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@@ -0,0 +1,125 @@
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+package main
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+
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+import (
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+ "cicv-data-closedloop/pjisuv_ticker"
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+ "fmt"
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+ "math"
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+ "sync"
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+ "time"
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+)
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+
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+var (
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+ Maxlenobj int32 = 0
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+ pointcurve = Point{39.73004426154644, 116.49248639463602}
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+ pointlist1 = []Point{pointcurve}
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+)
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+
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+type Point struct {
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+ Latitude float64
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+ Longitude float64
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+}
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+
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+// 定时任务触发器固定的
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+func Topic() string {
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+ return pjisuv_ticker.TickerTopic
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+}
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+
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+// ******* 禁止存在下划线_
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+// 触发器标记
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+func Label() string {
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+ return "BeOvertakenInCorner"
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+}
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+
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+func Rule(shareVars *sync.Map) {
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+ defer func() {
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+ if r := recover(); r != nil {
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+ fmt.Println("Recovered from panic:", r)
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+ }
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+ }()
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+ // 1 使用goroutine
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+ go func(shareVars *sync.Map) {
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+ // 2 定义触发器的间隔时间
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+ ticker := time.NewTicker(time.Duration(2) * time.Second)
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+ defer ticker.Stop()
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+ // 3 运行一个无限循环
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+ for {
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+ select {
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+ // 定时器触发时执行的代码
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+ case <-ticker.C:
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+ FinalCallback(shareVars)
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+
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+ }
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+ }
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+ }(shareVars)
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+}
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+func isBrake(ObjectList [][]float32) bool {
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+ for i, speed := range ObjectList[3] {
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+
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+ if math.Abs(float64(ObjectList[1][i])) <= 1.3 && speed >= 3 && ObjectList[0][i] >= 1.3 {
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+ for j := 0; j < len(ObjectList[0])-i-1; j++ {
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+ if math.Abs(float64(ObjectList[1][1+i+j])) <= 1.3 && ObjectList[3][1+i+j] <= 1 {
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+ return true
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+ }
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+ }
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+ }
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+ }
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+ return false
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+}
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+func IfEnter(pointlist []Point, radius float64, lat, lon float64) bool {
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+ // 判断是否进入点列表中的区域
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+ point1 := Point{Latitude: lat, Longitude: lon}
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+ for _, point := range pointlist {
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+ d := distance(point1, point)
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+ if d <= radius {
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+ return true
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+ }
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+ }
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+ return false
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+}
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+
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+// 计算两点之间的距离（米）
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+func distance(point1, point2 Point) float64 {
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+ // 经纬度转弧度
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+ lat1 := point1.Latitude * math.Pi / 180
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+ lon1 := point1.Longitude * math.Pi / 180
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+ lat2 := point2.Latitude * math.Pi / 180
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+ lon2 := point2.Longitude * math.Pi / 180
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+
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+ // 计算距离
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+ dlon := lon2 - lon1
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+ dlat := lat2 - lat1
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+ a := math.Sin(dlat/2)*math.Sin(dlat/2) + math.Sin(dlon/2)*math.Sin(dlon/2)*math.Cos(lat1)*math.Cos(lat2)
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+ c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
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+ d := 6371000 * c
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+
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+ return d
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+}
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+func FinalCallback(shareVars *sync.Map) {
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+ OutsideWorkshopFlag, ok := shareVars.Load("OutsideWorkshopFlag")
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+
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+ Latitude, ok1 := shareVars.Load("Latitude")
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+ Longitude, ok2 := shareVars.Load("Longitude")
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+
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+ if ok && ok1 && ok2 && IfEnter(pointlist1, 50, Latitude.(float64), Longitude.(float64)) {
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+ ObjDicOfTpperception, okn := shareVars.Load("objDicOfTpperception")
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+ ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
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+
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+ if okn && OutsideWorkshopFlag.(bool) == true {
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+ for _, objValue := range ObjDic {
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+ Maxlenobj = max(Maxlenobj, int32(len(objValue[0])))
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+ if len(ObjDic[0]) <= 10 || !isBrake(objValue) {
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+ continue
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+ }
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+ event_lable := "BeOvertakenInCorner"
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+ fmt.Println(event_lable)
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+ pjisuv_ticker.TickerChan <- pjisuv_ticker.TickInfo{FaultLabel: Label(), FaultHappenTime: pjisuv_ticker.GetNowTimeCustom()}
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+ }
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+ if Maxlenobj >= 100 {
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+ ObjDicOfTpperception = make(map[uint32][][]float32)
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+ shareVars.Store("ObjDicOfTpperception", ObjDicOfTpperception)
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+ Maxlenobj = 0
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+ }
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+ }
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+ }
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+
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+}
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Yishi Wang