commit

aarch64/pjisuv/master/config/trigger_init.go

@@ -178,45 +178,57 @@ func InitTriggerConfig() {
 				}
 			}
 		} else if TopicOfCh64wRLslidarPointCloud == topic2 { //8
-			//f, ok := rule.(func(data *sensor_msgs.PointCloud2) string)
-			//if ok != true {
-			//	c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.PointCloud2) string):", err)
-			//	continue
-			//}
-			//RuleOfCh64wRLslidarPointCloud = append(RuleOfCh64wRLslidarPointCloud, f)
-			f1, ok1 := rule.(func(data *sensor_msgs.LaserScan) string)
+			f1, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string)
 			if ok1 {
-				RuleOfCh64wLScan1 = append(RuleOfCh64wLScan1, f1)
+				RuleOfCh64wRLslidarPointCloud1 = append(RuleOfCh64wRLslidarPointCloud1, f1)
 			} else {
-				f2, ok2 := rule.(func(data *sensor_msgs.LaserScan, param *entity.PjisuvParam) string)
+				f2, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string)
 				if ok2 {
-					RuleOfCh64wLScan2 = append(RuleOfCh64wLScan2, f2)
+					RuleOfCh64wRLslidarPointCloud2 = append(RuleOfCh64wRLslidarPointCloud2, f2)
 				} else {
 					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
 					continue
 				}
 			}
 		} else if TopicOfCh64wRScan == topic2 { //9
-			f, ok := rule.(func(data *sensor_msgs.LaserScan) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.LaserScan) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.LaserScan) string)
+			if ok1 {
+				RuleOfCh64wRScan1 = append(RuleOfCh64wRScan1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.LaserScan, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfCh64wRScan2 = append(RuleOfCh64wRScan2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfCh64wRScan = append(RuleOfCh64wRScan, f)
 		} else if TopicOfCicvLidarclusterMovingObjects == topic2 { //10
-			f, ok := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string)
+			if ok1 {
+				RuleOfCicvLidarclusterMovingObjects1 = append(RuleOfCicvLidarclusterMovingObjects1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfCicvLidarclusterMovingObjects2 = append(RuleOfCicvLidarclusterMovingObjects2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfCicvLidarclusterMovingObjects = append(RuleOfCicvLidarclusterMovingObjects, f)
 		} else if TopicOfCicvAmrTrajectory == topic2 { //11
-			f, ok := rule.(func(data *pjisuv_msgs.Trajectory, param entity.PjisuvParam) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Trajectory,param entity.PjisuvParam) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string)
+			if ok1 {
+				RuleOfCicvAmrTrajectory1 = append(RuleOfCicvAmrTrajectory1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.Trajectory, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfCicvAmrTrajectory2 = append(RuleOfCicvAmrTrajectory2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfCicvAmrTrajectory = append(RuleOfCicvAmrTrajectory, f)
 		} else if TopicOfCicvLocation == topic2 { //12
 			f1, ok1 := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string)
 			if ok1 {
@@ -231,180 +243,330 @@ func InitTriggerConfig() {
 				}
 			}
 		} else if TopicOfCloudClusters == topic2 { //13
-			f, ok := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.AutowareCloudClusterArray) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray) string)
+			if ok1 {
+				RuleOfCloudClusters1 = append(RuleOfCloudClusters1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfCloudClusters2 = append(RuleOfCloudClusters2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfCloudClusters = append(RuleOfCloudClusters, f)
 		} else if TopicOfHeartbeatInfo == topic2 { //14
-			f, ok := rule.(func(data *pjisuv_msgs.HeartBeatInfo) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.HeartBeatInfo) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.HeartBeatInfo) string)
+			if ok1 {
+				RuleOfHeartbeatInfo1 = append(RuleOfHeartbeatInfo1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.HeartBeatInfo, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfHeartbeatInfo2 = append(RuleOfHeartbeatInfo2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfHeartbeatInfo = append(RuleOfHeartbeatInfo, f)
 		} else if TopicOfLidarPretreatmentCost == topic2 { //15
-			f, ok := rule.(func(data *geometry_msgs.Vector3Stamped) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *geometry_msgs.Vector3Stamped) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string)
+			if ok1 {
+				RuleOfLidarPretreatmentCost1 = append(RuleOfLidarPretreatmentCost1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *geometry_msgs.Vector3Stamped, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfLidarPretreatmentCost2 = append(RuleOfLidarPretreatmentCost2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfLidarPretreatmentCost = append(RuleOfLidarPretreatmentCost, f)
 		} else if TopicOfLidarPretreatmentOdometry == topic2 { //16
-			f, ok := rule.(func(data *nav_msgs.Odometry) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Odometry) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Odometry) string)
+			if ok1 {
+				RuleOfLidarPretreatmentOdometry1 = append(RuleOfLidarPretreatmentOdometry1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Odometry, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfLidarPretreatmentOdometry2 = append(RuleOfLidarPretreatmentOdometry2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfLidarPretreatmentOdometry = append(RuleOfLidarPretreatmentOdometry, f)
 		} else if TopicOfLidarRoi == topic2 { //17
-			f, ok := rule.(func(data *geometry_msgs.PolygonStamped) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *geometry_msgs.PolygonStamped) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *geometry_msgs.PolygonStamped) string)
