commit

aarch64/pjisuv/master/package/service/produce_window.go

@@ -9,6 +9,11 @@ import (
 	"cicv-data-closedloop/common/util"
 	"cicv-data-closedloop/pjisuv_msgs"
 	"github.com/bluenviron/goroslib/v2"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
 	"sync"
 	"time"
 )
@@ -32,19 +37,764 @@ func PrepareTimeWindowProducerQueue() {
 	subscribersMutexes := make([]sync.Mutex, len(commonConfig.SubscribeTopics))
 	for i, topic := range commonConfig.SubscribeTopics {
 		c_log.GlobalLogger.Info("创建订阅者订阅话题：" + topic)
+
+		// 1
+		if topic == masterConfig.TopicOfAmrPose && len(masterConfig.RuleOfAmrPose) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *visualization_msgs.MarkerArray) {
+					if len(masterConfig.TopicOfAmrPose) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfAmrPose {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 2
+		if topic == masterConfig.TopicOfBoundingBoxesFast && len(masterConfig.RuleOfBoundingBoxesFast) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.BoundingBoxArray) {
+					if len(masterConfig.TopicOfBoundingBoxesFast) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfBoundingBoxesFast {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 3
+		if topic == masterConfig.TopicOfCameraFault && len(masterConfig.RuleOfCameraFault) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.FaultVec) {
+					if len(masterConfig.TopicOfCameraFault) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCameraFault {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 4
+		if topic == masterConfig.TopicOfCanData && len(masterConfig.RuleOfCanData) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.Frame) {
+					if len(masterConfig.TopicOfCanData) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCanData {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 5
+		if topic == masterConfig.TopicOfCh128x1LslidarPointCloud && len(masterConfig.RuleOfCh128x1LslidarPointCloud) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfCh128x1LslidarPointCloud) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 6
+		if topic == masterConfig.TopicOfCh64wLLslidarPointCloud && len(masterConfig.RuleOfCh64wLLslidarPointCloud) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfCh64wLLslidarPointCloud) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 7
+		if topic == masterConfig.TopicOfCh64wLScan && len(masterConfig.RuleOfCh64wLScan) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.LaserScan) {
+					if len(masterConfig.TopicOfCh64wLScan) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCh64wLScan {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 8
+		if topic == masterConfig.TopicOfCh64wRLslidarPointCloud && len(masterConfig.RuleOfCh64wRLslidarPointCloud) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfCh64wRLslidarPointCloud) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 9
+		if topic == masterConfig.TopicOfCh64wRScan && len(masterConfig.RuleOfCh64wRScan) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.LaserScan) {
+					if len(masterConfig.TopicOfCh64wRScan) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCh64wRScan {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 10
+		if topic == masterConfig.TopicOfCicvLidarclusterMovingObjects && len(masterConfig.RuleOfCicvLidarclusterMovingObjects) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.PerceptionCicvMovingObjects) {
+					if len(masterConfig.TopicOfCicvLidarclusterMovingObjects) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 11
+		if topic == masterConfig.TopicOfCicvAmrTrajectory && len(masterConfig.RuleOfCicvAmrTrajectory) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.Trajectory) {
+					if len(masterConfig.TopicOfCicvAmrTrajectory) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCicvAmrTrajectory {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 12
 		if topic == masterConfig.TopicOfCicvLocation && len(masterConfig.RuleOfCicvLocation) > 0 {
 			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  commonConfig.RosNode,
 				Topic: topic,
-				Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
-					// 更新共享变量
-					m.RLock()
-					velocityX = data.VelocityX
-					velocityY = data.VelocityY
-					yaw = data.Yaw
-					m.RUnlock()
+				Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
+					// 更新共享变量
+					m.RLock()
+					velocityX = data.VelocityX
+					velocityY = data.VelocityY
+					yaw = data.Yaw
+					m.RUnlock()
+
+					if len(masterConfig.TopicOfCicvLocation) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCicvLocation {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 13
+		if topic == masterConfig.TopicOfCloudClusters && len(masterConfig.RuleOfCloudClusters) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.AutowareCloudClusterArray) {
+					if len(masterConfig.TopicOfCloudClusters) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfCloudClusters {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 14
+		if topic == masterConfig.TopicOfHeartbeatInfo && len(masterConfig.RuleOfHeartbeatInfo) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.HeartBeatInfo) {
+					if len(masterConfig.TopicOfHeartbeatInfo) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfHeartbeatInfo {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 15
+		if topic == masterConfig.TopicOfLidarPretreatmentCost && len(masterConfig.RuleOfLidarPretreatmentCost) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *geometry_msgs.Vector3Stamped) {
+					if len(masterConfig.TopicOfLidarPretreatmentCost) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfLidarPretreatmentCost {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 16
+		if topic == masterConfig.TopicOfLidarPretreatmentOdometry && len(masterConfig.RuleOfLidarPretreatmentOdometry) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Odometry) {
+					if len(masterConfig.TopicOfLidarPretreatmentOdometry) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 17
+		if topic == masterConfig.TopicOfLidarRoi && len(masterConfig.RuleOfLidarRoi) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *geometry_msgs.PolygonStamped) {
+					if len(masterConfig.TopicOfLidarRoi) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfLidarRoi {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 18
+		if topic == masterConfig.TopicOfLine1 && len(masterConfig.RuleOfLine1) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Path) {
+					if len(masterConfig.TopicOfLine1) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfLine1 {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 19
+		if topic == masterConfig.TopicOfLine2 && len(masterConfig.RuleOfLine2) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Path) {
+					if len(masterConfig.TopicOfLine2) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfLine2 {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 20
+		if topic == masterConfig.TopicOfMapPolygon && len(masterConfig.RuleOfMapPolygon) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.PolygonStamped) {
+					if len(masterConfig.TopicOfMapPolygon) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfMapPolygon {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 21
+		if topic == masterConfig.TopicOfObstacleDisplay && len(masterConfig.RuleOfObstacleDisplay) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *visualization_msgs.MarkerArray) {
+					if len(masterConfig.TopicOfObstacleDisplay) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfObstacleDisplay {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 22
+		if topic == masterConfig.TopicOfPjControlPub && len(masterConfig.RuleOfPjControlPub) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.CommonVehicleCmd) {
+					if len(masterConfig.TopicOfPjControlPub) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfPjControlPub {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 23
+		if topic == masterConfig.TopicOfPointsCluster && len(masterConfig.RuleOfPointsCluster) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfPointsCluster) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfPointsCluster {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 24
+		if topic == masterConfig.TopicOfPointsConcat && len(masterConfig.RuleOfPointsConcat) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfPointsConcat) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfPointsConcat {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
 
