20250609

go.mod

@@ -1,6 +1,8 @@
-module cicv-data-closedloop
+module cicv_data_closedloop
 
-go 1.22.0
+go 1.23.0
+
+//go 1.19
 
 require (
 	github.com/aliyun/aliyun-oss-go-sdk v3.0.1+incompatible
@@ -11,7 +13,6 @@ require (
 	github.com/gorilla/websocket v1.5.2
 	github.com/jmoiron/sqlx v1.3.5
 	github.com/shirou/gopsutil v3.21.11+incompatible
-	github.com/signintech/gopdf v0.24.0
 	github.com/sirupsen/logrus v1.9.3
 	gopkg.in/yaml.v2 v2.4.0
 	gopkg.in/yaml.v3 v3.0.1
@@ -22,7 +23,6 @@ require (
 	github.com/chenzhuoyu/base64x v0.0.0-20230717121745-296ad89f973d // indirect
 	github.com/chenzhuoyu/iasm v0.9.1 // indirect
 	github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc // indirect
-	github.com/foxglove/go-rosbag v0.0.6 // indirect
 	github.com/gabriel-vasile/mimetype v1.4.3 // indirect
 	github.com/gin-contrib/sse v0.1.0 // indirect
 	github.com/go-ole/go-ole v1.2.6 // indirect
@@ -40,12 +40,8 @@ require (
 	github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd // indirect
 	github.com/modern-go/reflect2 v1.0.2 // indirect
 	github.com/pelletier/go-toml/v2 v2.1.1 // indirect
-	github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311 // indirect
-	github.com/pierrec/lz4/v4 v4.1.18 // indirect
-	github.com/pkg/errors v0.9.1 // indirect
 	github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect
 	github.com/rogpeppe/go-internal v1.10.0 // indirect
-	github.com/stretchr/testify v1.8.4 // indirect
 	github.com/tklauser/go-sysconf v0.3.13 // indirect
 	github.com/tklauser/numcpus v0.7.0 // indirect
 	github.com/twitchyliquid64/golang-asm v0.15.1 // indirect

go.sum

@@ -18,8 +18,6 @@ github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSs
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc h1:U9qPSI2PIWSS1VwoXQT9A3Wy9MM3WgvqSxFWenqJduM=
 github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/foxglove/go-rosbag v0.0.6 h1:LcWr1LqdS1NxWO4+mbPfo7d1jpL3gybqRmX1abD8eAw=
-github.com/foxglove/go-rosbag v0.0.6/go.mod h1:Kz3doYZfPO6OIawx4tFm9MU9COkuzcYaI963psJeLrA=
 github.com/gabriel-vasile/mimetype v1.4.3 h1:in2uUcidCuFcDKtdcBxlR0rJ1+fsokWf+uqxgUFjbI0=
 github.com/gabriel-vasile/mimetype v1.4.3/go.mod h1:d8uq/6HKRL6CGdk+aubisF/M5GcPfT7nKyLpA0lbSSk=
 github.com/gin-contrib/sse v0.1.0 h1:Y/yl/+YNO8GZSjAhjMsSuLt29uWRFHdHYUb5lYOV9qE=
@@ -80,14 +78,7 @@ github.com/modern-go/reflect2 v1.0.2 h1:xBagoLtFs94CBntxluKeaWgTMpvLxC4ur3nMaC9G
 github.com/modern-go/reflect2 v1.0.2/go.mod h1:yWuevngMOJpCy52FWWMvUC8ws7m/LJsjYzDa0/r8luk=
 github.com/pelletier/go-toml/v2 v2.1.1 h1:LWAJwfNvjQZCFIDKWYQaM62NcYeYViCmWIwmOStowAI=
 github.com/pelletier/go-toml/v2 v2.1.1/go.mod h1:tJU2Z3ZkXwnxa4DPO899bsyIoywizdUvyaeZurnPPDc=
-github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311 h1:zyWXQ6vu27ETMpYsEMAsisQ+GqJ4e1TPvSNfdOPF0no=
-github.com/phpdave11/gofpdi v1.0.14-0.20211212211723-1f10f9844311/go.mod h1:vBmVV0Do6hSBHC8uKUQ71JGW+ZGQq74llk/7bXwjDoI=
-github.com/pierrec/lz4/v4 v4.1.18 h1:xaKrnTkyoqfh1YItXl56+6KJNVYWlEEPuAQW9xsplYQ=
-github.com/pierrec/lz4/v4 v4.1.18/go.mod h1:gZWDp/Ze/IJXGXf23ltt2EXimqmTUXEy0GFuRQyBid4=
 github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA=
-github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
-github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
-github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 h1:Jamvg5psRIccs7FGNTlIRMkT8wgtp5eCXdBlqhYGL6U=
 github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
@@ -96,8 +87,6 @@ github.com/rogpeppe/go-internal v1.10.0 h1:TMyTOH3F/DB16zRVcYyreMH6GnZZrwQVAoYjR
 github.com/rogpeppe/go-internal v1.10.0/go.mod h1:UQnix2H7Ngw/k4C5ijL5+65zddjncjaFoBhdsK/akog=
 github.com/shirou/gopsutil v3.21.11+incompatible h1:+1+c1VGhc88SSonWP6foOcLhvnKlUeu/erjjvaPEYiI=
 github.com/shirou/gopsutil v3.21.11+incompatible/go.mod h1:5b4v6he4MtMOwMlS0TUMTu2PcXUg8+E1lC7eC3UO/RA=
-github.com/signintech/gopdf v0.24.0 h1:1V0LCbe9A8E2mDYtdLW5/vOiT9jPQHjebTnSrLUVwe0=
-github.com/signintech/gopdf v0.24.0/go.mod h1:wrLtZoWaRNrS4hphED0oflFoa6IWkOu6M3nJjm4VbO4=
 github.com/sirupsen/logrus v1.9.3 h1:dueUQJ1C2q9oE3F7wvmSGAaVtTmUizReu6fjN8uqzbQ=
 github.com/sirupsen/logrus v1.9.3/go.mod h1:naHLuLoDiP4jHNo9R0sCBMtWGeIprob74mVsIT4qYEQ=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=

pjisuv_msgs/perception_msgs.go

@@ -247,7 +247,7 @@ type CtrlTest struct {
 	VCU1ICPVStrAngleSpd     float64 `rosname:"VCU1_ICPV_StrAngleSpd"`
 	VCU1ICPVStrAngleFb      float64 `rosname:"VCU1_ICPV_StrAngleFb"`
 	VCU1ICPVEPSMODE         float64 `rosname:"VCU1_ICPV_EPSMODE"`
-	VCU1ICPVStrAngleSpdDir  float64 `rosname:"VCU1_ICPV_StrAngleSpdDir"`
+	VCU1ICPVStrAngleSpdDir  float64 `rosname:"VCU1_ICPV_SltrAngleSpdDir"`
 	VCU1ICPVYawRate         float64 `rosname:"VCU1_ICPV_YawRate"`
 	VCU1ICPVLongAcc         float64 `rosname:"VCU1_ICPV_LongAcc"`
 	PCUICPVTMDirSts         float64 `rosname:"PCU_ICPV_TMDirSts"`