+			if ok1 {
+				RuleOfLidarRoi1 = append(RuleOfLidarRoi1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *geometry_msgs.PolygonStamped, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfLidarRoi2 = append(RuleOfLidarRoi2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfLidarRoi = append(RuleOfLidarRoi, f)
 		} else if TopicOfLine1 == topic2 { //18
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Path) string)
+			if ok1 {
+				RuleOfLine11 = append(RuleOfLine11, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfLine12 = append(RuleOfLine12, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfLine1 = append(RuleOfLine1, f)
 		} else if TopicOfLine2 == topic2 { //19
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Path) string)
+			if ok1 {
+				RuleOfLine21 = append(RuleOfLine21, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfLine22 = append(RuleOfLine22, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfLine2 = append(RuleOfLine2, f)
 		} else if TopicOfMapPolygon == topic2 { //20
-			f, ok := rule.(func(data *pjisuv_msgs.PolygonStamped, param entity.PjisuvParam) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PolygonStamped,param entity.PjisuvParam) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.PolygonStamped) string)
+			if ok1 {
+				RuleOfMapPolygon1 = append(RuleOfMapPolygon1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.PolygonStamped, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfMapPolygon2 = append(RuleOfMapPolygon2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfMapPolygon = append(RuleOfMapPolygon, f)
 		} else if TopicOfObstacleDisplay == topic2 { //21
-			f, ok := rule.(func(data *visualization_msgs.MarkerArray) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *visualization_msgs.MarkerArray) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string)
+			if ok1 {
+				RuleOfObstacleDisplay1 = append(RuleOfObstacleDisplay1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *visualization_msgs.MarkerArray, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfObstacleDisplay2 = append(RuleOfObstacleDisplay2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfObstacleDisplay = append(RuleOfObstacleDisplay, f)
 		} else if TopicOfPjControlPub == topic2 { //22
-			f, ok := rule.(func(data *pjisuv_msgs.CommonVehicleCmd) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.CommonVehicleCmd) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.CommonVehicleCmd) string)
+			if ok1 {
+				RuleOfPjControlPub1 = append(RuleOfPjControlPub1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.CommonVehicleCmd, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfPjControlPub2 = append(RuleOfPjControlPub2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfPjControlPub = append(RuleOfPjControlPub, f)
 		} else if TopicOfPointsCluster == topic2 { //23
-			f, ok := rule.(func(data *sensor_msgs.PointCloud2) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.PointCloud2) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string)
+			if ok1 {
+				RuleOfPointsCluster1 = append(RuleOfPointsCluster1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfPointsCluster2 = append(RuleOfPointsCluster2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfPointsCluster = append(RuleOfPointsCluster, f)
 		} else if TopicOfPointsConcat == topic2 { //24
-			f, ok := rule.(func(data *sensor_msgs.PointCloud2) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.PointCloud2) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string)
+			if ok1 {
+				RuleOfPointsConcat1 = append(RuleOfPointsConcat1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfPointsConcat2 = append(RuleOfPointsConcat2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfPointsConcat = append(RuleOfPointsConcat, f)
 		} else if TopicOfReferenceDisplay == topic2 { //25
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Path) string)
+			if ok1 {
+				RuleOfReferenceDisplay1 = append(RuleOfReferenceDisplay1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfReferenceDisplay2 = append(RuleOfReferenceDisplay2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfReferenceDisplay = append(RuleOfReferenceDisplay, f)
 		} else if TopicOfReferenceTrajectory == topic2 { //26
-			f, ok := rule.(func(data *pjisuv_msgs.Trajectory) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Trajectory) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string)
+			if ok1 {
+				RuleOfReferenceTrajectory1 = append(RuleOfReferenceTrajectory1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.Trajectory, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfReferenceTrajectory2 = append(RuleOfReferenceTrajectory2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfReferenceTrajectory = append(RuleOfReferenceTrajectory, f)
 		} else if TopicOfRoiPoints == topic2 { //27
-			f, ok := rule.(func(data *sensor_msgs.PointCloud2) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.PointCloud2) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string)
+			if ok1 {
+				RuleOfRoiPoints1 = append(RuleOfRoiPoints1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfRoiPoints2 = append(RuleOfRoiPoints2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfRoiPoints = append(RuleOfRoiPoints, f)
 		} else if TopicOfRoiPolygon == topic2 { //28
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Path) string)
+			if ok1 {
+				RuleOfRoiPolygon1 = append(RuleOfRoiPolygon1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfRoiPolygon2 = append(RuleOfRoiPolygon2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfRoiPolygon = append(RuleOfRoiPolygon, f)
