commit

trigger/pjisuv/cicv_amr_trajectory/ControlJump/main/ControlJump.go

@@ -23,17 +23,22 @@ func Rule(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string {
 			fmt.Println("Recovered from panic:", r)
 		}
 	}()
-	var currentCurvateres []float64
-	for _, point := range data.Trajectoryinfo.Trajectorypoints {
-		currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))
-	}
-	if len(currentCurvateres) != 0 {
-		maxCurrent := slices.Max(currentCurvateres)
-		maxLast := slices.Max(param.LastCurvaturesOfCicvAmrTrajectory)
-		a := math.Abs(maxCurrent - maxLast)
-		if a >= 0.099 {
-			return "ControlJump"
+	lastCurvaturesOfCicvAmrTrajectory, ok := shareVars.Load("LastCurvaturesOfCicvAmrTrajectory")
+	if ok {
+		v := lastCurvaturesOfCicvAmrTrajectory.([]float64)
+		var currentCurvateres []float64
+		for _, point := range data.Trajectoryinfo.Trajectorypoints {
+			currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))
+		}
+		if len(currentCurvateres) != 0 {
+			maxCurrent := slices.Max(currentCurvateres)
+			maxLast := slices.Max(v)
+			a := math.Abs(maxCurrent - maxLast)
+			if a >= 0.099 {
+				return "ControlJump"
+			}
 		}
 	}
+
 	return ""
 }

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

@@ -9,9 +9,9 @@ func Topic() string {
 	return "/fault_info"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
-	return "errorcode"
+	return "ErrorCode"
 }
 
 func Rule(data *pjisuv_msgs.FaultVec) string {
@@ -21,17 +21,4 @@ func Rule(data *pjisuv_msgs.FaultVec) string {
 		}
 	}()
 	return ""
-	//errorcodeStr := ""
-	//faultFlag := false
-	//faultList := data.InfoVec
-	//if len(faultList) > 0 {
-	//	for _, fault := range faultList {
-	//		errorcodeStr = errorcodeStr + toString(fault.ErrorCode)
-	//		faultFlag = true
-	//	}
-	//}
-	//if faultFlag {
-	//	return "errorcode"
-	//}
-	//return ""
 }

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

@@ -9,7 +9,7 @@ func Topic() string {
 	return "/pj_control_pub"
 }
 
-// Label todo 禁止存在下划线_
+// 禁止存在下划线_
 func Label() string {
 	return "AEB"
 }
@@ -21,7 +21,7 @@ func Rule(data *pjisuv_msgs.CommonVehicleCmd) string {
 		}
 	}()
 	if data.ICPVCmdBrkPelPosActInv >= 90 {
-		return "AEB"
+		return Label()
 	}
 	return ""
 }