cicv_data_closed_loop/aarch64/pjisuv/master/service/produce_window.go

package service

import (
	commonConfig "cicv-data-closedloop/aarch64/pjisuv/common/config"
	"cicv-data-closedloop/aarch64/pjisuv/common/service"
	masterConfig "cicv-data-closedloop/aarch64/pjisuv/master/config"
	"cicv-data-closedloop/common/config/c_log"
	commonEntity "cicv-data-closedloop/common/entity"
	"cicv-data-closedloop/common/util"
	"cicv-data-closedloop/pjisuv_msgs"
	"cicv-data-closedloop/pjisuv_param"
	"cicv-data-closedloop/pjisuv_ticker"
	"github.com/bluenviron/goroslib/v2"
	"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"
	"math"
	"sync"
	"time"
)

// 所有共享变量
var (
	tickChan = make(chan string)

	pjisuvParam = pjisuv_param.PjisuvParam{
		ObjDicOfTpperception:      make(map[uint32][]float32),
		ObjTypeDicOfTpperception:  make(map[uint32]uint8),
		ObjSpeedDicOfTpperception: make(map[uint32]float64),
	}

	shareVars = new(sync.Map)

	// 保存时间窗口需要锁，防止数据竟态
	saveTimeWindowMutex sync.Mutex
	// /cicv_location
	mutexOfCicvLocation sync.RWMutex
	// /tpperception
	mutexOfTpperception sync.RWMutex
	// /pj_control_pub
	mutexOfPjControlPub sync.RWMutex
	// /data_read
	mutexOfDataRead sync.RWMutex
	// /pj_vehicle_fdb_pub
	mutexOfCicvAmrTrajectory sync.RWMutex

	latestTimeWindowEnd = util.GetTimeCustom(time.Now())
	// 每个触发器5秒触发一次
	triggerInterval = 3.0
)

// 负责监听所有主题并修改时间窗口
func ProduceWindow() {
	c_log.GlobalLogger.Info("订阅者 goroutine，启动。")

	var err error
	subscribers := make([]*goroslib.Subscriber, len(commonConfig.SubscribeTopics))
	subscribersTimes := make([]time.Time, len(commonConfig.SubscribeTopics))
	subscribersTimeMutexes := make([]sync.Mutex, len(commonConfig.SubscribeTopics))
	subscribersMutexes := make([]sync.Mutex, len(commonConfig.SubscribeTopics))
	for i, topic := range commonConfig.SubscribeTopics {
		for {
			// 定时器，区别于订阅者
			if topic == pjisuv_ticker.TickerTopic {
				// 1 把所有触发器函数执行一遍，触发器内部创建额外的定时任务goroutine
				for _, f := range masterConfig.RuleOfCicvTicker {
					f(shareVars)
				}
				// 2 创建goroutine接收定时任务触发器返回的Label和Time，执行触发逻辑
				go func() {
					for {
						time.Sleep(time.Duration(1)) // 降低循环频率
						select {
						case tickInfo := <-pjisuv_ticker.TickerChan:
							faultLabel := tickInfo.FaultLabel
							faultHappenTime := tickInfo.FaultHappenTime
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
						default:
						}
					}
				}()
			}

			// 其他常规监听器
			c_log.GlobalLogger.Info("创建订阅者订阅话题：" + topic)

