commit

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

@@ -1,13 +1,13 @@
 package main
 
 import (
-	"cicv-data-closedloop/common/entity"
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"math"
 )
 
 func Topic() string {
-	return "/cicv_location"
+	return "/cicv_amr_trajectory"
 }
 
 // Label todo 禁止存在下划线_
@@ -15,7 +15,7 @@ func Label() string {
 	return "controljump"
 }
 
-func Rule(data *pjisuv_msgs.Trajectory, param entity.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.Trajectory, param pjisuv_param.PjisuvParam) string {
 	var currentCurvateres []float64
 	for _, point := range data.Trajectoryinfo.Trajectorypoints {
 		currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))

trigger/pjisuv/pj_vehicle_fdb_pub/DriverTakeOver/main/DriverTakeOver.go

@@ -1,8 +1,8 @@
 package main
 
 import (
-	"cicv-data-closedloop/common/entity"
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"fmt"
 )
 
@@ -25,7 +25,7 @@ func Label() string {
 	return "DriverTakeOver"
 }
 
-func Rule(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string {
 	label := ""
 	if data.Automode == 0 && param.AutomodeOfPjVehicleFdbPub == 1 {
 		label = "DriverTakeOver"

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

@@ -1,8 +1,8 @@
 package main
 
 import (
-	"cicv-data-closedloop/common/entity"
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"math"
 )
 
@@ -35,7 +35,7 @@ func Label() string {
 	return "TTC"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionObjects, param entity.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionObjects, param pjisuv_param.PjisuvParam) string {
 	for _, obj := range data.Objs {
 		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityYOfCicvLocation > 1 {
 			ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))