commit

trigger/pjisuv/tpperception/perceptionspeeddiffer/main/perceptionspeeddiffer.go

@@ -0,0 +1,61 @@
+package main
+
+import (
+	"cicv-data-closedloop/common/entity"
+	"cicv-data-closedloop/pjisuv_msgs"
+	"math"
+	"reflect"
+)
+
+/*
+   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)
+*/
+
+func Topic() string {
+	return "/tpperception"
+}
+
+// Label todo 禁止存在下划线_
+func Label() string {
+	return "TTC"
+}
+
+func Rule(data *pjisuv_msgs.PerceptionObjects, param entity.PjisuvParam) string {
+	for _, obj := range data.Objs {
+		if len(param.ObjSpeedDicOfTpperception) != 0 {
+			if ContainsElement(param.ObjSpeedDicOfTpperception, obj.Id) {
+				objSpeed := math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
+				diffRate := math.Abs(objSpeed-param.ObjSpeedDicOfTpperception[obj.Id]) / (param.ObjSpeedDicOfTpperception[obj.Id] + 0.0001)
+				if diffRate > 0.1 && objSpeed > 0.5 && param.ObjSpeedDicOfTpperception[obj.Id] > 0.5 {
+					return "perceptionspeeddiffer"
+				}
+			}
+		}
+	}
+	return ""
+}
+
+func ContainsElement(slice interface{}, element interface{}) bool {
+	sliceValue := reflect.ValueOf(slice)
+	if sliceValue.Kind() != reflect.Slice {
+		return false
+	}
+	for i := 0; i < sliceValue.Len(); i++ {
+		currentElement := sliceValue.Index(i).Interface()
+		if reflect.DeepEqual(currentElement, element) {
+			return true
+		}
+	}
+	return false
+}