trigger/main/pji_DGNC/CBLA/main/CBLA.go

package main

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

type Point struct {
	Latitude  float64
	Longitude float64
}

var (
	param     entity.PjisuvParam
	StartTime int64
	IsFollow  bool
)

func CallbackTpperception(data *pjisuv_msgs.PerceptionObjects) {
	for _, obj := range data.Objs {
		fmt.Println("ID=", obj.Id, "Type=", obj.Type)
		if obj.Type == 4 && obj.X >= 2 && obj.X <= 20 && math.Abs(float64(obj.Y)) <= 1.2 {
			if StartTime == 0 {
				StartTime = time.Now().Unix()
			}

			// 判断是否持续超过5S
			if time.Now().Unix()-StartTime > 5 {
				if !IsFollow {
					event_label := "CBLA"
					fmt.Println(event_label)
					IsFollow = true
				}
			}
		} else {
			StartTime = 0
			IsFollow = false
		}
	}

}
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
	subEndPointMessage, err := goroslib.NewSubscriber(goroslib.SubscriberConf{

		Node:     n,
		Topic:    "/tpperception",
		Callback: CallbackTpperception,
	})
	if err != nil {
		panic(err)
	}
	defer subEndPointMessage.Close()

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