solve problem of seg fault as don't call Release in plcData. complete glog logging. add log path. edit locks in lidars, region_worker and PlcData.

.gitignore

@@ -32,3 +32,5 @@ _ReSharper*/
 packages/
 build/*
 devel/*
+src/findwheel/log/*
+src/findwheel/data/*

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src/.vscode/settings.json

@@ -62,6 +62,8 @@
         "utility": "cpp",
         "typeindex": "cpp",
         "typeinfo": "cpp",
-        "core": "cpp"
-    }
+        "core": "cpp",
+        "*.ipp": "cpp"
+    },
+    "workbench.colorTheme": "Default Light+"
 }

src/findwheel/CMakeLists.txt

@@ -162,7 +162,10 @@ add_executable(${PROJECT_NAME}_node
     src/region_worker.cpp
     src/tools/globalmsg.pb.cc
     src/tools/s7_plc.cpp
-    src/PlcData.cpp)
+    src/tools/pathcreator.cpp
+    src/PlcData.cpp
+    src/PlcData.h
+    )
 target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROTOBUF_LIBRARIES} snap7 libnnxx.a libnanomsg.so ${OpenCV_LIBS} libglog.a libgflags.a)
 
 ## Rename C++ executable without prefix

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src/findwheel/scripts/EleFence.proto

@@ -35,4 +35,5 @@ message globalParam
     repeated lidarParam lidar_params=1;
     repeated Region regions=2;
     optional string data_path=3 [default=""];
+    optional string fence_log_path=4 [default=""];
 }

src/findwheel/scripts/setting.prototxt

@@ -1,4 +1,43 @@
 data_path:"/home/youchen/Documents/measure/MainStructure/elecfence_ws/src/findwheel/data"
+fence_log_path:"/home/youchen/Documents/measure/MainStructure/elecfence_ws/src/findwheel/log"
+
+lidar_params
+{
+    topic:"/scan1"
+	transform
+	{
+		m00:0.0082915
+		m01:0.9999656
+		m02:-1.61686
+		m10:0.9999656
+		m11:-0.0082915
+		m12:-2.433125
+	}
+	minx:0.1
+    maxx:5
+    miny:0
+    maxy:3.5
+	dist_limit:10
+}
+
+lidar_params
+{
+    topic:"/scan2"
+	transform
+	{
+		m00:0.0099967
+		m01:-0.9999499
+		m02:1.75814
+		m10:-0.9999499
+		m11:-0.0099967
+		m12:3.435875
+	}
+	minx:0.1
+    maxx:6
+    miny:-3.5
+    maxy:3.5
+	dist_limit:10
+}
 
 lidar_params
 {

src/findwheel/src/FenceController.cpp

@@ -33,42 +33,61 @@ void FenceController::save_cloud_txt(std::string txt, pcl::PointCloud<pcl::Point
 FenceController::FenceController(std::string path):
 m_initialized(0)
 {
-    // char buf[100];
-    // getcwd(buf, sizeof(buf));
-    //printf("%s\n",buf);
-    //FLAGS_log_dir = buf;
-    // google::InitGoogleLogging("path");
+    char curr_dir[100];
+    getcwd(curr_dir, sizeof(curr_dir));
     p_merged_cloud = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
     m_initialized = ReadProtoParam(path);
+    // create log path
+    if(m_global_param.has_fence_log_path() && m_global_param.fence_log_path()!= ""){
+        PathCreator path_creator;
+        path_creator.CreateDatePath(m_global_param.fence_log_path(), false);
+        FLAGS_log_dir = path_creator.GetCurPath();
+    }else{
+        FLAGS_log_dir = curr_dir;
+    }
+    // create data path
+    if(m_global_param.has_data_path() && m_global_param.data_path() != ""){
+        PathCreator path_creator;
+        path_creator.Mkdir(m_global_param.data_path());
+    }
+    google::InitGoogleLogging("path");
+    google::SetStderrLogging(google::INFO);
+    LOG(INFO)<<"init param and glog";
     const int lidar_size = m_global_param.lidar_params_size();
     const int region_size = m_global_param.regions_size();
     p_lidars.resize(lidar_size);
     p_region_workers.resize(region_size);
     p_plc_data = PlcData::GetInstance("192.168.0.1");
-
-    // init wheel handling thread and queue
-    m_cond_wheel_exit.Notify(false);
-
-    if(m_wheel_soc){
-        m_wheel_soc.bind(CONNECTSTRING);
-    }
-    m_wheel_recv_thread = new std::thread(wheelMsgRecvThread, this);
-    m_wheel_send_thread=new std::thread(wheelMsgHandlingThread,this);
+    LOG(INFO) << "create plc data handler"<<p_plc_data;
 
     // init lidar instances
-    for (int i = 0; i < m_global_param.lidar_params_size(); ++i) {
+    for (int i = 0; i < m_global_param.lidar_params_size(); ++i)
+    {
         p_lidars[i] = new Lidar(m_global_param.lidar_params(i), m_handle);
     }
     // init region_detector instances
-    for (int j = 0; j < m_global_param.regions_size(); ++j) {
+    for (int j = 0; j < m_global_param.regions_size(); ++j)
+    {
         p_region_workers[j] = new Region_worker(j, m_global_param.regions(j));
     }
+    LOG(INFO) << "create lidars and region workers";
+
+    // init wheel handling thread
+    m_cond_wheel_exit.Notify(false);
+    if(m_wheel_soc){
+        m_wheel_soc.bind(CONNECTSTRING);
+    }
+    m_wheel_send_thread=new std::thread(wheelMsgHandlingThread,this);
+    m_wheel_send_thread->detach();
+    m_wheel_recv_thread = new std::thread(wheelMsgRecvThread, this);
+    m_wheel_recv_thread->detach();
+    LOG(INFO)<<"create wheel msg handle threads";
+
     m_cond_exit.Notify(false);
     m_update_thread = new std::thread(cloudMergeUpdate, this);
-//    while(m_initialized){
-//        cloudMergeUpdate(this);
-//        usleep(1000*50);
-//    }
+    m_update_thread->detach();
+    LOG(INFO)<<"create cloud merge thread";
+
 }
 
 FenceController::~FenceController()
@@ -82,7 +101,7 @@ FenceController::~FenceController()
         delete m_update_thread;
         m_update_thread = 0;
     }
-    std::cout<<"exit 00"<<std::endl;
+    LOG(INFO)<<"exit update cloud thread";
     if(m_wheel_recv_thread){
         if(m_wheel_recv_thread->joinable()){
             m_wheel_recv_thread->join();
@@ -90,7 +109,7 @@ FenceController::~FenceController()
         delete m_wheel_recv_thread;
         m_wheel_recv_thread = 0;
     }
-    std::cout<<"exit 01"<<std::endl;
+    LOG(INFO)<<"exit receive wheel msg thread";
     if(m_wheel_send_thread){
         if(m_wheel_send_thread->joinable()){
             m_wheel_send_thread->join();
@@ -98,18 +117,26 @@ FenceController::~FenceController()
         delete m_wheel_send_thread;
         m_wheel_send_thread = 0;
     }
-    std::cout<<"exit 02"<<std::endl;
+    LOG(INFO)<<"exit send wheel result thread";
     // delete lidar instances
     for (int i = 0; i < m_global_param.lidar_params_size(); ++i) {
-        delete p_lidars[i];
+        if(p_lidars[i]){
+            delete p_lidars[i];
+            p_lidars[i] = 0;
+        }
     }
+    LOG(INFO)<<"exit lidar handlers";
     // delete region_detector instances
     for (int j = 0; j < m_global_param.regions_size(); ++j) {
-        delete p_region_workers[j];
+        if(p_region_workers[j]){
+            delete p_region_workers[j];
+            p_region_workers[j] = 0;
+        }
     }
-    std::cout<<"exit 03"<<std::endl;
-    PlcData::Release();
-    // google::ShutdownGoogleLogging();
+    LOG(INFO)<<"exit region worker handles";
+    //PlcData::Release();
+    LOG(INFO)<<"exit plc communicator";
+    google::ShutdownGoogleLogging();
 }
 void FenceController::GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out){
     m_cloud_mutex.lock();
@@ -155,7 +182,8 @@ void FenceController::wheelMsgRecvThread(FenceController* fc)
                 task.sock_controller=c1;
                 fc->m_msg_queue.push(task);
 
