通过调试修改问题

src/perception/log/log_perception20200401-143252.27901

@@ -0,0 +1,10 @@
+Log file created at: 2020/04/01 14:32:52
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 14:32:52.154173 27901 perception.cpp:18] perception Init start...
+I0401 14:32:52.154351 27901 perception.cpp:22] perception Init end.
+I0401 14:32:52.154367 27901 perception.cpp:28] perception Start start...
+I0401 14:42:16.046699 27901 perception.cpp:39] perception Start end.
+I0401 14:42:16.057217 27901 perception.cpp:45] perception Stop start...
+I0401 14:42:16.057281 27901 perception.cpp:46] perception Stop end.
+I0401 14:42:16.057302 27901 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200401-144219.28348

@@ -0,0 +1,29 @@
+Log file created at: 2020/04/01 14:42:19
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 14:42:19.797112 28348 perception.cpp:18] perception Init start...
+I0401 14:42:19.797294 28348 perception.cpp:22] perception Init end.
+I0401 14:42:19.797307 28348 perception.cpp:28] perception Start start...
+I0401 15:19:10.046555 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:19:10.046613 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:22:18.562958 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:22:18.562988 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:23:29.285429 28348 perception.cpp:52]  Msg CanData :ID:1773,Data:123
+I0401 15:23:46.635208 28348 perception.cpp:52]  Msg CanData :ID:1773,Data:123
+I0401 15:23:50.357244 28348 perception.cpp:52]  Msg CanData :ID:1773,Data:123
+I0401 15:25:36.533079 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:25:36.533108 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:27:15.058333 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:124
+I0401 15:27:15.058384 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:27:21.640266 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:124
+I0401 15:27:21.640311 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:27:35.308065 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:12
+I0401 15:27:35.308104 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:27:40.246737 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:12
+I0401 15:27:40.247557 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:27:47.470746 28348 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:27:47.470775 28348 perception.cpp:154] perception PublishState_6E5 data is repeat
+I0401 15:28:13.796648 28348 perception.cpp:39] perception Start end.
+I0401 15:28:13.796753 28348 perception.cpp:45] perception Stop start...
+I0401 15:28:13.796794 28348 perception.cpp:46] perception Stop end.
+I0401 15:28:13.796808 28348 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200401-153657.32523

@@ -0,0 +1,12 @@
+Log file created at: 2020/04/01 15:36:57
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 15:36:57.979378 32523 perception.cpp:18] perception Init start...
+I0401 15:36:57.980652 32523 perception.cpp:22] perception Init end.
+I0401 15:36:57.980665 32523 perception.cpp:28] perception Start start...
+I0401 15:37:18.231535 32523 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:37:18.231586 32523 perception.cpp:155] perception PublishState_6E5 data is repeat
+I0401 15:40:42.058255 32523 perception.cpp:39] perception Start end.
+I0401 15:40:42.058367 32523 perception.cpp:45] perception Stop start...
+I0401 15:40:42.058426 32523 perception.cpp:46] perception Stop end.
+I0401 15:40:42.058483 32523 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200401-154043.34807

@@ -0,0 +1,14 @@
+Log file created at: 2020/04/01 15:40:43
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 15:40:43.971096 34807 perception.cpp:18] perception Init start...
+I0401 15:40:43.971987 34807 perception.cpp:22] perception Init end.
+I0401 15:40:43.972000 34807 perception.cpp:28] perception Start start...
+I0401 15:40:49.129279 34807 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:40:49.129333 34807 perception.cpp:117] perception PublishState_6E5 s_state_6E5.uiAccClchCtrStat is 0
+I0401 15:40:49.129343 34807 perception.cpp:118] perception PublishState_6E5 state_6E5.uiAccClchCtrStat is 0
+I0401 15:40:49.129346 34807 perception.cpp:158] perception PublishState_6E5 data is repeat
+I0401 15:46:15.668464 34807 perception.cpp:39] perception Start end.
+I0401 15:46:15.668543 34807 perception.cpp:45] perception Stop start...
+I0401 15:46:15.668555 34807 perception.cpp:46] perception Stop end.
+I0401 15:46:15.668558 34807 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200401-154617.37359

@@ -0,0 +1,87 @@
+Log file created at: 2020/04/01 15:46:17
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 15:46:17.146986 37359 perception.cpp:18] perception Init start...
+I0401 15:46:17.147181 37359 perception.cpp:22] perception Init end.
+I0401 15:46:17.147200 37359 perception.cpp:28] perception Start start...
+I0401 15:46:26.918210 37359 perception.cpp:52]  Msg CanData :ID:1765,Data:123
+I0401 15:46:26.918270 37359 perception.cpp:117] perception PublishState_6E5 s_state_6E5.uiAccClchCtrStat is 0
+I0401 15:46:26.918280 37359 perception.cpp:118] perception PublishState_6E5 state_6E5.uiAccClchCtrStat is 0
+I0401 15:46:26.918285 37359 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 15:46:26.918289 37359 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 15:46:26.918293 37359 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 15:46:26.918298 37359 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0401 15:46:26.918301 37359 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 15:46:26.918305 37359 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 15:46:26.918308 37359 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 15:46:26.918313 37359 perception.cpp:130] perception PublishState_6E5 4 0
+I0401 15:46:26.918316 37359 perception.cpp:132] perception PublishState_6E5 5 0
+I0401 15:46:26.918320 37359 perception.cpp:133] perception PublishState_6E5 50
+I0401 15:46:26.918324 37359 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0401 15:46:26.918329 37359 perception.cpp:136] perception PublishState_6E5 6 0
+I0401 15:46:26.918331 37359 perception.cpp:138] perception PublishState_6E5 7 0
+I0401 15:46:26.918335 37359 perception.cpp:139] perception PublishState_6E5 7 0
+I0401 15:46:26.918339 37359 perception.cpp:141] perception PublishState_6E5 8 0
+I0401 15:46:26.918344 37359 perception.cpp:142] perception PublishState_6E5 8 0
+I0401 15:46:26.918347 37359 perception.cpp:183] perception PublishState_6E5 data is repeat
+I0401 16:01:43.807541 37359 perception.cpp:52]  Msg CanData :ID:1765,Data:1235678
+I0401 16:01:43.807582 37359 perception.cpp:117] perception PublishState_6E5 s_state_6E5.uiAccClchCtrStat is 0
+I0401 16:01:43.807591 37359 perception.cpp:118] perception PublishState_6E5 state_6E5.uiAccClchCtrStat is 1
+I0401 16:01:43.807596 37359 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 16:01:43.807600 37359 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 16:01:43.807605 37359 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 16:01:43.807608 37359 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0401 16:01:43.807612 37359 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 16:01:43.807616 37359 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 16:01:43.807621 37359 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 16:01:43.807626 37359 perception.cpp:130] perception PublishState_6E5 4 0
+I0401 16:01:43.807629 37359 perception.cpp:132] perception PublishState_6E5 5 0
+I0401 16:01:43.807633 37359 perception.cpp:133] perception PublishState_6E5 50
+I0401 16:01:43.807637 37359 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0401 16:01:43.807641 37359 perception.cpp:136] perception PublishState_6E5 6 0
+I0401 16:01:43.807646 37359 perception.cpp:138] perception PublishState_6E5 7 0
+I0401 16:01:43.807649 37359 perception.cpp:139] perception PublishState_6E5 7 0
+I0401 16:01:43.807653 37359 perception.cpp:141] perception PublishState_6E5 8 0
+I0401 16:01:43.807658 37359 perception.cpp:142] perception PublishState_6E5 8 0
+I0401 16:01:51.060158 37359 perception.cpp:52]  Msg CanData :ID:1765,Data:1235678
+I0401 16:01:51.060207 37359 perception.cpp:117] perception PublishState_6E5 s_state_6E5.uiAccClchCtrStat is 0
+I0401 16:01:51.060220 37359 perception.cpp:118] perception PublishState_6E5 state_6E5.uiAccClchCtrStat is 1
+I0401 16:01:51.060228 37359 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 16:01:51.060236 37359 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 16:01:51.060252 37359 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 16:01:51.060261 37359 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0401 16:01:51.060268 37359 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 16:01:51.060276 37359 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 16:01:51.060283 37359 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 16:01:51.060290 37359 perception.cpp:130] perception PublishState_6E5 4 0
+I0401 16:01:51.060310 37359 perception.cpp:132] perception PublishState_6E5 5 0
+I0401 16:01:51.060323 37359 perception.cpp:133] perception PublishState_6E5 50
+I0401 16:01:51.060331 37359 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0401 16:01:51.060338 37359 perception.cpp:136] perception PublishState_6E5 6 0
+I0401 16:01:51.060346 37359 perception.cpp:138] perception PublishState_6E5 7 0
+I0401 16:01:51.060353 37359 perception.cpp:139] perception PublishState_6E5 7 0
+I0401 16:01:51.060361 37359 perception.cpp:141] perception PublishState_6E5 8 0
+I0401 16:01:51.060369 37359 perception.cpp:142] perception PublishState_6E5 8 0
+I0401 16:02:23.739836 37359 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0401 16:02:23.739879 37359 perception.cpp:117] perception PublishState_6E5 s_state_6E5.uiAccClchCtrStat is 0
+I0401 16:02:23.739888 37359 perception.cpp:118] perception PublishState_6E5 state_6E5.uiAccClchCtrStat is 1
+I0401 16:02:23.739893 37359 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 16:02:23.739897 37359 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 16:02:23.739902 37359 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 16:02:23.739905 37359 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0401 16:02:23.739909 37359 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 16:02:23.739914 37359 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 16:02:23.739918 37359 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 16:02:23.739923 37359 perception.cpp:130] perception PublishState_6E5 4 1
+I0401 16:02:23.739926 37359 perception.cpp:132] perception PublishState_6E5 5 0
+I0401 16:02:23.739930 37359 perception.cpp:133] perception PublishState_6E5 50
+I0401 16:02:23.739934 37359 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0401 16:02:23.739938 37359 perception.cpp:136] perception PublishState_6E5 6 1
+I0401 16:02:23.739943 37359 perception.cpp:138] perception PublishState_6E5 7 0
+I0401 16:02:23.739946 37359 perception.cpp:139] perception PublishState_6E5 7 0
+I0401 16:02:23.739950 37359 perception.cpp:141] perception PublishState_6E5 8 0
+I0401 16:02:23.739954 37359 perception.cpp:142] perception PublishState_6E5 8 1
+I0401 16:04:00.489971 37359 perception.cpp:39] perception Start end.
+I0401 16:04:00.490052 37359 perception.cpp:45] perception Stop start...
+I0401 16:04:00.490069 37359 perception.cpp:46] perception Stop end.
+I0401 16:04:00.490078 37359 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200401-160934.40085

