提交更新

EventsRos.cpp

@@ -10,6 +10,9 @@
 #include <memory>
 #include "Component.h"
 #include "utils/yaml_parser.h"
+#ifdef _USING_TIMESTAMP_TRACKING_
+#incude "std_msgs/UInt64MultiArray.h"
+#endif
 
 int EventsRos::loadConfig(ros::NodeHandle& nh)
 {
@@ -139,10 +142,13 @@ int EventsRos::loadConfig(ros::NodeHandle& nh)
         SDK_LOG(SDK_INFO, "m_port == 0, no send http info");
     }
 
-    time_t tt = time(NULL);
-    uint64_t timestamp = 1639119613898/1000;
-    std::string tStr = GetTimeStr(timestamp);
-    SDK_LOG(SDK_INFO, "tt = %llu,timestamp = %llu, time  = %s", tt, timestamp,tStr.c_str());
+#ifdef _USING_TIMESTAMP_TRACKING_
+    m_pubTimeStracking = nh.advertise<std_msgs::UInt64MultiArray>("/TimeTracking", 100);
+#endif
+    //time_t tt = time(NULL);
+    //uint64_t timestamp = 1639119613898/1000;
+    //std::string tStr = GetTimeStr(timestamp);
+    //SDK_LOG(SDK_INFO, "tt = %llu,timestamp = %llu, time  = %s", tt, timestamp,tStr.c_str());
 	return 0;
 }
 
@@ -204,6 +210,11 @@ void EventsRos::TrackCallBackFunc(const jfxrosperceiver::det_tracking_arrayConst
     }
 
     TrkObjsPtr objsPtr = std::make_shared<TrkObjs>();
+#ifdef _USING_TIMESTAMP_TRACKING_
+    objsPtr->timestamp = (unsigned long long)msg->cloud.header.stamp.sec * 1000 + (unsigned long long)msg->cloud.header.stamp.nsec * 1e-6;
+    auto curT = ros::Time::now();
+    objsPtr->recv_time = (unsigned long long)curT.sec * 1000 + (unsigned long long)curT.nsec * 1e-6;
+#endif
     objsPtr->devNo = m_devNo;
     objsPtr->mecNo = m_mecNo;
     for (auto& item : msg->array) 
@@ -238,6 +249,16 @@ int EventsRos::Start()
 {
     SDK_LOG(SDK_INFO, "EventsRos::Start");
     m_jfx_events.SetEventsCallback([=](TrkObjsPtr& outs) {
+#ifdef _USING_TIMESTAMP_TRACKING_
+        std_msgs::UInt64MultiArray tim = {};
+        auto curT = ros::Time::now();
+        uint64_t curTimestamp = (unsigned long long)curT.sec * 1000 + (unsigned long long)curT.nsec * 1e-6;
+        tim.data.push_back(1);//发送数据类型
+        tim.data.push_back(outs->timestamp);
+        tim.data.push_back(outs->recv_time);
+        tim.data.push_back(curTimestamp);
+        m_pubTimeStracking.publish(tim);
+#endif
 #if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_)
         SendRosEvents(outs);
 #else

EventsRos.h

@@ -63,7 +63,9 @@ public:
 
 	ros::Publisher m_pub;//发送所有物体信息的publisher
 	ros::Publisher m_pubFlow;//发送流量信息的publisher
-
+#ifdef _USING_TIMESTAMP_TRACKING_
+	ros::Publisher m_pubTimeStracking;//发送事件戳信息
+#endif
 	std::map<uint64_t, std::vector<std::string> > m_recordCsvStr;//记录物品信息的字符串队列
 	std::map<uint64_t, int> m_recordEventState;//记录是否需要保存的标识
 	std::map<uint64_t, uint64_t> m_recordUpdateTime;//记录更新时间，如果时间长就删除

msg/EventInfo.h

@@ -136,6 +136,8 @@ AJSON(flowEvent,
 )
 
 typedef struct _TrkObjs {
+    uint64_t timestamp;//数据包的时间戳
+    uint64_t recv_time;//接收到数据的时间
     std::string devNo; // 设备相机id
     std::string mecNo; // MecNo 工控机id
     std::vector<TrkObj> objs;