger(), "Failed to publish fault code %d to MQTT", code);
             }

src/pub_gps/src/pub_gps_node.cpp

@@ -12,6 +12,7 @@
 #include <unistd.h>
 #include <string.h>
 #include <time.h>
+#include <random>
 #include <sstream>
 #include <iomanip>
 #include <pthread.h>
@@ -227,6 +228,25 @@ private:
     rclcpp::Subscription<sweeper_interfaces::msg::Rtk>::SharedPtr gps_subscribe_;
 };
 
+std::string generate_mqtt_client_id()
+{
+    // 获取当前时间戳（以毫秒为单位）
+    auto now = std::chrono::system_clock::now();
+    auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count();
+
+    // 生成一个 4 位随机数
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dis(1000, 9999);
+    int random_num = dis(gen);
+
+    // 拼接成 client ID
+    std::ostringstream oss;
+    oss << "client_" << millis << "_" << std::setw(4) << std::setfill('0') << random_num;
+
+    return oss.str();
+}
+
 bool load_config(const std::string &path)
 {
     Json::Reader reader;
@@ -250,7 +270,7 @@ bool load_config(const std::string &path)
     // int port = m["inter_net_port"].asInt();             // 11883
 
     g_conf.address = ip + ":" + std::to_string(port);
-    g_conf.client_id = "sweeper_CLIENT_1532_GPS"; // 如需可改成 VID 等
+    g_conf.client_id = generate_mqtt_client_id();
     g_conf.user = m["mqtt_user"].asString();
     g_conf.password = m["mqtt_password"].asString();
     g_conf.pub_gps_topic = m["pub_gps_topic"].asString();

src/sub/src/sub_node.cpp

@@ -13,6 +13,7 @@
 #include <ctime>
 #include <string.h>
 #include <time.h>
+#include <random>
 #include <sstream>
 #include <iomanip>
 #include <pthread.h>
@@ -43,7 +44,7 @@ std::string mqtt_topic_remote;
 
 // 新增：声明未定义的常量
 std::string ADDRESS;
-std::string CLIENTID_SUB = "sweeper200_sub"; // 客户端ID，提供默认值
+std::string CLIENTID_SUB; // 客户端ID，提供默认值
 
 std::chrono::steady_clock::time_point last_message_time = std::chrono::steady_clock::now();
 constexpr auto QOS = 1;
@@ -53,6 +54,25 @@ char sub_buff[500];
 
 car_ctrl car_ctrl_mes;
 
+std::string generate_mqtt_client_id()
+{
+    // 获取当前时间戳（以毫秒为单位）
+    auto now = std::chrono::system_clock::now();
+    auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count();
+
+    // 生成一个 4 位随机数
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dis(1000, 9999);
+    int random_num = dis(gen);
+
+    // 拼接成 client ID
+    std::ostringstream oss;
+    oss << "client_" << millis << "_" << std::setw(4) << std::setfill('0') << random_num;
+
+    return oss.str();
+}
+
 void sendResponse(MQTTClient client, const std::string &topic, long long seqNo, int code, std::string msg)
 {
     // 使用JSON库构建响应数据
@@ -428,7 +448,7 @@ void init_main()
         mqtt_topic_remote = root["mqtt"]["remote_topic"].asString();
         // 添加对sub_topic的初始化
         sub_topic = mqtt_topic_remote;
-        CLIENTID_SUB = CLIENTID_SUB + "_" + mqtt_vid;
+        CLIENTID_SUB = generate_mqtt_client_id();
         // ADDRESS = mqtt_inter_net_address + ":" + std::to_string(mqtt_inter_net_port);
         ADDRESS = mqtt_external_net_address + ":" + std::to_string(mqtt_external_net_port);
         cout << "ADDRESS: " << ADDRESS << endl;

src/task_manager/src/task_manager_node.cpp

@@ -6,6 +6,7 @@
 #include "task_manager_node.hpp"
 #include "sweeper_interfaces/msg/sub.hpp"
 #include <signal.h> // 添加信号处理头文件
+#include <random>
 
 using namespace std;
 
@@ -35,7 +36,7 @@ std::string sub_topic;
 
 // 修复变量声明和初始化
 std::string ADDRESS;
-std::string CLIENTID_SUB = "sweeper200_task"; // 客户端ID
+std::string CLIENTID_SUB; // 客户端ID
 std::string destinationFilePath1 = "./gps_load_now.txt";
 std::chrono::steady_clock::time_point last_message_time = std::chrono::steady_clock::now();
 constexpr auto QOS = 0;
@@ -49,6 +50,25 @@ TaskStatus status_up = TaskStatus::PENDING;
 CurrentTask currentTask;
 std::mutex taskMutex;
 
+std::string generate_mqtt_client_id()
+{
+    // 获取当前时间戳（以毫秒为单位）
+    auto now = std::chrono::system_clock::now();
+    auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()).count();
+
+    // 生成一个 4 位随机数
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dis(1000, 9999);
+    int random_num = dis(gen);
+
+    // 拼接成 client ID
+    std::ostringstream oss;
+    oss << "client_" << millis << "_" << std::setw(4) << std::setfill('0') << random_num;
+
+    return oss.str();
+}
+
 // 信号处理函数
 void signalHandler(int signum)
 {
@@ -732,7 +752,7 @@ void init_main()
         mqtt_topic_push_status = root["mqtt"]["mqtt_topic_push_status"].asString();
         // 添加对sub_topic的初始化
         sub_topic = mqtt_topic_sub_task;
-        CLIENTID_SUB = CLIENTID_SUB + "_" + mqtt_vid;
+        CLIENTID_SUB = generate_mqtt_client_id();
         // ADDRESS = mqtt_inter_net_address + ":" + std::to_string(mqtt_inter_net_port);
         ADDRESS = mqtt_external_net_address + ":" + std::to_string(mqtt_external_net_port);
         cout << "ADDRESS: " << ADDRESS << endl;

start_all.sh

@@ -1,24 +1,21 @@
 #!/bin/bash
 set -e
 
-# 加载 ROS2 系统环境
-source /opt/ros/foxy/setup.bash
-
 # 加载你的工作空间环境
-source ~/Downloads/sweeper_whu/install/setup.bash
+source ~/Downloads/sweeper_200/install/setup.bash
 
 # 启动节点
 ros2 run radio_ctrl radio_ctrl_node &
 ros2 run mc mc_node &
 ros2 run ctrl_arbiter ctrl_arbiter_node &
 ros2 run mqtt_report mqtt_report_node &
-ros2 run rtk rtk_node &
-ros2 run pub_gps pub_gps_node &
 ros2 launch rslidar_sdk start_double.launch.py &
+ros2 run rtk rtk_node &
 ros2 run route route_node &
-ros2 run remote remote_node &
+ros2 run sub sub_node &
 ros2 run task_manager task_manager_node &
 ros2 run pl pl_node &
 ros2 launch fu fu.launch.py &
+ros2 run pub_gps pub_gps_node &
 
 wait