@@ -0,0 +1,124 @@
+Log file created at: 2020/04/01 16:09:34
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0401 16:09:34.801544 40085 perception.cpp:18] perception Init start...
+I0401 16:09:34.801695 40085 perception.cpp:22] perception Init end.
+I0401 16:09:34.801705 40085 perception.cpp:28] perception Start start...
+I0401 16:09:53.341002 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0401 16:09:53.341045 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0401 16:09:53.341051 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0401 16:09:53.341055 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 16:09:53.341059 40085 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 16:09:53.341063 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 16:09:53.341066 40085 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0401 16:09:53.341092 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 16:09:53.341100 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 16:09:53.341116 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 16:09:53.341122 40085 perception.cpp:130] perception PublishState_6E5 4 is1
+I0401 16:09:53.341136 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0401 16:09:53.341145 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0401 16:09:53.341158 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0401 16:09:53.341176 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0401 16:09:53.341192 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0401 16:09:53.344446 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0401 16:09:53.344465 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0401 16:09:53.344482 40085 perception.cpp:142] perception PublishState_6E5 8 is1
+I0401 16:10:14.632800 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0401 16:10:14.632843 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0401 16:10:14.632853 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0401 16:10:14.632856 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0401 16:10:14.632860 40085 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0401 16:10:14.632864 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0401 16:10:14.632869 40085 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0401 16:10:14.632872 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0401 16:10:14.632876 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0401 16:10:14.632880 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0401 16:10:14.632884 40085 perception.cpp:130] perception PublishState_6E5 4 is1
+I0401 16:10:14.632889 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0401 16:10:14.632892 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0401 16:10:14.632896 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0401 16:10:14.632900 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0401 16:10:14.632905 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0401 16:10:14.632908 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0401 16:10:14.632912 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0401 16:10:14.632916 40085 perception.cpp:142] perception PublishState_6E5 8 is1
+I0402 08:16:42.686549 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:16:42.686622 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:16:42.686631 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:16:42.686636 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:16:42.686640 40085 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0402 08:16:42.686645 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:16:42.686648 40085 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0402 08:16:42.686652 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:16:42.689648 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:16:42.689676 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:16:42.689699 40085 perception.cpp:130] perception PublishState_6E5 4 is1
+I0402 08:16:42.689707 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0402 08:16:42.689721 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0402 08:16:42.689728 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0402 08:16:42.689743 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0402 08:16:42.689749 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0402 08:16:42.689764 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0402 08:16:42.689779 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0402 08:16:42.689805 40085 perception.cpp:142] perception PublishState_6E5 8 is1
+I0402 08:17:06.656720 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:17:06.656749 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:17:06.656754 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:17:06.656757 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:17:06.656761 40085 perception.cpp:121] perception PublishState_6E5 1 is 0
+I0402 08:17:06.656765 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:17:06.656769 40085 perception.cpp:124] perception PublishState_6E5 2 is 0
+I0402 08:17:06.656772 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:17:06.656776 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:17:06.656780 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:17:06.656783 40085 perception.cpp:130] perception PublishState_6E5 4 is1
+I0402 08:17:06.656787 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0402 08:17:06.656791 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0402 08:17:06.656795 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0402 08:17:06.656798 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0402 08:17:06.656802 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0402 08:17:06.656806 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0402 08:17:06.656810 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0402 08:17:06.656813 40085 perception.cpp:142] perception PublishState_6E5 8 is1
+I0402 08:18:51.716461 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:18:51.716490 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:18:51.716496 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:18:51.716501 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:18:51.716506 40085 perception.cpp:121] perception PublishState_6E5 1 is 1
+I0402 08:18:51.716509 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:18:51.716513 40085 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0402 08:18:51.716517 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:18:51.716521 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:18:51.716526 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:18:51.716529 40085 perception.cpp:130] perception PublishState_6E5 4 is0
+I0402 08:18:51.716533 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0402 08:18:51.716537 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0402 08:18:51.716542 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0402 08:18:51.716547 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0402 08:18:51.716552 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0402 08:18:51.716555 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0402 08:18:51.716559 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0402 08:18:51.716563 40085 perception.cpp:142] perception PublishState_6E5 8 is0
+I0402 08:19:10.963030 40085 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:19:10.963079 40085 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:19:10.963088 40085 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:19:10.963093 40085 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:19:10.963106 40085 perception.cpp:121] perception PublishState_6E5 1 is 1
+I0402 08:19:10.963114 40085 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:19:10.963119 40085 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0402 08:19:10.963181 40085 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:19:10.963187 40085 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:19:10.963192 40085 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:19:10.963196 40085 perception.cpp:130] perception PublishState_6E5 4 is0
+I0402 08:19:10.963199 40085 perception.cpp:132] perception PublishState_6E5 5 is0
+I0402 08:19:10.963203 40085 perception.cpp:133] perception PublishState_6E5 5 is0
+I0402 08:19:10.963207 40085 perception.cpp:135] perception PublishState_6E5 6 is0
+I0402 08:19:10.963212 40085 perception.cpp:136] perception PublishState_6E5 6 is1
+I0402 08:19:10.963214 40085 perception.cpp:138] perception PublishState_6E5 7 is0
+I0402 08:19:10.963218 40085 perception.cpp:139] perception PublishState_6E5 7 is0
+I0402 08:19:10.963222 40085 perception.cpp:141] perception PublishState_6E5 8 is0
+I0402 08:19:10.963227 40085 perception.cpp:142] perception PublishState_6E5 8 is0
+I0402 08:19:18.036201 40085 perception.cpp:39] perception Start end.
+I0402 08:19:18.036294 40085 perception.cpp:45] perception Stop start...
+I0402 08:19:18.036311 40085 perception.cpp:46] perception Stop end.
+I0402 08:19:18.036320 40085 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-082904.45187

@@ -0,0 +1,48 @@
+Log file created at: 2020/04/02 08:29:04
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:29:04.310678 45187 perception.cpp:18] perception Init start...
+I0402 08:29:04.313326 45187 perception.cpp:22] perception Init end.
+I0402 08:29:04.313340 45187 perception.cpp:28] perception Start start...
+I0402 08:29:31.479072 45187 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:29:31.479123 45187 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:29:31.479133 45187 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:29:31.479137 45187 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:29:31.479141 45187 perception.cpp:121] perception PublishState_6E5 1 is 1
+I0402 08:29:31.479146 45187 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:29:31.479149 45187 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0402 08:29:31.479153 45187 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:29:31.479157 45187 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:29:31.479161 45187 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:29:31.479166 45187 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:29:31.479169 45187 perception.cpp:132] perception PublishState_6E5 5 is 0
+I0402 08:29:31.479173 45187 perception.cpp:133] perception PublishState_6E5 5 is 0
+I0402 08:29:31.479176 45187 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0402 08:29:31.479180 45187 perception.cpp:136] perception PublishState_6E5 6 is 1
+I0402 08:29:31.479198 45187 perception.cpp:138] perception PublishState_6E5 7 is 0
+I0402 08:29:31.479203 45187 perception.cpp:139] perception PublishState_6E5 7 is 0
+I0402 08:29:31.479207 45187 perception.cpp:141] perception PublishState_6E5 8 is 0
+I0402 08:29:31.479212 45187 perception.cpp:142] perception PublishState_6E5 8 is 0
+I0402 08:29:36.210505 45187 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:29:36.210553 45187 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:29:36.210563 45187 perception.cpp:118] perception PublishState_6E5 0 is 1
+I0402 08:29:36.210568 45187 perception.cpp:120] perception PublishState_6E5 1 is 0
+I0402 08:29:36.210573 45187 perception.cpp:121] perception PublishState_6E5 1 is 1
+I0402 08:29:36.210577 45187 perception.cpp:123] perception PublishState_6E5 2 is 0
+I0402 08:29:36.210582 45187 perception.cpp:124] perception PublishState_6E5 2 is 1
+I0402 08:29:36.210654 45187 perception.cpp:126] perception PublishState_6E5 3 is 0
+I0402 08:29:36.210664 45187 perception.cpp:127] perception PublishState_6E5 3 is 0
+I0402 08:29:36.210669 45187 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 08:29:36.210673 45187 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:29:36.210677 45187 perception.cpp:132] perception PublishState_6E5 5 is 0
+I0402 08:29:36.210681 45187 perception.cpp:133] perception PublishState_6E5 5 is 0
+I0402 08:29:36.210686 45187 perception.cpp:135] perception PublishState_6E5 6 is 0
+I0402 08:29:36.210691 45187 perception.cpp:136] perception PublishState_6E5 6 is 1
+I0402 08:29:36.210695 45187 perception.cpp:138] perception PublishState_6E5 7 is 0
+I0402 08:29:36.210700 45187 perception.cpp:139] perception PublishState_6E5 7 is 0
+I0402 08:29:36.210706 45187 perception.cpp:141] perception PublishState_6E5 8 is 0
+I0402 08:29:36.210711 45187 perception.cpp:142] perception PublishState_6E5 8 is 0
+I0402 08:31:09.062496 45187 perception.cpp:39] perception Start end.
+I0402 08:31:09.062577 45187 perception.cpp:45] perception Stop start...
+I0402 08:31:09.062589 45187 perception.cpp:46] perception Stop end.
+I0402 08:31:09.062594 45187 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-083341.47739

@@ -0,0 +1,48 @@
+Log file created at: 2020/04/02 08:33:41
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:33:41.046192 47739 perception.cpp:18] perception Init start...
+I0402 08:33:41.046741 47739 perception.cpp:22] perception Init end.
+I0402 08:33:41.046752 47739 perception.cpp:28] perception Start start...
+I0402 08:33:50.555094 47739 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:33:50.555138 47739 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:33:50.555160 47739 perception.cpp:118] perception PublishState_6E5 1 is 0
+I0402 08:33:50.555166 47739 perception.cpp:119] perception PublishState_6E5 2 is 0
+I0402 08:33:50.555171 47739 perception.cpp:120] perception PublishState_6E5 3 is 0
+I0402 08:33:50.555176 47739 perception.cpp:121] perception PublishState_6E5 4 is 0
+I0402 08:33:50.555178 47739 perception.cpp:122] perception PublishState_6E5 5 is 0
+I0402 08:33:50.555182 47739 perception.cpp:123] perception PublishState_6E5 6 is 0
+I0402 08:33:50.555186 47739 perception.cpp:124] perception PublishState_6E5 7 is 0
+I0402 08:33:50.555191 47739 perception.cpp:125] perception PublishState_6E5 8 is 0
+I0402 08:33:50.555194 47739 perception.cpp:127] perception PublishState_6E5 0 is 1
+I0402 08:33:50.555198 47739 perception.cpp:128] perception PublishState_6E5 1 is 1
+I0402 08:33:50.555202 47739 perception.cpp:129] perception PublishState_6E5 2 is 1
+I0402 08:33:50.555207 47739 perception.cpp:130] perception PublishState_6E5 3 is 0
+I0402 08:33:50.555210 47739 perception.cpp:131] perception PublishState_6E5 4 is 0
+I0402 08:33:50.555214 47739 perception.cpp:132] perception PublishState_6E5 5 is 0
+I0402 08:33:50.555218 47739 perception.cpp:133] perception PublishState_6E5 6 is 1
+I0402 08:33:50.555222 47739 perception.cpp:134] perception PublishState_6E5 7 is 0
+I0402 08:33:50.555227 47739 perception.cpp:135] perception PublishState_6E5 8 is 0
+I0402 08:34:16.042788 47739 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:34:16.042817 47739 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:34:16.042824 47739 perception.cpp:118] perception PublishState_6E5 1 is 0
+I0402 08:34:16.042827 47739 perception.cpp:119] perception PublishState_6E5 2 is 0
+I0402 08:34:16.042845 47739 perception.cpp:120] perception PublishState_6E5 3 is 0
+I0402 08:34:16.042870 47739 perception.cpp:121] perception PublishState_6E5 4 is 0
+I0402 08:34:16.042881 47739 perception.cpp:122] perception PublishState_6E5 5 is 0
+I0402 08:34:16.042887 47739 perception.cpp:123] perception PublishState_6E5 6 is 0
+I0402 08:34:16.042892 47739 perception.cpp:124] perception PublishState_6E5 7 is 0
+I0402 08:34:16.042897 47739 perception.cpp:125] perception PublishState_6E5 8 is 0
+I0402 08:34:16.042902 47739 perception.cpp:127] perception PublishState_6E5 0 is 1
+I0402 08:34:16.042907 47739 perception.cpp:128] perception PublishState_6E5 1 is 1
+I0402 08:34:16.042912 47739 perception.cpp:129] perception PublishState_6E5 2 is 1
+I0402 08:34:16.042917 47739 perception.cpp:130] perception PublishState_6E5 3 is 0
+I0402 08:34:16.042922 47739 perception.cpp:131] perception PublishState_6E5 4 is 0
+I0402 08:34:16.042927 47739 perception.cpp:132] perception PublishState_6E5 5 is 0
+I0402 08:34:16.042932 47739 perception.cpp:133] perception PublishState_6E5 6 is 1
+I0402 08:34:16.042937 47739 perception.cpp:134] perception PublishState_6E5 7 is 0
+I0402 08:34:16.042943 47739 perception.cpp:135] perception PublishState_6E5 8 is 0
+I0402 08:36:23.894812 47739 perception.cpp:39] perception Start end.
+I0402 08:36:23.894892 47739 perception.cpp:45] perception Stop start...
+I0402 08:36:23.894927 47739 perception.cpp:46] perception Stop end.
+I0402 08:36:23.894935 47739 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-083633.50154

@@ -0,0 +1,38 @@
+Log file created at: 2020/04/02 08:36:33
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:36:33.123198 50154 perception.cpp:18] perception Init start...
+I0402 08:36:33.123325 50154 perception.cpp:22] perception Init end.
+I0402 08:36:33.123337 50154 perception.cpp:28] perception Start start...
+I0402 08:36:38.239318 50154 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:36:38.239365 50154 perception.cpp:117] perception PublishState_6E5 0 is 0
+I0402 08:36:38.239374 50154 perception.cpp:118] perception PublishState_6E5 1 is 0
+I0402 08:36:38.239477 50154 perception.cpp:119] perception PublishState_6E5 2 is 0
+I0402 08:36:38.239487 50154 perception.cpp:120] perception PublishState_6E5 3 is 0
+I0402 08:36:38.239492 50154 perception.cpp:121] perception PublishState_6E5 4 is 0
+I0402 08:36:38.239496 50154 perception.cpp:122] perception PublishState_6E5 5 is 0
+I0402 08:36:38.239500 50154 perception.cpp:123] perception PublishState_6E5 6 is 0
+I0402 08:36:38.239560 50154 perception.cpp:124] perception PublishState_6E5 7 is 0
+I0402 08:36:38.239578 50154 perception.cpp:125] perception PublishState_6E5 8 is 0
+I0402 08:36:38.239586 50154 perception.cpp:127] perception PublishState_6E5 0 is 1
+I0402 08:36:38.239591 50154 perception.cpp:128] perception PublishState_6E5 1 is 1
+I0402 08:36:38.239606 50154 perception.cpp:129] perception PublishState_6E5 2 is 1
+I0402 08:36:38.239624 50154 perception.cpp:130] perception PublishState_6E5 3 is 0
+I0402 08:36:38.239641 50154 perception.cpp:131] perception PublishState_6E5 4 is 0
+I0402 08:36:38.239647 50154 perception.cpp:132] perception PublishState_6E5 5 is 0
+I0402 08:36:38.239652 50154 perception.cpp:133] perception PublishState_6E5 6 is 1
+I0402 08:36:38.239666 50154 perception.cpp:134] perception PublishState_6E5 7 is 0
+I0402 08:36:38.239684 50154 perception.cpp:135] perception PublishState_6E5 8 is 0
+I0402 08:36:38.239691 50154 perception.cpp:147] perception PublishState_6E5 0 is 1
+I0402 08:36:38.239696 50154 perception.cpp:148] perception PublishState_6E5 1 is 1
+I0402 08:36:38.239699 50154 perception.cpp:149] perception PublishState_6E5 2 is 1
+I0402 08:36:38.239703 50154 perception.cpp:150] perception PublishState_6E5 3 is 0
+I0402 08:36:38.239717 50154 perception.cpp:151] perception PublishState_6E5 4 is 0
+I0402 08:36:38.239723 50154 perception.cpp:152] perception PublishState_6E5 5 is 0
+I0402 08:36:38.239738 50154 perception.cpp:153] perception PublishState_6E5 6 is 1
+I0402 08:36:38.239745 50154 perception.cpp:154] perception PublishState_6E5 7 is 0
+I0402 08:36:38.239759 50154 perception.cpp:155] perception PublishState_6E5 8 is 0
+I0402 08:39:27.227380 50154 perception.cpp:39] perception Start end.
+I0402 08:39:27.227444 50154 perception.cpp:45] perception Stop start...
+I0402 08:39:27.227495 50154 perception.cpp:46] perception Stop end.
+I0402 08:39:27.227515 50154 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-083928.54951

