package config

import (
	"cicv-data-closedloop/pjisuv_msgs"
	"cicv-data-closedloop/pjisuv_param"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
	"sync"
)

var (
	LabelMapTriggerId = new(sync.Map)

	// 定时任务触发器，详见 pjisuv_ticker包
	RuleOfCicvTicker = make([]func(shareVars *sync.Map) string, 0) // tick代表定时任务间隔时间；对于长度为0的slice，无论是使用var还是make创建，它们在内存占用上的差异通常可以忽略不计

	//1
	TopicOfAmrPose = "/amr_pose"
	RuleOfAmrPose1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfAmrPose2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
	RuleOfAmrPose3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	//2
	TopicOfBoundingBoxesFast = "/bounding_boxes_fast"
	RuleOfBoundingBoxesFast1 []func(data *pjisuv_msgs.BoundingBoxArray) string
	RuleOfBoundingBoxesFast2 []func(data *pjisuv_msgs.BoundingBoxArray, param *pjisuv_param.PjisuvParam) string
	RuleOfBoundingBoxesFast3 []func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string

	//3
	TopicOfCameraFault = "/camera_fault"
	RuleOfCameraFault1 []func(data *pjisuv_msgs.FaultVec) string
	RuleOfCameraFault2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
	RuleOfCameraFault3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string

	//4
	TopicOfCanData = "/can_data"
	RuleOfCanData1 []func(data *pjisuv_msgs.Frame) string
	RuleOfCanData2 []func(data *pjisuv_msgs.Frame, param *pjisuv_param.PjisuvParam) string
	RuleOfCanData3 []func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string

	//5
	TopicOfCh128x1LslidarPointCloud = "/ch128x1/lslidar_point_cloud"
	RuleOfCh128x1LslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh128x1LslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfCh128x1LslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//6
	TopicOfCh64wLLslidarPointCloud = "/ch64w_l/lslidar_point_cloud"
	RuleOfCh64wLLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh64wLLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfCh64wLLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//7
	TopicOfCh64wLScan = "/ch64w_l/scan"
	RuleOfCh64wLScan1 []func(data *sensor_msgs.LaserScan) string
	RuleOfCh64wLScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
	RuleOfCh64wLScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string

	//8
	TopicOfCh64wRLslidarPointCloud = "/ch64w_r/lslidar_point_cloud"
	RuleOfCh64wRLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh64wRLslidarPointCloud2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfCh64wRLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//9
	TopicOfCh64wRScan = "/ch64w_r/scan"
	RuleOfCh64wRScan1 []func(data *sensor_msgs.LaserScan) string
	RuleOfCh64wRScan2 []func(data *sensor_msgs.LaserScan, param *pjisuv_param.PjisuvParam) string
	RuleOfCh64wRScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string

	//10
	TopicOfCicvLidarclusterMovingObjects = "/cicv/lidarcluster_moving_objects"
	RuleOfCicvLidarclusterMovingObjects1 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string
	RuleOfCicvLidarclusterMovingObjects2 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects, param *pjisuv_param.PjisuvParam) string
	RuleOfCicvLidarclusterMovingObjects3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string

	//11
	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
	RuleOfCicvAmrTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
	RuleOfCicvAmrTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
	RuleOfCicvAmrTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string

	//12
	TopicOfCicvLocation = "/cicv_location"
	RuleOfCicvLocation1 []func(data *pjisuv_msgs.PerceptionLocalization) string
	RuleOfCicvLocation2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
	RuleOfCicvLocation3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string

	//13
	TopicOfCloudClusters = "/cloud_clusters"
	RuleOfCloudClusters1 []func(data *pjisuv_msgs.AutowareCloudClusterArray) string
	RuleOfCloudClusters2 []func(data *pjisuv_msgs.AutowareCloudClusterArray, param *pjisuv_param.PjisuvParam) string
	RuleOfCloudClusters3 []func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string

