commit

aarch64/pjisuv/master/config/trigger_var.go

@@ -2,7 +2,6 @@ package config
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
-	"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"
@@ -20,240 +19,200 @@ var (
 	//1
 	TopicOfAmrPose = "/amr_pose"
 	RuleOfAmrPose1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfAmrPose2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
 	RuleOfAmrPose3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//2
 	TopicOfBoundingBoxesFast = "/bounding_boxes_fast"
 	RuleOfBoundingBoxesFast1 []func(data *pjisuv_msgs.BoundingBoxArray) string
-	RuleOfBoundingBoxesFast2 []func(data *pjisuv_msgs.BoundingBoxArray, param *pjisuv_param.PjisuvParam) string
 	RuleOfBoundingBoxesFast3 []func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string
 
 	//3
 	TopicOfCameraFault = "/camera_fault"
 	RuleOfCameraFault1 []func(data *pjisuv_msgs.FaultVec) string
-	RuleOfCameraFault2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
 	RuleOfCameraFault3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
 
 	//4
 	TopicOfCanData = "/can_data"
 	RuleOfCanData1 []func(data *pjisuv_msgs.Frame) string
-	RuleOfCanData2 []func(data *pjisuv_msgs.Frame, param *pjisuv_param.PjisuvParam) string
 	RuleOfCanData3 []func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string
 
 	//5
 	TopicOfCh128x1LslidarPointCloud = "/ch128x1/lslidar_point_cloud"
 	RuleOfCh128x1LslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh128x1LslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfCh128x1LslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//6
 	TopicOfCh64wLLslidarPointCloud = "/ch64w_l/lslidar_point_cloud"
 	RuleOfCh64wLLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh64wLLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfCh64wLLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//7
 	TopicOfCh64wLScan = "/ch64w_l/scan"
 	RuleOfCh64wLScan1 []func(data *sensor_msgs.LaserScan) string
-	RuleOfCh64wLScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
 	RuleOfCh64wLScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
 
 	//8
 	TopicOfCh64wRLslidarPointCloud = "/ch64w_r/lslidar_point_cloud"
 	RuleOfCh64wRLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfCh64wRLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfCh64wRLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//9
 	TopicOfCh64wRScan = "/ch64w_r/scan"
 	RuleOfCh64wRScan1 []func(data *sensor_msgs.LaserScan) string
-	RuleOfCh64wRScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
 	RuleOfCh64wRScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string
 
 	//10
 	TopicOfCicvLidarclusterMovingObjects = "/cicv/lidarcluster_moving_objects"
 	RuleOfCicvLidarclusterMovingObjects1 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string
-	RuleOfCicvLidarclusterMovingObjects2 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects, param *pjisuv_param.PjisuvParam) string
 	RuleOfCicvLidarclusterMovingObjects3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string
 
 	//11
 	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
 	RuleOfCicvAmrTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
-	RuleOfCicvAmrTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
 	RuleOfCicvAmrTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
 
 	//12
 	TopicOfCicvLocation = "/cicv_location"
 	RuleOfCicvLocation1 []func(data *pjisuv_msgs.PerceptionLocalization) string
-	RuleOfCicvLocation2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
 	RuleOfCicvLocation3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 
 	//13
 	TopicOfCloudClusters = "/cloud_clusters"
 	RuleOfCloudClusters1 []func(data *pjisuv_msgs.AutowareCloudClusterArray) string
-	RuleOfCloudClusters2 []func(data *pjisuv_msgs.AutowareCloudClusterArray, param *pjisuv_param.PjisuvParam) string
 	RuleOfCloudClusters3 []func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string
 
 	//14
 	TopicOfHeartbeatInfo = "/heartbeat_info"
 	RuleOfHeartbeatInfo1 []func(data *pjisuv_msgs.HeartBeatInfo) string
-	RuleOfHeartbeatInfo2 []func(data *pjisuv_msgs.HeartBeatInfo, param *pjisuv_param.PjisuvParam) string
 	RuleOfHeartbeatInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string
 
