trigger/main/pji_DGNC/LocationJump/main/LocationJump.go

package main

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

var (
	PrePositionX float64 = 0
	PrePositionY float64 = 0
	//numbers              = make([]float64, 0)
)

func CallbackCicvLocation(data *pjisuv_msgs.PerceptionLocalization) {
	if PrePositionX != 0 && PrePositionY != 0 {
		d := math.Sqrt((PrePositionX-data.PositionX)*(PrePositionX-data.PositionX) + (PrePositionY-data.PositionY)*(PrePositionY-data.PositionY))
		if d >= 2 {
			eventLabel := "LocationJump"
			fmt.Println(eventLabel)
		}
		//fmt.Println(d)
		//numbers = append(numbers, d)
		//sort.Float64s(numbers)
		//max := numbers[len(numbers)-1]
		//fmt.Println("最大值为:", max)
	}
	PrePositionX = data.PositionX
	PrePositionY = data.PositionY

}
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()

	// wait for CTRL-C
	c := make(chan os.Signal, 1)
	//sort.Float64s(numbers)
	//max := numbers[len(numbers)-1]
	//fmt.Println("最大值为:", max)
	signal.Notify(c, os.Interrupt)
	<-c
}