	//14
	TopicOfHeartbeatInfo = "/heartbeat_info"
	RuleOfHeartbeatInfo1 []func(data *pjisuv_msgs.HeartBeatInfo) string
	RuleOfHeartbeatInfo2 []func(data *pjisuv_msgs.HeartBeatInfo, param *pjisuv_param.PjisuvParam) string
	RuleOfHeartbeatInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string

	//15
	TopicOfLidarPretreatmentCost = "/lidarPretreatment_Cost"
	RuleOfLidarPretreatmentCost1 []func(data *geometry_msgs.Vector3Stamped) string
	RuleOfLidarPretreatmentCost2 []func(data *geometry_msgs.Vector3Stamped, param *pjisuv_param.PjisuvParam) string
	RuleOfLidarPretreatmentCost3 []func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string

	//16
	TopicOfLidarPretreatmentOdometry = "/lidar_pretreatment/odometry"
	RuleOfLidarPretreatmentOdometry1 []func(data *nav_msgs.Odometry) string
	RuleOfLidarPretreatmentOdometry2 []func(data *nav_msgs.Odometry, param *pjisuv_param.PjisuvParam) string
	RuleOfLidarPretreatmentOdometry3 []func(shareVars *sync.Map, data *nav_msgs.Odometry) string

	//17
	TopicOfLidarRoi = "/lidar_roi"
	RuleOfLidarRoi1 []func(data *geometry_msgs.PolygonStamped) string
	RuleOfLidarRoi2 []func(data *geometry_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
	RuleOfLidarRoi3 []func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string

	//18
	TopicOfLine1 = "/line_1"
	RuleOfLine11 []func(data *nav_msgs.Path) string
	RuleOfLine12 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
	RuleOfLine13 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	//19
	TopicOfLine2 = "/line_2"
	RuleOfLine21 []func(data *nav_msgs.Path) string
	RuleOfLine22 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
	RuleOfLine23 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	//20
	TopicOfMapPolygon = "/map_polygon"
	RuleOfMapPolygon1 []func(data *pjisuv_msgs.PolygonStamped) string
	RuleOfMapPolygon2 []func(data *pjisuv_msgs.PolygonStamped, param *pjisuv_param.PjisuvParam) string
	RuleOfMapPolygon3 []func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string

	//21
	TopicOfObstacleDisplay = "/obstacle_display"
	RuleOfObstacleDisplay1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfObstacleDisplay2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
	RuleOfObstacleDisplay3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	//22
	TopicOfPjControlPub = "/pj_control_pub"
	RuleOfPjControlPub1 []func(data *pjisuv_msgs.CommonVehicleCmd) string
	RuleOfPjControlPub2 []func(data *pjisuv_msgs.CommonVehicleCmd, param *pjisuv_param.PjisuvParam) string
	RuleOfPjControlPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string

	//23
	TopicOfPointsCluster = "/points_cluster"
	RuleOfPointsCluster1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfPointsCluster2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfPointsCluster3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//24
	TopicOfPointsConcat = "/points_concat"
	RuleOfPointsConcat1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfPointsConcat2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfPointsConcat3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//25
	TopicOfReferenceDisplay = "/reference_display"
	RuleOfReferenceDisplay1 []func(data *nav_msgs.Path) string
	RuleOfReferenceDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
	RuleOfReferenceDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	//26
	TopicOfReferenceTrajectory = "/reference_trajectory"
	RuleOfReferenceTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
	RuleOfReferenceTrajectory2 []func(data *pjisuv_msgs.Trajectory, param *pjisuv_param.PjisuvParam) string
	RuleOfReferenceTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string