 	//15
 	TopicOfLidarPretreatmentCost = "/lidarPretreatment_Cost"
 	RuleOfLidarPretreatmentCost1 []func(data *geometry_msgs.Vector3Stamped) string
-	RuleOfLidarPretreatmentCost2 []func(data *geometry_msgs.Vector3Stamped, param *pjisuv_param.PjisuvParam) string
 	RuleOfLidarPretreatmentCost3 []func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string
 
 	//16
 	TopicOfLidarPretreatmentOdometry = "/lidar_pretreatment/odometry"
 	RuleOfLidarPretreatmentOdometry1 []func(data *nav_msgs.Odometry) string
-	RuleOfLidarPretreatmentOdometry2 []func(data *nav_msgs.Odometry, param *pjisuv_param.PjisuvParam) string
 	RuleOfLidarPretreatmentOdometry3 []func(shareVars *sync.Map, data *nav_msgs.Odometry) string
 
 	//17
 	TopicOfLidarRoi = "/lidar_roi"
 	RuleOfLidarRoi1 []func(data *geometry_msgs.PolygonStamped) string
-	RuleOfLidarRoi2 []func(data *geometry_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
 	RuleOfLidarRoi3 []func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string
 
 	//18
 	TopicOfLine1 = "/line_1"
 	RuleOfLine11 []func(data *nav_msgs.Path) string
-	RuleOfLine12 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
 	RuleOfLine13 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//19
 	TopicOfLine2 = "/line_2"
 	RuleOfLine21 []func(data *nav_msgs.Path) string
-	RuleOfLine22 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
 	RuleOfLine23 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//20
 	TopicOfMapPolygon = "/map_polygon"
 	RuleOfMapPolygon1 []func(data *pjisuv_msgs.PolygonStamped) string
-	RuleOfMapPolygon2 []func(data *pjisuv_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
 	RuleOfMapPolygon3 []func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string
 
 	//21
 	TopicOfObstacleDisplay = "/obstacle_display"
 	RuleOfObstacleDisplay1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfObstacleDisplay2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
 	RuleOfObstacleDisplay3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//22
 	TopicOfPjControlPub = "/pj_control_pub"
 	RuleOfPjControlPub1 []func(data *pjisuv_msgs.CommonVehicleCmd) string
-	RuleOfPjControlPub2 []func(data *pjisuv_msgs.CommonVehicleCmd, param *pjisuv_param.PjisuvParam) string
 	RuleOfPjControlPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string
 
 	//23
 	TopicOfPointsCluster = "/points_cluster"
 	RuleOfPointsCluster1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfPointsCluster2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfPointsCluster3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//24
 	TopicOfPointsConcat = "/points_concat"
 	RuleOfPointsConcat1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfPointsConcat2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfPointsConcat3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//25
 	TopicOfReferenceDisplay = "/reference_display"
 	RuleOfReferenceDisplay1 []func(data *nav_msgs.Path) string
-	RuleOfReferenceDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
 	RuleOfReferenceDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//26
 	TopicOfReferenceTrajectory = "/reference_trajectory"
 	RuleOfReferenceTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
-	RuleOfReferenceTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
 	RuleOfReferenceTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string
 
 	//27
 	TopicOfRoiPoints = "/roi/points"
 	RuleOfRoiPoints1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfRoiPoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfRoiPoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//28
 	TopicOfRoiPolygon = "/roi/polygon"
 	RuleOfRoiPolygon1 []func(data *nav_msgs.Path) string
-	RuleOfRoiPolygon2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
 	RuleOfRoiPolygon3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//29
 	TopicOfTf = "/tf"
 	RuleOfTf1 []func(data *tf2_msgs.TFMessage) string
-	RuleOfTf2 []func(data *tf2_msgs.TFMessage, param *pjisuv_param.PjisuvParam) string
 	RuleOfTf3 []func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string
 
 	//30
 	TopicOfTpperception = "/tpperception"
 	RuleOfTpperception1 []func(data *pjisuv_msgs.PerceptionObjects) string
-	RuleOfTpperception2 []func(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string
 	RuleOfTpperception3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string
 