@@ -0,0 +1,147 @@
+Log file created at: 2020/04/02 08:39:28
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:39:28.796725 54951 perception.cpp:18] perception Init start...
+I0402 08:39:28.796859 54951 perception.cpp:22] perception Init end.
+I0402 08:39:28.796869 54951 perception.cpp:28] perception Start start...
+I0402 08:39:32.556584 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:39:32.556632 54951 perception.cpp:116] perception PublishState_6E5 0 is 0
+I0402 08:39:32.556777 54951 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:39:32.556807 54951 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:39:32.556814 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:39:32.556818 54951 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:39:32.556823 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:39:32.556898 54951 perception.cpp:122] perception PublishState_6E5 6 is 0
+I0402 08:39:32.556906 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:39:32.556911 54951 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:39:32.556915 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:39:32.556918 54951 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:39:32.557024 54951 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:39:32.557045 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:39:32.557052 54951 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:39:32.557056 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:39:32.557060 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:39:32.557065 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:39:32.557068 54951 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:39:36.488765 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:39:36.488797 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:39:36.488870 54951 perception.cpp:117] perception PublishState_6E5 1 is 1
+I0402 08:39:36.488917 54951 perception.cpp:118] perception PublishState_6E5 2 is 1
+I0402 08:39:36.488962 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:39:36.488996 54951 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:39:36.489029 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:39:36.489037 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:39:36.489044 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:39:36.489066 54951 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:39:36.489074 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:39:36.489078 54951 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:39:36.489101 54951 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:39:36.489109 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:39:36.489114 54951 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:39:36.489135 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:39:36.489142 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:39:36.489146 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:39:36.489152 54951 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:39:36.489169 54951 perception.cpp:178] perception PublishState_6E5 data is repeat
+I0402 08:39:41.913872 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:39:41.913906 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:39:41.913914 54951 perception.cpp:117] perception PublishState_6E5 1 is 1
+I0402 08:39:41.913919 54951 perception.cpp:118] perception PublishState_6E5 2 is 1
+I0402 08:39:41.913923 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:39:41.913938 54951 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:39:41.913944 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:39:41.913954 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:39:41.913959 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:39:41.913962 54951 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:39:41.913966 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:39:41.913970 54951 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:39:41.913975 54951 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:39:41.913990 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:39:41.914007 54951 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:39:41.914031 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:39:41.914038 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:39:41.914042 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:39:41.914047 54951 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:39:41.914050 54951 perception.cpp:178] perception PublishState_6E5 data is repeat
+I0402 08:39:55.862959 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:39:55.862983 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:39:55.862989 54951 perception.cpp:117] perception PublishState_6E5 1 is 1
+I0402 08:39:55.862993 54951 perception.cpp:118] perception PublishState_6E5 2 is 1
+I0402 08:39:55.862998 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:39:55.863001 54951 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:39:55.863005 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:39:55.863009 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:39:55.863013 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:39:55.863018 54951 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:39:55.863020 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:39:55.863024 54951 perception.cpp:127] perception PublishState_6E5 1 is 0
+I0402 08:39:55.863029 54951 perception.cpp:128] perception PublishState_6E5 2 is 0
+I0402 08:39:55.863032 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:39:55.863036 54951 perception.cpp:130] perception PublishState_6E5 4 is 1
+I0402 08:39:55.863040 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:39:55.863044 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:39:55.863049 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:39:55.863052 54951 perception.cpp:134] perception PublishState_6E5 8 is 1
+I0402 08:40:02.089128 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:40:02.089190 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:40:02.089205 54951 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:40:02.089211 54951 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:40:02.089217 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:40:02.089222 54951 perception.cpp:120] perception PublishState_6E5 4 is 1
+I0402 08:40:02.089226 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:40:02.089232 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:40:02.089236 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:40:02.089242 54951 perception.cpp:124] perception PublishState_6E5 8 is 1
+I0402 08:40:02.089247 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:40:02.089252 54951 perception.cpp:127] perception PublishState_6E5 1 is 0
+I0402 08:40:02.089257 54951 perception.cpp:128] perception PublishState_6E5 2 is 0
+I0402 08:40:02.089272 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:40:02.089289 54951 perception.cpp:130] perception PublishState_6E5 4 is 1
+I0402 08:40:02.089298 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:40:02.089301 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:40:02.089323 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:40:02.089339 54951 perception.cpp:134] perception PublishState_6E5 8 is 1
+I0402 08:40:02.089346 54951 perception.cpp:178] perception PublishState_6E5 data is repeat
+I0402 08:43:47.301745 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:43:47.301780 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:43:47.301942 54951 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:43:47.301951 54951 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:43:47.301976 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:43:47.301981 54951 perception.cpp:120] perception PublishState_6E5 4 is 1
+I0402 08:43:47.301985 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:43:47.301990 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:43:47.301995 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:43:47.301998 54951 perception.cpp:124] perception PublishState_6E5 8 is 1
+I0402 08:43:47.302012 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:43:47.302019 54951 perception.cpp:127] perception PublishState_6E5 1 is 0
+I0402 08:43:47.302023 54951 perception.cpp:128] perception PublishState_6E5 2 is 0
+I0402 08:43:47.302028 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:43:47.302042 54951 perception.cpp:130] perception PublishState_6E5 4 is 1
+I0402 08:43:47.302059 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:43:47.302075 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:43:47.302091 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:43:47.302109 54951 perception.cpp:134] perception PublishState_6E5 8 is 1
+I0402 08:43:47.302124 54951 perception.cpp:178] perception PublishState_6E5 data is repeat
+I0402 08:43:58.846743 54951 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:43:58.846776 54951 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:43:58.846856 54951 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:43:58.846861 54951 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:43:58.846866 54951 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:43:58.846870 54951 perception.cpp:120] perception PublishState_6E5 4 is 1
+I0402 08:43:58.846874 54951 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:43:58.846879 54951 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:43:58.846882 54951 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:43:58.846886 54951 perception.cpp:124] perception PublishState_6E5 8 is 1
+I0402 08:43:58.846890 54951 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:43:58.846894 54951 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:43:58.846916 54951 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:43:58.846935 54951 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:43:58.846951 54951 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:43:58.846967 54951 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:43:58.846983 54951 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:43:58.846990 54951 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:43:58.846995 54951 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:44:09.396922 54951 perception.cpp:39] perception Start end.
+I0402 08:44:09.396982 54951 perception.cpp:45] perception Stop start...
+I0402 08:44:09.397011 54951 perception.cpp:46] perception Stop end.
+I0402 08:44:09.397399 54951 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-084638.57709

@@ -0,0 +1,31 @@
+Log file created at: 2020/04/02 08:46:38
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:46:38.839807 57709 perception.cpp:18] perception Init start...
+I0402 08:46:38.839987 57709 perception.cpp:22] perception Init end.
+I0402 08:46:38.839996 57709 perception.cpp:28] perception Start start...
+I0402 08:46:51.754215 57709 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:46:51.754948 57709 perception.cpp:116] perception PublishState_6E5 0 is 0
+I0402 08:46:51.755005 57709 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:46:51.755015 57709 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:46:51.755038 57709 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:46:51.755046 57709 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:46:51.755051 57709 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:46:51.755057 57709 perception.cpp:122] perception PublishState_6E5 6 is 0
+I0402 08:46:51.755061 57709 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:46:51.755066 57709 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:46:51.755089 57709 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:46:51.755096 57709 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:46:51.755101 57709 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:46:51.755107 57709 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:46:51.755111 57709 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:46:51.755116 57709 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:46:51.755122 57709 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:46:51.755126 57709 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:46:51.755131 57709 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:46:51.755992 57709 perception.cpp:148] perception PublishState_6E5 publisher is create
+I0402 08:46:51.756007 57709 perception.cpp:151] perception PublishState_6E5 publisher is success
+I0402 08:51:28.417819 57709 perception.cpp:39] perception Start end.
+I0402 08:51:28.417896 57709 perception.cpp:45] perception Stop start...
+I0402 08:51:28.417918 57709 perception.cpp:46] perception Stop end.
+I0402 08:51:28.417927 57709 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-085131.60178

@@ -0,0 +1,52 @@
+Log file created at: 2020/04/02 08:51:31
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 08:51:31.086390 60178 perception.cpp:18] perception Init start...
+I0402 08:51:31.086529 60178 perception.cpp:22] perception Init end.
+I0402 08:51:31.086540 60178 perception.cpp:28] perception Start start...
+I0402 08:52:00.944203 60178 perception.cpp:52]  Msg CanData :ID:1765,Data:87654321
+I0402 08:52:00.944285 60178 perception.cpp:116] perception PublishState_6E5 0 is 0
+I0402 08:52:00.944303 60178 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 08:52:00.944308 60178 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 08:52:00.944312 60178 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:52:00.944316 60178 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:52:00.944320 60178 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:52:00.944324 60178 perception.cpp:122] perception PublishState_6E5 6 is 0
+I0402 08:52:00.944327 60178 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:52:00.944331 60178 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:52:00.944337 60178 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:52:00.944341 60178 perception.cpp:127] perception PublishState_6E5 1 is 1
+I0402 08:52:00.944360 60178 perception.cpp:128] perception PublishState_6E5 2 is 1
+I0402 08:52:00.944366 60178 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:52:00.944370 60178 perception.cpp:130] perception PublishState_6E5 4 is 0
+I0402 08:52:00.944373 60178 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:52:00.944377 60178 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:52:00.944381 60178 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:52:00.944386 60178 perception.cpp:134] perception PublishState_6E5 8 is 0
+I0402 08:52:00.945372 60178 perception.cpp:148] perception PublishState_6E5 publisher is create
+I0402 08:52:00.945390 60178 perception.cpp:151] perception PublishState_6E5 publisher is success
+I0402 08:55:15.124419 60178 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 08:55:15.124454 60178 perception.cpp:116] perception PublishState_6E5 0 is 1
+I0402 08:55:15.124462 60178 perception.cpp:117] perception PublishState_6E5 1 is 1
+I0402 08:55:15.124467 60178 perception.cpp:118] perception PublishState_6E5 2 is 1
+I0402 08:55:15.124471 60178 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 08:55:15.124475 60178 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 08:55:15.124480 60178 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 08:55:15.124483 60178 perception.cpp:122] perception PublishState_6E5 6 is 1
+I0402 08:55:15.124487 60178 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 08:55:15.124491 60178 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 08:55:15.124495 60178 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 08:55:15.124500 60178 perception.cpp:127] perception PublishState_6E5 1 is 0
+I0402 08:55:15.124503 60178 perception.cpp:128] perception PublishState_6E5 2 is 0
+I0402 08:55:15.124507 60178 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 08:55:15.124511 60178 perception.cpp:130] perception PublishState_6E5 4 is 1
+I0402 08:55:15.124516 60178 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 08:55:15.124519 60178 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 08:55:15.124523 60178 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 08:55:15.124527 60178 perception.cpp:134] perception PublishState_6E5 8 is 1
+I0402 08:55:15.125646 60178 perception.cpp:148] perception PublishState_6E5 publisher is create
+I0402 08:55:15.125676 60178 perception.cpp:151] perception PublishState_6E5 publisher is success
+I0402 09:11:22.821945 60178 perception.cpp:39] perception Start end.
+I0402 09:11:22.822000 60178 perception.cpp:45] perception Stop start...
+I0402 09:11:22.822008 60178 perception.cpp:46] perception Stop end.
+I0402 09:11:22.822018 60178 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-093107.61223

@@ -0,0 +1,10 @@
+Log file created at: 2020/04/02 09:31:07
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 09:31:07.266819 61223 perception.cpp:18] perception Init start...
+I0402 09:31:07.267202 61223 perception.cpp:22] perception Init end.
+I0402 09:31:07.267232 61223 perception.cpp:28] perception Start start...
+I0402 09:31:31.731081 61223 perception.cpp:39] perception Start end.
+I0402 09:31:31.731487 61223 perception.cpp:45] perception Stop start...
+I0402 09:31:31.731514 61223 perception.cpp:46] perception Stop end.
+I0402 09:31:31.731523 61223 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-094709.61794