-                std::cout<<"-------recv msg -------"<<task.cmd<<std::endl;
+                // std::cout<<"-------recv msg -------"<<task.cmd<<std::endl;
+                LOG(INFO) << "-------recv msg " << task.cmd.c_str() << "-------";
             }
         }
         // std::cout<<"++++++++++++++++"<<std::endl;
@@ -184,15 +212,19 @@ void FenceController::wheelMsgHandlingThread(FenceController* fc){
             if(task.cmd.size()>8 && task.cmd.substr(0, 8) == "Terminal")
             {
                 int terminal_id = atoi(task.cmd.substr(8, task.cmd.length() - 8).c_str());
-                std::cout << "terminal id: " << terminal_id << std::endl;
+                // std::cout << "terminal id: " << terminal_id << std::endl;
+                LOG(INFO)<<"handling msg from terminal id: " << terminal_id;
                 while (count-- >= 0 && !result.correctness())
                 {
-                    std::cout<<" times :"<<count<<std::endl;
+                    // std::cout<<" times :"<<count<<std::endl;
+                    LOG(INFO)<<"times :"<<count;
                     for (int i = 0; i < fc->p_region_workers.size(); ++i)
                     {
+                        // LOG(INFO)<<"--------callback try to find terminal------" << fc->p_region_workers[i]->get_id();
                         if (terminal_id >= 0 && fc->p_region_workers[i]->get_id() == terminal_id)
                         {
-                             std::cout << "--------callback find terminal------" << terminal_id << std::endl;
+                            //  std::cout << "--------callback find terminal------" << terminal_id << std::endl;
+                            LOG(INFO)<<"--------callback find terminal------" << terminal_id;
                             double x = 0, y = 0, c = 0, wheelbase = 0, width = 0;
                             // std::cout << "--------callback get time------" << std::endl;
                             fc->m_cloud_mutex.lock();
@@ -200,32 +232,37 @@ void FenceController::wheelMsgHandlingThread(FenceController* fc){
                             for (int i = 0; i < fc->p_lidars.size(); ++i)
                             {
                                 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
-                                if (fc->p_lidars[i]->GetCloud(cloud))
+                                if (fc->p_lidars[i]->GetCloud(cloud, 600, false))
                                 {
                                     total_cloud->operator+=(*cloud);
                                 }
                             }
                             fc->m_cloud_mutex.unlock();
-                             std::cout << "--------callback get cloud------" << std::endl;
+                            // std::cout << "--------callback get cloud, size: "<<total_cloud->size()<<"------" << std::endl;
+                            LOG(INFO)<< "--------callback get cloud, size: "<<total_cloud->size();
                             if (total_cloud->size() > 0 &&
                                 fc->p_region_workers[i]->get_wheel_result(total_cloud, x, y, c, wheelbase, width))
                             {
                                 result.set_correctness(true);
                                 // save cloud txt
-                                if (fc->m_global_param.data_path() != "")
+                                if (fc->m_global_param.has_data_path()&& fc->m_global_param.data_path() != "")
                                 {
+                                    PathCreator path_creator;
+                                    path_creator.CreateDatePath(fc->m_global_param.data_path(), false);
                                     char cloud_txt_filename[255];
                                     memset(cloud_txt_filename, 0, 255);
-                                    sprintf(cloud_txt_filename, "%s//%s.txt", fc->m_global_param.data_path().c_str(), result.time().c_str());
+                                    sprintf(cloud_txt_filename, "%s/%s.txt", path_creator.GetCurPath().c_str(), result.time().c_str());
                                     fc->save_cloud_txt(cloud_txt_filename, total_cloud);
-                                    std::cout << " save cloud   " << cloud_txt_filename << std::endl;
+                                    // std::cout << " save cloud   " << cloud_txt_filename << std::endl;
+                                    LOG(INFO)<<" save cloud " << cloud_txt_filename;
                                 }
                             }
                             else
                             {
                                 result.set_correctness(false);
                             }
-                             std::cout << "--------callback get result------" << std::endl;
+                            //  std::cout << "--------callback get result------" << std::endl;
+                            LOG(INFO)<<"--------callback get result------";
                             result.set_x(x * 1000.0);
                             result.set_y(y * 1000.0);
                             result.set_c(c);
@@ -238,12 +275,14 @@ void FenceController::wheelMsgHandlingThread(FenceController* fc){
                 }
             }
             std::string result_str = result.SerializeAsString();
-            std::cout << "--------callback serialized: " <<std::endl<< result.DebugString() << "------" << std::endl;
+            // std::cout << "--------callback serialized: " <<std::endl<< result.DebugString() << "------" << std::endl;
+            LOG(INFO)<<"--------callback serialized: " <<std::endl<< result.DebugString() << "------";
             fc->m_mutex_wheel_handling.lock();
             if (fc->m_wheel_soc) {
                 fc->m_wheel_soc.send(result_str.data(), result_str.length(), 0,
                                      std::move(*task.sock_controller));
-                std::cout << "------- callback msg sent -------" << std::endl;
+                // std::cout << "------- callback msg sent -------" << std::endl;
+                LOG(INFO)<<"------- callback msg sent -------";
             }
             fc->m_mutex_wheel_handling.unlock();
             delete task.sock_controller;

src/findwheel/src/FenceController.h

@@ -35,6 +35,7 @@ using google::protobuf::Message;
 #include "tools/s7_plc.h"
 #include "PlcData.h"
 #include "string.h"
+#include "tools/pathcreator.h"
 
 #include <nnxx/message.h>
 #include <nnxx/message_control.h>

src/findwheel/src/Lidar.cpp

@@ -39,11 +39,12 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr  laserScan2Cloud(const sensor_msgs::LaserSca
     }
     return point_cloud;
 }
+
 void SaveTxtCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,std::string strFile)
 {
     CLogFile log;
     log.open(strFile.c_str());
-    std::cout<<log.is_open()<<std::endl;
+    //std::cout<<log.is_open()<<std::endl;
     if(log.is_open())
     {
         for(int i=0;i<cloud->size();++i)
@@ -71,12 +72,16 @@ b_save_cloud(0)
 }
 Lidar::~Lidar()
 {
-
+    // std::lock_guard<std::mutex> lck(m_mutex);
+    // std::cout<<"exit lidar"<<std::endl;
 }
 void Lidar::publish_cloud()
 {
+    // std::lock_guard<std::mutex> lck(m_mutex);
     sensor_msgs::PointCloud2 cloudglobalMsg;
+    m_mutex.lock();
     pcl::toROSMsg(*m_cloud, cloudglobalMsg);
+    m_mutex.unlock();
     cloudglobalMsg.header.stamp = ros::Time::now();
     cloudglobalMsg.header.frame_id = "/map";
     m_cloud_publisher.publish(cloudglobalMsg);
@@ -86,6 +91,7 @@ void Lidar::cloud_callback(const sensor_msgs::LaserScan::ConstPtr& msg,Lidar* pL
 {
 //    ROS_INFO("cloud callbacked");
     if(pLidar==0) return ;
+    // std::lock_guard<std::mutex> lck(pLidar->m_mutex);
     EleFence::Transform2d T=pLidar->m_lidar_param.transform();
     float minx=pLidar->m_lidar_param.minx();
     float maxx=pLidar->m_lidar_param.maxx();
@@ -98,7 +104,9 @@ void Lidar::cloud_callback(const sensor_msgs::LaserScan::ConstPtr& msg,Lidar* pL
     transform(1,0)=T.m10();
     transform(1,1)=T.m11();
     transform(1,2)=T.m12();
+    pLidar->m_mutex.lock();
     pLidar->m_cloud=laserScan2Cloud(*msg,transform,minx,maxx,miny,maxy);
+    pLidar->m_mutex.unlock();
     pLidar->m_cloud_time = ros::Time::now();
     pLidar->publish_cloud();
 