			// 1
			if topic == masterConfig.TopicOfAmrPose && (len(masterConfig.RuleOfAmrPose1) > 0 || len(masterConfig.RuleOfAmrPose2) > 0 || len(masterConfig.RuleOfAmrPose3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *visualization_msgs.MarkerArray) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfAmrPose1) > 0 {
								for _, f := range masterConfig.RuleOfAmrPose1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfAmrPose2) > 0 {
								for _, f := range masterConfig.RuleOfAmrPose2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 2
			if topic == masterConfig.TopicOfBoundingBoxesFast &&
				(len(masterConfig.RuleOfBoundingBoxesFast1) > 0 ||
					len(masterConfig.RuleOfBoundingBoxesFast2) > 0 ||
					len(masterConfig.RuleOfBoundingBoxesFast3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.BoundingBoxArray) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfBoundingBoxesFast1) > 0 {
								for _, f := range masterConfig.RuleOfBoundingBoxesFast1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfBoundingBoxesFast2) > 0 {
								for _, f := range masterConfig.RuleOfBoundingBoxesFast2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfBoundingBoxesFast3) > 0 {
								for _, f := range masterConfig.RuleOfBoundingBoxesFast3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 3
			if topic == masterConfig.TopicOfCameraFault &&
				(len(masterConfig.RuleOfCameraFault1) > 0 ||
					len(masterConfig.RuleOfCameraFault2) > 0 ||
					len(masterConfig.RuleOfCameraFault3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.FaultVec) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCameraFault1) > 0 {
								for _, f := range masterConfig.RuleOfCameraFault1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCameraFault2) > 0 {
								for _, f := range masterConfig.RuleOfCameraFault2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCameraFault3) > 0 {
								for _, f := range masterConfig.RuleOfCameraFault3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 4
			if topic == masterConfig.TopicOfCanData &&
				(len(masterConfig.RuleOfCanData1) > 0 ||
					len(masterConfig.RuleOfCanData2) > 0 ||
					len(masterConfig.RuleOfCanData3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.Frame) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCanData1) > 0 {
								for _, f := range masterConfig.RuleOfCanData1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCanData2) > 0 {
								for _, f := range masterConfig.RuleOfCanData2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCanData3) > 0 {
								for _, f := range masterConfig.RuleOfCanData3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 5
			if topic == masterConfig.TopicOfCh128x1LslidarPointCloud &&
				(len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 ||
					len(masterConfig.RuleOfCh128x1LslidarPointCloud2) > 0 ||
					len(masterConfig.RuleOfCh128x1LslidarPointCloud3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 {
								for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCh128x1LslidarPointCloud2) > 0 {
								for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCh128x1LslidarPointCloud3) > 0 {
								for _, f := range masterConfig.RuleOfCh128x1LslidarPointCloud3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 6
			if topic == masterConfig.TopicOfCh64wLLslidarPointCloud &&
				(len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 ||
					len(masterConfig.RuleOfCh64wLLslidarPointCloud2) > 0 ||
					len(masterConfig.RuleOfCh64wLLslidarPointCloud3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCh64wLLslidarPointCloud2) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCh64wLLslidarPointCloud3) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLLslidarPointCloud3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 7
			if topic == masterConfig.TopicOfCh64wLScan &&
				(len(masterConfig.RuleOfCh64wLScan1) > 0 ||
					len(masterConfig.RuleOfCh64wLScan2) > 0 ||
					len(masterConfig.RuleOfCh64wLScan3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.LaserScan) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCh64wLScan1) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLScan1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCh64wLScan2) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLScan2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCh64wLScan3) > 0 {
								for _, f := range masterConfig.RuleOfCh64wLScan3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 8
			if topic == masterConfig.TopicOfCh64wRLslidarPointCloud &&
				(len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 ||
					len(masterConfig.RuleOfCh64wRLslidarPointCloud2) > 0 ||
					len(masterConfig.RuleOfCh64wRLslidarPointCloud3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCh64wRLslidarPointCloud2) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCh64wRLslidarPointCloud3) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRLslidarPointCloud3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 9
			if topic == masterConfig.TopicOfCh64wRScan &&
				(len(masterConfig.RuleOfCh64wRScan1) > 0 ||
					len(masterConfig.RuleOfCh64wRScan2) > 0 ||
					len(masterConfig.RuleOfCh64wRScan3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.LaserScan) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCh64wRScan1) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRScan1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCh64wRScan2) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRScan2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCh64wRScan3) > 0 {
								for _, f := range masterConfig.RuleOfCh64wRScan3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 10
			if topic == masterConfig.TopicOfCicvLidarclusterMovingObjects &&
				(len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 ||
					len(masterConfig.RuleOfCicvLidarclusterMovingObjects2) > 0 ||
					len(masterConfig.RuleOfCicvLidarclusterMovingObjects3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.PerceptionCicvMovingObjects) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 {
								for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCicvLidarclusterMovingObjects2) > 0 {
								for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCicvLidarclusterMovingObjects3) > 0 {
								for _, f := range masterConfig.RuleOfCicvLidarclusterMovingObjects3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 11 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfCicvAmrTrajectory {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.Trajectory) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCicvAmrTrajectory1) > 0 {
								for _, f := range masterConfig.RuleOfCicvAmrTrajectory1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCicvAmrTrajectory2) > 0 {
								for _, f := range masterConfig.RuleOfCicvAmrTrajectory2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCicvAmrTrajectory3) > 0 {
								for _, f := range masterConfig.RuleOfCicvAmrTrajectory3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()

						// 触发后更新共享变量
						mutexOfCicvAmrTrajectory.RLock()
						{
							var currentCurvateres []float64
							for _, point := range data.Trajectoryinfo.Trajectorypoints {
								currentCurvateres = append(currentCurvateres, math.Abs(float64(point.Curvature)))
							}
							pjisuvParam.LastCurvaturesOfCicvAmrTrajectory = currentCurvateres
							pjisuvParam.DecisionType = data.Trajectoryinfo.DecisionType
						}
						mutexOfCicvAmrTrajectory.RUnlock()
					},
				})
			}