trigger/jili/cicv_extend/cut_trigger_jinlong.py

@@ -1,266 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-from __future__ import print_function
-import rospy
-import sys
-import math
-from perception_msgs.msg import PerceptionLocalization
-from perception_msgs.msg import PerceptionObjects
-from perception_msgs.msg import Object
-from control_msgs.msg import Jinlong_Control_Command
-from common_msgs.msg import Retrieval 
-from std_msgs.msg import Bool
-
-import math
-
-import rosbag
-import threading
-import time
-import subprocess
-from datetime import datetime
-from subprocess import Popen, PIPE
-import signal
-import os
-import datetime
-from threading import Thread
-from fnmatch import fnmatch
-from fnmatch import fnmatch, fnmatchcase 
-from rosbag import Bag
-from scipy import stats
-
-
-
-obj_lock = threading.Lock()
-difference_lock = threading.Lock()
-
-
-ego_Steering_real=[1]
-ego_throttle_real=[1]
-ego_brake_real=[1]
-ego_Steering_cmd=[1]
-ego_throttle_cmd=[1]
-ego_brake_cmd=[1]
-obj_dic={}
-#Strg_Angle_Real_Value=0
-num_count_data_read=0
-angular_velocity_z=0
-num_count_jinlong_Control_Command=0
-
-
-def callback_cicv_location(data):
-    global angular_velocity_z
-    angular_velocity_z=data.angular_velocity_z
-
-    
-def callback_Jinlong_Control_Command(data):
-    global ego_Steering_cmd
-    global ego_throttle_cmd 
-    global ego_brake_cmd
-    global num_count_jinlong_Control_Command
-    
-    num_count_jinlong_Control_Command+=1
-    if num_count_jinlong_Control_Command == 10:
-        ego_Steering_cmd.append(data.AS_Strg_Angle_Req)
-        ego_throttle_cmd.append(data.AS_AutoD_Accel_Pos_Req)   
-        ego_brake_cmd.append(data.AS_AutoD_BrkPelPos_Req)
-        num_count_jinlong_Control_Command=0
-           
-    
-def callback_data_read(data):  
-    #global Strg_Angle_Real_Value
-    global ego_Steering_real
-    global ego_throttle_real
-    global ego_brake_real
-    global num_count_data_read 
-    
-    num_count_data_read+=1
-    if num_count_data_read == 10:
-        ego_Steering_real.append(data.Strg_Angle_Real_Value)
-        ego_throttle_real.append(data.VCU_Accel_Pos_Value)
-        ego_brake_real.append(data.VCU_BrkPel_Pos_Value)
-        num_count_data_read=0 
-    
-    #Strg_Angle_Real_Value=data.ActStrWhAng     
- 
-def callback_tpperception(data):
-    global obj_dic
-    obj_list=data.objs
-    for obj in obj_list:
-
-        
-        if  (obj.type !=1 and  obj.type !=0 ) or obj.x<=5  or abs(obj.y)>=10: #  (obj.type !=1 and  obj.type !=0 ) 
-            continue       
-        #print(f"obj.type={obj.type},obj.id={obj.id},obj.x={obj.x},obj.y={obj.y}")
-        if obj.id not in obj_dic:
-            obj_dic[obj.id]=[]
-        obj_dic[obj.id].append(obj.y)
-    #print("----------------------------------------------------")
-        
-    
-def if_cutin(obj_y_list):
-    global Strg_Angle_Real_Value
-    global angular_velocity_z
-
-    print(obj_y_list)
-    flag_cutin=False
-
-    for i, obj_y in enumerate(obj_y_list):
-        if abs(obj_y)>=1.3 and abs(angular_velocity_z)<=0.6:
-            for j in range(len(obj_y_list)-i-1):
-                if abs(obj_y_list[1+i+j])<=0.7 and abs(angular_velocity_z)<=0.6:
-                    flag_cutin=True
-                    print('front car cut in')
-                    return flag_cutin
-    return flag_cutin
-
-
-def if_cutout(obj_y_list):
-    global Strg_Angle_Real_Value
-
-    global angular_velocity_z
-    #print(angular_velocity_z)
-    #print(obj_y_list)
-    #print('----------------------------------------------------------------------------')
-   
-    flag_cutout=False
-    for i, obj_y in enumerate(obj_y_list):
-        if abs(obj_y)<=0.6 and abs(angular_velocity_z)<=0.6:
-            for j in range(len(obj_y_list)-i-1):
-                if abs(obj_y_list[1+i+j])>=1.2 and abs(angular_velocity_z)<=0.6:
-                    flag_cutout=True
-                    print('front car cut out')
-                    return flag_cutout
-    return flag_cutout           
-
-
-def if_difference(ego_Steering_real,ego_throttle_real,ego_brake_real,
-                  ego_Steering_cmd,ego_throttle_cmd,ego_brake_cmd): # 利用曼惠特尼U检验的方式判断车端数据和驾驶员控制数据是否存在显著差异
-    
-    difference_flag=False
-
-    statistic_Steering, p_value_Steering = stats.mannwhitneyu(ego_Steering_real, ego_Steering_cmd)
-    statistic_throttle, p_value_throttle = stats.mannwhitneyu(ego_throttle_real, ego_throttle_cmd)
-    statistic_brake, p_value_brake = stats.mannwhitneyu(ego_brake_real, ego_brake_cmd)
-    if p_value_Steering < 0.05 or p_value_throttle < 0.05 or p_value_brake < 0.05:
-        difference_flag=True
-
-    return difference_flag
-            
-def callback_failure_lidar(data):
-    
-    if data.data: #为true,代表该传感器未匹配的目标过多
-        event_label='failurelidar'
-        
-        
-def callback_failure_radar(data):
-    if data.data: #为true,代表该传感器未匹配的目标过多
-        event_label='failureradar'
-
-def callback_failure_camera(data):
-    if data.data: #为true,代表该传感器未匹配的目标过多
-        event_label='failurecamera'
-
-
-def final_callback(event):
-    global obj_dic
-    global ego_Steering_real
-    global ego_throttle_real
-    global ego_brake_real
-    global ego_Steering_cmd
-    global ego_throttle_cmd
-    global ego_brake_cmd
-    cutin_flag = False
-    cutout_flag = False
-    flag_difference = False
-    #print('ego_Steering_real=')
-    #print(ego_Steering_real)
-    #print('--------------------------------------------------------------')
-   
-    with obj_lock:
-        # 先判断前车是否切入
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutin_flag=if_cutin(obj_value)
-
-            
-        # 再判断前车是否切出     来自 /tpperception
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutout_flag=if_cutout(obj_value)
-
-        with difference_lock:    
-            if cutin_flag:
-                print('The cutting-in behavior of the front car was detected')
-                flag_difference=if_difference(ego_Steering_real,ego_throttle_real,ego_brake_real,
-                                              ego_Steering_cmd,ego_throttle_cmd,ego_brake_cmd)
-                if flag_difference:
-                    event_label='cutin_difference'
-                    print('********cutin_difference********')
-               
-            if cutout_flag:
-                print('The cutting-out behavior of the front car was detected')
-                flag_difference=if_difference(ego_Steering_real,ego_throttle_real,ego_brake_real,
-                                              ego_Steering_cmd,ego_throttle_cmd,ego_brake_cmd)
-                if flag_difference:
-                    event_label='cutout_difference'
-                    print('********cutout_difference********')
-                    '''
-                    print('ego_Steering_real=')
-                    print(ego_Steering_real)
-                    print('--------------------------------------------------------------')
-                    print('ego_Steering_cmd=')
-                    print(ego_Steering_cmd)
-                    print('--------------------------------------------------------------')
-                    print('ego_throttle_real=')
-                    print(ego_throttle_real)
-                    print('--------------------------------------------------------------')
-                    print('ego_throttle_cmd=')
-                    print(ego_throttle_cmd)
-                    print('--------------------------------------------------------------')
-                #print('----------------------------------------------------------------------------')
-                    '''
-            #ego_Steering_real.clear()
-            #ego_throttle_real.clear()
-            #ego_Steering_cmd.clear()
-            #ego_throttle_cmd.clear()
-            ego_Steering_real=[1]
-            ego_throttle_real=[1]
-            ego_Steering_cmd=[1]
-            ego_throttle_cmd=[1]          
-        obj_dic.clear()
-
-        
-def listener():
-    rospy.init_node('listener', anonymous=True)
-    rospy.Subscriber("/cicv_location",PerceptionLocalization,callback_cicv_location)
-    rospy.Subscriber("/tpperception",PerceptionObjects,callback_tpperception)
-    rospy.Subscriber("/jinlong_control_pub",Jinlong_Control_Command,callback_Jinlong_Control_Command)
-    rospy.Subscriber("/data_read",Retrieval,callback_data_read)
-    rospy.Subscriber("/failure/lidar",Bool,callback_failure_lidar)
-    rospy.Subscriber("/failure/radar",Bool,callback_failure_radar)
-    rospy.Subscriber("/failure/camera",Bool,callback_failure_camera)
-    
-    timer1 = rospy.Timer(rospy.Duration(4), final_callback)
-    rospy.spin()
-         
-
-if __name__ == '__main__':
-
-    listener()
-
-
- 
-    
-    
-   
-
-
-        
-
-
-
-
-

trigger/jili/cicv_extend/cut_trigger_pji.py

@@ -1,239 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-from __future__ import print_function
-import rospy
-import sys
-import math
-from perception_msgs.msg import PerceptionLocalization
-from perception_msgs.msg import PerceptionObjects
-from perception_msgs.msg import Object
-from common_msgs.msg import VehicleCmd
-from common_msgs.msg import Retrieval 
-
-import math
-
-import rosbag
-import threading
-import time
-import subprocess
-from datetime import datetime
-from subprocess import Popen, PIPE
-import signal
-import os
-import datetime
-from threading import Thread
-from fnmatch import fnmatch
-from fnmatch import fnmatch, fnmatchcase 
-from rosbag import Bag
-from scipy import stats
-
-
-
-obj_lock = threading.Lock()
-difference_lock = threading.Lock()
-
-
-ego_Steering_real=[]
-ego_throttle_real=[]
-ego_Brake_real=[]
-ego_Steering_cmd=[]
-ego_throttle_cmd=[]
-ego_Brake_cmd=[]
-obj_dic={}
-#Strg_Angle_Real_Value=0
-num_count_data_read=0
-angular_velocity_z=0
-num_count_pji_Control_Command=0
-
-
-def callback_cicv_location(data):
-    global angular_velocity_z
-
-    angular_velocity_z=data.angular_velocity_z
-
-    
-def callback_pji_Control_Command(data):
-    global ego_Steering_cmd
-    global ego_throttle_cmd 
-    global num_count_pji_Control_Command
-    
-    num_count_pji_Control_Command+=1
-    if num_count_pji_Control_Command == 10:
-        ego_Steering_cmd.append(data.ICPV_Cmd_StrAngle)
-        ego_throttle_cmd.append(data.ICPV_Cmd_AccPelPosAct)
-        num_count_pji_Control_Command=0
-           
-    
-def callback_data_read(data):  
-    global Strg_Angle_Real_Value
-    global ego_Steering_real
-    global ego_throttle_real
-    global num_count_data_read 
-    
-    num_count_data_read+=1
-    if num_count_data_read == 10:
-        ego_Steering_real.append(data.ActStrWhAng)
-        ego_throttle_real.append(data.AccPed2)
-        num_count_data_read=0 
-    
-    Strg_Angle_Real_Value=data.ActStrWhAng     
- 
-def callback_tpperception(data):
-    global obj_dic
-    obj_list=data.objs
-    for obj in obj_list:
-
-        
-        if  obj.x<=5  or abs(obj.y)>=10: #  (obj.type !=1 and  obj.type !=0 ) 
-            continue       
-        #print(f"obj.type={obj.type},obj.id={obj.id},obj.x={obj.x},obj.y={obj.y}")
-        if obj.id not in obj_dic:
-            obj_dic[obj.id]=[]
-        obj_dic[obj.id].append(obj.y)
-    #print("----------------------------------------------------")
-        
-    
-def if_cutin(obj_y_list):
-    global Strg_Angle_Real_Value
-    global angular_velocity_z
-
-    #print(obj_y_list)
-    flag_cutin=False
-
-    for i, obj_y in enumerate(obj_y_list):
-        if abs(obj_y)>=1.1 and abs(angular_velocity_z)<=0.6:
-            for j in range(len(obj_y_list)-i-1):
-                if abs(obj_y_list[1+i+j])<=0.6 and abs(angular_velocity_z)<=0.6:
-                    flag_cutin=True
-                    #print('front car cut in')
-                    return flag_cutin
-    return flag_cutin
-
-
-def if_cutout(obj_y_list):
-    global Strg_Angle_Real_Value
-
-    global angular_velocity_z
-    #print(angular_velocity_z)
-    #print(obj_y_list)
-    #print('----------------------------------------------------------------------------')
-   
-    flag_cutout=False
-    for i, obj_y in enumerate(obj_y_list):
-        if abs(obj_y)<=0.6 and abs(angular_velocity_z)<=0.6:
-            for j in range(len(obj_y_list)-i-1):
-                if abs(obj_y_list[1+i+j])>=1.2 and abs(angular_velocity_z)<=0.6:
-                    flag_cutout=True
-                    #print('front car cut out')
-                    return flag_cutout
-    return flag_cutout           
-
-
-def if_difference(ego_Steering_real,ego_throttle_real,ego_Steering_cmd,ego_throttle_cmd): # 利用曼惠特尼U检验的方式判断车端数据和驾驶员控制数据是否存在显著差异
-    
-    difference_flag=False
-
-    statistic_Steering, p_value_Steering = stats.mannwhitneyu(ego_Steering_real, ego_Steering_cmd)
-    statistic_throttle, p_value_throttle = stats.mannwhitneyu(ego_throttle_real, ego_throttle_cmd)
-    if p_value_Steering < 0.05 or p_value_throttle < 0.05:
-        difference_flag=True
-
-    return difference_flag
-            
-
-def final_callback(event):
-    global obj_dic
-    global ego_Steering_real
-    global ego_throttle_real  
-    global ego_Steering_cmd
-    global ego_throttle_cmd
-    cutin_flag = False
-    cutout_flag = False
-    flag_difference = False
-    #print('ego_Steering_real=')
-    #print(ego_Steering_real)
-    #print('--------------------------------------------------------------')
-   
-    with obj_lock:
-        # 先判断前车是否切入
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutin_flag=if_cutin(obj_value)
-
-            
-        # 再判断前车是否切出    
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutout_flag=if_cutout(obj_value)
-
-        with difference_lock:    
-            if cutin_flag:
-                print('The cutting-in behavior of the front car was detected')
-                flag_difference=if_difference(ego_Steering_real,ego_throttle_real,ego_Steering_cmd,ego_throttle_cmd)
-                if flag_difference:
-                    event_label='cutin_difference'
-                    print('********cutin_difference********')
-               
-            if cutout_flag:
-                print('The cutting-out behavior of the front car was detected')
-                flag_difference=if_difference(ego_Steering_real,ego_throttle_real,ego_Steering_cmd,ego_throttle_cmd)
-                if flag_difference:
-                    event_label='cutout_difference'
-                    print('********cutout_difference********')
-                    '''
-                    print('ego_Steering_real=')
-                    print(ego_Steering_real)
-                    print('--------------------------------------------------------------')
-                    print('ego_Steering_cmd=')
-                    print(ego_Steering_cmd)
-                    print('--------------------------------------------------------------')
-                    print('ego_throttle_real=')
-                    print(ego_throttle_real)
-                    print('--------------------------------------------------------------')
-                    print('ego_throttle_cmd=')
-                    print(ego_throttle_cmd)
-                    print('--------------------------------------------------------------')
-                #print('----------------------------------------------------------------------------')
-                    '''
-            #ego_Steering_real.clear()
-            #ego_throttle_real.clear()
-            #ego_Steering_cmd.clear()
-            #ego_throttle_cmd.clear()
-            ego_Steering_real=[1]
-            ego_throttle_real=[1]
-            ego_Steering_cmd=[1]
-            ego_throttle_cmd=[1]
-           
-        obj_dic.clear()
-
-        
-def listener():
-    rospy.init_node('listener', anonymous=True)
-    rospy.Subscriber("/cicv_location",PerceptionLocalization,callback_cicv_location) # done
-    rospy.Subscriber("/tpperception",PerceptionObjects,callback_tpperception)
-    rospy.Subscriber("/pj_control_pub",VehicleCmd,callback_pji_Control_Command)
-    rospy.Subscriber("/data_read",Retrieval,callback_data_read)
-    timer1 = rospy.Timer(rospy.Duration(3.5), final_callback)
-    rospy.spin()
-         
-
-if __name__ == '__main__':
-
-    listener()
-
-
- 
-    
-    
-   
-
-
-        
-
-
-
-
-

