提交发送给发布节点逻辑

EventsRos.cpp

@@ -133,6 +133,10 @@ int EventsRos::loadConfig(ros::NodeHandle& nh)
 #if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_)
     m_pubFlow = nh.advertise<jfx_common_msgs::TrafficFlow>("/FlowData", 100);
 #endif
+
+#ifdef _SEND_MSG_TO_PUBLIC_ROS_
+    m_pub = nh.advertise<jfx_common_msgs::OutFusionEventObjs>("/FusionEventData", 100);
+#endif
     char url[1024] = { 0 };
     // 自有平台
     snprintf(url, 1023, "http://%s:%d/traffic/uploadParticipants", m_ip.c_str(), m_port);
@@ -262,6 +266,10 @@ int EventsRos::Start()
 #if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_)
         SendRosEvents(outs);
 #else
+
+#if defined(_SEND_MSG_TO_PUBLIC_ROS_) && defined(_ROS_QICHECHENG_NEW_)
+        SendRosEvents(outs);
+#endif
         //SendEventsCb(outs);
         std::thread tmp(&EventsRos::SendEventsCb, this, outs);
         tmp.detach();
@@ -287,7 +295,7 @@ int EventsRos::Start()
 }
 void EventsRos::SendRosEvents(TrkObjsPtr& outs)
 {
-#if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_)
+#if defined(_ROS_XISHAN_) || defined(_ROS_HEFEI_R_) || defined(_ROS_HEFEI_L_) || defined(_SEND_MSG_TO_PUBLIC_ROS_)
     jfx_common_msgs::OutFusionEventObjs eventMsgs = {};
     for (auto& iter : outs->objs)
     {
@@ -432,6 +440,7 @@ void EventsRos::SendRosEvents(TrkObjsPtr& outs)
 
 void EventsRos::SendEventsCb(TrkObjsPtr outs)
 {
+#ifndef _SEND_MSG_TO_PUBLIC_ROS_
     for (auto& iter : outs->objs)
     {
         SDK_IDX_LOG(1, SDK_INFO, "%s,%d,%llu,%lld,%s,%.10f,%.10f,%f,%f,%d,%d,%d,%d,%f,%d,%d,%d,%d,%d,%d", GetTimeStr(iter.time).c_str(),
@@ -440,6 +449,7 @@ void EventsRos::SendEventsCb(TrkObjsPtr outs)
             iter.eventList.size() > 1 ? iter.eventList[1].eventId : 0, iter.eventList.size() > 1 ? iter.eventList[1].eventType : 0, iter.eventList.size() > 1 ? iter.eventList[1].eventStatus : 0
         );
     }
+#endif
     if (m_port == 0)
         return;
     std::string response;

EventsRos.h

@@ -26,6 +26,9 @@
 #include "jfxrosperceiver/det_tracking_array.h"
 #endif
 
+#ifdef _SEND_MSG_TO_PUBLIC_ROS_ //发送消息到公共的发布节点
+#include "jfx_common_msgs/OutFusionEventObjs.h"
+#endif
 
 /**
 * @brief ros系统和event类衔接的类，ros的发送和接受都放到这里