package main

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

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

// 禁止存在下划线_
func Label() string {
	return "NumTargetsExceedThreshold"
}
func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
	NumTargets := 0
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	velocityXOfCicvLocation, ok := shareVars.Load("VelocityXOfCicvLocation")
	OutsideWorkshopFlag, ok1 := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
	if ok && ok1 {
		if velocityXOfCicvLocation.(float64) > 2.5 && len(data.Objs) > 6 && OutsideWorkshopFlag == true {
			for _, obj := range data.Objs {
				if obj.Type != 0 && obj.X >= 2 {
					NumTargets++
				}
			}
			if NumTargets >= 5 {
				return Label()
			}
		}
	}

	return ""
}