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feat : 日志

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Alvin-lyq 2025-09-23 14:05:28 +08:00
parent 16232837ee
commit 7598c5410d
2 changed files with 29 additions and 6 deletions
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27
make_deb.sh
View File

@ -27,7 +27,7 @@ Priority: optional
Architecture: ${ARCH} Architecture: ${ARCH}
Essential: no Essential: no
Maintainer: ${MAINTAINER} Maintainer: ${MAINTAINER}
Depends: ros-humble-ros-base, libc6 (>= 2.34) Depends: ros-humble-ros-base, libc6 (>= 2.34), logrotate
Description: ${DESCRIPTION} Description: ${DESCRIPTION}
EOF EOF
@ -112,7 +112,7 @@ User=root
WantedBy=multi-user.target WantedBy=multi-user.target
EOF EOF
# ROS2 节点服务 (nvidia 用户执行，依赖 CAN 配置) # ROS2 节点服务 (nvidia 用户执行，日志写文件)
cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF cat > "${WORKDIR}/etc/systemd/system/${PKG_NAME}.service" <<EOF
[Unit] [Unit]
Description=Remote Controller Nodes Description=Remote Controller Nodes
@ -126,11 +126,30 @@ Environment="ROS_DISTRO=humble"
ExecStart=${INSTALL_DIR}/start_all.sh ExecStart=${INSTALL_DIR}/start_all.sh
Restart=on-failure Restart=on-failure
RestartSec=2 RestartSec=2
StandardOutput=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
StandardError=append:/var/log/${PKG_NAME}/${PKG_NAME}.log
[Install] [Install]
WantedBy=multi-user.target WantedBy=multi-user.target
EOF EOF
# ============================
# logrotate 配置
# ============================
mkdir -p "${WORKDIR}/etc/logrotate.d"
cat > "${WORKDIR}/etc/logrotate.d/${PKG_NAME}" <<EOF
/var/log/${PKG_NAME}/${PKG_NAME}.log {
daily
rotate 14
compress
missingok
notifempty
copytruncate
dateext
dateformat -%Y%m%d
}
EOF
# ============================ # ============================
# postinst 启用服务 # postinst 启用服务
# ============================ # ============================
@ -138,6 +157,10 @@ cat > "${WORKDIR}/DEBIAN/postinst" <<EOF
#!/bin/bash #!/bin/bash
set -e set -e
# 创建日志目录
mkdir -p /var/log/${PKG_NAME}
chown nvidia:nvidia /var/log/${PKG_NAME}
systemctl daemon-reload systemctl daemon-reload
systemctl enable ${PKG_NAME}-can.service systemctl enable ${PKG_NAME}-can.service
systemctl enable ${PKG_NAME}.service systemctl enable ${PKG_NAME}.service

8
src/mqtt_report/src/mqtt_report.cpp
View File

@ -63,7 +63,7 @@ void Msg_Handler(const sweeperMsg::CanFrame::SharedPtr msg)
float gear_ratio = 32.0; // 电机速比 float gear_ratio = 32.0; // 电机速比
float wheel_radius = 0.3; // 轮胎直径(m) float wheel_radius = 0.3; // 轮胎直径(m)
info_report.speed = (actual_speed_rpm * 60 * 3.1416 * wheel_radius) / (1000 * gear_ratio); info_report.speed = (actual_speed_rpm * 60 * 3.1416 * wheel_radius) / (1000 * gear_ratio);
std::cout << "[0x0CF11E00] speed : " << info_report.speed << std::endl; // std::cout << "[0x0CF11E00] speed : " << info_report.speed << std::endl;
// 故障码（data[6]：低字节，data[7]：高字节） // 故障码（data[6]：低字节，data[7]：高字节）
uint16_t mcu_fault_code = (static_cast<uint16_t>(msg->data[7]) << 8) | msg->data[6]; uint16_t mcu_fault_code = (static_cast<uint16_t>(msg->data[7]) << 8) | msg->data[6];
@ -110,9 +110,9 @@ void Msg_Handler(const sweeperMsg::CanFrame::SharedPtr msg)
// 档位优先级：命令状态优先（空挡时以反馈状态为准，可根据需求调整） // 档位优先级：命令状态优先（空挡时以反馈状态为准，可根据需求调整）
info_report.gear = feedback_gear; info_report.gear = feedback_gear;
std::cout << "[0x0CF11F00] controllerTemp : " << info_report.controllerTemp << std::endl; // std::cout << "[0x0CF11F00] controllerTemp : " << info_report.controllerTemp << std::endl;
std::cout << "[0x0CF11F00] motorTemp : " << info_report.motorTemp << std::endl; // std::cout << "[0x0CF11F00] motorTemp : " << info_report.motorTemp << std::endl;
std::cout << "[0x0CF11F00] gear : " << info_report.gear << std::endl; // std::cout << "[0x0CF11F00] gear : " << info_report.gear << std::endl;
break; break;
} }