trigger/jili/cicv_extend/cutin_difference/main/cutin_difference.go

@@ -1,100 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/common/entity"
-	"math"
-	"sort"
-)
-
-func Topic() string {
-	return "/cicv_extend"
-}
-
-// Label todo 禁止存在下划线_
-func Label() string {
-	return "brake"
-}
-
-func Rule(param entity.PjisuvParam) string {
-	for _, objValue := range param.ObjDicOfTpperception {
-		if len(objValue) <= 5 || !isCuttingIn(objValue, param) || !isDifference(param) {
-			continue
-		}
-		return "cutin_difference"
-	}
-	return ""
-}
-
-func isCuttingIn(objYList []float32, param entity.PjisuvParam) bool {
-	for i, objY := range objYList {
-		if math.Abs(float64(objY)) >= 1.1 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 {
-			for j := 0; j < len(objYList)-i-1; j++ {
-				if math.Abs(float64(objYList[1+i+j])) <= 0.6 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 {
-					return true
-				}
-			}
-		}
-	}
-	return false
-}
-
-// 利用曼惠特尼U检验的方式判断车端数据和驾驶员控制数据是否存在显著差异
-func isDifference(param entity.PjisuvParam) bool {
-	_, pValueSteering := mannWhitneyUTest(param.EgoSteeringRealOfDataRead, param.EgoSteeringCmdOfPjControlPub)
-	_, pValueThrottle := mannWhitneyUTest(param.EgoThrottleRealOfDataRead, param.EgoThrottleCmdOfPjControlPub)
-	if pValueSteering < 0.05 || pValueThrottle < 0.05 {
-		return true
-	}
-	return false
-}
-
-func mannWhitneyUTest(group1, group2 []float64) (float64, float64) {
-	// 统计样本大小
-	n1 := float64(len(group1))
-	n2 := float64(len(group2))
-
-	// 合并样本并排序
-	combined := append(group1, group2...)
-	sort.Float64s(combined)
-
-	// 计算秩和
-	var rankSum1, rankSum2 float64
-	for i := range combined {
-		if i < len(group1) {
-			rankSum1 += float64(i + 1)
-		} else {
-			rankSum2 += float64(i + 1)
-		}
-	}
-
-	// 计算 U 统计量
-	u1 := rankSum1 - (n1 * (n1 + 1) / 2)
-	u2 := rankSum2 - (n2 * (n2 + 1) / 2)
-	u := math.Min(u1, u2)
-
-	// 计算 p 值
-	meanU := (n1 * n2 / 2)
-	stdDevU := math.Sqrt((n1 * n2 * (n1 + n2 + 1)) / 12)
-	z := (u - meanU) / stdDevU
-	p := 2 * (1 - normalCDF(z))
-
-	return u, p
-}
-
-func normalCDF(x float64) float64 {
-	const (
-		b1 = 0.319381530
-		b2 = -0.356563782
-		b3 = 1.781477937
-		b4 = -1.821255978
-		b5 = 1.330274429
-		p  = 0.2316419
-		c  = 0.39894228
-	)
-	if x >= 0.0 {
-		t := 1.0 / (1.0 + p*x)
-		return 1.0 - c*t*(t*(t*(t*(t*b5+b4)+b3)+b2)+b1)
-	}
-	t := 1.0 / (1.0 - p*x)
-	return c * t * (t*(t*(t*(t*b5+b4)+b3)+b2) + b1)
-}

trigger/jili/cicv_extend/cutout_difference/main/cutout_difference.go

@@ -1,100 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/common/entity"
-	"math"
-	"sort"
-)
-
-func Topic() string {
-	return "/cicv_extend"
-}
-
-// Label todo 禁止存在下划线_
-func Label() string {
-	return "cutout_difference"
-}
-
-func Rule(param entity.PjisuvParam) string {
-	for _, objValue := range param.ObjDicOfTpperception {
-		if len(objValue) <= 5 || !isCuttingOut(objValue, param) || !isDifference(param) {
-			continue
-		}
-		return "cutout_difference"
-	}
-	return ""
-}
-
-func isCuttingOut(objYList []float32, param entity.PjisuvParam) bool {
-	for i, objY := range objYList {
-		if math.Abs(float64(objY)) <= 0.6 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 {
-			for j := 0; j < len(objYList)-i-1; j++ {
-				if math.Abs(float64(objYList[1+i+j])) >= 1.2 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 {
-					return true
-				}
-			}
-		}
-	}
-	return false
-}
-
-// 利用曼惠特尼U检验的方式判断车端数据和驾驶员控制数据是否存在显著差异
-func isDifference(param entity.PjisuvParam) bool {
-	_, pValueSteering := mannWhitneyUTest(param.EgoSteeringRealOfDataRead, param.EgoSteeringCmdOfPjControlPub)
-	_, pValueThrottle := mannWhitneyUTest(param.EgoThrottleRealOfDataRead, param.EgoThrottleCmdOfPjControlPub)
-	if pValueSteering < 0.05 || pValueThrottle < 0.05 {
-		return true
-	}
-	return false
-}
-
-func mannWhitneyUTest(group1, group2 []float64) (float64, float64) {
-	// 统计样本大小
-	n1 := float64(len(group1))
-	n2 := float64(len(group2))
-
-	// 合并样本并排序
-	combined := append(group1, group2...)
-	sort.Float64s(combined)
-
-	// 计算秩和
-	var rankSum1, rankSum2 float64
-	for i := range combined {
-		if i < len(group1) {
-			rankSum1 += float64(i + 1)
-		} else {
-			rankSum2 += float64(i + 1)
-		}
-	}
-
-	// 计算 U 统计量
-	u1 := rankSum1 - (n1 * (n1 + 1) / 2)
-	u2 := rankSum2 - (n2 * (n2 + 1) / 2)
-	u := math.Min(u1, u2)
-
-	// 计算 p 值
-	meanU := (n1 * n2 / 2)
-	stdDevU := math.Sqrt((n1 * n2 * (n1 + n2 + 1)) / 12)
-	z := (u - meanU) / stdDevU
-	p := 2 * (1 - normalCDF(z))
-
-	return u, p
-}
-
-func normalCDF(x float64) float64 {
-	const (
-		b1 = 0.319381530
-		b2 = -0.356563782
-		b3 = 1.781477937
-		b4 = -1.821255978
-		b5 = 1.330274429
-		p  = 0.2316419
-		c  = 0.39894228
-	)
-	if x >= 0.0 {
-		t := 1.0 / (1.0 + p*x)
-		return 1.0 - c*t*(t*(t*(t*(t*b5+b4)+b3)+b2)+b1)
-	}
-	t := 1.0 / (1.0 - p*x)
-	return c * t * (t*(t*(t*(t*b5+b4)+b3)+b2) + b1)
-}