@@ -113,19 +121,31 @@ void Lidar::cloud_callback(const sensor_msgs::LaserScan::ConstPtr& msg,Lidar* pL
         {
             sprintf(buf, "./cloud_%s.txt", pLidar->m_lidar_param.topic().c_str());
         }
+        pLidar->m_mutex.lock();
         SaveTxtCloud(pLidar->m_cloud, buf);
-        std::cout<<" save cloud   "<<buf<<std::endl;
+        pLidar->m_mutex.unlock();
+        std::cout<<" save cloud "<<buf<<std::endl;
         pLidar->b_save_cloud=true;
     }
 }
 
-bool Lidar::GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, int timeout_milli)
+bool Lidar::GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, int timeout_milli, bool print)
 {
-    cloud=m_cloud;
+    std::lock_guard<std::mutex> lck(m_mutex);
+    cloud->clear();
+    // m_mutex.lock();
+    cloud->operator+=(*m_cloud);
 //    std::cout<<cloud->size()<<std::endl;
 //    return true;
     ros::Duration duration = ros::Time::now() - m_cloud_time;
-    if(duration.toSec()*1000 > timeout_milli)
+    if(print)
+    {
+        // if (m_lidar_param.topic() == "/scan3" || m_lidar_param.topic() == "/scan4" || m_lidar_param.topic() == "/scan5")
+        // {
+        std::cout << m_lidar_param.topic() << " duration: " << duration.toSec() * 1000 << ", cloud size: " << cloud->size() << std::endl;
+        // }
+    }
+    if (duration.toSec() * 1000 > timeout_milli)
         return false;
     else
         return true;

src/findwheel/src/Lidar.h

@@ -5,6 +5,7 @@
 #ifndef LIDAR_H
 #define LIDAR_H
 #include <ros/ros.h>
+#include <mutex>
 #include "tools/EleFence.pb.h"
 #include <string>
 #include <pcl_conversions/pcl_conversions.h>
@@ -22,22 +23,29 @@ class Lidar
 public:
     Lidar(EleFence::lidarParam lidar_param, ros::NodeHandle handle);
     ~Lidar();
-    bool GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, int timeout_milli=100);
+    // 外部调用获取时间间隔内的点云
+    bool GetCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, int timeout_milli=500, bool print=false);
 
 protected:
+    // ROS发布点云
     void publish_cloud();
+    // 雷达消息回调
     static void cloud_callback(const sensor_msgs::LaserScan::ConstPtr& msg,Lidar* pLidar);
 
 protected:
-    ros::NodeHandle m_handle;
+    ros::NodeHandle                     m_handle;
     pcl::PointCloud<pcl::PointXYZ>::Ptr m_cloud;
-    ros::Time   m_cloud_time;
+    ros::Time                           m_cloud_time;
 
-    ros::Subscriber m_scan_sub;
-    ros::Publisher m_cloud_publisher;
-    EleFence::lidarParam m_lidar_param;
+    ros::Subscriber                     m_scan_sub;
+    ros::Publisher                      m_cloud_publisher;
 
-    bool                b_save_cloud;
+
+    bool                                b_save_cloud;
+    std::mutex                          m_mutex;
+
+public:
+    EleFence::lidarParam                m_lidar_param;
 };
 
 

src/findwheel/src/PlcData.cpp

@@ -5,67 +5,137 @@
 #include "PlcData.h"
 #include <string.h>
 
-PlcData* PlcData::g_instance=0;
+PlcData* PlcData::g_ins=0;
+std::mutex PlcData::g_lock;
 
 PlcData* PlcData::GetInstance(std::string ip)
 {
-    if(g_instance==0)
-        g_instance=new PlcData(ip);
-    return g_instance;
+    if (g_ins == 0)
+    {
+        std::lock_guard<std::mutex> lock(g_lock);
+        if (g_ins == 0)
+        {
+            if (ip != "")
+            {
+                g_ins = new PlcData(ip);
+                LOG(INFO) << "plc data, handle created";
+            }
+            else
+            {
+                return 0;
+            }
+        }
+    }
+    return g_ins;
+}
 
+void PlcData::Release()
+{
+    if (g_ins)
+    {
+        g_ins->m_cond_exit.Notify(true);
+        LOG(INFO) << "plc data, try to exit plc send thread";
+        g_lock.lock();
+        if (g_ins->p_send_thread)
+        {
+            LOG(INFO) << "plc data, try to join plc send thread";
+            // LOG(INFO) << g_ins->p_send_thread->joinable();
+            if (g_ins->p_send_thread->joinable())
+                g_ins->p_send_thread->join();
+            LOG(INFO) << "plc data, try to delete plc send thread";
+            delete g_ins->p_send_thread;
+            g_ins->p_send_thread = 0;
+            LOG(INFO) << "plc data, delete data send thread";
+        }
+        g_lock.unlock();
+
+        LOG(INFO) << "plc data, start to exit plc handle";
+        // if(g_instance->p_plc){
+        //     LOG(INFO)<<"plc data, try to delete plc handle";
+        //     delete g_instance->p_plc;
+        //     g_instance->p_plc = 0;
+        // }
+        // LOG(INFO)<<"plc data, delete plc handle";
+        LOG(INFO) << "plc data, delete instance";
+        // delete g_ins;
+        // g_ins = 0;
+        LOG(INFO) << "plc data, instance deleted";
+    }
+    else
+    {
+        LOG(WARNING) << "plc data, cannot find the instance";
+    }
 }
+
 void PlcData::UpdateData(stateCode code,int id)
 {
     const int length=1;
     int offset=id*length;
-    short* data = (short*)malloc(sizeof(short));
-    memset(data, 0, sizeof(short));
+    short data = 0;
     switch(code){
         case stateCode::eOk:
-            *data = (short)1;
+            data = (short)1;
             break;
         case stateCode::eOutOfPlace:
-            *data = (short)2;
+            data = (short)2;
             break;
         case stateCode::eNoCar:
         default:
-            *data = (short)0;
+            data = (short)0;
             break;
     }
 //    printf("data: %d \n", *data);
-    m_lock.lock();
-    ////判断越界
+    std::lock_guard<std::mutex> lock(g_lock);
+    ////判断越界, 更新数据
     if(offset>=0 && offset+length<=MAX_REGIONS)
-        memcpy(m_data+offset,data,length*sizeof(short));
-    m_lock.unlock();
-    free(data);
+        memcpy(m_data+offset,&data,length*sizeof(short));
 }
 
 void PlcData::plcThread(PlcData* p){
     if(p == 0) return;
-    if(p->p_plc == 0) return;
     while(!p->m_cond_exit.WaitFor(1)){
-        // 显示雷达结果
-        std::cout<<"result: [";
-        for (int i = 0; i < MAX_REGIONS; ++i) {
-            std::cout<<p->m_data[i]<<" ";
-        }
-        std::cout<<"]"<<std::endl;
-        // 写plc
-        if(p->p_plc->getConnection()){
+        
+        if(p == 0) return;
+        // if(p->m_plc == 0) return;
+
+        {
+            // std::lock_guard<std::mutex> lock(g_lock);
+            g_lock.lock();
+            // 显示雷达结果
+            std::cout << "result: [";
+            for (int i = 0; i < MAX_REGIONS; ++i)
+            {
+                std::cout << p->m_data[i] << " ";
+            }
+            std::cout << "]" << std::endl;
+            g_lock.unlock();
+
+            // 写plc
+            if (p->m_plc.getConnection())
+            {
 