 	//31
 	TopicOfTpperceptionVis = "/tpperception/vis"
 	RuleOfTpperceptionVis1 []func(data *visualization_msgs.MarkerArray) string
-	RuleOfTpperceptionVis2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
 	RuleOfTpperceptionVis3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string
 
 	//32
 	TopicOfTprouteplan = "/tprouteplan"
 	RuleOfTprouteplan1 []func(data *pjisuv_msgs.RoutePlan) string
-	RuleOfTprouteplan2 []func(data *pjisuv_msgs.RoutePlan, param *pjisuv_param.PjisuvParam) string
 	RuleOfTprouteplan3 []func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string
 
 	//33
 	TopicOfTrajectoryDisplay = "/trajectory_display"
 	RuleOfTrajectoryDisplay1 []func(data *nav_msgs.Path) string
-	RuleOfTrajectoryDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
 	RuleOfTrajectoryDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string
 
 	//34
 	TopicOfUngroundCloudpoints = "/unground_cloudpoints"
 	RuleOfUngroundCloudpoints1 []func(data *sensor_msgs.PointCloud2) string
-	RuleOfUngroundCloudpoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
 	RuleOfUngroundCloudpoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string
 
 	//35
 	TopicOfCameraImage = "/camera_image"
 	RuleOfCameraImage1 []func(data *sensor_msgs.Image) string
-	RuleOfCameraImage2 []func(data *sensor_msgs.Image, param *pjisuv_param.PjisuvParam) string
 	RuleOfCameraImage3 []func(shareVars *sync.Map, data *sensor_msgs.Image) string
 
 	//36
 	TopicOfDataRead = "/data_read"
 	RuleOfDataRead1 []func(data *pjisuv_msgs.Retrieval) string
-	RuleOfDataRead2 []func(data *pjisuv_msgs.Retrieval, param *pjisuv_param.PjisuvParam) string
 	RuleOfDataRead3 []func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string
 
 	//37
 	TopicOfPjiGps = "/pji_gps"
 	RuleOfPjiGps1 []func(data *pjisuv_msgs.PerceptionLocalization) string
-	RuleOfPjiGps2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
 	RuleOfPjiGps3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 
 	//38
 	TopicOfFaultInfo = "/fault_info"
 	RuleOfFaultInfo1 []func(data *pjisuv_msgs.FaultVec) string
-	RuleOfFaultInfo2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
 	RuleOfFaultInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string
 
 	//39
 	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
 	RuleOfPjVehicleFdbPub1 []func(data *pjisuv_msgs.VehicleFdb) string
-	RuleOfPjVehicleFdbPub2 []func(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string
 	RuleOfPjVehicleFdbPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string
 
 	//40
 	TopicOfEndPointMessage = "end_point_message"
 	RuleOfEndPointMessage1 []func(data *geometry_msgs.Point) string
-	RuleOfEndPointMessage2 []func(data *geometry_msgs.Point, param *pjisuv_param.PjisuvParam) string
 	RuleOfEndPointMessage3 []func(shareVars *sync.Map, data *geometry_msgs.Point) string
 )

aarch64/pjisuv/master/service/produce_window.go

@@ -78,7 +78,7 @@ func ProduceWindow() {
 			c_log.GlobalLogger.Info("创建订阅者订阅话题：" + topic)
 