trigger/jili/cicv_extend/datareturn2.py

@@ -1,309 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-from __future__ import print_function
-import rospy
-import sys
-import math
-from perception_msgs.msg import PerceptionLocalization
-from perception_msgs.msg import PerceptionObjects
-from perception_msgs.msg import Object
-from perception_msgs.msg import PolygonStamped
-from perception_msgs.msg import Polygonbus
-from perception_msgs.msg import Trajectory
-from perception_msgs.msg import TrajectoryInfo
-from perception_msgs.msg import TrajectoryPoint
-from control_msgs.msg import VehicleFdb
-from control_msgs.msg import VehicleCmd
-import numpy as np
-import math
-
-import rosbag
-import threading
-import time
-import subprocess
-from datetime import datetime
-from subprocess import Popen, PIPE
-import signal
-import os
-import datetime
-from threading import Thread
-from fnmatch import fnmatch
-from fnmatch import fnmatch, fnmatchcase 
-from rosbag import Bag
-#from scipy import stats
-
-
-
-obj_lock = threading.Lock()
-difference_lock = threading.Lock()
-
-#定义全局变量
-obj_dic={}
-obj_type_dic={}
-obj_speed_dic={}
-angular_velocity_z=0
-num_count_pji_Control_Command=0
-pre_Automode_stat_flag=0
-Ego_position_x=0
-Ego_position_y=0
-Ego_yaw=0
-last_curvatures=[]
-
-
-def callback_cicv_location(data):
-    global angular_velocity_z
-    global Ego_position_x
-    global Ego_position_y
-    global Ego_yaw 
-
-    Trajectory
-    Ego_position_x=data.position_x
-    Ego_position_y=data.position_y
-    Ego_yaw=data.yaw
-    #print(Ego_yaw)
-    angular_velocity_z=data.angular_velocity_z
-    #print(angular_velocity_z)
-    if abs(angular_velocity_z)>=27:
-        event_label='overswing' #横摆角速度过大
-        print(event_label)
-
-
-def callback_pj_vehicle_fdb_pub(data):
-    global pre_Automode_stat_flag
-    if data.Automode==0 and pre_Automode_stat_flag==1:
-        event_label='DriverTakeOver'    #人工接管
-        print(event_label)
-    pre_Automode_stat_flag=data.Automode
-        
-
-def callback_tpperception(data):
-    global obj_dic
-    global obj_type_dic
-    global obj_speed_dic
-    obj_list=data.objs
-    for obj in obj_list:
-
-        if  obj.x>=5  and abs(obj.y)<=10: # 根据这个条件过滤一遍目标物 ,  用于前车切入切出判别           
-            if obj.id not in obj_dic:
-                obj_dic[obj.id]=[]
-            obj_dic[obj.id].append(obj.y)
-        
-        if abs(obj.y)<=2 and obj.x>=6: # 根据这个条件过滤一遍目标物 ,  用于计算ＴＴＣ 
-            
-            TTC=-(obj.x-4)/(obj.vxrel+0.0001)
-            if 0<=TTC<=3:
-                event_label='TTC'
-                print(event_label)
-                break
-        
-        if obj_type_dic is not {}: #相邻两帧对于同一目标物感知类型不一致
-            if obj.id in obj_type_dic:
-                if obj.type != obj_type_dic[obj.id]:
-                    event_label='perceptiontypediffer'    
-
-                    print(event_label)
-                else:
-                    print(obj.type,"   ",obj_type_dic[obj.id])
-
-
-        if obj_speed_dic is not {}:  #相邻两帧对于同一目标物速度变化率超过设定阈值
-            if obj.id in obj_speed_dic:
-                 
-                objspeed=pow(pow(obj.vxabs,2)+pow(obj.vyabs,2),0.5)
-                diff_rate=abs(objspeed-obj_speed_dic[obj.id])/(obj_speed_dic[obj.id]+0.0001)
-                if diff_rate>0.1 and objspeed>0.5 and obj_speed_dic[obj.id]>0.5:
-                    event_label='perceptionspeeddiffer'    
-
-                    print(event_label)
-                    print(objspeed,"   ",obj_speed_dic[obj.id],"   ",diff_rate)
-                else:
-                    print(objspeed,"   ",obj_speed_dic[obj.id],"   ",diff_rate)                    
-                       
-    obj_type_dic={}
-    obj_speed_dic={}
-    for obj in obj_list:
-        obj_type_dic[obj.id]=obj.type
-        obj_speed_dic[obj.id]=pow(pow(obj.vxabs,2)+pow(obj.vyabs,2),0.5)
-                    
-
-        
-           
-
-def final_callback(event):
-    global obj_dic
-
-    cutin_flag = False
-    cutout_flag = False
-    flag_difference = False
-    def if_cutin(obj_y_list):# 判断前车是否切入
-        global angular_velocity_z
-        flag_cutin=False
- 
-        for i, obj_y in enumerate(obj_y_list):
-            if abs(obj_y)>=1.1 and abs(angular_velocity_z)<=0.6:
-                for j in range(len(obj_y_list)-i-1):
-                    if abs(obj_y_list[1+i+j])<=0.6 and abs(angular_velocity_z)<=0.6:
-                        flag_cutin=True
-                        return flag_cutin
-        return flag_cutin
- 
-    def if_cutout(obj_y_list): #判断前车是否切入
-        global angular_velocity_z       
-        flag_cutout=False
-        for i, obj_y in enumerate(obj_y_list):
-            if abs(obj_y)<=0.6 and abs(angular_velocity_z)<=0.6:
-                for j in range(len(obj_y_list)-i-1):
-                    if abs(obj_y_list[1+i+j])>=1.2 and abs(angular_velocity_z)<=0.6:
-                        flag_cutout=True
-                        return flag_cutout
-        return flag_cutout 
-   
-    with obj_lock:
-        # 先判断前车是否切入
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutin_flag=if_cutin(obj_value)
-            if cutin_flag :
-                event_label="cutin" # 前车切入
-                print(event_label)
-                continue                
-       
-        # 再判断前车是否切出    
-        for obj_id, obj_value in obj_dic.items():           
-            if len(obj_value) <= 5:
-                continue
-            cutout_flag=if_cutout(obj_value)
-            if cutout_flag:
-                event_label="cutiout"   #前车切出
-                print(event_label)
-                continue  
-        obj_dic.clear()
-       
-        
-def callback_map_polygon(data): #用于判断车辆是否冲出车道
-    global Ego_position_x
-    global Ego_position_y
-    global Ego_yaw 
-    
-    def get_vehicle_corners(x0, y0, D1, D2, D3, h0):
-        # 将航向角从度数转换为弧度
-        h0_rad = np.radians(h0)
-
-        # 车辆四个角点相对于后轴中心点的坐标（局部坐标系）
-        corners_local = np.array([
-            [D1, D3],  # 前左角
-            [D1, -D3],  # 前右角
-            [-D2, D3],  # 后左角
-            [-D2, -D3]  # 后右角
-        ])
-
-        # 旋转矩阵
-        rotation_matrix = np.array([
-            [np.cos(h0_rad), -np.sin(h0_rad)],
-            [np.sin(h0_rad), np.cos(h0_rad)]
-        ])
-
-        # 计算在全局坐标系中的角点坐标
-        corners_global = np.dot(corners_local, rotation_matrix.T) + np.array([x0, y0])
-
-        return corners_global 
-    
-    def ccw(A, B, C):
-        """ 判断点C相对于线段AB是否是逆时针方向 """
-        return (C[1] - A[1]) * (B[0] - A[0]) > (C[0] - A[0]) * (B[1] - A[1])
-
-    def line_intersect(A, B, C, D):
-        """ 判断线段AB和CD是否相交 """
-        return ccw(A, C, D) != ccw(B, C, D) and ccw(A, B, C) != ccw(A, B, D)
-
-    def polygon_line_intersect(polygon, A, B):
-        """ 判断线段AB是否与多边形的任何边相交 """
-        num_vertices = len(polygon)
-        for i in range(num_vertices):
-            C = polygon[i]
-            D = polygon[(i + 1) % num_vertices]
-            if line_intersect(A, B, C, D):
-                return True
-        return False
-
-    x0 = Ego_position_x  # 后轴中心点 x 坐标
-    y0 = Ego_position_y  # 后轴中心点 y 坐标
-    D1 = 3.813  # 车辆前端到后轴中心点的距离
-    D2 = 0.952  # 车辆后端到后轴中心点的距离
-    D3 = 1.086  # 车辆左端和右端到后轴中心点的距离
-    h0 = Ego_yaw  # 航向角，度数
-    #print(Ego_yaw)
-    corners = get_vehicle_corners(x0, y0, D1, D2, D3, h0)
-    Points=data.polygon.points
-
-    for i in range(len(Points)-1):
-        
-        # 点A和点B的坐标
-    
-        x1, y1 =Points[i].x, Points[i].y  # 点A
-        x2, y2 = Points[i+1].x, Points[i+1].y  # 点B
-
-        A = np.array([x1, y1])
-        B = np.array([x2, y2])
-
-        # 检查线段AB是否与车辆的四边形相交
-        if polygon_line_intersect(corners, A, B):
-            event_label='outofroad'
-            print(event_label)
-            break
-def callback_pj_control_pub(data):  #控制下发的制动踏板开度大于９０，触发ＡＥＢ
-    if data.ICPV_Cmd_BrkPelPosActInv>=90:
-        event_label='aeb'
-        print(event_label)
-
-
-
-def callback_cicv_amr_trajectory(data):
-    global last_curvatures
-    
-    current_curvatures = [abs(point.curvature) for point in data.trajectoryinfo.trajectorypoints]
-    if last_curvatures !=[]:
-    
-        max_current = max(current_curvatures)
-        max_last = max(last_curvatures)
-        a=abs(max_current-max_last)
-        if a>=0.099:
-            event_label='controljump'
-            print(event_label)
-    last_curvatures=current_curvatures
-        
-  
-def listener():
-    rospy.init_node('listener', anonymous=True)
-    rospy.Subscriber("/cicv_location",PerceptionLocalization,callback_cicv_location)
-    rospy.Subscriber("/tpperception",PerceptionObjects,callback_tpperception)
-    rospy.Subscriber("/pj_control_pub",VehicleCmd,callback_pj_control_pub)
-    rospy.Subscriber("/pj_vehicle_fdb_pub",VehicleFdb,callback_pj_vehicle_fdb_pub)
-    rospy.Subscriber("/cicv_amr_trajectory",Trajectory,callback_cicv_amr_trajectory)
-    
-    #rospy.Subscriber("/data_read",Retrieval,callback_data_read)
-    rospy.Subscriber("/map_polygon",PolygonStamped,callback_map_polygon)
-    timer1 = rospy.Timer(rospy.Duration(3.5), final_callback)
-    
-    rospy.spin()
-         
-
-if __name__ == '__main__':
-
-    listener()
-
-
- 
-    
-    
-   
-
-
-        
-
-
-
-
-