@@ -0,0 +1,31 @@
+Log file created at: 2020/04/02 09:47:09
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 09:47:09.645236 61794 perception.cpp:18] perception Init start...
+I0402 09:47:09.645516 61794 perception.cpp:22] perception Init end.
+I0402 09:47:09.645531 61794 perception.cpp:28] perception Start start...
+I0402 09:47:30.097324 61794 perception.cpp:52]  Msg CanData :ID:1765,Data:12345678
+I0402 09:47:30.097378 61794 perception.cpp:116] perception PublishState_6E5 0 is 0
+I0402 09:47:30.097388 61794 perception.cpp:117] perception PublishState_6E5 1 is 0
+I0402 09:47:30.097393 61794 perception.cpp:118] perception PublishState_6E5 2 is 0
+I0402 09:47:30.097396 61794 perception.cpp:119] perception PublishState_6E5 3 is 0
+I0402 09:47:30.097400 61794 perception.cpp:120] perception PublishState_6E5 4 is 0
+I0402 09:47:30.097404 61794 perception.cpp:121] perception PublishState_6E5 5 is 0
+I0402 09:47:30.097409 61794 perception.cpp:122] perception PublishState_6E5 6 is 0
+I0402 09:47:30.097412 61794 perception.cpp:123] perception PublishState_6E5 7 is 0
+I0402 09:47:30.097416 61794 perception.cpp:124] perception PublishState_6E5 8 is 0
+I0402 09:47:30.097420 61794 perception.cpp:126] perception PublishState_6E5 0 is 1
+I0402 09:47:30.097424 61794 perception.cpp:127] perception PublishState_6E5 1 is 0
+I0402 09:47:30.097429 61794 perception.cpp:128] perception PublishState_6E5 2 is 0
+I0402 09:47:30.097432 61794 perception.cpp:129] perception PublishState_6E5 3 is 0
+I0402 09:47:30.097436 61794 perception.cpp:130] perception PublishState_6E5 4 is 1
+I0402 09:47:30.097440 61794 perception.cpp:131] perception PublishState_6E5 5 is 0
+I0402 09:47:30.097445 61794 perception.cpp:132] perception PublishState_6E5 6 is 1
+I0402 09:47:30.097447 61794 perception.cpp:133] perception PublishState_6E5 7 is 0
+I0402 09:47:30.097452 61794 perception.cpp:134] perception PublishState_6E5 8 is 1
+I0402 09:47:30.098201 61794 perception.cpp:148] perception PublishState_6E5 publisher is create
+I0402 09:47:30.098215 61794 perception.cpp:151] perception PublishState_6E5 publisher is success
+I0402 09:47:52.991796 61794 perception.cpp:39] perception Start end.
+I0402 09:47:52.991897 61794 perception.cpp:45] perception Stop start...
+I0402 09:47:52.991923 61794 perception.cpp:46] perception Stop end.
+I0402 09:47:52.991950 61794 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-095731.66632

@@ -0,0 +1,133 @@
+Log file created at: 2020/04/02 09:57:31
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 09:57:31.771098 66632 perception.cpp:18] perception Init start...
+I0402 09:57:31.771334 66632 perception.cpp:22] perception Init end.
+I0402 09:57:31.771356 66632 perception.cpp:28] perception Start start...
+I0402 09:58:13.959882 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 09:58:13.959936 66632 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 09:58:13.959945 66632 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 09:58:13.959949 66632 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 09:58:13.959954 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 09:58:13.959959 66632 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 09:58:13.959962 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 09:58:13.959987 66632 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 09:58:13.959995 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 09:58:13.960000 66632 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 09:58:13.960003 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 09:58:13.960007 66632 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 09:58:13.960011 66632 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 09:58:13.960016 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 09:58:13.960031 66632 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 09:58:13.960038 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 09:58:13.960053 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 09:58:13.960060 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 09:58:13.960064 66632 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 09:58:13.961364 66632 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 09:58:13.961400 66632 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:01:00.642606 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:01:00.642658 66632 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:01:00.642668 66632 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:01:00.642671 66632 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:01:00.642676 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:01:00.642680 66632 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:01:00.642684 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:01:00.642688 66632 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:01:00.642693 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:01:00.642696 66632 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:01:00.642700 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:01:00.642704 66632 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:01:00.642709 66632 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:01:00.642712 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:01:00.642716 66632 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:01:00.642720 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:01:00.642724 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:01:00.642729 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:01:00.642733 66632 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:01:00.644176 66632 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:01:00.644203 66632 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:01:29.997010 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:01:29.997050 66632 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:01:29.997058 66632 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:01:29.997071 66632 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:01:29.997076 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:01:29.997079 66632 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:01:29.997083 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:01:29.997087 66632 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:01:29.997093 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:01:29.997109 66632 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:01:29.997117 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:01:29.997131 66632 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:01:29.997148 66632 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:01:29.997164 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:01:29.997181 66632 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:01:29.997197 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:01:29.997213 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:01:29.997231 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:01:29.997246 66632 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:01:29.997262 66632 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:01:46.247591 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:01:46.247632 66632 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:01:46.247639 66632 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:01:46.247644 66632 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:01:46.247648 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:01:46.247653 66632 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:01:46.247656 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:01:46.247660 66632 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:01:46.247664 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:01:46.247668 66632 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:01:46.247674 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:01:46.247714 66632 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:01:46.247722 66632 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:01:46.247726 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:01:46.247730 66632 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:01:46.247735 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:01:46.247738 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:01:46.247743 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:01:46.247758 66632 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:01:46.247776 66632 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:04:32.741433 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:04:32.741474 66632 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:04:32.741483 66632 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:04:32.741488 66632 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:04:32.741492 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:04:32.741497 66632 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:04:32.741500 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:04:32.741505 66632 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:04:32.741509 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:04:32.741513 66632 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:04:32.741518 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:04:32.741531 66632 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:04:32.741546 66632 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:04:32.741550 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:04:32.741554 66632 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:04:32.741559 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:04:32.741562 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:04:32.741566 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:04:32.741570 66632 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:04:32.741575 66632 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:04:54.820082 66632 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:04:54.820111 66632 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:04:54.820116 66632 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:04:54.820120 66632 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:04:54.820124 66632 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:04:54.820127 66632 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:04:54.820132 66632 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:04:54.820135 66632 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:04:54.820139 66632 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:04:54.820143 66632 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:04:54.820147 66632 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:04:54.820150 66632 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:04:54.820154 66632 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:04:54.820158 66632 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:04:54.820163 66632 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:04:54.820166 66632 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:04:54.820243 66632 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:04:54.820251 66632 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:04:54.820255 66632 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:04:54.821138 66632 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:04:54.821153 66632 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:15:30.326750 66632 perception.cpp:43] perception Start end.
+I0402 10:15:30.326946 66632 perception.cpp:54] perception Stop start...
+I0402 10:15:30.326959 66632 perception.cpp:55] perception Stop end.
+I0402 10:15:30.326964 66632 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-101533.70504

@@ -0,0 +1,155 @@
+Log file created at: 2020/04/02 10:15:33
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 10:15:33.945963 70504 perception.cpp:18] perception Init start...
+I0402 10:15:33.947288 70504 perception.cpp:22] perception Init end.
+I0402 10:15:33.947300 70504 perception.cpp:28] perception Start start...
+I0402 10:15:51.544349 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:15:51.544389 70504 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 10:15:51.544394 70504 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:15:51.544399 70504 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:15:51.544404 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:15:51.544407 70504 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:15:51.544411 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:15:51.544415 70504 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 10:15:51.544420 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:15:51.544422 70504 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:15:51.544426 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:15:51.544430 70504 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:15:51.544435 70504 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:15:51.544438 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:15:51.544442 70504 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:15:51.544446 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:15:51.544450 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:15:51.544454 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:15:51.544458 70504 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:15:51.545745 70504 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:15:51.545776 70504 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:16:05.747489 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:16:05.747530 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:16:05.747539 70504 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:16:05.747543 70504 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:16:05.747547 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:16:05.747551 70504 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:16:05.747555 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:16:05.747560 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:16:05.747563 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:16:05.747567 70504 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:16:05.747572 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:16:05.747575 70504 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:16:05.747579 70504 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:16:05.747583 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:16:05.747588 70504 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:16:05.747591 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:16:05.747596 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:16:05.747599 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:16:05.747603 70504 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:16:05.747608 70504 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:16:13.079300 70504 perception.cpp:49]  Msg Test :10,2:0
+I0402 10:17:19.045375 70504 perception.cpp:49]  Msg Test :11,2:0
+I0402 10:17:30.642601 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:17:30.642629 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:17:30.642635 70504 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:17:30.642648 70504 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:17:30.642652 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:17:30.642657 70504 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:17:30.642660 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:17:30.642664 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:17:30.642668 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:17:30.642673 70504 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:17:30.642676 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:17:30.642680 70504 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:17:30.642684 70504 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:17:30.642688 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:17:30.642691 70504 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:17:30.642695 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:17:30.642699 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:17:30.642704 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:17:30.642707 70504 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:17:30.642711 70504 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:17:40.874224 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:17:40.874264 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:17:40.874272 70504 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:17:40.874277 70504 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:17:40.874281 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:17:40.874285 70504 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:17:40.874289 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:17:40.874294 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:17:40.874297 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:17:40.874301 70504 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:17:40.874305 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:17:40.874310 70504 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:17:40.874312 70504 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:17:40.874316 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:17:40.874320 70504 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:17:40.874325 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:17:40.874328 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:17:40.874332 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:17:40.874336 70504 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:17:40.875280 70504 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:17:40.875309 70504 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:17:55.357563 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:17:55.357605 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:17:55.357614 70504 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:17:55.357620 70504 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:17:55.357717 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:17:55.357729 70504 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:17:55.357734 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:17:55.357738 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:17:55.357753 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:17:55.357761 70504 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:17:55.357766 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:17:55.357791 70504 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:17:55.357969 70504 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:17:55.357975 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:17:55.357980 70504 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:17:55.357985 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:17:55.357988 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:17:55.357992 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:17:55.357996 70504 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:17:55.358000 70504 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:17:58.632400 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:17:58.632438 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:17:58.632447 70504 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:17:58.632452 70504 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:17:58.632457 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:17:58.632469 70504 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:17:58.632478 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:17:58.632483 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:17:58.632486 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:17:58.632490 70504 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:17:58.632494 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:17:58.632499 70504 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:17:58.632503 70504 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:17:58.632508 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:17:58.632511 70504 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:17:58.632515 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:17:58.632519 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:17:58.632524 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:17:58.632527 70504 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:17:58.632617 70504 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 10:18:09.993953 70504 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:18:09.995084 70504 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:18:09.995095 70504 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:18:09.995100 70504 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:18:09.995105 70504 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:18:09.995110 70504 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:18:09.995113 70504 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:18:09.995117 70504 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:18:09.995133 70504 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:18:09.995152 70504 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:18:09.995157 70504 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:18:09.995163 70504 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:18:09.995168 70504 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:18:09.995172 70504 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:18:09.995177 70504 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:18:09.995182 70504 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:18:09.995187 70504 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:18:09.995193 70504 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:18:09.995196 70504 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:18:09.996243 70504 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:18:09.996276 70504 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:22:34.637179 70504 perception.cpp:43] perception Start end.
+I0402 10:22:34.637313 70504 perception.cpp:54] perception Stop start...
+I0402 10:22:34.637392 70504 perception.cpp:55] perception Stop end.
+I0402 10:22:34.637403 70504 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-102239.72961

@@ -0,0 +1,133 @@
+Log file created at: 2020/04/02 10:22:39
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 10:22:39.907759 72961 perception.cpp:18] perception Init start...
+I0402 10:22:39.907948 72961 perception.cpp:22] perception Init end.
+I0402 10:22:39.907974 72961 perception.cpp:28] perception Start start...
+I0402 10:22:44.580701 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:22:44.580754 72961 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 10:22:44.580762 72961 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:22:44.580767 72961 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:22:44.580771 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:22:44.580775 72961 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:22:44.580780 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:22:44.580783 72961 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 10:22:44.580787 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:22:44.580791 72961 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:22:44.580796 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:22:44.580799 72961 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:22:44.580803 72961 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:22:44.580807 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:22:44.580824 72961 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:22:44.580830 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:22:44.580834 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:22:44.580838 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:22:44.580842 72961 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:22:44.582399 72961 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:22:44.582429 72961 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:23:13.427781 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:23:13.427808 72961 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:23:13.427814 72961 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:23:13.427819 72961 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:23:13.427824 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:23:13.427827 72961 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:23:13.427831 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:23:13.427835 72961 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:23:13.427839 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:23:13.427845 72961 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:23:13.427848 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:23:13.427852 72961 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:23:13.427856 72961 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:23:13.427860 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:23:13.427886 72961 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:23:13.427891 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:23:13.427896 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:23:13.427899 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:23:13.427903 72961 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:23:13.427908 72961 perception.cpp:190] perception PublishState_6E5 data is repeat
+I0402 10:23:32.503316 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:23:32.503363 72961 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:23:32.503373 72961 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:23:32.503378 72961 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:23:32.503389 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:23:32.503407 72961 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:23:32.503417 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:23:32.503422 72961 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:23:32.503425 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:23:32.503429 72961 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:23:32.503433 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:23:32.503437 72961 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:23:32.503441 72961 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:23:32.503445 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:23:32.503449 72961 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:23:32.503453 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:23:32.503458 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:23:32.503461 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:23:32.503465 72961 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:23:32.503469 72961 perception.cpp:190] perception PublishState_6E5 data is repeat
+I0402 10:23:44.599584 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:23:44.599625 72961 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:23:44.599634 72961 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:23:44.599638 72961 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:23:44.599643 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:23:44.599647 72961 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:23:44.599651 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:23:44.599655 72961 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:23:44.599660 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:23:44.599664 72961 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:23:44.599668 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:23:44.599673 72961 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:23:44.599676 72961 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:23:44.599680 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:23:44.599685 72961 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:23:44.599689 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:23:44.599694 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:23:44.599697 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:23:44.599701 72961 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:23:44.601061 72961 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:23:44.601094 72961 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:24:05.976400 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:24:05.976442 72961 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:24:05.976451 72961 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:24:05.976456 72961 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:24:05.976460 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:24:05.976465 72961 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:24:05.976469 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:24:05.976474 72961 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:24:05.976477 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:24:05.976482 72961 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:24:05.976486 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:24:05.976490 72961 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:24:05.976502 72961 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:24:05.976507 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:24:05.976511 72961 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:24:05.976516 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:24:05.976519 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:24:05.976523 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:24:05.976527 72961 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:24:05.976531 72961 perception.cpp:190] perception PublishState_6E5 data is repeat
+I0402 10:24:16.468974 72961 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:24:16.469017 72961 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:24:16.469025 72961 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:24:16.469030 72961 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:24:16.469034 72961 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:24:16.469038 72961 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:24:16.469043 72961 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:24:16.469046 72961 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:24:16.469050 72961 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:24:16.469054 72961 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:24:16.469058 72961 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:24:16.469063 72961 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:24:16.469066 72961 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:24:16.469070 72961 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:24:16.469074 72961 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:24:16.469079 72961 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:24:16.469084 72961 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:24:16.469087 72961 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:24:16.469091 72961 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:24:16.469978 72961 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:24:16.470007 72961 perception.cpp:160] perception PublishState_6E5 publisher is success
+I0402 10:38:00.201427 72961 perception.cpp:43] perception Start end.
+I0402 10:38:00.201504 72961 perception.cpp:54] perception Stop start...
+I0402 10:38:00.201515 72961 perception.cpp:55] perception Stop end.
+I0402 10:38:00.201520 72961 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-103802.77932

