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@@ -0,0 +1,47 @@
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+package main
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+
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+import (
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+ "cicv-data-closedloop/pjisuv_msgs"
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+ "cicv-data-closedloop/pjisuv_param"
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+ "fmt"
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+ "time"
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+)
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+
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+var (
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+ StartTime int64
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+ IsStopped bool
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+)
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+
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+func Topic() string {
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+ return "/pj_vehicle_fdb_pub"
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+}
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+
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+// Label todo 禁止存在下划线_
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+func Label() string {
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+ return "AuLongStop"
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+}
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+
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+func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
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+ if param.AutomodeOfPjVehicleFdbPub == 1 {
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+ if data.VelocityX < 0.5 {
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+ // 如果之前没有记录开始时间，记录当前时间
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+ if StartTime == 0 {
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+ StartTime = time.Now().Unix()
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+ }
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+ // 判断是否持续超过 50s
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+ if time.Now().Unix()-StartTime > 50 {
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+ if !IsStopped {
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+ event_label := "AuLongStop"
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+ fmt.Println(event_label)
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+ IsStopped = true
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+ return "AuLongStop"
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+ }
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+ }
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+ } else {
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+ // 如果速度大于 0.1，重置开始时间和停止标志
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+ StartTime = 0
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+ IsStopped = false
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+ }
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+ }
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+ return ""
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+}
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zwh