Merge remote-tracking branch 'origin/master'

trigger/pjisuv/tpperception/perceptionspeeddiffer/main/PerceptionSpeedDiffer.go

@@ -2,9 +2,9 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
-	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
 	"math"
+	"sync"
 )
 
 /*
@@ -26,27 +26,32 @@ func Topic() string {
 	return "/tpperception"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
 	return "PerceptionSpeedDiffer"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
 	defer func() {
 		if r := recover(); r != nil {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	for _, obj := range data.Objs {
-		if len(param.ObjSpeedDicOfTpperception) != 0 {
-			if _, exist := param.ObjSpeedDicOfTpperception[obj.Id]; exist {
-				objSpeed := math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
-				diffRate := math.Abs(objSpeed-param.ObjSpeedDicOfTpperception[obj.Id]) / (param.ObjSpeedDicOfTpperception[obj.Id] + 0.0001)
-				if diffRate > 0.1 && objSpeed > 0.5 && param.ObjSpeedDicOfTpperception[obj.Id] > 0.5 {
-					return "PerceptionSpeedDiffer"
+	value, ok := shareVars.Load("ObjSpeedDicOfTpperception")
+	if ok {
+		objSpeedDicOfTpperception := value.(map[uint32]float64)
+		for _, obj := range data.Objs {
+			if len(objSpeedDicOfTpperception) != 0 {
+				if _, exist := objSpeedDicOfTpperception[obj.Id]; exist {
+					objSpeed := math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
+					diffRate := math.Abs(objSpeed-objSpeedDicOfTpperception[obj.Id]) / (objSpeedDicOfTpperception[obj.Id] + 0.0001)
+					if diffRate > 0.1 && objSpeed > 0.5 && objSpeedDicOfTpperception[obj.Id] > 0.5 {
+						return Label()
+					}
 				}
 			}
 		}
 	}
+
 	return ""
 }

trigger/pjisuv/tpperception/perceptiontypediffer/main/PerceptionTypeDiffer.go

@@ -2,8 +2,8 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
-	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
+	"sync"
 )
 
 /*
@@ -21,25 +21,30 @@ func Topic() string {
 	return "/tpperception"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
 	return "PerceptionTypeDiffer"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
 	defer func() {
 		if r := recover(); r != nil {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	for _, obj := range data.Objs {
-		if len(param.ObjTypeDicOfTpperception) != 0 {
-			for _, lastObjType := range param.ObjTypeDicOfTpperception {
-				if lastObjType != obj.Type {
-					return "PerceptionTypeDiffer"
+	value, ok := shareVars.Load("ObjTypeDicOfTpperception")
+	if ok {
+		objTypeDicOfTpperception := value.(map[uint32]uint8)
+		for _, obj := range data.Objs {
+			if len(objTypeDicOfTpperception) != 0 {
+				for _, lastObjType := range objTypeDicOfTpperception {
+					if lastObjType != obj.Type {
+						return Label()
+					}
 				}
 			}
 		}
 	}
+
 	return ""
 }