@@ -0,0 +1,52 @@
+Log file created at: 2020/04/02 10:38:02
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 10:38:02.459652 77932 perception.cpp:18] perception Init start...
+I0402 10:38:02.459872 77932 perception.cpp:22] perception Init end.
+I0402 10:38:02.459894 77932 perception.cpp:28] perception Start start...
+I0402 10:38:10.877218 77932 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:38:10.877269 77932 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 10:38:10.877279 77932 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:38:10.877283 77932 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:38:10.877287 77932 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:38:10.877291 77932 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:38:10.877308 77932 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:38:10.877326 77932 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 10:38:10.877331 77932 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:38:10.877336 77932 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:38:10.877341 77932 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:38:10.877346 77932 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:38:10.877351 77932 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:38:10.877354 77932 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:38:10.877359 77932 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:38:10.877364 77932 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:38:10.877378 77932 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:38:10.877389 77932 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:38:10.877395 77932 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:38:10.878762 77932 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:38:10.878818 77932 perception.cpp:172] perception PublishState_6E5 publisher is end
+I0402 10:44:53.083420 77932 perception.cpp:49]  Msg Test :10,2:0
+I0402 10:44:59.845474 77932 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:44:59.845511 77932 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:44:59.845520 77932 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:44:59.845525 77932 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:44:59.845530 77932 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:44:59.845533 77932 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:44:59.845537 77932 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:44:59.845541 77932 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:44:59.845546 77932 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:44:59.845549 77932 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:44:59.845553 77932 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:44:59.845558 77932 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:44:59.845562 77932 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:44:59.845566 77932 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:44:59.845571 77932 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:44:59.845574 77932 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:44:59.845590 77932 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:44:59.845597 77932 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:44:59.845602 77932 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:44:59.845607 77932 perception.cpp:190] perception PublishState_6E5 data is repeat
+I0402 10:56:00.926373 77932 perception.cpp:43] perception Start end.
+I0402 10:56:00.926474 77932 perception.cpp:54] perception Stop start...
+I0402 10:56:00.926486 77932 perception.cpp:55] perception Stop end.
+I0402 10:56:00.926491 77932 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-105604.81452

@@ -0,0 +1,96 @@
+Log file created at: 2020/04/02 10:56:04
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 10:56:04.342100 81452 perception.cpp:18] perception Init start...
+I0402 10:56:04.342666 81452 perception.cpp:22] perception Init end.
+I0402 10:56:04.342677 81452 perception.cpp:28] perception Start start...
+I0402 10:56:09.441190 81452 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:56:09.441241 81452 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 10:56:09.441249 81452 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:56:09.441253 81452 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:56:09.441257 81452 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:56:09.441262 81452 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:56:09.441265 81452 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:56:09.441268 81452 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 10:56:09.441272 81452 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:56:09.441277 81452 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:56:09.441279 81452 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:56:09.441283 81452 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:56:09.441287 81452 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:56:09.441290 81452 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:56:09.441294 81452 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:56:09.441298 81452 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:56:09.441303 81452 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:56:09.441305 81452 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:56:09.441309 81452 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:56:09.442715 81452 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:56:09.442764 81452 perception.cpp:172] perception PublishState_6E5 publisher is end
+I0402 10:56:09.442800 81452 perception.cpp:49]  Msg Test :10,2:1
+I0402 10:56:51.127131 81452 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:56:51.127265 81452 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:56:51.127279 81452 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:56:51.127285 81452 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:56:51.127288 81452 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:56:51.127292 81452 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:56:51.127296 81452 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:56:51.127300 81452 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:56:51.127305 81452 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:56:51.127308 81452 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:56:51.127312 81452 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:56:51.127316 81452 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:56:51.127321 81452 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:56:51.127324 81452 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:56:51.127328 81452 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:56:51.127332 81452 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:56:51.127336 81452 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:56:51.127339 81452 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:56:51.127343 81452 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:56:51.127348 81452 perception.cpp:190] perception PublishState_6E5 data is repeat
+I0402 10:57:02.467247 81452 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 10:57:02.467278 81452 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:57:02.467283 81452 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 10:57:02.467322 81452 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 10:57:02.467330 81452 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:57:02.467335 81452 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 10:57:02.467339 81452 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:57:02.467342 81452 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:57:02.467346 81452 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:57:02.467350 81452 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 10:57:02.467353 81452 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:57:02.467357 81452 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 10:57:02.467361 81452 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 10:57:02.467365 81452 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:57:02.467368 81452 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 10:57:02.467382 81452 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:57:02.467389 81452 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:57:02.467393 81452 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:57:02.467397 81452 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 10:57:02.467434 81452 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:57:02.467458 81452 perception.cpp:172] perception PublishState_6E5 publisher is end
+I0402 10:57:02.467694 81452 perception.cpp:49]  Msg Test :11,2:1
+I0402 10:57:20.880501 81452 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 10:57:20.880542 81452 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 10:57:20.880551 81452 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 10:57:20.880555 81452 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 10:57:20.880559 81452 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 10:57:20.880563 81452 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 10:57:20.880568 81452 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 10:57:20.880571 81452 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 10:57:20.880575 81452 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 10:57:20.880579 81452 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 10:57:20.880584 81452 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 10:57:20.880587 81452 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 10:57:20.880591 81452 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 10:57:20.880595 81452 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 10:57:20.880599 81452 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 10:57:20.880602 81452 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 10:57:20.880606 81452 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 10:57:20.880610 81452 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 10:57:20.880614 81452 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 10:57:20.880635 81452 perception.cpp:157] perception PublishState_6E5 publisher is create
+I0402 10:57:20.880646 81452 perception.cpp:172] perception PublishState_6E5 publisher is end
+I0402 10:57:20.880965 81452 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:04:05.892832 81452 perception.cpp:43] perception Start end.
+I0402 11:04:05.892896 81452 perception.cpp:54] perception Stop start...
+I0402 11:04:05.892906 81452 perception.cpp:55] perception Stop end.
+I0402 11:04:05.892910 81452 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-110415.83825

@@ -0,0 +1,31 @@
+Log file created at: 2020/04/02 11:04:15
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:04:15.968029 83825 perception.cpp:18] perception Init start...
+I0402 11:04:15.968154 83825 perception.cpp:22] perception Init end.
+I0402 11:04:15.968163 83825 perception.cpp:28] perception Start start...
+I0402 11:04:21.851598 83825 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:04:21.851635 83825 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 11:04:21.851642 83825 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:04:21.851646 83825 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:04:21.851650 83825 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:04:21.851655 83825 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:04:21.851658 83825 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:04:21.851662 83825 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 11:04:21.851666 83825 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:04:21.851671 83825 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:04:21.851675 83825 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:04:21.851680 83825 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:04:21.851683 83825 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:04:21.851687 83825 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:04:21.851691 83825 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:04:21.851696 83825 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:04:21.851699 83825 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:04:21.851703 83825 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:04:21.851707 83825 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:04:21.852830 83825 perception.cpp:158] perception PublishState_6E5 publisher is create
+I0402 11:04:21.852849 83825 perception.cpp:177] perception PublishState_6E5 publisher is unvalid
+I0402 11:05:38.907488 83825 perception.cpp:43] perception Start end.
+I0402 11:05:38.907553 83825 perception.cpp:54] perception Stop start...
+I0402 11:05:38.907574 83825 perception.cpp:55] perception Stop end.
+I0402 11:05:38.907590 83825 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-110540.86006

@@ -0,0 +1,31 @@
+Log file created at: 2020/04/02 11:05:40
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:05:40.880003 86006 perception.cpp:18] perception Init start...
+I0402 11:05:40.880189 86006 perception.cpp:22] perception Init end.
+I0402 11:05:40.880200 86006 perception.cpp:28] perception Start start...
+I0402 11:05:44.486802 86006 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:05:44.486851 86006 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 11:05:44.486860 86006 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:05:44.486865 86006 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:05:44.486869 86006 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:05:44.486872 86006 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:05:44.486877 86006 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:05:44.486881 86006 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 11:05:44.486884 86006 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:05:44.486888 86006 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:05:44.486892 86006 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:05:44.486896 86006 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:05:44.486901 86006 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:05:44.486904 86006 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:05:44.486907 86006 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:05:44.486912 86006 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:05:44.486915 86006 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:05:44.486919 86006 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:05:44.486923 86006 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:05:44.487663 86006 perception.cpp:158] perception PublishState_6E5 publisher is create
+I0402 11:05:44.487689 86006 perception.cpp:177] perception PublishState_6E5 publisher is unvalid
+I0402 11:06:24.268642 86006 perception.cpp:43] perception Start end.
+I0402 11:06:24.268721 86006 perception.cpp:54] perception Stop start...
+I0402 11:06:24.268733 86006 perception.cpp:55] perception Stop end.
+I0402 11:06:24.268738 86006 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-110626.88156

@@ -0,0 +1,31 @@
+Log file created at: 2020/04/02 11:06:26
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:06:26.221997 88156 perception.cpp:18] perception Init start...
+I0402 11:06:26.222352 88156 perception.cpp:22] perception Init end.
+I0402 11:06:26.222362 88156 perception.cpp:28] perception Start start...
+I0402 11:06:29.469839 88156 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:06:29.469892 88156 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 11:06:29.469900 88156 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:06:29.469905 88156 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:06:29.469908 88156 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:06:29.469913 88156 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:06:29.469916 88156 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:06:29.469923 88156 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 11:06:29.469938 88156 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:06:29.469945 88156 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:06:29.469949 88156 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:06:29.469954 88156 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:06:29.469957 88156 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:06:29.469961 88156 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:06:29.469965 88156 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:06:29.469969 88156 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:06:29.469983 88156 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:06:29.469990 88156 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:06:29.469995 88156 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:06:29.471048 88156 perception.cpp:158] perception PublishState_6E5 publisher is create
+I0402 11:06:29.471097 88156 perception.cpp:173] perception PublishState_6E5 publisher is end
+I0402 11:07:54.913687 88156 perception.cpp:43] perception Start end.
+I0402 11:07:54.913775 88156 perception.cpp:54] perception Stop start...
+I0402 11:07:54.913792 88156 perception.cpp:55] perception Stop end.
+I0402 11:07:54.913801 88156 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-110759.90360