			// 12 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfCicvLocation {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.PerceptionLocalization) {

						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCicvLocation1) > 0 {
								for _, f := range masterConfig.RuleOfCicvLocation1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCicvLocation2) > 0 {
								for _, f := range masterConfig.RuleOfCicvLocation2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCicvLocation3) > 0 {
								for _, f := range masterConfig.RuleOfCicvLocation3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
						// 更新共享变量
						mutexOfCicvLocation.RLock()
						{
							//shareVars.Store("VelocityXOfCicvLocation",data.VelocityX) pjisuvParam以后不要新加全局变量了，采用这种方式添加
							//value, _ := shareVars.Load("VelocityXOfCicvLocation") 在Rule函数数中通过Load方法获取全局变量，获取之后通过value.(float64)方法转换数据类型
							//s := value.(float64)

							pjisuvParam.VelocityXOfCicvLocation = data.VelocityX
							pjisuvParam.VelocityYOfCicvLocation = data.VelocityY
							pjisuvParam.VelocityZOfCicvLocation = data.VelocityZ
							pjisuvParam.YawOfCicvLocation = data.Yaw
							pjisuvParam.AngularVelocityZOfCicvLocation = data.AngularVelocityZ
							pjisuvParam.PositionXOfCicvLocation = data.PositionX
							pjisuvParam.PositionYOfCicvLocation = data.PositionY
						}
						mutexOfCicvLocation.RUnlock()
					},
				})
			}

			// 13
			if topic == masterConfig.TopicOfCloudClusters &&
				(len(masterConfig.RuleOfCloudClusters1) > 0 ||
					len(masterConfig.RuleOfCloudClusters2) > 0 ||
					len(masterConfig.RuleOfCloudClusters3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.AutowareCloudClusterArray) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCloudClusters1) > 0 {
								for _, f := range masterConfig.RuleOfCloudClusters1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCloudClusters2) > 0 {
								for _, f := range masterConfig.RuleOfCloudClusters2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCloudClusters3) > 0 {
								for _, f := range masterConfig.RuleOfCloudClusters3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 14
			if topic == masterConfig.TopicOfHeartbeatInfo &&
				(len(masterConfig.RuleOfHeartbeatInfo1) > 0 ||
					len(masterConfig.RuleOfHeartbeatInfo2) > 0 ||
					len(masterConfig.RuleOfHeartbeatInfo3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.HeartBeatInfo) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfHeartbeatInfo1) > 0 {
								for _, f := range masterConfig.RuleOfHeartbeatInfo1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfHeartbeatInfo2) > 0 {
								for _, f := range masterConfig.RuleOfHeartbeatInfo2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfHeartbeatInfo3) > 0 {
								for _, f := range masterConfig.RuleOfHeartbeatInfo3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 15
			if topic == masterConfig.TopicOfLidarPretreatmentCost &&
				(len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 ||
					len(masterConfig.RuleOfLidarPretreatmentCost2) > 0 ||
					len(masterConfig.RuleOfLidarPretreatmentCost3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *geometry_msgs.Vector3Stamped) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentCost1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfLidarPretreatmentCost2) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentCost2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfLidarPretreatmentCost3) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentCost3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 16
			if topic == masterConfig.TopicOfLidarPretreatmentOdometry &&
				(len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 ||
					len(masterConfig.RuleOfLidarPretreatmentOdometry2) > 0 ||
					len(masterConfig.RuleOfLidarPretreatmentOdometry3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Odometry) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfLidarPretreatmentOdometry2) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfLidarPretreatmentOdometry3) > 0 {
								for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 17
			if topic == masterConfig.TopicOfLidarRoi &&
				(len(masterConfig.RuleOfLidarRoi1) > 0 ||
					len(masterConfig.RuleOfLidarRoi2) > 0 ||
					len(masterConfig.RuleOfLidarRoi3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *geometry_msgs.PolygonStamped) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfLidarRoi1) > 0 {
								for _, f := range masterConfig.RuleOfLidarRoi1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfLidarRoi2) > 0 {
								for _, f := range masterConfig.RuleOfLidarRoi2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfLidarRoi3) > 0 {
								for _, f := range masterConfig.RuleOfLidarRoi3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 18
			if topic == masterConfig.TopicOfLine1 &&
				(len(masterConfig.RuleOfLine11) > 0 ||
					len(masterConfig.RuleOfLine12) > 0 ||
					len(masterConfig.RuleOfLine13) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Path) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfLine11) > 0 {
								for _, f := range masterConfig.RuleOfLine11 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfLine12) > 0 {
								for _, f := range masterConfig.RuleOfLine12 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfLine13) > 0 {
								for _, f := range masterConfig.RuleOfLine13 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 19
			if topic == masterConfig.TopicOfLine2 &&
				(len(masterConfig.RuleOfLine21) > 0 ||
					len(masterConfig.RuleOfLine22) > 0 ||
					len(masterConfig.RuleOfLine23) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Path) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfLine21) > 0 {
								for _, f := range masterConfig.RuleOfLine21 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfLine22) > 0 {
								for _, f := range masterConfig.RuleOfLine22 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfLine23) > 0 {
								for _, f := range masterConfig.RuleOfLine23 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 20
			if topic == masterConfig.TopicOfMapPolygon &&
				(len(masterConfig.RuleOfMapPolygon1) > 0 ||
					len(masterConfig.RuleOfMapPolygon2) > 0 ||
					len(masterConfig.RuleOfMapPolygon3) > 0) {

