Merge remote-tracking branch 'origin/master'

aarch64/pjisuv/master/service/produce_window.go

@@ -611,6 +611,9 @@ func ProduceWindow() {
 						shareVars.Store("AngularVelocityZOfCicvLocation", data.AngularVelocityZ)
 						shareVars.Store("PositionXOfCicvLocation", data.PositionX)
 						shareVars.Store("PositionYOfCicvLocation", data.PositionY)
+						shareVars.Store("Latitude", data.Latitude)
+						shareVars.Store("Longitude", data.Longitude)
+
 						// 用于判断是否在车间内
 						if time.Since(cicvLocationTime).Seconds() > 1 {
 							p := Point{x: data.PositionX, y: data.PositionY}
@@ -1416,7 +1419,8 @@ func ProduceWindow() {
 							ObjDicOfTpperception[obj.Id][0] = append(ObjDicOfTpperception[obj.Id][0], obj.X)
 							ObjDicOfTpperception[obj.Id][1] = append(ObjDicOfTpperception[obj.Id][1], obj.Y)
 							ObjDicOfTpperception[obj.Id][2] = append(ObjDicOfTpperception[obj.Id][2], obj.Vxrel)
-							ObjDicOfTpperception[obj.Id][3] = append(ObjDicOfTpperception[obj.Id][3], obj.Vxabs)
+							absspeed := math.Sqrt(math.Pow(float64(obj.Vxabs), 2) + math.Pow(float64(obj.Vyabs), 2))
+							ObjDicOfTpperception[obj.Id][3] = append(ObjDicOfTpperception[obj.Id][3], float32(absspeed))
 							objTypeDicOfTpperception[obj.Id] = obj.Type
 							objSpeedDicOfTpperception[obj.Id] = math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
 						}

trigger/pjisuv/cicv_ticker/BeOvertakenInCorner/main/BeOvertakenInCorner.go

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

trigger/pjisuv/cicv_ticker/FrontVehicleBrake/main/FrontVehicleBrake.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {

trigger/pjisuv/cicv_ticker/FrontVehicleCutInFar/main/FrontVehicleCutInFar.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {

trigger/pjisuv/cicv_ticker/FrontVehicleCutInNear/main/FrontVehicleCutInNear.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {

trigger/pjisuv/cicv_ticker/FrontVehicleCutOutFar/main/FrontVehicleCutOutFar.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {

trigger/pjisuv/cicv_ticker/FrontVehicleCutOutNear/main/FrontVehicleCutOutNear.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {

trigger/pjisuv/cicv_ticker/RearVehicleApproach/main/RearVehicleApproach.go

@@ -32,7 +32,7 @@ func Rule(shareVars *sync.Map) {
 	// 1 使用goroutine
 	go func(shareVars *sync.Map) {
 		// 2 定义触发器的间隔时间
-		ticker := time.NewTicker(time.Duration(4) * time.Second)
+		ticker := time.NewTicker(time.Duration(2) * time.Second)
 		defer ticker.Stop()
 		// 3 运行一个无限循环
 		for {