 		} else if TopicOfTf == topic2 { //29
-			f, ok := rule.(func(data *tf2_msgs.TFMessage) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *tf2_msgs.TFMessage) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *tf2_msgs.TFMessage) string)
+			if ok1 {
+				RuleOfTf1 = append(RuleOfTf1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *tf2_msgs.TFMessage, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfTf2 = append(RuleOfTf2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfTf = append(RuleOfTf, f)
 		} else if TopicOfTpperception == topic2 { //30
-			f, ok := rule.(func(data *pjisuv_msgs.PerceptionObjects, param entity.PjisuvParam) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PerceptionObjects, param entity.ExtendParam) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.PerceptionObjects) string)
+			if ok1 {
+				RuleOfTpperception1 = append(RuleOfTpperception1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.PerceptionObjects, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfTpperception2 = append(RuleOfTpperception2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfTpperception = append(RuleOfTpperception, f)
 		} else if TopicOfTpperceptionVis == topic2 { //31
-			f, ok := rule.(func(data *visualization_msgs.MarkerArray) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *visualization_msgs.MarkerArray) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string)
+			if ok1 {
+				RuleOfTpperceptionVis1 = append(RuleOfTpperceptionVis1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *visualization_msgs.MarkerArray, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfTpperceptionVis2 = append(RuleOfTpperceptionVis2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfTpperceptionVis = append(RuleOfTpperceptionVis, f)
 		} else if TopicOfTprouteplan == topic2 { //32
-			f, ok := rule.(func(data *pjisuv_msgs.RoutePlan) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.RoutePlan) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.RoutePlan) string)
+			if ok1 {
+				RuleOfTprouteplan1 = append(RuleOfTprouteplan1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.RoutePlan, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfTprouteplan2 = append(RuleOfTprouteplan2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfTprouteplan = append(RuleOfTprouteplan, f)
 		} else if TopicOfTrajectoryDisplay == topic2 { //33
-			f, ok := rule.(func(data *nav_msgs.Path) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *nav_msgs.Path) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *nav_msgs.Path) string)
+			if ok1 {
+				RuleOfTrajectoryDisplay1 = append(RuleOfTrajectoryDisplay1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfTrajectoryDisplay2 = append(RuleOfTrajectoryDisplay2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfTrajectoryDisplay = append(RuleOfTrajectoryDisplay, f)
 		} else if TopicOfUngroundCloudpoints == topic2 { //34
-			f, ok := rule.(func(data *sensor_msgs.PointCloud2) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.PointCloud2) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string)
+			if ok1 {
+				RuleOfUngroundCloudpoints1 = append(RuleOfUngroundCloudpoints1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfUngroundCloudpoints2 = append(RuleOfUngroundCloudpoints2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfUngroundCloudpoints = append(RuleOfUngroundCloudpoints, f)
 		} else if TopicOfCameraImage == topic2 { //35
-			f, ok := rule.(func(data *sensor_msgs.Image) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *sensor_msgs.Image) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *sensor_msgs.Image) string)
+			if ok1 {
+				RuleOfCameraImage1 = append(RuleOfCameraImage1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *sensor_msgs.Image, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfCameraImage2 = append(RuleOfCameraImage2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfCameraImage = append(RuleOfCameraImage, f)
 		} else if TopicOfDataRead == topic2 { //36
-			f, ok := rule.(func(data *pjisuv_msgs.Retrieval) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.Retrieval) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.Retrieval) string)
+			if ok1 {
+				RuleOfDataRead1 = append(RuleOfDataRead1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.Retrieval, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfDataRead2 = append(RuleOfDataRead2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfDataRead = append(RuleOfDataRead, f)
 		} else if TopicOfPjVehicleFdbPub == topic2 { //39
-			f, ok := rule.(func(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string)
-			if ok != true {
-				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.VehicleFdb) string):", err)
-				continue
+			f1, ok1 := rule.(func(data *pjisuv_msgs.VehicleFdb) string)
+			if ok1 {
+				RuleOfPjVehicleFdbPub1 = append(RuleOfPjVehicleFdbPub1, f1)
+			} else {
+				f2, ok2 := rule.(func(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string)
+				if ok2 {
+					RuleOfPjVehicleFdbPub2 = append(RuleOfPjVehicleFdbPub2, f2)
+				} else {
+					c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Rule方法参数格式错误:", err)
+					continue
+				}
 			}
-			RuleOfPjVehicleFdbPub = append(RuleOfPjVehicleFdbPub, f)
 		} else {
 			c_log.GlobalLogger.Error("未知的topic：", topic2)
 			continue

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

@@ -21,7 +21,7 @@ func Label() string {
 	return "AuLongStop"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string {
 	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