trigger/jili/cicv_location/AbnormalParking/main/AbnormalParking.go

@@ -1,115 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	StartTime      int64
-	IsStopped      bool
-	IsEndPoint     bool
-	IsTrafficLight bool
-	count1         int64
-	//定义园区４个信号灯的坐标
-	point2     = Point{39.72975930689718, 116.48861102824081}
-	point3     = Point{39.7288805296616, 116.48812315228867}
-	point4     = Point{39.73061430369551, 116.49225103553502}
-	point5     = Point{39.73077491578002, 116.49060085035634}
-	EndPoint   = Point{0, 0}
-	pointlist1 = []Point{point2, point3, point4, point5}
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "AbnormalParking"
-}
-
-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 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-
-		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-		Longitude, _ := shareVars.Load("EndPointX")
-		Latitude, _ := shareVars.Load("EndPointY")
-		Automode = Automode.(int16)
-		EndPoint.Longitude = Longitude.(float64)
-		EndPoint.Latitude = Latitude.(float64)
-		pointlist2 := []Point{EndPoint}
-		IsTrafficLight = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)
-		IsEndPoint = IfEnter(pointlist2, 5.0, data.Latitude, data.Longitude)
-		if Automode == 1 && !IsTrafficLight && !IsEndPoint && OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			if AbsSpeed.(float64) < 0.5 {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 5 {
-					if !IsStopped {
-						IsStopped = true
-						return Label()
-					}
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-				IsStopped = false
-			}
-		} else {
-			StartTime = 0
-			IsStopped = false
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/AbnormalStopOnCurve/main/AbnormalStopOnCurve.go

@@ -1,115 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	StartTime  int64
-	threshold  int64 = 3
-	IsStopped  bool
-	IsEndPoint bool
-	IsCurve    bool
-	count1     int64
-	pointcurve = Point{39.73004426154644, 116.49248639463602}
-	EndPoint   = Point{0, 0}
-	pointlist1 = []Point{pointcurve}
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "AbnormalStopOnCurve"
-}
-
-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")
-		Longitude, ok1 := shareVars.Load("EndPointX")
-		if !ok1 {
-			Longitude = 0.0
-		}
-		Latitude, ok2 := shareVars.Load("EndPointY")
-		if !ok2 {
-			Latitude = 0.0
-		}
-		Automode = Automode.(int16)
-		EndPoint.Longitude = Longitude.(float64)
-		EndPoint.Latitude = Latitude.(float64)
-		pointlist2 := []Point{EndPoint}
-		IsCurve = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)
-		IsEndPoint = IfEnter(pointlist2, 5.0, data.Latitude, data.Longitude)
-		if Automode == 1 && IsCurve && !IsEndPoint {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			if AbsSpeed.(float64) < 0.5 {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > threshold {
-					if !IsStopped {
-						IsStopped = true
-						return Label()
-					}
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-				IsStopped = false
-			}
-		} else {
-			StartTime = 0
-			IsStopped = false
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/AbnormalStopOnJunction/main/AbnormalStopOnJunction.go

@@ -1,117 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	StartTime  int64
-	threshold  int64 = 3
-	IsStopped  bool
-	IsJunction bool
-	IsEndPoint bool
-	count1     int64
-	EndPoint   = Point{0, 0}
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "AbnormalStopOnJunction"
-}
-
-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, ok3 := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-		Longitude, ok1 := shareVars.Load("EndPointX")
-		if !ok1 {
-			Longitude = 0.0
-		}
-		Latitude, ok2 := shareVars.Load("EndPointY")
-		if !ok2 {
-			Latitude = 0.0
-		}
-		Automode = Automode.(int16)
-		EndPoint.Longitude = Longitude.(float64)
-		EndPoint.Latitude = Latitude.(float64)
-		pointlist2 := []Point{EndPoint}
-		EnterJunctionFlag, ok := shareVars.Load("EnterJunctionFlag")
-		if ok && ok3 {
-
-			IsJunction = EnterJunctionFlag.(bool)
-			IsEndPoint = IfEnter(pointlist2, 5.0, data.Latitude, data.Longitude)
-			if Automode == 1 && IsJunction && !IsEndPoint {
-				AbsSpeed, _ := shareVars.Load("AbsSpeed")
-				if AbsSpeed.(float64) < 0.5 {
-					// 如果之前没有记录开始时间，记录当前时间
-					if StartTime == 0 {
-						StartTime = time.Now().Unix()
-					}
-					// 判断是否持续超过 50s
-					if time.Now().Unix()-StartTime > threshold {
-						if !IsStopped {
-							IsStopped = true
-							return Label()
-						}
-					}
-				} else {
-					// 如果速度大于 0.1，重置开始时间和停止标志
-					StartTime = 0
-					IsStopped = false
-				}
-			} else {
-				StartTime = 0
-				IsStopped = false
-			}
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/AuLongStop/main/AuLongStop.go

@@ -1,59 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	IsStopped bool
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "AuLongStop"
-}
-
-func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
-	defer func() {
-		if r := recover(); r != nil {
-			fmt.Println("Recovered from panic:", r)
-		}
-	}()
-	automodeOfPjVehicleFdbPub, ok := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	if ok {
-		if automodeOfPjVehicleFdbPub.(int16) == 1 {
-			if data.VelocityX < 0.5 {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 50 && OutsideWorkshopFlag == true {
-					if !IsStopped {
-						IsStopped = true
-						return Label()
-					}
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-				IsStopped = false
-			}
-		} else {
-			StartTime = 0
-			IsStopped = false
-		}
-	}
-
-	return ""
-}

trigger/jili/cicv_location/Brake/main/Brake.go

@@ -21,9 +21,9 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	if data.AccelX*9.8 < -14.0 && OutsideWorkshopFlag == true {
+	//OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
+	//OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
+	if data.AccelX*9.8 < -6.0 {
 		return Label()
 	}
 	return ""

trigger/jili/cicv_location/CannotBypassObstacles/main/CannotBypassObstacles.go

@@ -1,128 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	StartTime      int64
-	IsStopped      bool
-	IsEndPoint     bool
-	IsTrafficLight bool
-	count1         int64
-	//定义园区４个信号灯的坐标
-	point2     = Point{39.72975930689718, 116.48861102824081}
-	point3     = Point{39.7288805296616, 116.48812315228867}
-	point4     = Point{39.73061430369551, 116.49225103553502}
-	point5     = Point{39.73077491578002, 116.49060085035634}
-	EndPoint   = Point{0, 0}
-	pointlist1 = []Point{point2, point3, point4, point5}
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "CannotBypassObstacles"
-}
-
-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 IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] <= 13 && obj[0][len(obj[0])-1] >= 3 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 6 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-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 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-		Longitude, _ := shareVars.Load("EndPointX")
-		Latitude, _ := shareVars.Load("EndPointY")
-
-		Automode = Automode.(int16)
-		EndPoint.Longitude = Longitude.(float64)
-		EndPoint.Latitude = Latitude.(float64)
-		pointlist2 := []Point{EndPoint}
-		IsTrafficLight = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)
-		IsEndPoint = IfEnter(pointlist2, 5.0, data.Latitude, data.Longitude)
-		if Automode == 1 && !IsTrafficLight && !IsEndPoint && OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) < 0.5 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 5 {
-					if !IsStopped {
-						IsStopped = true
-						return Label()
-					}
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-				IsStopped = false
-			}
-		} else {
-			StartTime = 0
-			IsStopped = false
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/CarFollowingTooCloseAtNight/main/CarFollowingTooCloseAtNight.go

@@ -1,85 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	count1    int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "CarFollowingTooCloseAtNight"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] <= 15 && obj[0][len(obj[0])-1] >= 3 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 2.0 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-func Ifatnight() bool {
-	// 获取当前时间
-	now := time.Now()
-	later := now.Add(0 * time.Hour)
-	// 获取当前小时
-	hour := later.Hour()
-	// 判断当前时间是白天还是夜晚
-	if hour >= 0 && hour < 5 || hour >= 20 && hour <= 23 {
-		return true
-	} else {
-		return false
-	}
-}
-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%20 == 0 && Ifatnight() {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) > 1 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 3 {
-					count1 = 1
-					return Label()
-
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-
-			}
-		} else {
-			StartTime = 0
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/CarFollowingTooCloseHigh/main/CarFollowingTooCloseHigh.go

@@ -1,72 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	count1    int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "CarFollowingTooCloseHigh"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] <= 15 && obj[0][len(obj[0])-1] >= 3 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 2.0 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-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%20 == 0 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) > 4 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 3 {
-					count1 = 1
-					return Label()
-
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-
-			}
-		} else {
-			StartTime = 0
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/CarFollowingTooCloseLow/main/CarFollowingTooCloseLow.go

@@ -1,71 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	count1    int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "CarFollowingTooCloseLow"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] <= 12 && obj[0][len(obj[0])-1] >= 3 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 2.0 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-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%20 == 0 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) >= 1 && AbsSpeed.(float64) <= 3 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 3 {
-					count1 = 1
-					return Label()
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-
-			}
-		} else {
-			StartTime = 0
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/CurveOverspeed/main/CurveOverspeed.go

