modify TargetAhead trigger

add TargetTooClose trigger

trigger/pjisuv/tpperception/TargetAhead/main/TargetAhead.go

@@ -23,7 +23,7 @@ func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam)
 		}
 	}()
 	for _, obj := range data.Objs {
-		if math.Abs(float64(obj.Y)) <= 1.5 && obj.X >= 0 && obj.X <= 6 && param.AngularVelocityZOfCicvLocation < 5.5 && math.Abs(param.VelocityXOfCicvLocation) >= 0.5 {
+		if math.Abs(float64(obj.Y)) <= 2.3 && obj.X >= 0 && obj.X <= 13 && param.AngularVelocityZOfCicvLocation < 5.5 && math.Abs(param.VelocityXOfCicvLocation) >= 0.5 {
 			//event_label := "TargetAhead" //测试车正前方１０米范围内有目标物（过滤掉测试车转弯的情况）
 			//fmt.Println(event_label)
 			return "TargetAhead"

trigger/pjisuv/tpperception/TargetTooClose/main/TargetTooClose.go

@@ -0,0 +1,33 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
+	"math"
+)
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// Label todo 禁止存在下划线_
+func Label() string {
+	return "TargetTooClose"
+}
+
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	for _, obj := range data.Objs {
+		if math.Abs(float64(obj.Y)) <= 1.5 && obj.X >= 0 && obj.X <= 6 && param.AngularVelocityZOfCicvLocation < 5.5 && math.Abs(param.VelocityXOfCicvLocation) >= 0.5 {
+			//event_label := "TargetAhead" //测试车正前方１０米范围内有目标物（过滤掉测试车转弯的情况）
+			//fmt.Println(event_label)
+			return "TargetTooClose"
+		}
+	}
+	return ""
+}