trigger/main/pji_DGNC/AuLongStop/main/AuLongStop.go

package main

import (
	"awesomeProject/entity"
	"awesomeProject/pjisuv_msgs"
	"fmt"
	"github.com/bluenviron/goroslib/v2"
	"os"
	"os/signal"
	"time"
)

var (
	param     entity.PjisuvParam
	StartTime int64
	IsStopped bool
)

func CallbackCicvLocation(data *pjisuv_msgs.PerceptionLocalization) {
	//print(param.AutomodeOfPjVehicleFdbPub)
	if param.AutomodeOfPjVehicleFdbPub == 1 {
		if data.VelocityX < 0.5 {
			// 如果之前没有记录开始时间，记录当前时间
			if StartTime == 0 {
				StartTime = time.Now().Unix()
			}

			// 判断是否持续超过一分钟
			if time.Now().Unix()-StartTime > 10 {
				if !IsStopped {
					event_label := "AuLongStop"
					fmt.Println(event_label)
					IsStopped = true
				}
			}
		} else {
			// 如果速度大于 0.1，重置开始时间和停止标志
			StartTime = 0
			//is_stopped = false
		}
	}
}

func CallbackPjVehicleFdbPub(data *pjisuv_msgs.VehicleFdb) {
	param.AutomodeOfPjVehicleFdbPub = data.Automode

}

func main() {
	go listener()
	select {}
	//time.Sleep(10000)
}

func listener() {
	// create a node and connect to the master
	n, err := goroslib.NewNode(goroslib.NodeConf{
		Name:          "goroslib_sub",
		MasterAddress: "127.0.0.1:11311",
	})
	if err != nil {
		panic(err)
	}
	defer n.Close()

	// create a subscriber
	subCicvLocation, err := goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:     n,
		Topic:    "/cicv_location",
		Callback: CallbackCicvLocation,
	})
	if err != nil {
		panic(err)
	}
	defer subCicvLocation.Close()

	// create a subscriber
	subTpperception, err := goroslib.NewSubscriber(goroslib.SubscriberConf{

		Node:     n,
		Topic:    "pj_vehicle_fdb_pub",
		Callback: CallbackPjVehicleFdbPub,
	})
	if err != nil {
		panic(err)
	}
	defer subTpperception.Close()

	// wait for CTRL-C
	c := make(chan os.Signal, 1)
	signal.Notify(c, os.Interrupt)
	<-c
}