@@ -1,85 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	threshold  float64 = 5
-	IsCurve    bool
-	count1     int64
-	pointcurve = Point{39.73004426154644, 116.49248639463602}
-	pointlist1 = []Point{pointcurve}
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "CurveOverspeed"
-}
-
-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)
-		IsCurve = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)
-
-		if Automode == 1 && IsCurve {
-			absspeed, ok := shareVars.Load("AbsSpeed")
-			if ok && absspeed.(float64) >= threshold {
-				eventLabel := "CurveOverspeed"
-				fmt.Println(eventLabel)
-				count1 = 1
-				return Label()
-			}
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/ExcessiveSpeedWhenDownhill/main/ExcessiveSpeedWhenDownhill.go

@@ -1,72 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-)
-
-/*
-def callback_cicv_location(data):
-    global angular_velocity_z
-    global Ego_position_x
-    global Ego_position_y
-    global Ego_yaw
-
-
-    Ego_position_x=data.position_x
-    Ego_position_y=data.position_y
-    Ego_yaw=data.yaw
-    #print(Ego_yaw)
-    angular_velocity_z=data.angular_velocity_z
-    #print(angular_velocity_z)
-    if abs(angular_velocity_z)>=27:
-        event_label='overswing' #横摆角速度过大
-        print(event_label)
-
-*/
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-func Label() string {
-	return "ExcessiveSpeedWhenDownhill"
-}
-
-var (
-	count     int = 0
-	threshold     = -0.05
-)
-
-func QuaternionToEuler(x, y, z, w float64) float64 {
-	// 归一化四元数
-	length := math.Sqrt(x*x + y*y + z*z + w*w)
-	x /= length
-	y /= length
-	z /= length
-	w /= length
-	// 计算欧拉角
-	pitch := math.Asin(2 * (w*y - z*x))
-	return pitch
-}
-func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
-	defer func() {
-		if r := recover(); r != nil {
-			fmt.Println("Recovered from panic:", r)
-		}
-	}()
-	if count%10 == 0 {
-
-		OutsideWorkshopFlag, ok1 := shareVars.Load("OutsideWorkshopFlag")
-		if ok1 && OutsideWorkshopFlag.(bool) {
-			if math.Abs(data.AngularVelocityZ) >= 17.0 && QuaternionToEuler(data.Qx, data.Qy, data.Qz, data.Qw) <= threshold {
-				count = 1
-				return Label()
-			}
-		}
-	}
-	count++
-	return ""
-}

trigger/jili/cicv_location/JunctionOverspeed/main/JunctionOverspeed.go

@@ -1,49 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"sync"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	threshold float64 = 5
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "JunctionOverspeed"
-}
-
-func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
-	defer func() {
-		if r := recover(); r != nil {
-			fmt.Println("Recovered from panic:", r)
-		}
-	}()
-
-	Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-	Automode = Automode.(int16)
-	EnterJunctionFlag, ok1 := shareVars.Load("EnterJunctionFlag")
-
-	if ok1 && Automode == 1 && EnterJunctionFlag.(bool) == true {
-		absspeed, ok := shareVars.Load("AbsSpeed")
-		if ok && absspeed.(float64) >= threshold {
-			eventLabel := "JunctionOverspeed"
-			fmt.Println(eventLabel)
-
-			return Label()
-		}
-	}
-
-	return ""
-}

trigger/jili/cicv_location/OverSpeed/main/OverSpeed.go

@@ -22,10 +22,16 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 		}
 	}()
 	//threshold := 65.0
-	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	threshold := 10.0
-	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold && OutsideWorkshopFlag == true {
+	//OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
+	//OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
+	threshold := 40.0
+	//if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold && OutsideWorkshopFlag == true {
+	//	return "OverSpeed"
+	//} else {
+	//	return ""
+	//}
+
+	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5) >= threshold {
 		return "OverSpeed"
 	} else {
 		return ""

trigger/jili/cicv_location/OverSwing/main/OverSwing.go

@@ -1,53 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-)
-
-/*
-def callback_cicv_location(data):
-    global angular_velocity_z
-    global Ego_position_x
-    global Ego_position_y
-    global Ego_yaw
-
-
-    Ego_position_x=data.position_x
-    Ego_position_y=data.position_y
-    Ego_yaw=data.yaw
-    #print(Ego_yaw)
-    angular_velocity_z=data.angular_velocity_z
-    #print(angular_velocity_z)
-    if abs(angular_velocity_z)>=27:
-        event_label='overswing' #横摆角速度过大
-        print(event_label)
-
-*/
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-func Label() string {
-	return "OverSwing"
-}
-
-func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
-	defer func() {
-		if r := recover(); r != nil {
-			fmt.Println("Recovered from panic:", r)
-		}
-	}()
-	automodeOfPjVehicleFdbPub, ok := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-	OutsideWorkshopFlag, ok1 := shareVars.Load("OutsideWorkshopFlag")
-	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-	if ok && ok1 {
-		if math.Abs(data.AngularVelocityZ) >= 27.0 && automodeOfPjVehicleFdbPub.(int16) == 1 && OutsideWorkshopFlag == true {
-			return Label()
-		}
-	}
-	return ""
-}

trigger/jili/cicv_location/OverspeedAtNight/main/OverspeedAtNight.go

@@ -1,60 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"sync"
-	"time"
-)
-
-var (
-	threshold float64 = 25 / 3.6
-	count1    int     = 0
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "OverspeedAtNight"
-}
-
-func Ifatnight() bool {
-	// 获取当前时间
-	now := time.Now()
-	later := now.Add(0 * time.Hour)
-	// 获取当前小时
-	hour := later.Hour()
-	// 判断当前时间是白天还是夜晚
-	if hour >= 0 && hour < 5 || hour >= 20 && hour <= 23 {
-		return true
-	} else {
-		return false
-	}
-}
-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%100 == 0 {
-		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		Automode = Automode.(int16)
-		if OutsideWorkshopFlag.(bool) && Automode == 1 && Ifatnight() {
-			absspeed, ok := shareVars.Load("AbsSpeed")
-			if ok && absspeed.(float64) >= threshold {
-				eventLabel := "OverspeedAtNight"
-				fmt.Println(eventLabel)
-				count1 = 1
-				return Label()
-			}
-		}
-		count1 = 1
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/RearVehicleFollowingTooCloseHigh/main/RearVehicleFollowingTooCloseHigh.go

@@ -1,71 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	count1    int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "RearVehicleFollowingTooCloseHigh"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] >= -12 && obj[0][len(obj[0])-1] <= -1 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 2.0 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-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%20 == 0 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) >= 4 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 3 {
-					count1 = 1
-					return Label()
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-
-			}
-		} else {
-			StartTime = 0
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/RearVehicleFollowingTooCloseLow/main/RearVehicleFollowingTooCloseLow.go

@@ -1,71 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-	"time"
-)
-
-var (
-	StartTime int64
-	count1    int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "RearVehicleFollowingTooCloseLow"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] >= -12 && obj[0][len(obj[0])-1] <= -1 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 2.0 {
-				return true
-
-			}
-		}
-	}
-	return false
-}
-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%20 == 0 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if AbsSpeed.(float64) >= 1 && AbsSpeed.(float64) <= 3 && flag {
-				// 如果之前没有记录开始时间，记录当前时间
-				if StartTime == 0 {
-					StartTime = time.Now().Unix()
-				}
-				// 判断是否持续超过 50s
-				if time.Now().Unix()-StartTime > 3 {
-					count1 = 1
-					return Label()
-				}
-			} else {
-				// 如果速度大于 0.1，重置开始时间和停止标志
-				StartTime = 0
-
-			}
-		} else {
-			StartTime = 0
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/SpeedBumpOverspeed/main/SpeedBumpOverspeed.go

@@ -1,90 +0,0 @@
-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 ""
-}

trigger/jili/cicv_location/TargetCarBehindWhenReversing/main/TargetCarBehindWhenReversing.go

@@ -1,83 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-)
-
-type Point struct {
-	Latitude  float64
-	Longitude float64
-}
-
-var (
-	count1 int64
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "TargetCarBehindWhenReversing"
-}
-
-func IfObstaclesNearby(shareVars *sync.Map) bool {
-	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
-	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
-	if ok1 {
-		for _, obj := range ObjDic {
-			if obj[0][len(obj[0])-1] >= -15 && obj[0][len(obj[0])-1] <= -1 && (math.Abs(float64(obj[1][len(obj[1])-1]))) <= 6 {
-				return true
-
-			}
-		}
-
-	}
-	return false
-}
-func calculateDirectionAngle(speedX, speedY float64) float64 {
-	// 使用反正切函数计算方向角
-	angle := math.Atan2(speedY, speedX)
-
-	// 将角度转换为度数
-	angleDegree := angle * (180 / math.Pi)
-
-	// 将角度限定在 0~360 范围内
-	if angleDegree < 0 {
-		angleDegree += 360
-	} else if angleDegree > 360 {
-		angleDegree -= 360
-	}
-
-	return angleDegree
-}
-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%100 == 0 {
-		OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
-		OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
-		directionAngle := calculateDirectionAngle(data.VelocityX, data.VelocityY)
-		diffAngle := math.Abs(float64(directionAngle - data.Yaw))
-		if OutsideWorkshopFlag == true {
-			AbsSpeed, _ := shareVars.Load("AbsSpeed")
-			flag := IfObstaclesNearby(shareVars)
-			if flag && AbsSpeed.(float64) >= 1 && diffAngle >= 160 && diffAngle <= 200 {
-				eventLabel := "TargetCarBehindWhenReversing"
-				fmt.Println(eventLabel)
-				count1 = 1
-				return Label()
-			}
-
-		}
-	}
-	count1++
-	return ""
-}

