package main

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

// 记得在produce_window.go中将Yowslice的注释解除！！！
var (
	count1 int = 0
)

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

// 禁止存在下划线_
func Label() string {
	return "TurnAround"
}
func IfTurnAround(Yowslice []float64) bool {
	diffangle := math.Abs(Yowslice[0] - Yowslice[len(Yowslice)-1])
	//fmt.Println(diffangle)
	if diffangle >= 110 {
		return true
	}
	return false
}
func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	if count1%200 == 0 {
		OutsideWorkshopFlag, ok3 := shareVars.Load("OutsideWorkshopFlag")
		Yowslice, ok := shareVars.Load("Yowslice")
		if ok3 && ok && OutsideWorkshopFlag.(bool) {
			if IfTurnAround(Yowslice.([]float64)) {
				eventLabel := "TurnAround"
				fmt.Println(eventLabel)
				count1 = 1
				Yowslice = make([]float64, 0)
				shareVars.Store("Yowslice", Yowslice)

				return Label()
			}
		}
		count1 = 1
	}
	count1++
	return ""
}