@@ -0,0 +1,130 @@
+Log file created at: 2020/04/02 11:07:59
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:07:59.049260 90360 perception.cpp:18] perception Init start...
+I0402 11:07:59.050074 90360 perception.cpp:22] perception Init end.
+I0402 11:07:59.050096 90360 perception.cpp:28] perception Start start...
+I0402 11:08:04.015799 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:08:04.015851 90360 perception.cpp:125] perception PublishState_6E5 0 is 0
+I0402 11:08:04.015859 90360 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:08:04.015864 90360 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:08:04.015868 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:04.015872 90360 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:08:04.015877 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:04.015892 90360 perception.cpp:131] perception PublishState_6E5 6 is 0
+I0402 11:08:04.015909 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:04.015916 90360 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:08:04.015920 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:04.015924 90360 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:08:04.015928 90360 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:08:04.015933 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:04.015936 90360 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:08:04.015940 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:04.015954 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:04.015961 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:04.015966 90360 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:08:04.017563 90360 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:08:09.269263 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:08:09.269304 90360 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 11:08:09.269312 90360 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:08:09.269316 90360 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:08:09.269320 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:09.269325 90360 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 11:08:09.269328 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:09.269332 90360 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 11:08:09.269336 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:09.269340 90360 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 11:08:09.269356 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:09.269374 90360 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:08:09.269381 90360 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:08:09.269387 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:09.269392 90360 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:08:09.269397 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:09.269402 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:09.269405 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:09.269410 90360 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:08:09.269415 90360 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 11:08:19.859704 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:08:19.859742 90360 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 11:08:19.859751 90360 perception.cpp:126] perception PublishState_6E5 1 is 0
+I0402 11:08:19.859755 90360 perception.cpp:127] perception PublishState_6E5 2 is 0
+I0402 11:08:19.859760 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:19.859763 90360 perception.cpp:129] perception PublishState_6E5 4 is 1
+I0402 11:08:19.859774 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:19.859778 90360 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 11:08:19.859782 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:19.859786 90360 perception.cpp:133] perception PublishState_6E5 8 is 1
+I0402 11:08:19.859791 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:19.859794 90360 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 11:08:19.859798 90360 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 11:08:19.859802 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:19.859805 90360 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 11:08:19.859809 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:19.859813 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:19.859817 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:19.859822 90360 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 11:08:19.860010 90360 perception.cpp:49]  Msg Test :11,2:1
+I0402 11:08:29.549767 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:08:29.549804 90360 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 11:08:29.549813 90360 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 11:08:29.549818 90360 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 11:08:29.549821 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:29.549825 90360 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:08:29.549830 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:29.549834 90360 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 11:08:29.549839 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:29.549842 90360 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:08:29.549846 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:29.549850 90360 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 11:08:29.549854 90360 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 11:08:29.549859 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:29.549862 90360 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 11:08:29.549866 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:29.549870 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:29.549875 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:29.549916 90360 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 11:08:29.549942 90360 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 11:08:33.482465 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:08:33.482504 90360 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 11:08:33.482513 90360 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 11:08:33.482517 90360 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 11:08:33.482522 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:33.482527 90360 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:08:33.482529 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:33.482533 90360 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 11:08:33.482538 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:33.482576 90360 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:08:33.482585 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:33.482590 90360 perception.cpp:136] perception PublishState_6E5 1 is 1
+I0402 11:08:33.482594 90360 perception.cpp:137] perception PublishState_6E5 2 is 1
+I0402 11:08:33.482631 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:33.482636 90360 perception.cpp:139] perception PublishState_6E5 4 is 0
+I0402 11:08:33.482664 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:33.482669 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:33.482717 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:33.482738 90360 perception.cpp:143] perception PublishState_6E5 8 is 0
+I0402 11:08:33.482761 90360 perception.cpp:189] perception PublishState_6E5 data is repeat
+I0402 11:08:41.964802 90360 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:08:41.964828 90360 perception.cpp:125] perception PublishState_6E5 0 is 1
+I0402 11:08:41.964834 90360 perception.cpp:126] perception PublishState_6E5 1 is 1
+I0402 11:08:41.964838 90360 perception.cpp:127] perception PublishState_6E5 2 is 1
+I0402 11:08:41.964843 90360 perception.cpp:128] perception PublishState_6E5 3 is 0
+I0402 11:08:41.964845 90360 perception.cpp:129] perception PublishState_6E5 4 is 0
+I0402 11:08:41.964849 90360 perception.cpp:130] perception PublishState_6E5 5 is 0
+I0402 11:08:41.964854 90360 perception.cpp:131] perception PublishState_6E5 6 is 1
+I0402 11:08:41.964856 90360 perception.cpp:132] perception PublishState_6E5 7 is 0
+I0402 11:08:41.964860 90360 perception.cpp:133] perception PublishState_6E5 8 is 0
+I0402 11:08:41.964864 90360 perception.cpp:135] perception PublishState_6E5 0 is 1
+I0402 11:08:41.964869 90360 perception.cpp:136] perception PublishState_6E5 1 is 0
+I0402 11:08:41.964871 90360 perception.cpp:137] perception PublishState_6E5 2 is 0
+I0402 11:08:41.964875 90360 perception.cpp:138] perception PublishState_6E5 3 is 0
+I0402 11:08:41.964879 90360 perception.cpp:139] perception PublishState_6E5 4 is 1
+I0402 11:08:41.964882 90360 perception.cpp:140] perception PublishState_6E5 5 is 0
+I0402 11:08:41.964886 90360 perception.cpp:141] perception PublishState_6E5 6 is 1
+I0402 11:08:41.964890 90360 perception.cpp:142] perception PublishState_6E5 7 is 0
+I0402 11:08:41.964895 90360 perception.cpp:143] perception PublishState_6E5 8 is 1
+I0402 11:08:41.964936 90360 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:40:53.151494 90360 perception.cpp:43] perception Start end.
+I0402 11:40:53.151595 90360 perception.cpp:54] perception Stop start...
+I0402 11:40:53.151607 90360 perception.cpp:55] perception Stop end.
+I0402 11:40:53.151612 90360 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114054.94498

@@ -0,0 +1,14 @@
+Log file created at: 2020/04/02 11:40:54
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:40:54.480032 94498 perception.cpp:18] perception Init start...
+I0402 11:40:54.483539 94498 perception.cpp:22] perception Init end.
+I0402 11:40:54.483563 94498 perception.cpp:28] perception Start start...
+I0402 11:40:58.226676 94498 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:41:18.386535 94498 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:41:18.386600 94498 perception.cpp:172] perception PublishState_6E5 data is repeat
+I0402 11:41:27.258730 94498 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:41:47.999444 94498 perception.cpp:43] perception Start end.
+I0402 11:41:47.999529 94498 perception.cpp:54] perception Stop start...
+I0402 11:41:47.999541 94498 perception.cpp:55] perception Stop end.
+I0402 11:41:47.999547 94498 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114149.94621

@@ -0,0 +1,15 @@
+Log file created at: 2020/04/02 11:41:49
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:41:49.315922 94621 perception.cpp:18] perception Init start...
+I0402 11:41:49.316054 94621 perception.cpp:22] perception Init end.
+I0402 11:41:49.316066 94621 perception.cpp:28] perception Start start...
+I0402 11:41:54.091475 94621 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:42:24.040935 94621 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:42:24.040977 94621 perception.cpp:172] perception PublishState_6E5 data is repeat
+I0402 11:42:36.078299 94621 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:43:00.593430 94621 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:44:23.855073 94621 perception.cpp:43] perception Start end.
+I0402 11:44:23.855139 94621 perception.cpp:54] perception Stop start...
+I0402 11:44:23.855149 94621 perception.cpp:55] perception Stop end.
+I0402 11:44:23.855154 94621 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114425.96862

@@ -0,0 +1,16 @@
+Log file created at: 2020/04/02 11:44:25
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:44:25.845415 96862 perception.cpp:18] perception Init start...
+I0402 11:44:25.845661 96862 perception.cpp:22] perception Init end.
+I0402 11:44:25.845674 96862 perception.cpp:28] perception Start start...
+I0402 11:44:49.050103 96862 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:44:49.051429 96862 perception.cpp:49]  Msg Test :11,2:1
+I0402 11:45:05.545104 96862 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:45:05.545157 96862 perception.cpp:172] perception PublishState_6E5 data is repeat
+I0402 11:45:15.328714 96862 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:45:15.329335 96862 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:45:41.569183 96862 perception.cpp:43] perception Start end.
+I0402 11:45:41.569252 96862 perception.cpp:54] perception Stop start...
+I0402 11:45:41.569262 96862 perception.cpp:55] perception Stop end.
+I0402 11:45:41.569267 96862 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114544.96990

@@ -0,0 +1,12 @@
+Log file created at: 2020/04/02 11:45:44
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:45:44.504925 96990 perception.cpp:18] perception Init start...
+I0402 11:45:44.505079 96990 perception.cpp:22] perception Init end.
+I0402 11:45:44.505089 96990 perception.cpp:28] perception Start start...
+I0402 11:45:56.179441 96990 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:45:56.180757 96990 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:46:09.639318 96990 perception.cpp:43] perception Start end.
+I0402 11:46:09.639389 96990 perception.cpp:54] perception Stop start...
+I0402 11:46:09.639400 96990 perception.cpp:55] perception Stop end.
+I0402 11:46:09.639405 96990 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114610.97075

@@ -0,0 +1,14 @@
+Log file created at: 2020/04/02 11:46:10
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:46:10.575783 97075 perception.cpp:18] perception Init start...
+I0402 11:46:10.575942 97075 perception.cpp:22] perception Init end.
+I0402 11:46:10.575953 97075 perception.cpp:28] perception Start start...
+I0402 11:46:15.065752 97075 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:46:15.067576 97075 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:46:34.440969 97075 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:46:34.441007 97075 perception.cpp:172] perception PublishState_6E5 data is repeat
+I0402 11:46:42.487179 97075 perception.cpp:43] perception Start end.
+I0402 11:46:42.487253 97075 perception.cpp:54] perception Stop start...
+I0402 11:46:42.487264 97075 perception.cpp:55] perception Stop end.
+I0402 11:46:42.487269 97075 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114644.97155

@@ -0,0 +1,18 @@
+Log file created at: 2020/04/02 11:46:44
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:46:44.833662 97155 perception.cpp:18] perception Init start...
+I0402 11:46:44.833808 97155 perception.cpp:22] perception Init end.
+I0402 11:46:44.833817 97155 perception.cpp:28] perception Start start...
+I0402 11:46:48.232846 97155 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:46:48.233860 97155 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:47:15.067545 97155 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:47:15.067888 97155 perception.cpp:49]  Msg Test :11,2:1
+I0402 11:47:28.592806 97155 perception.cpp:61]  Msg CanData :ID:1765,Data:12345678
+I0402 11:47:28.593446 97155 perception.cpp:49]  Msg Test :10,2:1
+I0402 11:47:40.393455 97155 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:47:40.393781 97155 perception.cpp:49]  Msg Test :11,2:1
+I0402 11:48:26.289279 97155 perception.cpp:43] perception Start end.
+I0402 11:48:26.289398 97155 perception.cpp:54] perception Stop start...
+I0402 11:48:26.289409 97155 perception.cpp:55] perception Stop end.
+I0402 11:48:26.289414 97155 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-114827.97307

@@ -0,0 +1,14 @@
+Log file created at: 2020/04/02 11:48:27
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 11:48:27.777684 97307 perception.cpp:18] perception Init start...
+I0402 11:48:27.777825 97307 perception.cpp:22] perception Init end.
+I0402 11:48:27.777835 97307 perception.cpp:28] perception Start start...
+I0402 11:48:31.536859 97307 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:48:31.538033 97307 perception.cpp:49]  Msg Test :11,2:1
+I0402 11:48:39.696952 97307 perception.cpp:61]  Msg CanData :ID:1765,Data:87654321
+I0402 11:48:39.696988 97307 perception.cpp:172] perception PublishState_6E5 data is repeat
+I0402 13:54:53.743422 97307 perception.cpp:43] perception Start end.
+I0402 13:54:53.743566 97307 perception.cpp:54] perception Stop start...
+I0402 13:54:53.743577 97307 perception.cpp:55] perception Stop end.
+I0402 13:54:53.743582 97307 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-135457.104963

@@ -0,0 +1,30 @@
+Log file created at: 2020/04/02 13:54:57
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 13:54:57.263090 104963 perception.cpp:18] perception Init start...
+I0402 13:54:57.263274 104963 perception.cpp:22] perception Init end.
+I0402 13:54:57.263294 104963 perception.cpp:28] perception Start start...
+I0402 13:55:15.915086 104963 perception.cpp:66]  Msg CanData :ID:1765,Data:87654321
+I0402 13:55:31.322393 104963 perception.cpp:66]  Msg CanData :ID:1765,Data:87654321
+I0402 13:55:31.322434 104963 perception.cpp:168] perception PublishState_6E5 data is repeat
+I0402 13:55:52.454563 104963 perception.cpp:66]  Msg CanData :ID:1765,Data:12345678
+I0402 13:58:45.883836 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:58:55.967785 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:02.726227 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:06.162447 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:17.050077 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:22.696110 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:33.738780 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 13:59:39.645597 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 14:02:30.065042 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 14:02:52.671591 104963 perception.cpp:66]  Msg CanData :ID:1773,Data:12345678
+I0402 14:06:04.021457 104963 perception.cpp:66]  Msg CanData :ID:1774,Data:12345678
+I0402 14:06:14.814409 104963 perception.cpp:66]  Msg CanData :ID:1774,Data:12345678
+I0402 14:06:14.814437 104963 perception.cpp:237] perception PublishState_6EE data is repeat
+I0402 14:06:20.256234 104963 perception.cpp:66]  Msg CanData :ID:1774,Data:12345678
+I0402 14:06:20.256263 104963 perception.cpp:237] perception PublishState_6EE data is repeat
+I0402 14:06:34.413127 104963 perception.cpp:66]  Msg CanData :ID:1774,Data:87654321
+I0402 14:09:24.440905 104963 perception.cpp:48] perception Start end.
+I0402 14:09:24.440987 104963 perception.cpp:59] perception Stop start...
+I0402 14:09:24.440999 104963 perception.cpp:60] perception Stop end.
+I0402 14:09:24.441004 104963 robotapp.cpp:23] perception exited.