-            short temp = 0;
-            for (int i = 0; i < ELE_FENCE_COUNT; ++i) {
-                temp= *(p->m_data+i);
-//                temp =HTON(temp);
-                //printf("%d ---->%d\n",*(p->m_data+i), temp);
-                p->p_plc->WriteShorts(ELE_FENCE_DB_NUM, ELE_FENCE_START_ADDR+i*ELE_FENCE_OFFSET, 1, &temp);
-                usleep(50*1000);
+                short temp = 0;
+                for (int i = 0; i < ELE_FENCE_COUNT; ++i)
+                {
+                    g_lock.lock();
+                    temp = *(p->m_data + i);
+                    //                temp =HTON(temp);
+                    //printf("%d ---->%d\n",*(p->m_data+i), temp);
+                    p->m_plc.WriteShorts(ELE_FENCE_DB_NUM, ELE_FENCE_START_ADDR + i * ELE_FENCE_OFFSET, 1, &temp);
+                    g_lock.unlock();
+                    usleep(50 * 1000);
+                }
             }
-        }else{
-            p->p_plc->disconnect();
-            if(p->m_ip_str != ""){
-                p->p_plc->connect(p->m_ip_str);
+            else
+            {
+                g_lock.lock();
+                p->m_plc.disconnect();
+                if (p->m_ip_str != "")
+                {
+                    p->m_plc.connect(p->m_ip_str);
+                }
+                g_lock.unlock();
+                usleep(p->m_send_interval_milli * 5 * 1000);
             }
         }
         usleep(p->m_send_interval_milli * 1000);
@@ -78,22 +148,11 @@ m_ip_str("")
 {
     m_ip_str = ip;
     memset(m_data, 0, MAX_REGIONS* sizeof(short));
-    p_plc = new S7PLC();
-    if(ip!=""){
-        p_plc->connect(ip);
+    // p_plc = new S7PLC();
+    if(m_ip_str!=""){
+        m_plc.connect(m_ip_str);
     }
     m_cond_exit.Notify(false);
     p_send_thread = new std::thread(plcThread, this);
-}
-
-void PlcData::Release(){
-    if(g_instance) {
-        g_instance->m_cond_exit.Notify(true);
-        if(g_instance->p_plc){
-            g_instance->p_plc->disconnect();
-            delete g_instance->p_plc;
-        }
-        delete g_instance;
-        g_instance = 0;
-    }
+    p_send_thread->detach();
 }

src/findwheel/src/PlcData.h

@@ -12,8 +12,9 @@
 #include "tools/s7_plc.h"
 #include "unistd.h"
 #include "tools/define.h"
+#include "glog/logging.h"
 
-#define MAX_REGIONS 15
+#define MAX_REGIONS 6
 #define ELE_FENCE_START_ADDR 4
 #define ELE_FENCE_DB_NUM  95
 #define ELE_FENCE_OFFSET 7
@@ -29,16 +30,30 @@ public:
     void UpdateData(stateCode code,int id);
     static void plcThread(PlcData* p);
 private:
-    static PlcData*                                 g_instance;
+    static PlcData*                                 g_ins;
+    static std::mutex                               g_lock;
+
     StdCondition                                    m_cond_exit;
     std::thread*                                    p_send_thread;
-    S7PLC*                                          p_plc;
+    S7PLC                                           m_plc;
     const int                                       m_send_interval_milli = 200;
 
     PlcData(std::string ip);
 
+    // class CGarbo
+	// {
+	// public:
+	// 	~CGarbo() {
+	// 		if (g_ins)
+	// 		{
+	// 			delete g_ins;
+	// 			g_ins = 0;
+	// 		}
+	// 	}
+	// };
+	// static CGarbo Garbo;	//--->1
+
 protected:
-    std::mutex m_lock;
     short m_data[MAX_REGIONS];
 public:
     std::string                                     m_ip_str;

src/findwheel/src/find_wheel_node.cpp

@@ -6,111 +6,24 @@ ros::Publisher g_src_publisher;
 
 int main(int argc, char** argv)
 {
-//    EleFence::globalParam param;
-//    if(ReadProtoParam("/home/zx/zzw/catkin_ws/src/FindWheel/scripts/setting.prototxt",param)==false)
-//    {
-//        ROS_ERROR("load proto param failed...");
-//        return -1;
-//    }
-
     ros::init(argc, argv, "find_wheel");
     FenceController fc("/home/youchen/Documents/measure/MainStructure/elecfence_ws/src/findwheel/scripts/setting.prototxt");
     // FenceController fc("/home/zx/zzw/catkin_ws/src/findwheel/scripts/setting.prototxt");
     if(fc.m_initialized) {
-//
-//        ::ros::NodeHandle g_ros_handle;
-//        int LidarCount = param.lidars_size();
-//        std::vector<Lidar *> pLidars;
-//        pLidars.resize(LidarCount);
-//        for (int i = 0; i < param.lidars_size(); ++i) {
-//
-//        }
-//
-//        for (int i = 0; i < LIDAR_COUNT; ++i) {
-//            g_clouds[i] = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>());
-//
-//        }
-//        for (int i = 0; i < 4; ++i) {
-//            char buf[255] = {0};
-//            sprintf(buf, "/cloud_wheel_%d", i + 1);
-//            g_cluster_publisher[i] = g_ros_handle.advertise<sensor_msgs::PointCloud2>(buf, 1);
-//        }
-//
-//        for (int i = 0; i < LIDAR_COUNT; ++i) {
-//            char topic[255] = {0};
-//            sprintf(topic, "/scan%d", i + 1);
-//            g_cloud_sub[i] =
-//                g_ros_handle.subscribe<sensor_msgs::LaserScan>(topic, 1, boost::bind(cloud_callback, _1, i));
-//
-//        }
-        g_src_publisher = fc.m_handle.advertise<sensor_msgs::PointCloud2>("cloud_in", 1);
-
-/////过滤xy
-
+        // g_src_publisher = fc.m_handle.advertise<sensor_msgs::PointCloud2>("cloud_in", 1);
 
         ros::Rate loop_rate(10);
-        pcl::PointCloud<pcl::PointXYZ>::Ptr merged_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
+        // pcl::PointCloud<pcl::PointXYZ>::Ptr merged_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>));
         while (::ros::ok()) {
             //g_src_publisher.publish(fc.p_merged_cloud);
-            fc.GetCloud(merged_cloud);
-            if (merged_cloud->size() > 0) {
-                sensor_msgs::PointCloud2 cloudglobalMsg;
-                pcl::toROSMsg(*merged_cloud, cloudglobalMsg);
-                cloudglobalMsg.header.stamp = ros::Time::now();
-                cloudglobalMsg.header.frame_id = "/map";
-                g_src_publisher.publish(cloudglobalMsg);
-            }
-
-//            for (int i = 0; i < fc.m_region_results.size(); ++i) {
-//                std::cout<<fc.m_region_results[i]? "True" : "False";
-//            }
-//            std::cout<<std::endl;
-//            pcl::PointCloud<pcl::PointXYZ> cloud;
-//            for (int i = 0; i < LIDAR_COUNT; ++i)
-//                cloud += (*g_clouds[i]);
-//
-//            if (cloud.size() > 0) {
-//                float minx = g_param.regions(0).minx();
-//                float maxx = g_param.regions(0).maxx();
-//                float miny = g_param.regions(0).miny();
-//                float maxy = g_param.regions(0).maxy();
-//
-//                pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
-//
-//                pcl::PassThrough<pcl::PointXYZ> pass;
-//                pass.setInputCloud(cloud.makeShared());
-//                pass.setFilterFieldName("x");//设置想在哪个坐标轴上操作
-//                pass.setFilterLimits(minx, maxx);//将x轴的0到1范围内
-//                pass.setFilterLimitsNegative(false);//保留（true就是删除，false就是保留而删除此区间外的）
-//                pass.filter(*cloud_filtered);//输出到结果指针
-//
-//                pass.setInputCloud(cloud_filtered);
-//                pass.setFilterFieldName("y");//设置想在哪个坐标轴上操作
-//                pass.setFilterLimits(miny, maxy);//将x轴的0到1范围内
-//                pass.setFilterLimitsNegative(false);//保留（true就是删除，false就是保留而删除此区间外的）
-//                pass.filter(*cloud_filtered);//输出到结果指针
-//
-//                if (wheel.detect(cloud_filtered)) {
-//                    //发布聚类结果图
-//                    for (int i = 0; i < 4; ++i) {
-//                        if (wheel.m_clouds[i]->size() > 0) {
-//                            sensor_msgs::PointCloud2 cloudglobalMsg;
-//                            pcl::toROSMsg(*wheel.m_clouds[i], cloudglobalMsg);
-//                            cloudglobalMsg.header.stamp = ros::Time::now();
-//                            cloudglobalMsg.header.frame_id = "/map";
-//                            g_cluster_publisher[i].publish(cloudglobalMsg);
-//                        }
-//                    }
-//                }
-//                std::cout << " cloud in size : " << cloud_filtered->size() << std::endl;
-//                if (cloud_filtered->size() > 0) {
-//                    sensor_msgs::PointCloud2 cloudglobalMsg;
-//                    pcl::toROSMsg(*cloud_filtered, cloudglobalMsg);
-//                    cloudglobalMsg.header.stamp = ros::Time::now();
-//                    cloudglobalMsg.header.frame_id = "/map";
-//                    g_src_publisher.publish(cloudglobalMsg);
-//                }
-//            }
+            // fc.GetCloud(merged_cloud);
+            // if (merged_cloud->size() > 0) {
+            //     sensor_msgs::PointCloud2 cloudglobalMsg;
+            //     pcl::toROSMsg(*merged_cloud, cloudglobalMsg);
+            //     cloudglobalMsg.header.stamp = ros::Time::now();
+            //     cloudglobalMsg.header.frame_id = "/map";
+            //     g_src_publisher.publish(cloudglobalMsg);
+            // }
             ros::spinOnce();
             loop_rate.sleep();
         }

