commit

aarch64/pjisuv/master/config/trigger_var.go

@@ -2,7 +2,7 @@ package config
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
-	entity "cicv-data-closedloop/pjisuv_param"
+	"cicv-data-closedloop/pjisuv_param"
 	"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"
@@ -15,7 +15,7 @@ var (
 	LabelMapTriggerId *sync.Map
 	// 扩展
 	TopicOfCicvExtend = "/cicv_extend"
-	RuleOfCicvExtend  []func(param entity.PjisuvParam) string
+	RuleOfCicvExtend  []func(param pjisuv_param.PjisuvParam) string
 
 	//1
 	TopicOfAmrPose = "/amr_pose"
@@ -59,7 +59,7 @@ var (
 
 	//11
 	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
-	RuleOfCicvAmrTrajectory  []func(data *pjisuv_msgs.Trajectory, param entity.PjisuvParam) string
+	RuleOfCicvAmrTrajectory  []func(data *pjisuv_msgs.Trajectory, param pjisuv_param.PjisuvParam) string
 
 	//12
 	TopicOfCicvLocation = "/cicv_location"
@@ -135,7 +135,7 @@ var (
 
 	//30
 	TopicOfTpperception = "/tpperception"
-	RuleOfTpperception  []func(data *pjisuv_msgs.PerceptionObjects, extendParam entity.PjisuvParam) string
+	RuleOfTpperception  []func(data *pjisuv_msgs.PerceptionObjects, extendParam pjisuv_param.PjisuvParam) string
 
 	//31
 	TopicOfTpperceptionVis = "/tpperception/vis"
@@ -171,5 +171,5 @@ var (
 
 	//39
 	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
-	RuleOfPjVehicleFdbPub  []func(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string
+	RuleOfPjVehicleFdbPub  []func(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string
 )

aarch64/pjisuv/master/service/produce_window.go

@@ -22,8 +22,11 @@ import (
 
 // 所有共享变量
 var (
-	pjisuvParam pjisuv_param.PjisuvParam
-	// /cicv_location
+	pjisuvParam = pjisuv_param.PjisuvParam{
+		ObjDicOfTpperception:      make(map[uint32][]float32),
+		ObjTypeDicOfTpperception:  make(map[uint32]uint8),
+		ObjSpeedDicOfTpperception: make(map[uint32]float64),
+	} // /cicv_location
 	mutexOfCicvLocation sync.RWMutex
 	// /tpperception
 	mutexOfTpperception sync.RWMutex

trigger/pjisuv/pj_control_pub/aeb/main/AEB.go

@@ -15,7 +15,7 @@ func Label() string {
 
 func Rule(data *pjisuv_msgs.CommonVehicleCmd) string {
 	if data.ICPVCmdBrkPelPosActInv >= 90 {
-		return "aeb"
+		return "AEB"
 	}
 	return ""
 }