package main

import (
	"cicv-data-closedloop/pjisuv_msgs"
	"cicv-data-closedloop/pjisuv_param"
	"fmt"
	"math"
)

func Topic() string {
	return "/cicv_location"
}

// Label todo 禁止存在下划线_
func Label() string {
	return "LocationJump"
}

// 主进程的逻辑是先判断触发再缓存全局变量
func Rule(data *pjisuv_msgs.PerceptionLocalization, param *pjisuv_param.PjisuvParam) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	if param.PositionXOfCicvLocation != 0 && param.PositionYOfCicvLocation != 0 {
		d := math.Sqrt((param.PositionXOfCicvLocation-data.PositionX)*(param.PositionXOfCicvLocation-data.PositionX) + (param.PositionYOfCicvLocation-data.PositionY)*(param.PositionYOfCicvLocation-data.PositionY))
		if d >= 2 {
			eventLabel := "LocationJump"
			fmt.Println(eventLabel)
			return "LocationJump"
		}
	}

	return ""
}