src/findwheel/src/region_detect.cpp

@@ -93,8 +93,10 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
         {
             if (print)
             {
-                std::cout << " angle cos >0.13 =" << cosa << "  i=" << max_index;
-                std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+                // std::cout << " angle cos >0.13 =" << cosa << "  i=" << max_index;
+                // std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+                LOG(WARNING) << " angle cos >0.13 =" << cosa << "  i=" << max_index;
+                LOG(WARNING) << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
             }
             return false;
         }
@@ -106,7 +108,9 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
         {
             if(print)
             {
-                std::cout << "\t width<1400 || width >2100 || length >3300 ||length < 2100 "
+                // std::cout << "\t width<1400 || width >2100 || length >3300 ||length < 2100 "
+                //           << "  length:" << length << "  width:" << width;
+                LOG(WARNING)<< "\t width<1400 || width >2100 || length >3300 ||length < 2100 "
                           << "  length:" << length << "  width:" << width;
             }
             return false;
@@ -119,13 +123,17 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
         if (fabs(d - max_l) > max_l * 0.15 || distance(center1, center2) > 0.150) {
             if(print)
             {
-                std::cout << "d:" << d << " maxl:" << max_l << "  center1:" << center1 << "  center2:" << center2
+                // std::cout << "d:" << d << " maxl:" << max_l << "  center1:" << center1 << "  center2:" << center2
+                //           << "  center distance=" << distance(center1, center2);
+                LOG(WARNING)<<"d:" << d << " maxl:" << max_l << "  center1:" << center1 << "  center2:" << center2
                           << "  center distance=" << distance(center1, center2);
             }
             return false;
         }
         if(print){
-            std::cout << " rectangle verify OK  cos angle=" << cosa << "  length off=" << fabs(d - max_l)
+            // std::cout << " rectangle verify OK  cos angle=" << cosa << "  length off=" << fabs(d - max_l)
+            //           << "  center distance=" << distance(center1, center2);
+            LOG(WARNING)<< " rectangle verify OK  cos angle=" << cosa << "  length off=" << fabs(d - max_l)
                       << "  center distance=" << distance(center1, center2);
         }
         return true;
@@ -158,8 +166,10 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
         {
             if (print)
             {
-                std::cout << "3 wheels angle cos >0.12 =" << cosa << "  i=" << max_index;
-                std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+                // std::cout << "3 wheels angle cos >0.12 =" << cosa << "  i=" << max_index;
+                // std::cout << "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
+                LOG(WARNING)<< "3 wheels angle cos >0.12 =" << cosa << "  i=" << max_index;
+                LOG(WARNING)<< "L1:" << l1 << "  L2:" << l2 << "  L3:" << max_l;
             }
             return false;
         }
@@ -175,7 +185,9 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
             points.push_back(point4);
             if(print)
             {
-                std::cout << "3 wheels rectangle verify OK  cos angle=" << cosa << "  L=" << l
+                // std::cout << "3 wheels rectangle verify OK  cos angle=" << cosa << "  L=" << l
+                //           << "  w=" << w;
+                LOG(WARNING)<< "3 wheels rectangle verify OK  cos angle=" << cosa << "  L=" << l
                           << "  w=" << w;
             }
             return true;
@@ -184,14 +196,14 @@ bool Region_detector::isRect(std::vector<cv::Point2f>& points, bool print)
         {
             if (print)
             {
-                std::cout << "3 wheels rectangle verify Failed  cos angle=" << cosa << "  L=" << l
+                // std::cout << "3 wheels rectangle verify Failed  cos angle=" << cosa << "  L=" << l
+                //           << "  w=" << w;
+                LOG(WARNING)<< "3 wheels rectangle verify Failed  cos angle=" << cosa << "  L=" << l
                           << "  w=" << w;
             }
             return false;
         }
-
     }
-
 }
 
 bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, std::vector<cv::Point2f>& corner_points, std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> &seg_clouds, bool print) {
@@ -231,7 +243,8 @@ bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, s
     }
 
     if(print){
-        std::cout << " cluster class:" << clusters.size() << std::endl;
+        // std::cout << " cluster class:" << clusters.size() << std::endl;
+        LOG(WARNING)<<" cluster class:" << clusters.size();
     }
 
     // std::vector<cv::Point2f> cvPoints;
@@ -251,7 +264,7 @@ bool Region_detector::clustering(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, s
         float center_y=sumY/float(seg_clouds[i]->size());
         corner_points.push_back(cv::Point2f(center_x,center_y));
     }
-    return isRect(corner_points);
+    return isRect(corner_points, print);
 }
 
 bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in)
@@ -294,11 +307,15 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, doub
         for (int j = 0; j < cloud_filtered->size(); ++j) {
             all_points.push_back(cv::Point2f(cloud_filtered->points[j].x, cloud_filtered->points[j].y));
         }
+        // bounding rectangle of all wheel points
         cv::RotatedRect wheel_box = cv::minAreaRect(all_points);
         x=wheel_box.center.x;
         y=wheel_box.center.y;
         cloud_in->points.push_back(pcl::PointXYZ(x, y, 0.0));
-        std::cout<<"--------detector find center ["<<x<<", "<<y<<"] ------"<<std::endl;
+        // std::cout<<"--------detector find center ["<<x<<", "<<y<<"] ------"<<std::endl;
+        LOG(INFO)<<"--------detector find center ["<<x<<", "<<y<<"] ------";
+
+        // 长边向量
         cv::Point2f vec;
         cv::Point2f vertice[4];
         wheel_box.points(vertice);
@@ -318,17 +335,21 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, doub
         float angle_x = 180.0 / M_PI * acos(vec.x / sqrt(vec.x * vec.x + vec.y * vec.y));
         c = angle_x;
 
