modify EnterTjunction trigger

and FindTrafficLight trigger

trigger/pjisuv/cicv_location/EnterTjunction/main/EnterTjunction.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
 	"math"
 )
@@ -34,7 +35,7 @@ var (
 	pointlist = []Point{point3, point4, point5, point6, point7, point8}
 )
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string {
 	defer func() {
 		if r := recover(); r != nil {
 			fmt.Println("Recovered from panic:", r)
@@ -43,7 +44,7 @@ func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	if count2%10 == 0 {
 
 		enterflag := IfEnter(pointlist, 12.0, data.Latitude, data.Longitude)
-		if enterflag {
+		if enterflag && param.VelocityXOfCicvLocation >= 1 {
 			//eventLabel := "EnterTjunction"
 			//fmt.Println(eventLabel)
 			return Label()

trigger/pjisuv/cicv_location/FindTrafficLight/main/FindTrafficLight.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
 	"math"
 )
@@ -32,7 +33,7 @@ var (
 	pointlist = []Point{point2, point3, point4, point5}
 )
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string {
 	defer func() {
 		if r := recover(); r != nil {
 			fmt.Println("Recovered from panic:", r)
@@ -41,7 +42,7 @@ func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	if count1%10 == 0 {
 
 		enterflag := IfEnter(pointlist, 25.0, data.Latitude, data.Longitude)
-		if enterflag {
+		if enterflag && param.VelocityXOfCicvLocation >= 1 {
 			//eventLabel := "FindTrafficLight"
 			//fmt.Println(eventLabel)
 			return "FindTrafficLight"