trigger/jili/cicv_location/TurnAround/main/TurnAround.go

@@ -1,55 +0,0 @@
-package main
-
-import (
-	"cicv-data-closedloop/pjisuv_msgs"
-	"fmt"
-	"math"
-	"sync"
-)
-
-// 记得在produce_window.go中将Yowslice的注释解除！！！
-var (
-	count1 int = 0
-)
-
-func Topic() string {
-	return "/cicv_location"
-}
-
-// 禁止存在下划线_
-func Label() string {
-	return "TurnAround"
-}
-func IfTurnAround(Yowslice []float64) bool {
-	diffangle := math.Abs(Yowslice[0] - Yowslice[len(Yowslice)-1])
-	//fmt.Println(diffangle)
-	if diffangle >= 110 {
-		return true
-	}
-	return false
-}
-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%200 == 0 {
-		OutsideWorkshopFlag, ok3 := shareVars.Load("OutsideWorkshopFlag")
-		Yowslice, ok := shareVars.Load("Yowslice")
-		if ok3 && ok && OutsideWorkshopFlag.(bool) {
-			if IfTurnAround(Yowslice.([]float64)) {
-				eventLabel := "TurnAround"
-				fmt.Println(eventLabel)
-				count1 = 1
-				Yowslice = make([]float64, 0)
-				shareVars.Store("Yowslice", Yowslice)
-
-				return Label()
-			}
-		}
-		count1 = 1
-	}
-	count1++
-	return ""
-}

trigger/jili/tpperception/CBFA/main/CBFA.go

@@ -0,0 +1,102 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func findIndex(lst []float32, target float32) int {
+	for i, v := range lst {
+		if v == target {
+			return i
+		}
+	}
+	return -1
+}
+
+func isCrossAndOcclusion(id uint32, ObjectList [][]float32, ObjectSlice map[uint32][][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 0 && yi >= 3 && diff_hi >= 0 && Type != 100.0 {
+			startFrame1 := ObjectList[5][i]
+
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && xj >= 20 && xj <= 50 && yj <= -1 && diff_hj >= 0 {
+					startFrame2 := ObjectList[5][j]
+					for this_id, objValue := range ObjectSlice {
+						if this_id != id {
+							this_startFrame_index1 := findIndex(objValue[5], startFrame1)
+							this_startFrame_index2 := findIndex(objValue[5], startFrame2)
+							this_type := objValue[6][0]
+							//fmt.Println(objValue[0][this_startFrame_index2], xj)
+							if this_startFrame_index1 != -1 && this_startFrame_index2 != -1 {
+								if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-1 && objValue[1][this_startFrame_index1] > 0 && objValue[1][this_startFrame_index1] < yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-1 && objValue[1][this_startFrame_index2] > 0 && (this_type != 100.0) { //简化条件
+									return true
+								}
+							}
+						} else {
+							continue
+						}
+					}
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CBFA"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for objId, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCrossAndOcclusion(objId, objValue, ObjectSlice) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CBLA/main/CBLA.go

@@ -0,0 +1,59 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+	"time"
+)
+
+var (
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	ok1                  bool
+	StartTime            int64
+	IsFollow             bool
+)
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CBLA"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	ObjDicOfTpperception, ok1 = shareVars.Load("ObjDicOfTpperception")
+	if !ok1 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for objid, objval := range objDic {
+		//if obj.Type == 1 && obj.X >= 2 && obj.X <= 20 && math.Abs(float64(obj.Y)) <= 1.2 {//理论条件
+		if objval[objid][6] == 4 && objval[objid][0] >= 2 && objval[objid][0] <= 20 && math.Abs(float64(objval[objid][1])) <= 1.2 { //简化条件
+			if StartTime == 0 {
+				StartTime = time.Now().Unix()
+			}
+
+			// 判断是否持续超过一分钟
+			if time.Now().Unix()-StartTime > 5 {
+				if !IsFollow {
+					IsFollow = true
+					return Label()
+				}
+			}
+		} else {
+			StartTime = 0
+			IsFollow = false
+		}
+	}
+	return ""
+}

trigger/jili/tpperception/CBNA/main/CBNA.go

@@ -0,0 +1,99 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	ok1                  bool
+	ok2                  bool
+	objid                uint32
+)
+
+func findIndex(lst []float32, target float32) int {
+	for i, v := range lst {
+		if v == target {
+			return i
+		}
+	}
+	return -1
+}
+
+func isCrossAndOcclusion(id uint32, ObjectList [][]float32, ObjectSlice map[uint32][][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 0 && yi <= -3 && diff_hi >= 0 && Type != 100.0 {
+			startFrame1 := ObjectList[5][i]
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && xj <= 25 && yj >= 1 && diff_hj >= 0 {
+					startFrame2 := ObjectList[5][j]
+					for this_id, objValue := range ObjectSlice {
+						if this_id != id {
+							this_startFrame_index1 := findIndex(objValue[5], startFrame1)
+							this_startFrame_index2 := findIndex(objValue[5], startFrame2)
+							this_type := objValue[6][0]
+							//fmt.Println(objValue[0][this_startFrame_index2], xj)
+							if this_startFrame_index1 != -1 && this_startFrame_index2 != -1 {
+								if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-1 && objValue[1][this_startFrame_index1] < 0 && objValue[1][this_startFrame_index1] > yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-1 && objValue[1][this_startFrame_index2] < 0 && (this_type != 100.0) { //简化条件
+									return true
+								}
+							}
+						} else {
+							continue
+						}
+					}
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CBNA"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for objid, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCrossAndOcclusion(objid, objValue, objDic) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CBNAO/main/CBNAO.go

@@ -0,0 +1,102 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func findIndex(lst []float32, target float32) int {
+	for i, v := range lst {
+		if v == target {
+			return i
+		}
+	}
+	return -1
+}
+
+func isCrossAndOcclusion(id uint32, ObjectList [][]float32, ObjectSlice map[uint32][][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 0 && yi <= -3 && diff_hi >= 0 && Type != 100.0 {
+			startFrame1 := ObjectList[5][i]
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && xj <= 25 && yj >= 1 && diff_hj >= 0 {
+					startFrame2 := ObjectList[5][j]
+					for this_id, objValue := range ObjectSlice {
+						if this_id != id {
+							this_startFrame_index1 := findIndex(objValue[5], startFrame1)
+							this_startFrame_index2 := findIndex(objValue[5], startFrame2)
+							this_type := objValue[6][0]
+							//fmt.Println(objValue[0][this_startFrame_index2], xj)
+							if this_startFrame_index1 != -1 && this_startFrame_index2 != -1 {
+								//if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-5 && objValue[1][this_startFrame_index1] < 0 && objValue[1][this_startFrame_index1] > yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-3 && objValue[1][this_startFrame_index2] < 0 && (this_type == 2.0 || this_type == 3.0) { //理论条件
+								if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-5 && objValue[1][this_startFrame_index1] < 0 && objValue[1][this_startFrame_index1] > yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-3 && objValue[1][this_startFrame_index2] < 0 && (this_type != 100.0) { //简化条件
+									return true
+								}
+							}
+						} else {
+							continue
+						}
+					}
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CBNAO"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for objId, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCrossAndOcclusion(objId, objValue, ObjectSlice) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CCCscp_f/main/CCCscp_f.go

@@ -0,0 +1,77 @@
+package main
+
+import (
+	"cicv_data_closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func isCross(ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		Type := ObjectList[6][0]
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		if xi >= 0 && yi >= 2 && diff_hi > 0 && Type != 100.0 { //简化条件
+			//if xi >= 0 && yi >= 2 && diff_hi <= 120 && diff_hi >= 60 && Type != 1.0 {//理论条件
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && yj <= -2 && diff_hj > 0 { //简化条件
+					//if xj >= 0 && yj <= -2 && diff_hj <= 120 && diff_hj >= 60 {//理论条件
+					return true
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCCscpf"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCross(objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CCCscp_n/main/CCCscp_n.go

@@ -0,0 +1,77 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func isCross(ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		Type := ObjectList[6][0]
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		if xi >= 0 && yi <= -2 && diff_hi > 0 && Type != 100.0 { //简化条件
+			//if xi >= 0 && yi >= 2 && diff_hi <= 120 && diff_hi >= 60 && Type != 1.0 {//理论条件
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && yj >= 0 && diff_hj >= 0 { //简化条件
+					//if xj >= 0 && yj <= -2 && diff_hj <= 120 && diff_hj >= 60 {//理论条件
+					return true
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCCscpn"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCross(objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CCCscpo/main/CCCscpo.go

@@ -0,0 +1,102 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func findIndex(lst []float32, target float32) int {
+	for i, v := range lst {
+		if v == target {
+			return i
+		}
+	}
+	return -1
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCCscpo"
+}
+
+func isCrossAndOcclusion(id uint32, ObjectList [][]float32, ObjectSlice map[uint32][][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 0 && yi <= -3 && diff_hi <= 120 && diff_hi >= 60 && Type != 1.0 {
+			startFrame1 := ObjectList[5][i]
+
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && yj >= 1 && diff_hj <= 120 && diff_hj >= 60 {
+					startFrame2 := ObjectList[5][j]
+					for this_id, objValue := range ObjectSlice {
+						if this_id != id {
+
+							this_startFrame_index1 := findIndex(objValue[5], startFrame1)
+							this_startFrame_index2 := findIndex(objValue[5], startFrame2)
+							this_type := objValue[6][0]
+							//fmt.Println(objValue[0][this_startFrame_index2], xj)
+							if this_startFrame_index1 != -1 && this_startFrame_index2 != -1 {
+								if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-1 && objValue[1][this_startFrame_index1] < 0 && objValue[1][this_startFrame_index1] > yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-1 && objValue[1][this_startFrame_index2] < 0 && (this_type == 2.0 || this_type == 3.0) {
+									return true
+								}
+							}
+						} else {
+							continue
+						}
+					}
+				}
+			}
+		}
+	}
+	return false
+}
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for id, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCrossAndOcclusion(id, objValue, ObjectSlice) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CCFhos/main/CCFhos.go

@@ -0,0 +1,78 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice          = make(map[uint32][][]float32)
+)
+
+func isRetrograde(ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := math.Abs(float64(ObjectList[1][i]))
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 20 && yi <= 1.2 && diff_hi > 150 && Type != 1.0 {
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := math.Abs(float64(ObjectList[1][j]))
+				diff_hj := ObjectList[7][j]
+
+				if xj <= 8 && yj <= 1.2 && diff_hj > 150 {
+					return true
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCFhos"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isRetrograde(objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CCFtap/main/CCFtap.go