 			// 1
-			if topic == masterConfig.TopicOfAmrPose && (len(masterConfig.RuleOfAmrPose1) > 0 || len(masterConfig.RuleOfAmrPose2) > 0 || len(masterConfig.RuleOfAmrPose3) > 0) {
+			if topic == masterConfig.TopicOfAmrPose && (len(masterConfig.RuleOfAmrPose1) > 0 || len(masterConfig.RuleOfAmrPose3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
 					Topic: topic,
@@ -120,7 +120,6 @@ func ProduceWindow() {
 			// 2
 			if topic == masterConfig.TopicOfBoundingBoxesFast &&
 				(len(masterConfig.RuleOfBoundingBoxesFast1) > 0 ||
-					len(masterConfig.RuleOfBoundingBoxesFast2) > 0 ||
 					len(masterConfig.RuleOfBoundingBoxesFast3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -163,7 +162,6 @@ func ProduceWindow() {
 			// 3
 			if topic == masterConfig.TopicOfCameraFault &&
 				(len(masterConfig.RuleOfCameraFault1) > 0 ||
-					len(masterConfig.RuleOfCameraFault2) > 0 ||
 					len(masterConfig.RuleOfCameraFault3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -207,7 +205,6 @@ func ProduceWindow() {
 			// 4
 			if topic == masterConfig.TopicOfCanData &&
 				(len(masterConfig.RuleOfCanData1) > 0 ||
-					len(masterConfig.RuleOfCanData2) > 0 ||
 					len(masterConfig.RuleOfCanData3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -251,7 +248,6 @@ func ProduceWindow() {
 			// 5
 			if topic == masterConfig.TopicOfCh128x1LslidarPointCloud &&
 				(len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh128x1LslidarPointCloud2) > 0 ||
 					len(masterConfig.RuleOfCh128x1LslidarPointCloud3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -295,7 +291,6 @@ func ProduceWindow() {
 			// 6
 			if topic == masterConfig.TopicOfCh64wLLslidarPointCloud &&
 				(len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh64wLLslidarPointCloud2) > 0 ||
 					len(masterConfig.RuleOfCh64wLLslidarPointCloud3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -339,7 +334,6 @@ func ProduceWindow() {
 			// 7
 			if topic == masterConfig.TopicOfCh64wLScan &&
 				(len(masterConfig.RuleOfCh64wLScan1) > 0 ||
-					len(masterConfig.RuleOfCh64wLScan2) > 0 ||
 					len(masterConfig.RuleOfCh64wLScan3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -383,7 +377,6 @@ func ProduceWindow() {
 			// 8
 			if topic == masterConfig.TopicOfCh64wRLslidarPointCloud &&
 				(len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 ||
-					len(masterConfig.RuleOfCh64wRLslidarPointCloud2) > 0 ||
 					len(masterConfig.RuleOfCh64wRLslidarPointCloud3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -427,7 +420,6 @@ func ProduceWindow() {
 			// 9
 			if topic == masterConfig.TopicOfCh64wRScan &&
 				(len(masterConfig.RuleOfCh64wRScan1) > 0 ||
-					len(masterConfig.RuleOfCh64wRScan2) > 0 ||
 					len(masterConfig.RuleOfCh64wRScan3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -470,7 +462,6 @@ func ProduceWindow() {
 			// 10
 			if topic == masterConfig.TopicOfCicvLidarclusterMovingObjects &&
 				(len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 ||
-					len(masterConfig.RuleOfCicvLidarclusterMovingObjects2) > 0 ||
 					len(masterConfig.RuleOfCicvLidarclusterMovingObjects3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -611,7 +602,6 @@ func ProduceWindow() {
 			// 13
 			if topic == masterConfig.TopicOfCloudClusters &&
 				(len(masterConfig.RuleOfCloudClusters1) > 0 ||
-					len(masterConfig.RuleOfCloudClusters2) > 0 ||
 					len(masterConfig.RuleOfCloudClusters3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -656,7 +646,6 @@ func ProduceWindow() {
 			// 14
 			if topic == masterConfig.TopicOfHeartbeatInfo &&
 				(len(masterConfig.RuleOfHeartbeatInfo1) > 0 ||
-					len(masterConfig.RuleOfHeartbeatInfo2) > 0 ||
 					len(masterConfig.RuleOfHeartbeatInfo3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -700,7 +689,6 @@ func ProduceWindow() {
 			// 15
 			if topic == masterConfig.TopicOfLidarPretreatmentCost &&
 				(len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 ||
-					len(masterConfig.RuleOfLidarPretreatmentCost2) > 0 ||
 					len(masterConfig.RuleOfLidarPretreatmentCost3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -745,7 +733,6 @@ func ProduceWindow() {
 			// 16
 			if topic == masterConfig.TopicOfLidarPretreatmentOdometry &&
 				(len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 ||
-					len(masterConfig.RuleOfLidarPretreatmentOdometry2) > 0 ||
 					len(masterConfig.RuleOfLidarPretreatmentOdometry3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -790,7 +777,6 @@ func ProduceWindow() {
 			// 17
 			if topic == masterConfig.TopicOfLidarRoi &&
 				(len(masterConfig.RuleOfLidarRoi1) > 0 ||
-					len(masterConfig.RuleOfLidarRoi2) > 0 ||
 					len(masterConfig.RuleOfLidarRoi3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -834,7 +820,6 @@ func ProduceWindow() {
 			// 18
 			if topic == masterConfig.TopicOfLine1 &&
 				(len(masterConfig.RuleOfLine11) > 0 ||
-					len(masterConfig.RuleOfLine12) > 0 ||
 					len(masterConfig.RuleOfLine13) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -878,7 +863,6 @@ func ProduceWindow() {
 			// 19
 			if topic == masterConfig.TopicOfLine2 &&
 				(len(masterConfig.RuleOfLine21) > 0 ||
-					len(masterConfig.RuleOfLine22) > 0 ||
 					len(masterConfig.RuleOfLine23) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -922,7 +906,6 @@ func ProduceWindow() {
 			// 20
 			if topic == masterConfig.TopicOfMapPolygon &&
 				(len(masterConfig.RuleOfMapPolygon1) > 0 ||
-					len(masterConfig.RuleOfMapPolygon2) > 0 ||
 					len(masterConfig.RuleOfMapPolygon3) > 0) {
 