-        // get line formula
+        // get line formula, normal is (cos(theta), sin(theta)), towards the long side
+        // the line formula is: nx * x + ny * y + (-(nx*cx+ny*cy)) = 0
         Eigen::Vector2f normal, center_point;
         normal<<vec.x / sqrt(vec.x * vec.x + vec.y * vec.y), vec.y / sqrt(vec.x * vec.x + vec.y * vec.y);
         center_point<<x, y;
         float line_param_c = -1 * center_point.transpose() * normal;
-        std::cout << "--------detector find separation line: " << normal[0]<<", "<<normal[1]<<", "<<line_param_c << " -----" << std::endl;
-        // get rotation matrix
+        LOG(INFO)<<"--------detector find horizontal separation line: " << normal[0]<<", "<<normal[1]<<", "<<line_param_c << " -----";
+        // get rotation matrix, get the angle towards normal vector, rather than x axis
+        // R = [ cos -sin]
+        //     [ sin  cos]
         float rotate_angle = M_PI_2 - acos(vec.x / sqrt(vec.x * vec.x + vec.y * vec.y));
         Eigen::Matrix2f rotation_matrix;
         rotation_matrix<< cos(rotate_angle), -sin(rotate_angle), sin(rotate_angle), cos(rotate_angle);
-        std::cout << "--------detector find angle" << rotate_angle << " -----" << std::endl;
+        // std::cout << "--------detector find angle" << rotate_angle << " -----" << std::endl;
+        LOG(INFO)<< "--------detector find angle" << rotate_angle << " -----";
 
         // find min x and max x, separate y values according to the line, calculate difference between mean of y values as wheelbase
         float min_x=20, max_x=0;
@@ -358,13 +379,14 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, doub
                 }
             }
         }
-        if (count0 > 0 || count1 > 0)
+        if (count0 > 0 && count1 > 0)
         {
             y_values0 /= count0;
             y_values1 /= count1;
             wheelbase = fabs(y_values1 - y_values0);
             width = fabs(min_x - max_x);
-            std::cout << "--------detector find x min "<<min_x<<" max "<<max_x<<", y means: [" << y_values0 << ", " << y_values1 << "] -----" << std::endl;
+            // std::cout << "--------detector find x min "<<min_x<<" max "<<max_x<<", y means: [" << y_values0 << ", " << y_values1 << "] -----" << std::endl;
+            LOG(INFO) << "--------detector find x min "<<min_x<<" max "<<max_x<<", y means: [" << y_values0 << ", " << y_values1 << "] -----";
             cloud_in->points.push_back(pcl::PointXYZ(min_x, y, 0.0));
             cloud_in->points.push_back(pcl::PointXYZ(max_x, y, 0.0));
             cloud_in->points.push_back(pcl::PointXYZ(x, y_values0, 0.0));
@@ -375,13 +397,16 @@ bool Region_detector::detect(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, doub
             // calculate wheelbase according to corner points
             double dist0 = 0, dist1 = 0, dist2 = 0;
             wheelbase = std::max(wheel_box.size.width, wheel_box.size.height);
-            std::cout << "--------detector find border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----" << std::endl;
+            // std::cout << "--------detector find border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----" << std::endl;
+            LOG(INFO)<<"--------detector find border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----";
             cv::RotatedRect wheel_center_box = cv::minAreaRect(corner_points);
             wheelbase = std::max(wheel_center_box.size.width, wheel_center_box.size.height);
-            std::cout << "--------detector find center border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----" << std::endl;
+            // std::cout << "--------detector find center border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----" << std::endl;
+            LOG(INFO)<<"--------detector find center border: [" << wheel_box.size.width << ", " << wheel_box.size.height << "] -----";
             width = std::min(wheel_box.size.width, wheel_box.size.height);
         }
-        std::cout << "--------detector find all------" << std::endl;
+        // std::cout << "--------detector find all------" << std::endl;
+        LOG(INFO)<<"--------detector find all------";
     }
     return result;
 }

src/findwheel/src/region_detect.h

@@ -39,6 +39,8 @@ using google::protobuf::io::ZeroCopyOutputStream;
 using google::protobuf::io::CodedOutputStream;
 using google::protobuf::Message;
 
+#include "glog/logging.h"
+
 #include "tools/EleFence.pb.h"
 #include "tools/StdCondition.h"
 #include "opencv2/opencv.hpp"

src/findwheel/src/region_worker.cpp

@@ -15,42 +15,60 @@ Region_worker::Region_worker(int id, EleFence::Region region){
 Region_worker::~Region_worker()
 {
     m_cond_exit.Notify(true);
+    // m_mutex.lock();
+    std::lock_guard<std::mutex> lck(m_mutex);
     if(m_update_thread){
         if(m_update_thread->joinable())
             m_update_thread->join();
         delete m_update_thread;
+        m_update_thread = 0;
     }
+    // m_mutex.unlock();
+    // std::cout<<"exit region worker thread"<<std::endl;
     if(m_detector){
         delete m_detector;
+        m_detector = 0;
     }
 }
 
 int Region_worker::get_id(){
+    int id = -1;
+    // m_mutex.lock();
+    std::lock_guard<std::mutex> lck(m_mutex);
     if(m_detector){
-        return m_detector->m_region_id;
+        id = m_detector->m_region_id;
     }else{
-        return -1;
+        id = -1;
     }
+    // m_mutex.unlock();
+    return id;
 }
 
 bool Region_worker::get_wheel_result(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in, double &x, double &y, double &c, double &wheelbase, double &width){
+    bool result=false;
+    // m_mutex.lock();
+    std::lock_guard<std::mutex> lck(m_mutex);
     if(m_detector){
         // std::cout<<"worker getting result"<<std::endl;
-        return m_detector->detect(cloud_in, x, y, c, wheelbase, width);
+        LOG(INFO)<<"worker getting result";
+        result = m_detector->detect(cloud_in, x, y, c, wheelbase, width);
     }else{
-        return false;
+        result = false;
     }
+    // m_mutex.unlock();
+    return result;
 }
 
 void Region_worker::update_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in)
 {
-    m_mutex.lock();
+    // m_mutex.lock();
+    std::lock_guard<std::mutex> lck(m_mutex);
     m_cloud->clear();
     for (int i = 0; i < cloud_in->size(); ++i) {
         m_cloud->push_back(cloud_in->points[i]);
     }
     b_cloud_updated = true;
-    m_mutex.unlock();
+    // m_mutex.unlock();
 }
 
 void Region_worker::detect_loop(Region_worker *worker)
@@ -59,7 +77,8 @@ void Region_worker::detect_loop(Region_worker *worker)
     if(worker->m_detector == 0) return;
     while(!worker->m_cond_exit.WaitFor(1)){
         stateCode code = stateCode::eNoCar;
-        worker->m_mutex.lock();
+        // worker->m_mutex.lock();
+        std::lock_guard<std::mutex> lck(worker->m_mutex);
         if(worker->b_cloud_updated){
             bool result = worker->m_detector->detect(worker->m_cloud);
             worker->b_cloud_updated = false;
@@ -73,6 +92,6 @@ void Region_worker::detect_loop(Region_worker *worker)
         if(p) {
             p->UpdateData(code, worker->m_detector->m_region_id);
         }
-        worker->m_mutex.unlock();
+        // worker->m_mutex.unlock();
     }
 }

src/findwheel/src/tools/EleFence.pb.cc

@@ -189,15 +189,17 @@ const ::google::protobuf::uint32 TableStruct::offsets[] GOOGLE_PROTOBUF_ATTRIBUT
   GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, lidar_params_),
   GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, regions_),
   GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, data_path_),
+  GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(::EleFence::globalParam, fence_log_path_),
   ~0u,
   ~0u,
   0,
+  1,
 };
 static const ::google::protobuf::internal::MigrationSchema schemas[] GOOGLE_PROTOBUF_ATTRIBUTE_SECTION_VARIABLE(protodesc_cold) = {
   { 0, 9, sizeof(::EleFence::Region)},
   { 13, 24, sizeof(::EleFence::Transform2d)},
   { 30, 42, sizeof(::EleFence::lidarParam)},
-  { 49, 57, sizeof(::EleFence::globalParam)},
+  { 49, 58, sizeof(::EleFence::globalParam)},
 };
 