src/perception/log/log_perception20200402-140926.107825

@@ -0,0 +1,18 @@
+Log file created at: 2020/04/02 14:09:26
+Running on machine: ubuntu
+Log line format: [IWEF]mmdd hh:mm:ss.uuuuuu threadid file:line] msg
+I0402 14:09:26.482985 107825 perception.cpp:18] perception Init start...
+I0402 14:09:26.483234 107825 perception.cpp:22] perception Init end.
+I0402 14:09:26.483671 107825 perception.cpp:28] perception Start start...
+I0402 14:10:12.229631 107825 perception.cpp:67]  Msg CanData :ID:1773,Data:87654321
+I0402 14:10:17.916898 107825 perception.cpp:67]  Msg CanData :ID:1773,Data:87654321
+I0402 14:10:17.916925 107825 perception.cpp:296] perception PublishState_6ED data is repeat
+I0402 14:10:23.699811 107825 perception.cpp:67]  Msg CanData :ID:1773,Data:87654321
+I0402 14:10:23.699862 107825 perception.cpp:296] perception PublishState_6ED data is repeat
+I0402 14:10:33.157974 107825 perception.cpp:67]  Msg CanData :ID:1773,Data:12345678
+I0402 14:11:16.622597 107825 perception.cpp:67]  Msg CanData :ID:1745,Data:12345678
+I0402 14:11:22.074093 107825 perception.cpp:67]  Msg CanData :ID:1745,Data:12345678
+I0402 14:11:22.074132 107825 perception.cpp:368] perception PublishState_6D1 data is repeat
+I0402 14:11:28.262490 107825 perception.cpp:67]  Msg CanData :ID:1745,Data:12345678
+I0402 14:11:28.262518 107825 perception.cpp:368] perception PublishState_6D1 data is repeat
+I0402 14:11:44.496943 107825 perception.cpp:67]  Msg CanData :ID:1745,Data:87654321

src/perception/log/perception.INFO

@@ -0,0 +1 @@
+log_perception20200402-140926.107825

src/perception/msg/aeMsg.msg

@@ -0,0 +1,35 @@
+uint32 AccErrag
+uint32 AccErrah
+uint32 AccErrai
+uint32 AccErry
+uint32 AccErrz
+uint32 AccErraa
+uint32 AccErrab
+uint32 AccErrac
+uint32 AccErrad
+uint32 AccErrae
+uint32 AccErraf
+uint32 AccErrq
+uint32 AccErrr
+uint32 AccErrs
+uint32 AccErrt
+uint32 AccErru
+uint32 AccErrv
+uint32 AccErrw
+uint32 AccErrx
+uint32 AccErri
+uint32 AccErrj
+uint32 AccErrk
+uint32 AccErrl
+uint32 AccErrm
+uint32 AccErrn
+uint32 AccErro
+uint32 AccErrp
+uint32 AccErra
+uint32 AccErrb
+uint32 AccErrc
+uint32 AccErrd
+uint32 AccErre
+uint32 AccErrf
+uint32 AccErrg
+uint32 AccErrh

src/perception/perception.cpp

@@ -29,6 +29,13 @@ int Perception::Start()
     try
     {
         ros::Subscriber sub = node_handle_->subscribe(robot::common::CanDataAnalysis, 1000, &Perception::CanTopicCallback, this);
+        //ros::Subscriber sub1 = node_handle_->subscribe(robot::common::AesData, 1000, &Perception::CanTopicCallbackTest, this);
+        bus_pub_6E5 = node_handle_->advertise<::perception::aesMsg>(robot::common::AesData, 2000);
+        bus_pub_6EE = node_handle_->advertise<::perception::slMsg>(robot::common::SlData, 2000);
+        bus_pub_6ED = node_handle_->advertise<::perception::si2Msg>(robot::common::Si2Data, 2000);
+
+        bus_pub_6D1 = node_handle_->advertise<::perception::seMsg>(robot::common::SeData, 2000);
+
         ros::spin();
     }
     catch(ros::Exception e)
@@ -36,14 +43,22 @@ int Perception::Start()
          LOG(INFO) << Name() << " Start exception is:" << e.what();
          return ROBOT_FAILTURE;
     }  
-     LOG(INFO) << Name() << " Start end.";
+
+
+
+    LOG(INFO) << Name() << " Start end.";
     return ROBOT_SUCCESS;
 }
 
+void Perception::CanTopicCallbackTest(const ::perception::aesMsg::ConstPtr& msg)
+{
+     LOG(INFO) << " Msg Test :" << "1:" << msg->AccMotEnStat << ",2:" << msg->AccClchCtrStat;
+}
+
 void Perception::Stop()
 {
    LOG(INFO) << Name() << " Stop start...";
-    LOG(INFO) << Name() << " Stop end.";
+   LOG(INFO) << Name() << " Stop end.";
 }
 
 
@@ -75,6 +90,31 @@ void Perception::CanTopicCallback(const canbus::canMsg::ConstPtr& msg)
         PublishState_6D1(msg);
     }
         break;
+    case robot::common::AccErr:
+    {
+        PublishState_6D2(msg);
+    }
+        break;
+    case robot::common::BrkErr:
+    {
+        PublishState_6D3(msg);
+    }
+        break;
+    case robot::common::XsftErr:
+    {
+        PublishState_6D4(msg);
+    }
+        break;
+    case robot::common::YsftErr:
+    {
+        PublishState_6D5(msg);
+    }
+        break;
+    case robot::common::StrErr:
+    {
+        PublishState_6D6(msg);
+    }
+        break;
     default:
         break;
     }
@@ -83,10 +123,16 @@ void Perception::CanTopicCallback(const canbus::canMsg::ConstPtr& msg)
 bool Perception::PublishState_6E5(const canbus::canMsg::ConstPtr &msg)
 {
     static robot::canbusSpace::T_STATE_OUT_6E5 s_state_6E5;
-    memset(&s_state_6E5, 0 ,sizeof(s_state_6E5));
+
+    int copySize;
+    if(msg->data.size() < sizeof(s_state_6E5))
+        copySize = msg->data.size();
+    else
+        copySize = sizeof(s_state_6E5);
 
     robot::canbusSpace::T_STATE_OUT_6E5 state_6E5;
-    memcpy(&state_6E5, msg->data.c_str(), sizeof(state_6E5));
+    memset(&state_6E5, 0 ,sizeof(state_6E5));
+    memcpy(&state_6E5, msg->data.c_str(), copySize);
 
     if(state_6E5.uiAccClchCtrStat != s_state_6E5.uiAccClchCtrStat || state_6E5.uiAccMotEnStat != s_state_6E5.uiAccMotEnStat ||
             state_6E5.uiBrkHVFFStat != s_state_6E5.uiBrkHVFFStat || state_6E5.uiBrkMotEnStat != s_state_6E5.uiBrkMotEnStat ||
@@ -94,32 +140,26 @@ bool Perception::PublishState_6E5(const canbus::canMsg::ConstPtr &msg)
             state_6E5.uiStrMotEnStat != s_state_6E5.uiStrMotEnStat || state_6E5.uiXSftMotEnStat != s_state_6E5.uiXSftMotEnStat ||
             state_6E5.uiYSftMotEnStat != s_state_6E5.uiYSftMotEnStat)
     {
-        try
+
+        memcpy(&s_state_6E5, msg->data.c_str(), copySize);
+
+        if(bus_pub_6E5)
         {
-            ros::Publisher publisher = node_handle_->advertise<::perception::aesMsg>(robot::common::AesData, 2000);
-            if(publisher)
-            {
-                ::perception::aesMsg msg;
-                msg.AccClchCtrStat = state_6E5.uiAccClchCtrStat;
-                msg.AccMotEnStat =  state_6E5.uiAccMotEnStat;
-                msg.BrkHVFFStat = state_6E5.uiBrkHVFFStat;
-                msg.BrkMotEnStat = state_6E5.uiBrkMotEnStat;
-                msg.ClchMotEnStat = state_6E5.uiClchMotEnStat;
-                msg.PauseEnStat = state_6E5.uiPauseEnStat;
-                msg.StrMotEnStat = state_6E5.uiStrMotEnStat;
-                msg.XSftMotEnStat = state_6E5.uiXSftMotEnStat;
-                msg.YSftMotEnStat = state_6E5.uiYSftMotEnStat;
-                publisher.publish(msg);
-            }
-            else
-            {
-                LOG(INFO) << Name() << " PublishState_6E5 publisher is unvalid";
-                return false;
-            }
+            ::perception::aesMsg msg;
+            msg.AccClchCtrStat = state_6E5.uiAccClchCtrStat;
+            msg.AccMotEnStat =  state_6E5.uiAccMotEnStat;
+            msg.BrkHVFFStat = state_6E5.uiBrkHVFFStat;
+            msg.BrkMotEnStat = state_6E5.uiBrkMotEnStat;
+            msg.ClchMotEnStat = state_6E5.uiClchMotEnStat;
+            msg.PauseEnStat = state_6E5.uiPauseEnStat;
+            msg.StrMotEnStat = state_6E5.uiStrMotEnStat;
+            msg.XSftMotEnStat = state_6E5.uiXSftMotEnStat;
+            msg.YSftMotEnStat = state_6E5.uiYSftMotEnStat;
+            bus_pub_6E5.publish(msg);
         }
-        catch(ros::Exception e)
+        else
         {
-            LOG(INFO) << Name() << " PublishState_6E5 exception is:" << e.what() ;
+            LOG(INFO) << Name() << " PublishState_6E5 publisher is unvalid";
             return false;
         }
         return true;
@@ -134,10 +174,16 @@ bool Perception::PublishState_6E5(const canbus::canMsg::ConstPtr &msg)
 bool Perception::PublishState_6EE(const canbus::canMsg::ConstPtr &msg)
 {
     static robot::canbusSpace::T_STATE_OUT_6EE s_state_6EE;
-    memset(&s_state_6EE, 0 ,sizeof(s_state_6EE));
+
+    int copySize;
+    if(msg->data.size() < sizeof(s_state_6EE))
+        copySize = msg->data.size();
+    else
+        copySize = sizeof(s_state_6EE);
 
     robot::canbusSpace::T_STATE_OUT_6EE state_6EE;
-    memcpy(&state_6EE, msg->data.c_str(), sizeof(state_6EE));
+    memset(&state_6EE, 0 ,sizeof(state_6EE));
+    memcpy(&state_6EE, msg->data.c_str(), copySize);
 
     if(state_6EE.uiAcc0LrnStat != s_state_6EE.uiAcc0LrnStat || state_6EE.uiAccLrnStat != s_state_6EE.uiAccLrnStat ||
             state_6EE.uiAccMaxLrnStat != s_state_6EE.uiAccMaxLrnStat || state_6EE.uiBrk0LrnStat != s_state_6EE.uiBrk0LrnStat ||
@@ -151,44 +197,38 @@ bool Perception::PublishState_6EE(const canbus::canMsg::ConstPtr &msg)
             state_6EE.uiStrLrnStat != s_state_6EE.uiStrLrnStat || state_6EE.uiStrRLrnStat != s_state_6EE.uiStrRLrnStat ||
             state_6EE.uiUpLrnStat != s_state_6EE.uiUpLrnStat)
     {
-        try
+
+        memcpy(&s_state_6EE, msg->data.c_str(), copySize);
+
+        if(bus_pub_6EE)
         {
-            ros::Publisher publisher = node_handle_->advertise<::perception::aesMsg>(robot::common::SlData, 2000);
-            if(publisher)
-            {
-                ::perception::slMsg msg;
-                msg.Acc0LrnStat = state_6EE.uiAcc0LrnStat;
-                msg.AccLrnStat = state_6EE.uiAccLrnStat;
-                msg.AccMaxLrnStat = state_6EE.uiAccMaxLrnStat;
-                msg.Brk0LrnStat = state_6EE.uiBrk0LrnStat;
-                msg.BrkLrnStat = state_6EE.uiBrkLrnStat;
-                msg.BrkMaxLrnStat = state_6EE.uiBrkMaxLrnStat;
-                msg.Clch0LrnStat = state_6EE.uiClch0LrnStat;
-                msg.ClchLrnStat = state_6EE.uiClchLrnStat;
-                msg.ClchMaxLrnStat = state_6EE.uiClchMaxLrnStat;
-                msg.DLrnStat = state_6EE.uiDLrnStat;
-                msg.DpLrnStat = state_6EE.uiDpLrnStat;
-                msg.MLrnStat = state_6EE.uiMLrnStat;
-                msg.NLrnStat = state_6EE.uiNLrnStat;
-                msg.PLrnStat = state_6EE.uiPLrnStat;
-                msg.RLrnStat = state_6EE.uiRLrnStat;
-                msg.SftLrnStat = state_6EE.uiSftLrnStat;
-                msg.Str0LrnStat = state_6EE.uiStr0LrnStat;
-                msg.StrLLrnStat = state_6EE.uiStrLLrnStat;
-                msg.StrLrnStat = state_6EE.uiStrLrnStat;
-                msg.StrRLrnStat = state_6EE.uiStrRLrnStat;
-                msg.UpLrnStat = state_6EE.uiPLrnStat;
-                publisher.publish(msg);
-            }
-            else
-            {
-                LOG(INFO) << Name() << " PublishState_6EE publisher is unvalid";
-                return false;
-            }
+            ::perception::slMsg msg;
+            msg.Acc0LrnStat = state_6EE.uiAcc0LrnStat;
+            msg.AccLrnStat = state_6EE.uiAccLrnStat;
+            msg.AccMaxLrnStat = state_6EE.uiAccMaxLrnStat;
+            msg.Brk0LrnStat = state_6EE.uiBrk0LrnStat;
+            msg.BrkLrnStat = state_6EE.uiBrkLrnStat;
+            msg.BrkMaxLrnStat = state_6EE.uiBrkMaxLrnStat;
+            msg.Clch0LrnStat = state_6EE.uiClch0LrnStat;
+            msg.ClchLrnStat = state_6EE.uiClchLrnStat;
+            msg.ClchMaxLrnStat = state_6EE.uiClchMaxLrnStat;
+            msg.DLrnStat = state_6EE.uiDLrnStat;
+            msg.DpLrnStat = state_6EE.uiDpLrnStat;
+            msg.MLrnStat = state_6EE.uiMLrnStat;
+            msg.NLrnStat = state_6EE.uiNLrnStat;
+            msg.PLrnStat = state_6EE.uiPLrnStat;
+            msg.RLrnStat = state_6EE.uiRLrnStat;
+            msg.SftLrnStat = state_6EE.uiSftLrnStat;
+            msg.Str0LrnStat = state_6EE.uiStr0LrnStat;
+            msg.StrLLrnStat = state_6EE.uiStrLLrnStat;
+            msg.StrLrnStat = state_6EE.uiStrLrnStat;
+            msg.StrRLrnStat = state_6EE.uiStrRLrnStat;
+            msg.UpLrnStat = state_6EE.uiPLrnStat;
+            bus_pub_6EE.publish(msg);
         }
-        catch(ros::Exception e)
+        else
         {
-            LOG(INFO) << Name() << " PublishState_6EE exception is:" << e.what() ;
+            LOG(INFO) << Name() << " PublishState_6EE publisher is unvalid";
             return false;
         }
         return true;
@@ -203,10 +243,16 @@ bool Perception::PublishState_6EE(const canbus::canMsg::ConstPtr &msg)
 bool Perception::PublishState_6ED(const canbus::canMsg::ConstPtr &msg)
 {
     static robot::canbusSpace::T_STATE_OUT_6ED s_state_6ED;
-    memset(&s_state_6ED, 0 ,sizeof(s_state_6ED));
+
+    int copySize;
+    if(msg->data.size() < sizeof(s_state_6ED))
+        copySize = msg->data.size();
+    else
+        copySize = sizeof(s_state_6ED);
 