				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.PolygonStamped) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfMapPolygon1) > 0 {
								for _, f := range masterConfig.RuleOfMapPolygon1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfMapPolygon2) > 0 {
								for _, f := range masterConfig.RuleOfMapPolygon2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfMapPolygon3) > 0 {
								for _, f := range masterConfig.RuleOfMapPolygon3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 21
			if topic == masterConfig.TopicOfObstacleDisplay &&
				(len(masterConfig.RuleOfObstacleDisplay1) > 0 ||
					len(masterConfig.RuleOfObstacleDisplay2) > 0 ||
					len(masterConfig.RuleOfObstacleDisplay3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *visualization_msgs.MarkerArray) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfObstacleDisplay1) > 0 {
								for _, f := range masterConfig.RuleOfObstacleDisplay1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfObstacleDisplay2) > 0 {
								for _, f := range masterConfig.RuleOfObstacleDisplay2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfObstacleDisplay3) > 0 {
								for _, f := range masterConfig.RuleOfObstacleDisplay3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 22 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfPjControlPub {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.CommonVehicleCmd) {

						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfPjControlPub1) > 0 {
								for _, f := range masterConfig.RuleOfPjControlPub1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfPjControlPub2) > 0 {
								for _, f := range masterConfig.RuleOfPjControlPub2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfPjControlPub3) > 0 {
								for _, f := range masterConfig.RuleOfPjControlPub3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
						// 更新共享变量
						mutexOfPjControlPub.RLock()
						{
							pjisuvParam.NumCountPjiControlCommandOfPjControlPub++
							if pjisuvParam.NumCountPjiControlCommandOfPjControlPub == 10 {
								pjisuvParam.EgoSteeringCmdOfPjControlPub = append(pjisuvParam.EgoSteeringCmdOfPjControlPub, data.ICPVCmdStrAngle)
								pjisuvParam.EgoThrottleCmdOfPjControlPub = append(pjisuvParam.EgoThrottleCmdOfPjControlPub, data.ICPVCmdAccPelPosAct)
								pjisuvParam.NumCountPjiControlCommandOfPjControlPub = 0
							}
						}
						mutexOfPjControlPub.RUnlock()
					},
				})
			}