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
@@ -967,7 +950,6 @@ func ProduceWindow() {
 			// 21
 			if topic == masterConfig.TopicOfObstacleDisplay &&
 				(len(masterConfig.RuleOfObstacleDisplay1) > 0 ||
-					len(masterConfig.RuleOfObstacleDisplay2) > 0 ||
 					len(masterConfig.RuleOfObstacleDisplay3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1063,7 +1045,6 @@ func ProduceWindow() {
 			// 23
 			if topic == masterConfig.TopicOfPointsCluster &&
 				(len(masterConfig.RuleOfPointsCluster1) > 0 ||
-					len(masterConfig.RuleOfPointsCluster2) > 0 ||
 					len(masterConfig.RuleOfPointsCluster3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1107,7 +1088,6 @@ func ProduceWindow() {
 			// 24
 			if topic == masterConfig.TopicOfPointsConcat &&
 				(len(masterConfig.RuleOfPointsConcat1) > 0 ||
-					len(masterConfig.RuleOfPointsConcat2) > 0 ||
 					len(masterConfig.RuleOfPointsConcat3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1151,7 +1131,6 @@ func ProduceWindow() {
 			// 25
 			if topic == masterConfig.TopicOfReferenceDisplay &&
 				(len(masterConfig.RuleOfReferenceDisplay1) > 0 ||
-					len(masterConfig.RuleOfReferenceDisplay2) > 0 ||
 					len(masterConfig.RuleOfReferenceDisplay3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1195,7 +1174,6 @@ func ProduceWindow() {
 			// 26
 			if topic == masterConfig.TopicOfReferenceTrajectory &&
 				(len(masterConfig.RuleOfReferenceTrajectory1) > 0 ||
-					len(masterConfig.RuleOfReferenceTrajectory2) > 0 ||
 					len(masterConfig.RuleOfReferenceTrajectory3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1239,7 +1217,6 @@ func ProduceWindow() {
 			// 27
 			if topic == masterConfig.TopicOfRoiPoints &&
 				(len(masterConfig.RuleOfRoiPoints1) > 0 ||
-					len(masterConfig.RuleOfRoiPoints2) > 0 ||
 					len(masterConfig.RuleOfRoiPoints3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1283,7 +1260,6 @@ func ProduceWindow() {
 			// 28
 			if topic == masterConfig.TopicOfRoiPolygon &&
 				(len(masterConfig.RuleOfRoiPolygon1) > 0 ||
-					len(masterConfig.RuleOfRoiPolygon2) > 0 ||
 					len(masterConfig.RuleOfRoiPolygon3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1327,7 +1303,6 @@ func ProduceWindow() {
 			// 29
 			if topic == masterConfig.TopicOfTf &&
 				(len(masterConfig.RuleOfTf1) > 0 ||
-					len(masterConfig.RuleOfTf2) > 0 ||
 					len(masterConfig.RuleOfTf3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1429,7 +1404,6 @@ func ProduceWindow() {
 			// 31
 			if topic == masterConfig.TopicOfTpperceptionVis &&
 				(len(masterConfig.RuleOfTpperceptionVis1) > 0 ||
-					len(masterConfig.RuleOfTpperceptionVis2) > 0 ||
 					len(masterConfig.RuleOfTpperceptionVis3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1473,7 +1447,6 @@ func ProduceWindow() {
 			// 32
 			if topic == masterConfig.TopicOfTprouteplan &&
 				(len(masterConfig.RuleOfTprouteplan1) > 0 ||
-					len(masterConfig.RuleOfTprouteplan2) > 0 ||
 					len(masterConfig.RuleOfTprouteplan3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1517,7 +1490,6 @@ func ProduceWindow() {
 			// 33
 			if topic == masterConfig.TopicOfTrajectoryDisplay &&
 				(len(masterConfig.RuleOfTrajectoryDisplay1) > 0 ||
-					len(masterConfig.RuleOfTrajectoryDisplay2) > 0 ||
 					len(masterConfig.RuleOfTrajectoryDisplay3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1561,7 +1533,6 @@ func ProduceWindow() {
 			// 34
 			if topic == masterConfig.TopicOfUngroundCloudpoints &&
 				(len(masterConfig.RuleOfUngroundCloudpoints1) > 0 ||
-					len(masterConfig.RuleOfUngroundCloudpoints2) > 0 ||
 					len(masterConfig.RuleOfUngroundCloudpoints3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1605,7 +1576,6 @@ func ProduceWindow() {
 			// 35
 			if topic == masterConfig.TopicOfCameraImage &&
 				(len(masterConfig.RuleOfCameraImage1) > 0 ||
-					len(masterConfig.RuleOfCameraImage2) > 0 ||
 					len(masterConfig.RuleOfCameraImage3) > 0) {
 