	//27
	TopicOfRoiPoints = "/roi/points"
	RuleOfRoiPoints1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfRoiPoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfRoiPoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//28
	TopicOfRoiPolygon = "/roi/polygon"
	RuleOfRoiPolygon1 []func(data *nav_msgs.Path) string
	RuleOfRoiPolygon2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
	RuleOfRoiPolygon3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	//29
	TopicOfTf = "/tf"
	RuleOfTf1 []func(data *tf2_msgs.TFMessage) string
	RuleOfTf2 []func(data *tf2_msgs.TFMessage, param *pjisuv_param.PjisuvParam) string
	RuleOfTf3 []func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string

	//30
	TopicOfTpperception = "/tpperception"
	RuleOfTpperception1 []func(data *pjisuv_msgs.PerceptionObjects) string
	RuleOfTpperception2 []func(data *pjisuv_msgs.PerceptionObjects, param *pjisuv_param.PjisuvParam) string
	RuleOfTpperception3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string

	//31
	TopicOfTpperceptionVis = "/tpperception/vis"
	RuleOfTpperceptionVis1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfTpperceptionVis2 []func(data *visualization_msgs.MarkerArray, param *pjisuv_param.PjisuvParam) string
	RuleOfTpperceptionVis3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	//32
	TopicOfTprouteplan = "/tprouteplan"
	RuleOfTprouteplan1 []func(data *pjisuv_msgs.RoutePlan) string
	RuleOfTprouteplan2 []func(data *pjisuv_msgs.RoutePlan, param *pjisuv_param.PjisuvParam) string
	RuleOfTprouteplan3 []func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string

	//33
	TopicOfTrajectoryDisplay = "/trajectory_display"
	RuleOfTrajectoryDisplay1 []func(data *nav_msgs.Path) string
	RuleOfTrajectoryDisplay2 []func(data *nav_msgs.Path, param *pjisuv_param.PjisuvParam) string
	RuleOfTrajectoryDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	//34
	TopicOfUngroundCloudpoints = "/unground_cloudpoints"
	RuleOfUngroundCloudpoints1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfUngroundCloudpoints2 []func(data *sensor_msgs.PointCloud2, param *pjisuv_param.PjisuvParam) string
	RuleOfUngroundCloudpoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	//35
	TopicOfCameraImage = "/camera_image"
	RuleOfCameraImage1 []func(data *sensor_msgs.Image) string
	RuleOfCameraImage2 []func(data *sensor_msgs.Image, param *pjisuv_param.PjisuvParam) string
	RuleOfCameraImage3 []func(shareVars *sync.Map, data *sensor_msgs.Image) string

	//36
	TopicOfDataRead = "/data_read"
	RuleOfDataRead1 []func(data *pjisuv_msgs.Retrieval) string
	RuleOfDataRead2 []func(data *pjisuv_msgs.Retrieval, param *pjisuv_param.PjisuvParam) string
	RuleOfDataRead3 []func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string

	//37
	TopicOfPjiGps = "/pji_gps"
	RuleOfPjiGps1 []func(data *pjisuv_msgs.PerceptionLocalization) string
	RuleOfPjiGps2 []func(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string
	RuleOfPjiGps3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string

	//38
	TopicOfFaultInfo = "/fault_info"
	RuleOfFaultInfo1 []func(data *pjisuv_msgs.FaultVec) string
	RuleOfFaultInfo2 []func(data *pjisuv_msgs.FaultVec, param *pjisuv_param.PjisuvParam) string
	RuleOfFaultInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string

	//39
	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
	RuleOfPjVehicleFdbPub1 []func(data *pjisuv_msgs.VehicleFdb) string
	RuleOfPjVehicleFdbPub2 []func(data *pjisuv_msgs.VehicleFdb, param *pjisuv_param.PjisuvParam) string
	RuleOfPjVehicleFdbPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string

	//40
	TopicOfEndPointMessage = "end_point_message"
	RuleOfEndPointMessage1 []func(data *geometry_msgs.Point) string
	RuleOfEndPointMessage2 []func(data *geometry_msgs.Point, param *pjisuv_param.PjisuvParam) string
	RuleOfEndPointMessage3 []func(shareVars *sync.Map, data *geometry_msgs.Point) string
)