package main

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

var (
	Framenum                        int64 = 0
	YawofCicvLocation               any
	ObjDicOfTpperception            any
	AngularVelocityZOfCicvLocation  any
	AngularVelocity                 float64
	AngularVelocityZOfCicvLocation1 any
	AngularVelocity1                float64
	objDic                          = make(map[uint32][][]float32)
	yaw                             float64
	ok1                             bool
	ok2                             bool
)

func isCuttingOut(shareVars *sync.Map, ObjectList [][]float32) bool {
	for i := 0; i < len(ObjectList[0]); i++ {
		xi := ObjectList[0][i]
		yi := math.Abs(float64(ObjectList[1][i]))
		Type := ObjectList[6][0]
		AngularVelocityZOfCicvLocation, ok1 := shareVars.Load("AngularVelocityZOfCicvLocation")
		if !ok1 {
			return false
		}
		AngularVelocity = AngularVelocityZOfCicvLocation.(float64)
		if xi >= 0 && yi <= 0.7 && math.Abs(AngularVelocity) <= 0.6 && (Type != 100.0) { //简化条件
			//if xi >= 0 && yi <= 0.7 && math.Abs(param.AngularVelocityZOfCicvLocation) <= 0.6 && (Type == 2.0 || Type == 3.0) {//理论条件
			for j := 0; j < len(ObjectList[0])-i-1; j++ {
				xj := ObjectList[0][j]
				yj := math.Abs(float64(ObjectList[1][j]))

				if xj >= 0 && yj >= 2.0 && math.Abs(AngularVelocity) <= 0.6 {
					return true
				}
			}
		}
	}
	return false
}

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

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

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	YawofCicvLocation, ok2 = shareVars.Load("YawOfCicvLocation")
	if !ok1 {
		return ""
	}
	yaw = YawofCicvLocation.(float64)
	Framenum += 1
	ObjDicOfTpperception, ok2 = shareVars.Load("ObjDicOfTpperception")
	if !ok2 {
		return ""
	}
	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
	for _, objValue := range objDic {
		if len(objValue[0]) <= 10 || !isCuttingOut(shareVars, objValue) {
			continue
		}
		return Label()
	}
	return ""
}