     robot::canbusSpace::T_STATE_OUT_6ED state_6ED;
-    memcpy(&state_6ED, msg->data.c_str(), sizeof(state_6ED));
+    memset(&state_6ED, 0 ,sizeof(state_6ED));
+    memcpy(&state_6ED, msg->data.c_str(), copySize);
 
     if(state_6ED.uiAccCtrAlive != s_state_6ED.uiAccCtrAlive || state_6ED.uiAccMotClbr != s_state_6ED.uiAccMotClbr ||
             state_6ED.uiBrkCtrAlive != s_state_6ED.uiBrkCtrAlive || state_6ED.uiBrkMotClbr != s_state_6ED.uiBrkMotClbr ||
@@ -216,38 +262,31 @@ bool Perception::PublishState_6ED(const canbus::canMsg::ConstPtr &msg)
             state_6ED.uiXSftArmCtrAlive != s_state_6ED.uiXSftArmCtrAlive || state_6ED.uiXSftMotClbr != s_state_6ED.uiXSftMotClbr ||
             state_6ED.uiYSftArmCtrAlive != s_state_6ED.uiYSftArmCtrAlive || state_6ED.uiYSftMotClbr != s_state_6ED.uiYSftMotClbr)
     {
-        try
+
+        memcpy(&s_state_6ED, msg->data.c_str(), copySize);
+
+        if(bus_pub_6ED)
         {
-            ros::Publisher publisher = node_handle_->advertise<::perception::si2Msg>(robot::common::Si2Data, 2000);
-            if(publisher)
-            {
-                ::perception::si2Msg msg;
-
-                msg.AccCtrAlive = state_6ED.uiAccCtrAlive;
-                msg.AccMotClbr = state_6ED.uiAccMotClbr;
-                msg.BrkCtrAlive = state_6ED.uiBrkCtrAlive;
-                msg.BrkMotClbr = state_6ED.uiBrkMotClbr;
-                msg.ClchCtrAlive = state_6ED.uiClchCtrAlive;
-                msg.ClchMotClbr = state_6ED.uiClchMotClbr;
-                msg.CtrMdStat = state_6ED.uiCtrMdStat;
-                msg.RCUAlive = state_6ED.uiRCUAlive;
-                msg.StrCtrAlive = state_6ED.uiStrCtrAlive;
-                msg.StrMotClbr = state_6ED.uiStrMotClbr;
-                msg.XSftArmCtrAlive = state_6ED.uiXSftArmCtrAlive;
-                msg.XSftMotClbr = state_6ED.uiXSftMotClbr;
-                msg.YSftArmCtrAlive = state_6ED.uiYSftArmCtrAlive;
-                msg.YSftMotClbr = state_6ED.uiYSftMotClbr;
-                publisher.publish(msg);
-            }
-            else
-            {
-                LOG(INFO) << Name() << " PublishState_6ED publisher is unvalid";
-                return false;
-            }
+            ::perception::si2Msg msg;
+            msg.AccCtrAlive = state_6ED.uiAccCtrAlive;
+            msg.AccMotClbr = state_6ED.uiAccMotClbr;
+            msg.BrkCtrAlive = state_6ED.uiBrkCtrAlive;
+            msg.BrkMotClbr = state_6ED.uiBrkMotClbr;
+            msg.ClchCtrAlive = state_6ED.uiClchCtrAlive;
+            msg.ClchMotClbr = state_6ED.uiClchMotClbr;
+            msg.CtrMdStat = state_6ED.uiCtrMdStat;
+            msg.RCUAlive = state_6ED.uiRCUAlive;
+            msg.StrCtrAlive = state_6ED.uiStrCtrAlive;
+            msg.StrMotClbr = state_6ED.uiStrMotClbr;
+            msg.XSftArmCtrAlive = state_6ED.uiXSftArmCtrAlive;
+            msg.XSftMotClbr = state_6ED.uiXSftMotClbr;
+            msg.YSftArmCtrAlive = state_6ED.uiYSftArmCtrAlive;
+            msg.YSftMotClbr = state_6ED.uiYSftMotClbr;
+            bus_pub_6ED.publish(msg);
         }
-        catch(ros::Exception e)
+        else
         {
-            LOG(INFO) << Name() << " PublishState_6ED exception is:" << e.what() ;
+            LOG(INFO) << Name() << " PublishState_6ED publisher is unvalid";
             return false;
         }
         return true;
@@ -262,10 +301,16 @@ bool Perception::PublishState_6ED(const canbus::canMsg::ConstPtr &msg)
 bool Perception::PublishState_6D1(const canbus::canMsg::ConstPtr &msg)
 {
     static robot::canbusSpace::T_STATE_OUT_6D1 s_state_6D1;
-    memset(&s_state_6D1, 0 ,sizeof(s_state_6D1));
+
+    int copySize;
+    if(msg->data.size() < sizeof(s_state_6D1))
+        copySize = msg->data.size();
+    else
+        copySize = sizeof(s_state_6D1);
 
     robot::canbusSpace::T_STATE_OUT_6D1 state_6D1;
-    memcpy(&state_6D1, msg->data.c_str(), sizeof(state_6D1));
+    memset(&state_6D1, 0 ,sizeof(state_6D1));
+    memcpy(&state_6D1, msg->data.c_str(), copySize);
 
     if(state_6D1.uiSysErra != s_state_6D1.uiSysErra || state_6D1.uiSysErrb != s_state_6D1.uiSysErrb || state_6D1.uiSysErrc != s_state_6D1.uiSysErrc ||
             state_6D1.uiSysErrd != s_state_6D1.uiSysErrd || state_6D1.uiSysErre != s_state_6D1.uiSysErre || state_6D1.uiSysErrf != s_state_6D1.uiSysErrf ||
@@ -277,49 +322,43 @@ bool Perception::PublishState_6D1(const canbus::canMsg::ConstPtr &msg)
             state_6D1.uiSysErrv != s_state_6D1.uiSysErrv || state_6D1.uiSysErrw != s_state_6D1.uiSysErrw || state_6D1.uiSysErrx != s_state_6D1.uiSysErrx ||
             state_6D1.uiSysErry != s_state_6D1.uiSysErry || state_6D1.uiSysErrz != s_state_6D1.uiSysErrz)
     {
-        try
+
+        memcpy(&s_state_6D1, msg->data.c_str(), copySize);
+
+        if(bus_pub_6D1)
         {
-            ros::Publisher publisher = node_handle_->advertise<::perception::seMsg>(robot::common::SeData, 2000);
-            if(publisher)
-            {
-                ::perception::seMsg msg;
-                msg.SysErra = state_6D1.uiSysErra;
-                msg.SysErrb = state_6D1.uiSysErrb;
-                msg.SysErrc = state_6D1.uiSysErrc;
-                msg.SysErrd = state_6D1.uiSysErrd;
-                msg.SysErre = state_6D1.uiSysErre;
-                msg.SysErrf = state_6D1.uiSysErrf;
-                msg.SysErrg = state_6D1.uiSysErrg;
-                msg.SysErrh = state_6D1.uiSysErrh;
-                msg.SysErri = state_6D1.uiSysErri;
-                msg.SysErrj = state_6D1.uiSysErrj;
-                msg.SysErrk = state_6D1.uiSysErrk;
-                msg.SysErrl = state_6D1.uiSysErrl;
-                msg.SysErrm = state_6D1.uiSysErrm;
-                msg.SysErrn = state_6D1.uiSysErrn;
-                msg.SysErro = state_6D1.uiSysErro;
-                msg.SysErrp = state_6D1.uiSysErrp;
-                msg.SysErrq = state_6D1.uiSysErrq;
-                msg.SysErrr = state_6D1.uiSysErrr;
-                msg.SysErrs = state_6D1.uiSysErrs;
-                msg.SysErrt = state_6D1.uiSysErrt;
-                msg.SysErru = state_6D1.uiSysErru;
-                msg.SysErrv = state_6D1.uiSysErrv;
-                msg.SysErrw = state_6D1.uiSysErrw;
-                msg.SysErrx = state_6D1.uiSysErrx;
-                msg.SysErry = state_6D1.uiSysErry;
-                msg.SysErrz = state_6D1.uiSysErrz;
-                publisher.publish(msg);
-            }
-            else
-            {
-                LOG(INFO) << Name() << " PublishState_6D1 publisher is unvalid";
-                return false;
-            }
+            ::perception::seMsg msg;
+            msg.SysErra = state_6D1.uiSysErra;
+            msg.SysErrb = state_6D1.uiSysErrb;
+            msg.SysErrc = state_6D1.uiSysErrc;
+            msg.SysErrd = state_6D1.uiSysErrd;
+            msg.SysErre = state_6D1.uiSysErre;
+            msg.SysErrf = state_6D1.uiSysErrf;
+            msg.SysErrg = state_6D1.uiSysErrg;
+            msg.SysErrh = state_6D1.uiSysErrh;
+            msg.SysErri = state_6D1.uiSysErri;
+            msg.SysErrj = state_6D1.uiSysErrj;
+            msg.SysErrk = state_6D1.uiSysErrk;
+            msg.SysErrl = state_6D1.uiSysErrl;
+            msg.SysErrm = state_6D1.uiSysErrm;
+            msg.SysErrn = state_6D1.uiSysErrn;
+            msg.SysErro = state_6D1.uiSysErro;
+            msg.SysErrp = state_6D1.uiSysErrp;
+            msg.SysErrq = state_6D1.uiSysErrq;
+            msg.SysErrr = state_6D1.uiSysErrr;
+            msg.SysErrs = state_6D1.uiSysErrs;
+            msg.SysErrt = state_6D1.uiSysErrt;
+            msg.SysErru = state_6D1.uiSysErru;
+            msg.SysErrv = state_6D1.uiSysErrv;
+            msg.SysErrw = state_6D1.uiSysErrw;
+            msg.SysErrx = state_6D1.uiSysErrx;
+            msg.SysErry = state_6D1.uiSysErry;
+            msg.SysErrz = state_6D1.uiSysErrz;
+            bus_pub_6D1.publish(msg);
         }
-        catch(ros::Exception e)
+        else
         {
-            LOG(INFO) << Name() << " PublishState_6D1 exception is:" << e.what() ;
+            LOG(INFO) << Name() << " PublishState_6D1 publisher is unvalid";
             return false;
         }
         return true;
@@ -331,9 +370,25 @@ bool Perception::PublishState_6D1(const canbus::canMsg::ConstPtr &msg)
     }
 }
 
+bool Perception::PublishState_6D2(const canbus::canMsg::ConstPtr &msg)
+{
+}
+
+bool Perception::PublishState_6D3(const canbus::canMsg::ConstPtr &msg)
+{
+}
 
+bool Perception::PublishState_6D4(const canbus::canMsg::ConstPtr &msg)
+{
+}
 
+bool Perception::PublishState_6D5(const canbus::canMsg::ConstPtr &msg)
+{
+}
 
+bool Perception::PublishState_6D6(const canbus::canMsg::ConstPtr &msg)
+{
+}
 
 
     }  // namespace perception

src/perception/perception.h

@@ -5,7 +5,7 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
 #include <canbus/canMsg.h>
-
+#include <perception/aesMsg.h>
 namespace robot {
 namespace perception {
 
@@ -67,9 +67,30 @@ public:
 
     bool PublishState_6D1(const canbus::canMsg::ConstPtr& msg);
 
+    bool PublishState_6D2(const canbus::canMsg::ConstPtr& msg);
+
+    bool PublishState_6D3(const canbus::canMsg::ConstPtr& msg);
+
+    bool PublishState_6D4(const canbus::canMsg::ConstPtr& msg);
+
+    bool PublishState_6D5(const canbus::canMsg::ConstPtr& msg);
+
+    bool PublishState_6D6(const canbus::canMsg::ConstPtr& msg);
+
+
+    void CanTopicCallbackTest(const ::perception::aesMsg::ConstPtr& msg);
 private:
 
-     //ros::Publisher busData_pub;
+     ros::Publisher bus_pub_6E5;
+     ros::Publisher bus_pub_6ED;
+     ros::Publisher bus_pub_6EE;
+
+     ros::Publisher bus_pub_6D1;
+     ros::Publisher bus_pub_6D2;
+     ros::Publisher bus_pub_6D3;
+     ros::Publisher bus_pub_6D4;
+     ros::Publisher bus_pub_6D5;
+     ros::Publisher bus_pub_6D6;
 };