commit

trigger/pjisuv/cicv_location/AuLongStop/main/AuLongStop.go

@@ -22,6 +22,11 @@ func Label() 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 param.AutomodeOfPjVehicleFdbPub == 1 {
 		if data.VelocityX < 0.5 {
 			// 如果之前没有记录开始时间，记录当前时间

trigger/pjisuv/cicv_location/Brake/main/Brake.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 )
 
 func Topic() string {
@@ -14,6 +15,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if data.AccelX*9.8 < -4.0 {
 		return "brake"
 	} else {

trigger/pjisuv/cicv_location/EnterTjunction/main/EnterTjunction.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 )
 
@@ -34,6 +35,11 @@ var (
 )
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if count2%10 == 0 {
 
 		enterflag := IfEnter(pointlist, 12.0, data.Latitude, data.Longitude)

trigger/pjisuv/cicv_location/FindTrafficLight/main/FindTrafficLight.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 )
 
@@ -32,6 +33,11 @@ var (
 )
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if count1%10 == 0 {
 
 		enterflag := IfEnter(pointlist, 15.0, data.Latitude, data.Longitude)

trigger/pjisuv/cicv_location/OverSpeed/main/OverSpeed.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 )
 
@@ -14,6 +15,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	//threshold := 65.0
 	threshold := 9999.0
 	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5)*3.6 >= threshold {

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

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 )
 
@@ -34,6 +35,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if math.Abs(data.AngularVelocityZ) >= 27.0 {
 		return "OverSwing"
 	} else {

trigger/pjisuv/cicv_location/RapidAccel/main/RapidAccel.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 )
 
 func Topic() string {
@@ -13,6 +14,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if data.AccelX*9.8 > 5.0 {
 		return "RapidAccel"
 	} else {

trigger/pjisuv/fault_info/ErrorCode/main/ErrorCode.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 )
 
 func Topic() string {
@@ -14,6 +15,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.FaultVec) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	return ""
 	//errorcodeStr := ""
 	//faultFlag := false

trigger/pjisuv/map_polygon/OutOfLane/main/OutOfLane.go

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
 	"math"
 )
 
@@ -60,6 +61,11 @@ func polygonLineIntersect(polygon []pjisuv_msgs.Point64, A, B pjisuv_msgs.Point6
 }
 
 func Rule(data *pjisuv_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	Points := data.Polygon.Points
 	D1, D2, D3 := 3.813, 0.952, 1.086
 	corners := getVehicleCorners(param.PositionXOfCicvLocation, param.PositionYOfCicvLocation, D1, D2, D3, param.YawOfCicvLocation)

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

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 )
 
 func Topic() string {
@@ -14,6 +15,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.CommonVehicleCmd) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	if data.ICPVCmdBrkPelPosActInv >= 90 {
 		return "AEB"
 	}

trigger/pjisuv/pj_control_pub/CmdStrAngleUnstable/main/CmdStrAngleUnstable.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"fmt"
 	"math"
 	"time"
 )
@@ -22,7 +23,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.CommonVehicleCmd) string {
-
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	// 初始化第一次
 	if len(cacheSlice) == 0 {
 		cacheSlice = append(cacheSlice, data.ICPVCmdStrAngle)

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

@@ -26,6 +26,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	label := ""
 	if data.Automode == 0 && param.AutomodeOfPjVehicleFdbPub == 1 {
 		label = "DriverTakeOver"

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

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
 	"math"
 )
 
@@ -36,6 +37,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	for _, obj := range data.Objs {
 		if math.Abs(float64(obj.Y)) <= 2 && obj.X >= 6 && param.VelocityXOfCicvLocation > 0.5 {
 			ttc := -((float64(obj.X) - 4) / (float64(obj.Vxrel) + 0.001))

trigger/pjisuv/tpperception/TargetAhead/main/TargetAhead.go

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
 	"math"
 )
 
@@ -16,6 +17,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	for _, obj := range data.Objs {
 		if math.Abs(float64(obj.Y)) <= 1.5 && obj.X >= 0 && obj.X <= 6 && param.AngularVelocityZOfCicvLocation < 5.5 && math.Abs(param.VelocityXOfCicvLocation) >= 0.5 {
 			//event_label := "TargetAhead" //测试车正前方１０米范围内有目标物（过滤掉测试车转弯的情况）

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

@@ -3,6 +3,7 @@ package main
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
 	"cicv-data-closedloop/pjisuv_param"
+	"fmt"
 	"math"
 )
 
@@ -31,6 +32,11 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string {
+	defer func() {
+		if r := recover(); r != nil {
+			fmt.Println("Recovered from panic:", r)
+		}
+	}()
 	for _, obj := range data.Objs {
 		if len(param.ObjSpeedDicOfTpperception) != 0 {
 			if _, exist := param.ObjSpeedDicOfTpperception[obj.Id]; exist {