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
@@ -1701,7 +1671,6 @@ func ProduceWindow() {
 			// 37
 			if topic == masterConfig.TopicOfPjiGps &&
 				(len(masterConfig.RuleOfPjiGps1) > 0 ||
-					len(masterConfig.RuleOfPjiGps2) > 0 ||
 					len(masterConfig.RuleOfPjiGps3) > 0) {
 				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
 					Node:  commonConfig.RosNode,
@@ -1780,7 +1749,6 @@ func ProduceWindow() {
 						}
 						subscribersTimeMutexes[i].Unlock()
 						// 更新共享变量
-						shareVars.Store("Automode", data.Automode)
 						shareVars.Store("AutomodeOfPjVehicleFdbPub", data.Automode)
 					},
 				})

trigger/pjisuv/cicv_location/AbnormalParking/main/AbnormalParking.go

@@ -32,7 +32,7 @@ func Topic() string {
 	return "/cicv_location"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
 	return "AbnormalParking"
 }
@@ -74,7 +74,7 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 		}
 	}()
 	if count1%10 == 0 {
-		Automode, _ := shareVars.Load("Automode")
+		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
 		Longitude, _ := shareVars.Load("EndPointX")
 		Latitude, _ := shareVars.Load("EndPointY")
 		Automode = Automode.(int16)
@@ -92,10 +92,8 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 				// 判断是否持续超过 50s
 				if time.Now().Unix()-StartTime > 5 {
 					if !IsStopped {
-						eventLabel := "AbnormalParking"
-						fmt.Println(eventLabel)
 						IsStopped = true
-						return "AbnormalParking"
+						return Label()
 					}
 				}
 			} else {

trigger/pjisuv/cicv_location/LocationJump/main/LocationJump.go

@@ -23,7 +23,6 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-
 	positionXOfCicvLocation, ok1 := shareVars.Load("PositionXOfCicvLocation")
 	positionYOfCicvLocation, ok2 := shareVars.Load("PositionYOfCicvLocation")
 	if ok1 && ok2 {