-					if len(masterConfig.TopicOfCicvLocation) == 0 {
+		// 25
+		if topic == masterConfig.TopicOfReferenceDisplay && len(masterConfig.RuleOfReferenceDisplay) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Path) {
+					if len(masterConfig.TopicOfReferenceDisplay) == 0 {
 						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
 						return
 					}
@@ -54,10 +804,135 @@ func PrepareTimeWindowProducerQueue() {
 						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
 						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
 						var faultLabel string
-						for _, f := range masterConfig.RuleOfCicvLocation {
+						for _, f := range masterConfig.RuleOfReferenceDisplay {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 26
+		if topic == masterConfig.TopicOfReferenceTrajectory && len(masterConfig.RuleOfReferenceTrajectory) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.Trajectory) {
+					if len(masterConfig.TopicOfReferenceTrajectory) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfReferenceTrajectory {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 27
+		if topic == masterConfig.TopicOfRoiPoints && len(masterConfig.RuleOfRoiPoints) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfRoiPoints) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfRoiPoints {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 28
+		if topic == masterConfig.TopicOfRoiPolygon && len(masterConfig.RuleOfRoiPolygon) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Path) {
+					if len(masterConfig.TopicOfRoiPolygon) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfRoiPolygon {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 29
+		if topic == masterConfig.TopicOfTf && len(masterConfig.RuleOfTf) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *tf2_msgs.TFMessage) {
+					if len(masterConfig.TopicOfTf) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfTf {
 							faultLabel = f(data)
 							if faultLabel != "" {
 								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
 								break
 							}
 						}
@@ -68,6 +943,7 @@ func PrepareTimeWindowProducerQueue() {
 			})
 		}
 
+		// 30
 		if topic == masterConfig.TopicOfTpperception && len(masterConfig.RuleOfTpperception) > 0 {
 			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  commonConfig.RosNode,
@@ -97,6 +973,131 @@ func PrepareTimeWindowProducerQueue() {
 			})
 		}
 
+		// 31
+		if topic == masterConfig.TopicOfTpperceptionVis && len(masterConfig.RuleOfTpperceptionVis) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *visualization_msgs.MarkerArray) {
+					if len(masterConfig.TopicOfTpperceptionVis) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfTpperceptionVis {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 32
+		if topic == masterConfig.TopicOfTprouteplan && len(masterConfig.RuleOfTprouteplan) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *pjisuv_msgs.RoutePlan) {
+					if len(masterConfig.TopicOfTprouteplan) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfTprouteplan {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 33
+		if topic == masterConfig.TopicOfTrajectoryDisplay && len(masterConfig.RuleOfTrajectoryDisplay) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *nav_msgs.Path) {
+					if len(masterConfig.TopicOfTrajectoryDisplay) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfTrajectoryDisplay {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 34
+		if topic == masterConfig.TopicOfUngroundCloudpoints && len(masterConfig.RuleOfUngroundCloudpoints) > 0 {
+			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+				Node:  commonConfig.RosNode,
+				Topic: topic,
+				Callback: func(data *sensor_msgs.PointCloud2) {
+					if len(masterConfig.TopicOfUngroundCloudpoints) == 0 {
+						c_log.GlobalLogger.Infof("话题 %v 没有触发器", topic)
+						return
+					}
+					subscribersTimeMutexes[i].Lock()
+					if time.Since(subscribersTimes[i]).Seconds() > 1 {
+						subscribersMutexes[i].Lock()
+						faultHappenTime := util.GetNowTimeCustom()   // 获取当前故障发生时间
+						lastTimeWindow := entity.GetLastTimeWindow() // 获取最后一个时间窗口
+						var faultLabel string
+						for _, f := range masterConfig.RuleOfUngroundCloudpoints {
+							faultLabel = f(data)
+							if faultLabel != "" {
+								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+								subscribersTimes[i] = time.Now()
+								break
+							}
+						}
+						subscribersMutexes[i].Unlock()
+					}
+					subscribersTimeMutexes[i].Unlock()
+				},
+			})
+		}
+
+		// 35
 		if topic == masterConfig.TopicOfDataRead && len(masterConfig.RuleOfDataRead) > 0 {
 			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  commonConfig.RosNode,