add NumTargetsExceedThreshold trigger

trigger/pjisuv/cicv_location/OverSwing/main/OverSwing.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
 	"math"
 )
@@ -34,13 +35,13 @@ func Label() string {
 	return "OverSwing"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string {
 	defer func() {
 		if r := recover(); r != nil {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	if math.Abs(data.AngularVelocityZ) >= 27.0 {
+	if math.Abs(data.AngularVelocityZ) >= 27.0 && param.AutomodeOfPjVehicleFdbPub == 1 {
 		return "OverSwing"
 	} else {
 		return ""

trigger/pjisuv/tpperception/NumTargetsExceedThreshold/main/NumTargetsExceedThreshold.go

@@ -0,0 +1,39 @@
+package main
+
+import (
+	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
+)
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// Label todo 禁止存在下划线_
+func Label() string {
+	return "NumTargetsExceedThreshold"
+}
+func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+	NumTargets := 0
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
+
+	if param.VelocityXOfCicvLocation > 0.5 && len(data.Objs) > 6 {
+		for _, obj := range data.Objs {
+			if obj.Type != 0 && obj.X >= 2 {
+				NumTargets++
+			}
+		}
+		//fmt.Println(NumTargets)
+		if NumTargets >= 6 {
+			//event_lable := "NumTargetsExceedThreshold"
+			fmt.Printf("NumTargetsExceedThreshold,%d Targets were found\n", NumTargets)
+			return "NumTargetsExceedThreshold"
+		}
+	}
+	return ""
+}