 static ::google::protobuf::Message const * const file_default_instances[] = {
@@ -238,13 +240,13 @@ void AddDescriptorsImpl() {
       "nsform\030\002 \001(\0132\025.EleFence.Transform2d\022\025\n\nd"
       "ist_limit\030\003 \001(\002:\0018\022\020\n\004minx\030\004 \001(\002:\002-6\022\022\n\004"
       "maxx\030\005 \001(\002:\004-0.2\022\022\n\004miny\030\006 \001(\002:\004-3.5\022\021\n\004"
-      "maxy\030\007 \001(\002:\0033.5\"q\n\013globalParam\022*\n\014lidar_"
-      "params\030\001 \003(\0132\024.EleFence.lidarParam\022!\n\007re"
-      "gions\030\002 \003(\0132\020.EleFence.Region\022\023\n\tdata_pa"
-      "th\030\003 \001(\t:\000"
+      "maxy\030\007 \001(\002:\0033.5\"\213\001\n\013globalParam\022*\n\014lidar"
+      "_params\030\001 \003(\0132\024.EleFence.lidarParam\022!\n\007r"
+      "egions\030\002 \003(\0132\020.EleFence.Region\022\023\n\tdata_p"
+      "ath\030\003 \001(\t:\000\022\030\n\016fence_log_path\030\004 \001(\t:\000"
   };
   ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
-      descriptor, 490);
+      descriptor, 517);
   ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
     "EleFence.proto", &protobuf_RegisterTypes);
 }
@@ -1585,6 +1587,7 @@ void globalParam::InitAsDefaultInstance() {
 const int globalParam::kLidarParamsFieldNumber;
 const int globalParam::kRegionsFieldNumber;
 const int globalParam::kDataPathFieldNumber;
+const int globalParam::kFenceLogPathFieldNumber;
 #endif  // !defined(_MSC_VER) || _MSC_VER >= 1900
 
 globalParam::globalParam()
@@ -1607,12 +1610,17 @@ globalParam::globalParam(const globalParam& from)
   if (from.has_data_path()) {
     data_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.data_path_);
   }
+  fence_log_path_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  if (from.has_fence_log_path()) {
+    fence_log_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.fence_log_path_);
+  }
   // @@protoc_insertion_point(copy_constructor:EleFence.globalParam)
 }
 
 void globalParam::SharedCtor() {
   _cached_size_ = 0;
   data_path_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  fence_log_path_.UnsafeSetDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 
 globalParam::~globalParam() {
@@ -1622,6 +1630,7 @@ globalParam::~globalParam() {
 
 void globalParam::SharedDtor() {
   data_path_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  fence_log_path_.DestroyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
 }
 
 void globalParam::SetCachedSize(int size) const {
@@ -1656,9 +1665,15 @@ void globalParam::Clear() {
   lidar_params_.Clear();
   regions_.Clear();
   cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    GOOGLE_DCHECK(!data_path_.IsDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()));
-    (*data_path_.UnsafeRawStringPointer())->clear();
+  if (cached_has_bits & 3u) {
+    if (cached_has_bits & 0x00000001u) {
+      GOOGLE_DCHECK(!data_path_.IsDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()));
+      (*data_path_.UnsafeRawStringPointer())->clear();
+    }
+    if (cached_has_bits & 0x00000002u) {
+      GOOGLE_DCHECK(!fence_log_path_.IsDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited()));
+      (*fence_log_path_.UnsafeRawStringPointer())->clear();
+    }
   }
   _has_bits_.Clear();
   _internal_metadata_.Clear();
@@ -1712,6 +1727,22 @@ bool globalParam::MergePartialFromCodedStream(
         break;
       }
 
+      // optional string fence_log_path = 4 [default = ""];
+      case 4: {
+        if (static_cast< ::google::protobuf::uint8>(tag) ==
+            static_cast< ::google::protobuf::uint8>(34u /* 34 & 0xFF */)) {
+          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
+                input, this->mutable_fence_log_path()));
+          ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+            this->fence_log_path().data(), static_cast<int>(this->fence_log_path().length()),
+            ::google::protobuf::internal::WireFormat::PARSE,
+            "EleFence.globalParam.fence_log_path");
+        } else {
+          goto handle_unusual;
+        }
+        break;
+      }
+
       default: {
       handle_unusual:
         if (tag == 0) {
@@ -1763,6 +1794,16 @@ void globalParam::SerializeWithCachedSizes(
       3, this->data_path(), output);
   }
 
+  // optional string fence_log_path = 4 [default = ""];
+  if (cached_has_bits & 0x00000002u) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+      this->fence_log_path().data(), static_cast<int>(this->fence_log_path().length()),
+      ::google::protobuf::internal::WireFormat::SERIALIZE,
+      "EleFence.globalParam.fence_log_path");
+    ::google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased(
+      4, this->fence_log_path(), output);
+  }
+
   if (_internal_metadata_.have_unknown_fields()) {
     ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
         _internal_metadata_.unknown_fields(), output);
@@ -1805,6 +1846,17 @@ void globalParam::SerializeWithCachedSizes(
         3, this->data_path(), target);
   }
 
+  // optional string fence_log_path = 4 [default = ""];
+  if (cached_has_bits & 0x00000002u) {
+    ::google::protobuf::internal::WireFormat::VerifyUTF8StringNamedField(
+      this->fence_log_path().data(), static_cast<int>(this->fence_log_path().length()),
+      ::google::protobuf::internal::WireFormat::SERIALIZE,
+      "EleFence.globalParam.fence_log_path");
+    target =
+      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
+        4, this->fence_log_path(), target);
+  }
+
   if (_internal_metadata_.have_unknown_fields()) {
     target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields(), target);
@@ -1844,13 +1896,22 @@ size_t globalParam::ByteSizeLong() const {
     }
   }
 
-  // optional string data_path = 3 [default = ""];
-  if (has_data_path()) {
-    total_size += 1 +
-      ::google::protobuf::internal::WireFormatLite::StringSize(
-        this->data_path());
-  }
+  if (_has_bits_[0 / 32] & 3u) {
+    // optional string data_path = 3 [default = ""];
+    if (has_data_path()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::StringSize(
+          this->data_path());
+    }
 
+    // optional string fence_log_path = 4 [default = ""];
+    if (has_fence_log_path()) {
+      total_size += 1 +
+        ::google::protobuf::internal::WireFormatLite::StringSize(
+          this->fence_log_path());
+    }
+
+  }
   int cached_size = ::google::protobuf::internal::ToCachedSize(total_size);
   GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
   _cached_size_ = cached_size;
@@ -1882,9 +1943,16 @@ void globalParam::MergeFrom(const globalParam& from) {
 
   lidar_params_.MergeFrom(from.lidar_params_);
   regions_.MergeFrom(from.regions_);
-  if (from.has_data_path()) {
-    set_has_data_path();
-    data_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.data_path_);
+  cached_has_bits = from._has_bits_[0];
+  if (cached_has_bits & 3u) {
+    if (cached_has_bits & 0x00000001u) {
+      set_has_data_path();
+      data_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.data_path_);
+    }
+    if (cached_has_bits & 0x00000002u) {
+      set_has_fence_log_path();
+      fence_log_path_.AssignWithDefault(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), from.fence_log_path_);
+    }
   }
 }
 
@@ -1916,6 +1984,7 @@ void globalParam::InternalSwap(globalParam* other) {
   lidar_params_.InternalSwap(&other->lidar_params_);
   regions_.InternalSwap(&other->regions_);
   data_path_.Swap(&other->data_path_);
+  fence_log_path_.Swap(&other->fence_log_path_);
   swap(_has_bits_[0], other->_has_bits_[0]);
   _internal_metadata_.Swap(&other->_internal_metadata_);
   swap(_cached_size_, other->_cached_size_);

src/findwheel/src/tools/EleFence.pb.h

@@ -686,10 +686,27 @@ class globalParam : public ::google::protobuf::Message /* @@protoc_insertion_poi
   ::std::string* release_data_path();
   void set_allocated_data_path(::std::string* data_path);
 
