征象：崩到了mogo_reporter里面
堆栈：crash里面同时存在两个主线程的堆栈
代码
#include "boost/program_options.hpp"
#include <signal.h>
#include <string>
#include <sstream>
#include <iostream>
#include <thread>
#include <ros/ros.h>
#include "std_msgs/String.h"
#include "mogo_reporter/mogo_reporter.h"
#include "master.h"
#include "slave.h"
#include "configure.h"
namespace po = boost::program_options;
std::atomic<bool> gShutdown(false);
std::atomic<bool> gShouldRestart(true);
/**
* Handle SIGTERM to allow the recorder to cleanup by requesting a shutdown.
* \param signal
*/
void signal_handler(int signal)
{
(void) signal;
ros::requestShutdown();
gShutdown.store(true);
gShouldRestart.store(false);
}
int main(int argc, char** argv) {
ros::init(argc, argv, "record_cache", ros::init_options::AnonymousName);
MOGO_MSG_INIT_CFG("record_cache");
gShouldRestart.store(false);
setlocale(LC_ALL, "");
signal(SIGTERM, signal_handler);
signal(SIGINT, signal_handler);
po: ptions_description desc("Allowed options");
desc.add_options()
("help,h", "produce help message")
("file,f",po::value<std::string>(),"config file path")
("create,c", "create a record task")
("master", "run as master")
("slave", "run as slave");
po::positional_options_description p;
po::variables_map vm;
try
{
po::store(po::command_line_parser(argc, argv).options(desc).positional(p).run(), vm);
}
catch (const boost::program_options::invalid_command_line_syntax &e)
{
ROS_ERROR("Error reading options: %s", e.what());
return 1;
}
catch (const boost::program_options::unknown_option &e)
{
ROS_ERROR("Unknown options:%s", e.what());
return 1;
}
if (vm.count("help"))
{
std::cout << desc << std::endl;
exit(0);
}
if (vm.count("create"))
{
}
if (vm.count("master"))
{
}
if (vm.count("slave"))
{
}
if (vm.count("file"))
{
record_cache::Configure::instance()->load(vm["file"].as<std::string>());
}
std::thread t([](){
while(!gShutdown.load()) {
if(!ros::master::check() && !gShouldRestart.load()) {
ROS_WARN_STREAM("master offline, request shutdown!");
ros::requestShutdown();
gShouldRestart.store(true);
break;
}
std::this_thread::sleep_for(std::chrono::milliseconds(200));
}
});
t.detach();
ros::NodeHandle node_handle("~");
std::shared_ptr<record_cache::TaskManager> managerPtr;
std::string hostname;
char* str = getenv("ROS_HOSTNAME");
if(!str) {
hostname = "unknown";
} else {
hostname = str;
}
ROS_DEBUG_STREAM("HOST:" << ros::master::getHost());
std::string master = ros::master::getHost();
if(hostname == master) {
managerPtr = std::make_shared<record_cache::Master>();
} else {
managerPtr = std::make_shared<record_cache::Slave>();
}
double pre_allocate_count_other;
node_handle.param("pre_allocate_count_other", pre_allocate_count_other, static_cast<double>(1.5));
managerPtr->setPreAllocateCountOther(pre_allocate_count_other);
double pre_allocate_count_106;
node_handle.param("pre_allocate_count_106", pre_allocate_count_106, static_cast<double>(2.5));
managerPtr->setPreAllocateCount106(pre_allocate_count_106);
int pre_allocate_pice_size = 0;
node_handle.param("pre_allocate_pice_size", pre_allocate_pice_size, 100);
managerPtr->setPreAllocatePiceSize(pre_allocate_pice_size);
int trigger_mast_running_tasks_num = 3;
node_handle.param("trigger_mast_running_tasks_num", trigger_mast_running_tasks_num, 3);
managerPtr->setTriggerMastRunningTasksNum(trigger_mast_running_tasks_num);
int trigger_mast_bduration = 10;
node_handle.param("trigger_mast_bduration", trigger_mast_bduration, 10);
managerPtr->setTriggerMastBduration(trigger_mast_bduration);
int filter_record_interval = 5;
node_handle.param("filter_record_interval", filter_record_interval, 5);
managerPtr->setFilterRecordInterval(filter_record_interval);
int single_msg_mast_size = 15;
node_handle.param("single_msg_mast_size", single_msg_mast_size, 15);
managerPtr->setSingleMsgMastSize(single_msg_mast_size);
int bags_max_disk_space = 150;
node_handle.param("bags_max_disk_space", bags_max_disk_space, 150);
managerPtr->setbagsMaxDiskSpace(bags_max_disk_space);
int record_time_split_size_gnss = 3600;
node_handle.param("record_time_split_size_gnss", record_time_split_size_gnss, 3600);
managerPtr->setRecordTimeSplitSizeGnss(record_time_split_size_gnss);
int record_time_split_size_test = 1800;
node_handle.param("record_time_split_size_test", record_time_split_size_test, 1800);
managerPtr->setRecordTimeSplitSizeTest(record_time_split_size_test);
// TODO 调解spin线程数量
ros::AsyncSpinner s(0);
s.start();
managerPtr->start();
ros::waitForShutdown();
sleep(1);
if(gShouldRestart.load()) {
return 8;
}
return 0;
}
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