修改sleep时间,修改手动处理错误等级

CMakeLists.txt

@@ -11,77 +11,48 @@ FIND_PACKAGE(Glog REQUIRED)
 FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(PCL REQUIRED)
 
-
-MESSAGE(WARN "pcl:: ${PCL_INCLUDE_DIRS} --- ${PCL_LIBRARIES}")
 include_directories(
         /usr/local/include
         ${PCL_INCLUDE_DIRS}
         ${OpenCV_INCLUDE_DIRS}
         ${PROTOBUF_INCLUDE_DIRS}
-        laser
-        Locate
         communication
         message
         error_code
         tool
-	system
+		system
 )
 link_directories("/usr/local/lib")
 
 message(STATUS ${EXECUTABLE_OUTPUT_PATH})
 
-
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/error_code error_src )
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/message message_src )
-aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/lidar_locate locate_src )
-#aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/robot robot_src )
-aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/laser LASER_SRC )
-#aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/plc PLC_SRC )
-aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/locate LOCATE_SRC )
-aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/terminor TERMINOR_SRC )
-aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/task TASK_MANAGER_SRC )
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/tool TOOL_SRC )
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/communication COMMUNICATION_SRC )
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/system SYSTEM_SRC )
 aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/dispatch DISPATCH_SRC )
 
 
-add_executable(terminal
+add_executable(dispatch
         main.cpp
         ${error_src}
-        ${locate_src}
-        ${robot_src}
         ${message_src}
-
-        ${LASER_SRC}
-        ${PLC_SRC}
-        ${TERMINOR_SRC}
-        ${LOCATE_SRC}
-        ${TASK_MANAGER_SRC}
         ${TOOL_SRC}
         ${COMMUNICATION_SRC}
         ${SYSTEM_SRC}
-		${DISPATCH_SRC}
-		dispatch/dispatch_manager.cpp dispatch/dispatch_manager.h dispatch/carrier_base.cpp dispatch/carrier_base.h)
+		${DISPATCH_SRC})
 
-target_link_libraries(terminal
+target_link_libraries(dispatch
         /usr/local/lib/libglog.a
         /usr/local/lib/libgflags.a
-#        /usr/local/lib/liblivox_sdk_static.a
-#        /usr/local/apr/lib/libapr-1.a
         nnxx
         nanomsg
-
         ${PROTOBUF_LIBRARIES}
         ${OpenCV_LIBS}
         ${GLOG_LIBRARIES}
         ${PCL_LIBRARIES}
         ${PROTOBUF_LIBRARIES}
-
-        libtensorflow_cc.so
-        #tf_3dcnn_api.so
-        pointSIFT_API.so
-
         -lpthread
         )
 

main.cpp

@@ -47,8 +47,6 @@ using namespace std;
 int main(int argc,char* argv[])
 {
 
-
-
 	const char* logPath = "./";
 	google::InitGoogleLogging("LidarMeasurement");
 	google::SetStderrLogging(google::INFO);
@@ -62,7 +60,6 @@ int main(int argc,char* argv[])
 	FLAGS_stop_logging_if_full_disk = true;
 
 
-
 	int t_dispatch_id = 0;
 //	std::cin >> t_dispatch_id ;
 	if ( argc == 2 )