commit

aarch64/pjisuv/master/config/trigger_init.go

@@ -159,9 +159,9 @@ func InitTriggerConfig() {
 			}
 			RuleOfCicvAmrTrajectory = append(RuleOfCicvAmrTrajectory, f)
 		} else if TopicOfCicvLocation == topic2 { //12
-			f, ok := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string)
+			f, ok := rule.(func(data *pjisuv_msgs.PerceptionLocalization, 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.PerceptionLocalization) string):", err)
+				c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func(data *pjisuv_msgs.PerceptionLocalization, param entity.PjisuvParam) string):", err)
 				continue
 			}
 			RuleOfCicvLocation = append(RuleOfCicvLocation, f)

aarch64/pjisuv/master/config/trigger_var.go

@@ -63,7 +63,7 @@ var (
 
 	//12
 	TopicOfCicvLocation = "/cicv_location"
-	RuleOfCicvLocation  []func(data *pjisuv_msgs.PerceptionLocalization) string
+	RuleOfCicvLocation  []func(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string
 
 	//13
 	TopicOfCloudClusters = "/cloud_clusters"

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

@@ -31,8 +31,8 @@ func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvPar
 			// 判断是否持续超过 50s
 			if time.Now().Unix()-StartTime > 50 {
 				if !IsStopped {
-					event_label := "AuLongStop"
-					fmt.Println(event_label)
+					eventLabel := "AuLongStop"
+					fmt.Println(eventLabel)
 					IsStopped = true
 					return "AuLongStop"
 				}

trigger/pjisuv/cicv_location/Brake/main/Brake.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 )
 
 func Topic() string {
@@ -13,7 +14,7 @@ func Label() string {
 	return "brake"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
 	if data.AccelX*9.8 < -4.0 {
 		return "brake"
 	} else {

trigger/pjisuv/cicv_location/OverSpeed/main/OverSpeed.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"math"
 )
 
@@ -13,7 +14,7 @@ func Label() string {
 	return "OverSpeed"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
 	//threshold := 65.0
 	threshold := 9999.0
 	if math.Pow(math.Pow(data.VelocityX, 2)+math.Pow(data.VelocityY, 2), 0.5)*3.6 >= threshold {

trigger/pjisuv/cicv_location/OverSwing/main/OverSwing.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 	"math"
 )
 
@@ -33,7 +34,7 @@ func Label() string {
 	return "OverSwing"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
 	if math.Abs(data.AngularVelocityZ) >= 27.0 {
 		return "OverSwing"
 	} else {

trigger/pjisuv/cicv_location/RapidAccel/main/RapidAccel.go

@@ -2,6 +2,7 @@ package main
 
 import (
 	"cicv-data-closedloop/pjisuv_msgs"
+	"cicv-data-closedloop/pjisuv_param"
 )
 
 func Topic() string {
@@ -12,7 +13,7 @@ func Label() string {
 	return "RapidAccel"
 }
 
-func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
+func Rule(data *pjisuv_msgs.PerceptionLocalization, param pjisuv_param.PjisuvParam) string {
 	if data.AccelX*9.8 > 5.0 {
 		return "RapidAccel"
 	} else {