commit

trigger/pjisuv/cicv_amr_trajectory/ControlJump/main/ControlJump.go

@@ -4,6 +4,7 @@ import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
 	"math"
+	"slices"
 )
 
 func Topic() string {
@@ -12,36 +13,22 @@ func Topic() string {
 
 // Label todo 禁止存在下划线_
 func Label() string {
-	return "controljump"
+	return "ControlJump"
 }
 
-func Rule(data *pjisuv_msgs.Trajectory, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string {
 	var currentCurvateres []float64
 	for _, point := range data.Trajectoryinfo.Trajectorypoints {
 		currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))
 	}
 	if len(currentCurvateres) != 0 {
-		maxCurrent := findMax(currentCurvateres)
-		maxLast := findMax(param.LastCurvaturesOfCicvAmrTrajectory)
+
+		maxCurrent := slices.Max(currentCurvateres)
+		maxLast := slices.Max(param.LastCurvaturesOfCicvAmrTrajectory)
 		a := math.Abs(maxCurrent - maxLast)
 		if a >= 0.099 {
-			return "controljump"
+			return "ControlJump"
 		}
 	}
 	return ""
 }
-
-// findMax 函数接收一个float64类型的切片，并返回其中的最大值
-func findMax(numbers []float64) float64 {
-	if len(numbers) == 0 {
-		// 如果没有元素，可以根据需要处理，这里直接返回0作为示例
-		return 0
-	}
-	maxTemp := numbers[0] // 假设第一个元素就是最大的
-	for _, number := range numbers {
-		if number > maxTemp {
-			maxTemp = number
-		}
-	}
-	return maxTemp
-}

trigger/pjisuv/fault_info/ErrorCode/main/ErrorCode.go

@@ -2,7 +2,6 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
 )
 
 func Topic() string {
@@ -30,7 +29,3 @@ func Rule(data *pjisuv_msgs.FaultVec) string {
 	//}
 	//return ""
 }
-
-func toString(value interface{}) string {
-	return fmt.Sprintf("%v", value)
-}

trigger/pjisuv/map_polygon/OutOfLane/main/OutOfLane.go

@@ -59,7 +59,7 @@ func polygonLineIntersect(polygon []pjisuv_msgs.Point64, A, B pjisuv_msgs.Point6
 	return false
 }
 
-func Rule(data *pjisuv_msgs.PolygonStamped, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string {
 	Points := data.Polygon.Points
 	D1, D2, D3 := 3.813, 0.952, 1.086
 	corners := getVehicleCorners(param.PositionXOfCicvLocation, param.PositionYOfCicvLocation, D1, D2, D3, param.YawOfCicvLocation)

trigger/pjisuv/tpperception/TTC/main/TTC.go

@@ -3,7 +3,6 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
-	"fmt"
 	"math"
 )
 
@@ -36,11 +35,10 @@ func Label() string {
 	return "TTC"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
 	for _, obj := range data.Objs {
 		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityXOfCicvLocation > 0.5 {
 			ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))
-			fmt.Println("TTC值为：", ttc)
 			if ttc >= 0 && ttc <= 3 {
 				return "TTC"
 			}
@@ -48,8 +46,3 @@ func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) s
 	}
 	return ""
 }
-
-// DegreesToRadians 计算角度转弧度
-func DegreesToRadians(degrees float64) float64 {
-	return degrees * math.Pi / 180.0
-}

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

@@ -15,7 +15,7 @@ func Label() string {
 	return "TargetAhead"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
 	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）

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

@@ -30,7 +30,7 @@ func Label() string {
 	return "PerceptionSpeedDiffer"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
 	for _, obj := range data.Objs {
 		if len(param.ObjSpeedDicOfTpperception) != 0 {
 			if _, exist := param.ObjSpeedDicOfTpperception[obj.Id]; exist {

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

@@ -22,15 +22,15 @@ func Topic() string {
 
 // Label todo 禁止存在下划线_
 func Label() string {
-	return "perceptiontypediffer"
+	return "PerceptionTypeDiffer"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
 	for _, obj := range data.Objs {
 		if len(param.ObjTypeDicOfTpperception) != 0 {
 			for _, lastObjType := range param.ObjTypeDicOfTpperception {
 				if lastObjType != obj.Type {
-					return "perceptiontypediffer"
+					return "PerceptionTypeDiffer"
 				}
 			}
 		}