@@ -0,0 +1,100 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	PosxofCicvLocation   any
+	PosyofCicvLocation   any
+	posx                 float64
+	posy                 float64
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	Trajcetorypoint      any
+	trajcetory           []pjisuv_msgs.TrajectoryPoint
+	objId                uint32
+	ok1                  bool
+	ok2                  bool
+	ok3                  bool
+	ok4                  bool
+	LeftCurveFlag        = false
+	RightCurveFlag       = false
+)
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCFtap"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	PosxofCicvLocation, ok1 = shareVars.Load("PositionXOfCicvLocation")
+	PosyofCicvLocation, ok2 = shareVars.Load("PositionYOfCicvLocation")
+	if !ok1 && !ok2 {
+		return ""
+	}
+	posx = PosxofCicvLocation.(float64)
+	posy = PosyofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok3 = shareVars.Load("ObjDicOfTpperception")
+	if !ok3 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	// Trajcetorypoint的类型？
+	Trajcetorypoint, ok4 = shareVars.Load("Trajcetorypoint")
+	if !ok4 {
+		return ""
+	}
+	trajcetory = Trajcetorypoint.([]pjisuv_msgs.TrajectoryPoint)
+	if len(trajcetory) > 2 {
+		StartHeading := trajcetory[0].Heading
+		EndHeading := trajcetory[len(trajcetory)-1].Heading
+		diffHeading := StartHeading - EndHeading
+
+		if diffHeading < -1.0 && diffHeading > -3.0 {
+			LeftCurveFlag = true
+		} else {
+			LeftCurveFlag = false
+		}
+		if diffHeading > 1.0 && diffHeading < 3.0 {
+			RightCurveFlag = true
+			//fmt.Println(diffHeading)
+		} else {
+			RightCurveFlag = false
+		}
+
+	} else {
+		LeftCurveFlag = false
+		RightCurveFlag = false
+	}
+	if LeftCurveFlag == true {
+		for objid, objVal := range objDic {
+			if objVal[objid][6] != 100 { //简化条件
+				//if obj.Type == 2 || obj.Type == 3 {//理论条件
+				absspeed := math.Sqrt(math.Pow(float64(objVal[objid][2]), 2) + math.Pow(float64(objVal[objid][3]), 2))
+				Distance := math.Sqrt(math.Pow(posy-float64(objVal[objid][0]), 2) + math.Pow(posy-float64(objVal[objid][1]), 2))
+				//fmt.Println("Distance:", Distance)
+				if objVal[objid][0] >= 2.0 && objVal[objid][0] <= 15.0 && (math.Abs(float64(objVal[objid][1])) <= 4.0 || Distance <= 15.0) && absspeed > 1.5 {
+					return Label()
+					break
+				}
+			}
+		}
+	}
+	return ""
+}

trigger/jili/tpperception/CCRH/main/CCRH.go

@@ -0,0 +1,82 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+)
+
+var (
+	Framenum                        int64 = 0
+	YawofCicvLocation               any
+	ObjDicOfTpperception            any
+	AngularVelocityZOfCicvLocation  any
+	AngularVelocity                 float64
+	AngularVelocityZOfCicvLocation1 any
+	AngularVelocity1                float64
+	objDic                          = make(map[uint32][][]float32)
+	yaw                             float64
+	ok1                             bool
+	ok2                             bool
+)
+
+func isCuttingOut(shareVars *sync.Map, ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := math.Abs(float64(ObjectList[1][i]))
+		Type := ObjectList[6][0]
+		AngularVelocityZOfCicvLocation, ok1 := shareVars.Load("AngularVelocityZOfCicvLocation")
+		if !ok1 {
+			return false
+		}
+		AngularVelocity = AngularVelocityZOfCicvLocation.(float64)
+		if xi >= 0 && yi <= 0.7 && math.Abs(AngularVelocity) <= 0.6 && (Type != 100.0) { //简化条件
+			//if xi >= 0 && yi <= 0.7 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 && (Type == 2.0 || Type == 3.0) {//理论条件
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := math.Abs(float64(ObjectList[1][j]))
+
+				if xj >= 0 && yj >= 2.0 && math.Abs(AngularVelocity) <= 0.6 {
+					return true
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CCRH"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok2 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCuttingOut(shareVars, objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CPLA/main/CPLA.go

@@ -0,0 +1,61 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"math"
+	"sync"
+	"time"
+)
+
+var (
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	ok1                  bool
+	objid                uint32
+	objval               [][]float32
+	StartTime            int64
+	IsFollow             bool
+)
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CPLA"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	ObjDicOfTpperception, ok1 = shareVars.Load("ObjDicOfTpperception")
+	if !ok1 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for objid, objval := range objDic {
+		//if obj.Type == 1 && obj.X >= 2 && obj.X <= 20 && math.Abs(float64(obj.Y)) <= 1.2 {//理论条件
+		if objval[objid][6] != 100 && objval[objid][0] >= 2 && objval[objid][0] <= 20 && math.Abs(float64(objval[objid][1])) <= 1.2 { //简化条件
+			if StartTime == 0 {
+				StartTime = time.Now().Unix()
+			}
+
+			// 判断是否持续超过一分钟
+			if time.Now().Unix()-StartTime > 5 {
+				if !IsFollow {
+					IsFollow = true
+					return Label()
+				}
+			}
+		} else {
+			StartTime = 0
+			IsFollow = false
+		}
+	}
+	return ""
+}

trigger/jili/tpperception/CPNCO/main/CPNCO.go

@@ -0,0 +1,101 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	ok1                  bool
+	ok2                  bool
+	objid                uint32
+	threshold            float32 = 35
+)
+
+func findIndex(lst []float32, target float32) int {
+	for i, v := range lst {
+		if v == target {
+			return i
+		}
+	}
+	return -1
+}
+
+func isCrossAndOcclusion(id uint32, ObjectList [][]float32, ObjectSlice map[uint32][][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		Type := ObjectList[6][0]
+
+		if xi >= 0 && yi <= -2 && diff_hi >= 0 && Type != 100.0 {
+			startFrame1 := ObjectList[5][i]
+
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				if xj >= 0 && yj >= 1 && diff_hj >= 0 {
+					startFrame2 := ObjectList[5][j]
+					for this_id, objValue := range ObjectSlice {
+						if this_id != id {
+							this_startFrame_index1 := findIndex(objValue[5], startFrame1)
+							this_startFrame_index2 := findIndex(objValue[5], startFrame2)
+							this_type := objValue[6][0]
+							//fmt.Println(objValue[0][this_startFrame_index2], xj)
+							if this_startFrame_index1 != -1 && this_startFrame_index2 != -1 {
+								if objValue[0][this_startFrame_index1] >= 2 && objValue[0][this_startFrame_index1] < xi-1 && objValue[1][this_startFrame_index1] < 0 && objValue[1][this_startFrame_index1] > yi && objValue[0][this_startFrame_index2] >= 1 && objValue[0][this_startFrame_index2] < xj-1 && objValue[1][this_startFrame_index2] < 0 && (this_type != 100) { // 简化条件
+									return true
+								}
+							}
+						} else {
+							continue
+						}
+					}
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CPNCO"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for id, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCrossAndOcclusion(id, objValue, objDic) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CPRm_f/main/CPRm_f.go

@@ -0,0 +1,78 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	objId                uint32
+	obj                  [][]float32
+	ok1                  bool
+	ok2                  bool
+	ObjectSlice                  = make(map[uint32][][]float32)
+	threshold            float32 = 20
+)
+
+func isCross(ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		Type := ObjectList[6][0]
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		if xi >= threshold && yi >= 2 && diff_hi > 0 && Type != 100.0 { //简化条件
+			//if xi >= threshold && yi >= 2 && diff_hi <= 120 && diff_hi >= 60 && Type == 1.0 {//理论条件
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				//if xj >= threshold && yj <= -2 && diff_hj <= 120 && diff_hj >= 60 { //理论条件
+				if xj >= threshold && yj <= -1 && diff_hj >= 0 { //简化条件
+					return true
+				}
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CPRmf"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCross(objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}

trigger/jili/tpperception/CPRm_n/main/CPRm_n.go

@@ -0,0 +1,75 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
+	"sync"
+)
+
+var (
+	Framenum             int64 = 0
+	YawofCicvLocation    any
+	ObjDicOfTpperception any
+	objDic               = make(map[uint32][][]float32)
+	yaw                  float64
+	ok1                  bool
+	ok2                  bool
+	threshold            float32 = 35
+)
+
+func isCross(ObjectList [][]float32) bool {
+	for i := 0; i < len(ObjectList[0]); i++ {
+		Type := ObjectList[6][0]
+		xi := ObjectList[0][i]
+		yi := ObjectList[1][i]
+		diff_hi := ObjectList[7][i]
+		if xi >= threshold && yi <= -1.0 && diff_hi >= 0 && Type != 100.0 { //简化条件
+			//if xi >= threshold && yi >= 2 && diff_hi <= 120 && diff_hi >= 60 && Type == 1.0 {//理论条件
+			for j := 0; j < len(ObjectList[0])-i-1; j++ {
+				xj := ObjectList[0][j]
+				yj := ObjectList[1][j]
+				diff_hj := ObjectList[7][j]
+				//if xj >= threshold && yj <= -2 && diff_hj <= 120 && diff_hj >= 60 { //理论条件
+				if xj >= 0 && xj <= threshold && yj >= 1 && diff_hj >= 0 {
+					return true
+				} //简化条件
+			}
+		}
+	}
+	return false
+}
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// 禁止存在下划线_
+func Label() string {
+	return "CPRmn"
+}
+
+func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+	YawofCicvLocation, ok1 = shareVars.Load("YawOfCicvLocation")
+	if !ok1 {
+		return ""
+	}
+	yaw = YawofCicvLocation.(float64)
+	Framenum += 1
+	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
+	if !ok2 {
+		return ""
+	}
+	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
+	for _, objValue := range objDic {
+		if len(objValue[0]) <= 10 || !isCross(objValue) {
+			continue
+		}
+		return Label()
+	}
+	return ""
+}