+  // optional string fence_log_path = 4 [default = ""];
+  bool has_fence_log_path() const;
+  void clear_fence_log_path();
+  static const int kFenceLogPathFieldNumber = 4;
+  const ::std::string& fence_log_path() const;
+  void set_fence_log_path(const ::std::string& value);
+  #if LANG_CXX11
+  void set_fence_log_path(::std::string&& value);
+  #endif
+  void set_fence_log_path(const char* value);
+  void set_fence_log_path(const char* value, size_t size);
+  ::std::string* mutable_fence_log_path();
+  ::std::string* release_fence_log_path();
+  void set_allocated_fence_log_path(::std::string* fence_log_path);
+
   // @@protoc_insertion_point(class_scope:EleFence.globalParam)
  private:
   void set_has_data_path();
   void clear_has_data_path();
+  void set_has_fence_log_path();
+  void clear_has_fence_log_path();
 
   ::google::protobuf::internal::InternalMetadataWithArena _internal_metadata_;
   ::google::protobuf::internal::HasBits<1> _has_bits_;
@@ -697,6 +714,7 @@ class globalParam : public ::google::protobuf::Message /* @@protoc_insertion_poi
   ::google::protobuf::RepeatedPtrField< ::EleFence::lidarParam > lidar_params_;
   ::google::protobuf::RepeatedPtrField< ::EleFence::Region > regions_;
   ::google::protobuf::internal::ArenaStringPtr data_path_;
+  ::google::protobuf::internal::ArenaStringPtr fence_log_path_;
   friend struct ::protobuf_EleFence_2eproto::TableStruct;
   friend void ::protobuf_EleFence_2eproto::InitDefaultsglobalParamImpl();
 };
@@ -1323,6 +1341,69 @@ inline void globalParam::set_allocated_data_path(::std::string* data_path) {
   // @@protoc_insertion_point(field_set_allocated:EleFence.globalParam.data_path)
 }
 
+// optional string fence_log_path = 4 [default = ""];
+inline bool globalParam::has_fence_log_path() const {
+  return (_has_bits_[0] & 0x00000002u) != 0;
+}
+inline void globalParam::set_has_fence_log_path() {
+  _has_bits_[0] |= 0x00000002u;
+}
+inline void globalParam::clear_has_fence_log_path() {
+  _has_bits_[0] &= ~0x00000002u;
+}
+inline void globalParam::clear_fence_log_path() {
+  fence_log_path_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+  clear_has_fence_log_path();
+}
+inline const ::std::string& globalParam::fence_log_path() const {
+  // @@protoc_insertion_point(field_get:EleFence.globalParam.fence_log_path)
+  return fence_log_path_.GetNoArena();
+}
+inline void globalParam::set_fence_log_path(const ::std::string& value) {
+  set_has_fence_log_path();
+  fence_log_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
+  // @@protoc_insertion_point(field_set:EleFence.globalParam.fence_log_path)
+}
+#if LANG_CXX11
+inline void globalParam::set_fence_log_path(::std::string&& value) {
+  set_has_fence_log_path();
+  fence_log_path_.SetNoArena(
+    &::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::move(value));
+  // @@protoc_insertion_point(field_set_rvalue:EleFence.globalParam.fence_log_path)
+}
+#endif
+inline void globalParam::set_fence_log_path(const char* value) {
+  GOOGLE_DCHECK(value != NULL);
+  set_has_fence_log_path();
+  fence_log_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
+  // @@protoc_insertion_point(field_set_char:EleFence.globalParam.fence_log_path)
+}
+inline void globalParam::set_fence_log_path(const char* value, size_t size) {
+  set_has_fence_log_path();
+  fence_log_path_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(),
+      ::std::string(reinterpret_cast<const char*>(value), size));
+  // @@protoc_insertion_point(field_set_pointer:EleFence.globalParam.fence_log_path)
+}
+inline ::std::string* globalParam::mutable_fence_log_path() {
+  set_has_fence_log_path();
+  // @@protoc_insertion_point(field_mutable:EleFence.globalParam.fence_log_path)
+  return fence_log_path_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+}
+inline ::std::string* globalParam::release_fence_log_path() {
+  // @@protoc_insertion_point(field_release:EleFence.globalParam.fence_log_path)
+  clear_has_fence_log_path();
+  return fence_log_path_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
+}
+inline void globalParam::set_allocated_fence_log_path(::std::string* fence_log_path) {
+  if (fence_log_path != NULL) {
+    set_has_fence_log_path();
+  } else {
+    clear_has_fence_log_path();
+  }
+  fence_log_path_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), fence_log_path);
+  // @@protoc_insertion_point(field_set_allocated:EleFence.globalParam.fence_log_path)
+}
+
 #ifdef __GNUC__
   #pragma GCC diagnostic pop
 #endif  // __GNUC__

src/findwheel/src/tools/pathcreator.cpp

@@ -0,0 +1,94 @@
+#include "pathcreator.h"
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <time.h>
+#include <stdint.h>
+#include <stdio.h>
+
+PathCreator::PathCreator()
+{
+
+}
+
+PathCreator::~PathCreator()
+{
+
+}
+
+std::string PathCreator::GetCurPath()
+{
+    return m_current_path;
+}
+bool PathCreator::Mkdir(std::string dirName)
+{
+    uint32_t beginCmpPath = 0;
+    uint32_t endCmpPath = 0;
+    std::string fullPath = "";
+
+        if('/' != dirName[0])
+        {
+            fullPath = getcwd(nullptr, 0);
+            beginCmpPath = fullPath.size();
+            fullPath = fullPath + "/" + dirName;
+        }
+        else
+        {
+            //Absolute path
+            fullPath = dirName;
+            beginCmpPath = 1;
+        }
+        if (fullPath[fullPath.size() - 1] != '/')
+        {
+            fullPath += "/";
+        }
+        endCmpPath = fullPath.size();
+
+        //create dirs;
+        for(uint32_t i = beginCmpPath; i < endCmpPath ; i++ )
+        {
+            if('/' == fullPath[i])
+            {
+                std::string curPath = fullPath.substr(0, i);
+                if(access(curPath.c_str(), F_OK) != 0)
+                {
+                    if(mkdir(curPath.c_str(), /*S_IRUSR|S_IRGRP|S_IROTH|S_IWUSR|S_IWGRP|S_IWOTH*/0777) == -1)
+                    {
+                        printf("mkdir(%s) failed\n", curPath.c_str());
+                        return false;
+                    }
+                }
+            }
+        }
+        m_current_path=fullPath;
+        return true;
+
+}
+
+bool PathCreator::CreateDatePath(std::string root, bool add_time)
+{
+    time_t tt;
+    time( &tt );
+    tt = tt + 8*3600;  // transform the time zone
+    tm* t= gmtime( &tt );
+    char buf[255]={0};
+    if (add_time)
+    {
+        sprintf(buf, "%s/%d%02d%02d-%02d%02d%02d", root.c_str(),
+                t->tm_year + 1900,
+                t->tm_mon + 1,
+                t->tm_mday,
+                t->tm_hour,
+                t->tm_min,
+                t->tm_sec);
+    }
+    else
+    {
+        sprintf(buf, "%s/%d%02d%02d", root.c_str(),
+                t->tm_year + 1900,
+                t->tm_mon + 1,
+                t->tm_mday);
+    }
+    return Mkdir(buf);
+}

src/findwheel/src/tools/pathcreator.h

@@ -0,0 +1,17 @@
+#ifndef PATHCREATOR_H
+#define PATHCREATOR_H
+#include <string>
+
+class PathCreator
+{
+public:
+    PathCreator();
+    ~PathCreator();
+    std::string GetCurPath();
+    bool Mkdir(std::string dir);
+    bool CreateDatePath(std::string root, bool add_time = true);
+protected:
+    std::string m_current_path;
+};
+
+#endif // PATHCREATOR_H

src/findwheel/src/tools/s7_plc.cpp

@@ -2,11 +2,12 @@
 
 S7PLC::S7PLC():bConnected_(false)
 {
-    
 }
 S7PLC::~S7PLC()
 {
+    std::cout<<"plc start delete"<<std::endl;
     disconnect();
+    std::cout<<"plc finish delete"<<std::endl;
 }
 
 bool S7PLC::getConnection(){

src/findwheel/src/tools/s7_plc.h

@@ -3,6 +3,7 @@
 
 #include <s7_client.h>
 #include <mutex>
+#include <iostream>
 
 class S7PLC
 {