add SpeedBumpOverspeed trigger

trigger/pjisuv/cicv_location/CurveOverspeed/main/CurveOverspeed.go

@@ -71,8 +71,8 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 		IsCurve = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)
 
 		if Automode == 1 && IsCurve {
-			absspeed := math.Sqrt(math.Pow(data.VelocityX, 2) + math.Pow(data.VelocityY, 2))
-			if absspeed >= threshold {
+			absspeed, ok := shareVars.Load("AbsSpeed")
+			if ok && absspeed.(float64) >= threshold {
 				eventLabel := "CurveOverspeed"
 				fmt.Println(eventLabel)
 				count1 = 1

trigger/pjisuv/cicv_location/JunctionOverspeed/main/JunctionOverspeed.go

@@ -78,8 +78,8 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 		IsCurve = IfEnter(pointlist, 16.0, data.Latitude, data.Longitude)
 
 		if Automode == 1 && IsCurve {
-			absspeed := math.Sqrt(math.Pow(data.VelocityX, 2) + math.Pow(data.VelocityY, 2))
-			if absspeed >= threshold {
+			absspeed, ok := shareVars.Load("AbsSpeed")
+			if ok && absspeed.(float64) >= threshold {
 				eventLabel := "JunctionOverspeed"
 				fmt.Println(eventLabel)
 				count1 = 1

trigger/pjisuv/cicv_location/SpeedBumpOverspeed/main/SpeedBumpOverspeed.go

@@ -0,0 +1,90 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+)
+
+type Point struct {
+	Latitude  float64
+	Longitude float64
+}
+
+var (
+	threshold   float64 = 4.0
+	IsSpeedBump bool
+	count1      int64
+	//定义园减速带经纬度
+	point3     = Point{39.73002669559404, 116.49020088105833}
+	point4     = Point{39.728688903362254, 116.4896802037327}
+	point5     = Point{39.728406077854494, 116.48901074348075}
+	point6     = Point{39.7287051534828, 116.48822784823321}
+	point7     = Point{39.72925799042968, 116.49074368869654}
+	pointlist1 = []Point{point3, point4, point5, point6, point7}
+)
+
+func Topic() string {
+	return "/cicv_location"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "SpeedBumpOverspeed"
+}
+
+func IfEnter(pointlist []Point, radius float64, lat, lon float64) bool {
+	// 判断是否进入点列表中的区域
+	point1 := Point{Latitude: lat, Longitude: lon}
+	for _, point := range pointlist {
+		d := distance(point1, point)
+		if d <= radius {
+			return true
+		}
+	}
+	return false
+}
+
+// 计算两点之间的距离（米）
+func distance(point1, point2 Point) float64 {
+	// 经纬度转弧度
+	lat1 := point1.Latitude * math.Pi / 180
+	lon1 := point1.Longitude * math.Pi / 180
+	lat2 := point2.Latitude * math.Pi / 180
+	lon2 := point2.Longitude * math.Pi / 180
+
+	// 计算距离
+	dlon := lon2 - lon1
+	dlat := lat2 - lat1
+	a := math.Sin(dlat/2)*math.Sin(dlat/2) + math.Sin(dlon/2)*math.Sin(dlon/2)*math.Cos(lat1)*math.Cos(lat2)
+	c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
+	d := 6371000 * c
+
+	return d
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	if count1%10 == 0 {
+		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
+		Automode = Automode.(int16)
+		IsSpeedBump = IfEnter(pointlist1, 7.0, data.Latitude, data.Longitude)
+
+		if Automode == 1 && IsSpeedBump {
+			absspeed, ok := shareVars.Load("AbsSpeed")
+			if ok && absspeed.(float64) >= threshold {
+				eventLabel := "SpeedBumpOverspeed"
+				fmt.Println(eventLabel)
+				count1 = 1
+				return Label()
+			}
+		}
+	}
+	count1++
+	return ""
+}