			// 23
			if topic == masterConfig.TopicOfPointsCluster &&
				(len(masterConfig.RuleOfPointsCluster1) > 0 ||
					len(masterConfig.RuleOfPointsCluster2) > 0 ||
					len(masterConfig.RuleOfPointsCluster3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfPointsCluster1) > 0 {
								for _, f := range masterConfig.RuleOfPointsCluster1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfPointsCluster2) > 0 {
								for _, f := range masterConfig.RuleOfPointsCluster2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfPointsCluster3) > 0 {
								for _, f := range masterConfig.RuleOfPointsCluster3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 24
			if topic == masterConfig.TopicOfPointsConcat &&
				(len(masterConfig.RuleOfPointsConcat1) > 0 ||
					len(masterConfig.RuleOfPointsConcat2) > 0 ||
					len(masterConfig.RuleOfPointsConcat3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfPointsConcat1) > 0 {
								for _, f := range masterConfig.RuleOfPointsConcat1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfPointsConcat2) > 0 {
								for _, f := range masterConfig.RuleOfPointsConcat2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfPointsConcat3) > 0 {
								for _, f := range masterConfig.RuleOfPointsConcat3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 25
			if topic == masterConfig.TopicOfReferenceDisplay &&
				(len(masterConfig.RuleOfReferenceDisplay1) > 0 ||
					len(masterConfig.RuleOfReferenceDisplay2) > 0 ||
					len(masterConfig.RuleOfReferenceDisplay3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Path) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfReferenceDisplay1) > 0 {
								for _, f := range masterConfig.RuleOfReferenceDisplay1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfReferenceDisplay2) > 0 {
								for _, f := range masterConfig.RuleOfReferenceDisplay2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfReferenceDisplay3) > 0 {
								for _, f := range masterConfig.RuleOfReferenceDisplay3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 26
			if topic == masterConfig.TopicOfReferenceTrajectory &&
				(len(masterConfig.RuleOfReferenceTrajectory1) > 0 ||
					len(masterConfig.RuleOfReferenceTrajectory2) > 0 ||
					len(masterConfig.RuleOfReferenceTrajectory3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.Trajectory) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfReferenceTrajectory1) > 0 {
								for _, f := range masterConfig.RuleOfReferenceTrajectory1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfReferenceTrajectory2) > 0 {
								for _, f := range masterConfig.RuleOfReferenceTrajectory2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfReferenceTrajectory3) > 0 {
								for _, f := range masterConfig.RuleOfReferenceTrajectory3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 27
			if topic == masterConfig.TopicOfRoiPoints &&
				(len(masterConfig.RuleOfRoiPoints1) > 0 ||
					len(masterConfig.RuleOfRoiPoints2) > 0 ||
					len(masterConfig.RuleOfRoiPoints3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfRoiPoints1) > 0 {
								for _, f := range masterConfig.RuleOfRoiPoints1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfRoiPoints2) > 0 {
								for _, f := range masterConfig.RuleOfRoiPoints2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfRoiPoints3) > 0 {
								for _, f := range masterConfig.RuleOfRoiPoints3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 28
			if topic == masterConfig.TopicOfRoiPolygon &&
				(len(masterConfig.RuleOfRoiPolygon1) > 0 ||
					len(masterConfig.RuleOfRoiPolygon2) > 0 ||
					len(masterConfig.RuleOfRoiPolygon3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Path) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfRoiPolygon1) > 0 {
								for _, f := range masterConfig.RuleOfRoiPolygon1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfRoiPolygon2) > 0 {
								for _, f := range masterConfig.RuleOfRoiPolygon2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfRoiPolygon3) > 0 {
								for _, f := range masterConfig.RuleOfRoiPolygon3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 29
			if topic == masterConfig.TopicOfTf &&
				(len(masterConfig.RuleOfTf1) > 0 ||
					len(masterConfig.RuleOfTf2) > 0 ||
					len(masterConfig.RuleOfTf3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *tf2_msgs.TFMessage) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfTf1) > 0 {
								for _, f := range masterConfig.RuleOfTf1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfTf2) > 0 {
								for _, f := range masterConfig.RuleOfTf2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfTf3) > 0 {
								for _, f := range masterConfig.RuleOfTf3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 30 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfTpperception {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.PerceptionObjects) {

						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfTpperception1) > 0 {
								for _, f := range masterConfig.RuleOfTpperception1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfTpperception2) > 0 {
								for _, f := range masterConfig.RuleOfTpperception2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfTpperception3) > 0 {
								for _, f := range masterConfig.RuleOfTpperception3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
						// 更新共享变量
						mutexOfTpperception.RLock()
						{
							for _, obj := range data.Objs {
								if obj.X <= 5 || math.Abs(float64(obj.Y)) >= 10 {
									continue
								}
								// 检查 ObjDicOfTpperception 是否为 nil，如果是，则初始化它
								if pjisuvParam.ObjDicOfTpperception == nil {
									pjisuvParam.ObjDicOfTpperception = make(map[uint32][]float32)
								}
								if _, ok := pjisuvParam.ObjDicOfTpperception[obj.Id]; !ok {
									pjisuvParam.ObjDicOfTpperception[obj.Id] = []float32{}
								}
								pjisuvParam.ObjDicOfTpperception[obj.Id] = append(pjisuvParam.ObjDicOfTpperception[obj.Id], obj.Y)
								pjisuvParam.ObjTypeDicOfTpperception[obj.Id] = obj.Type
								pjisuvParam.ObjSpeedDicOfTpperception[obj.Id] = math.Pow(math.Pow(float64(obj.Vxabs), 2)+math.Pow(float64(obj.Vyabs), 2), 0.5)
							}
						}
						mutexOfTpperception.RUnlock()
					},
				})
			}

			// 31
			if topic == masterConfig.TopicOfTpperceptionVis &&
				(len(masterConfig.RuleOfTpperceptionVis1) > 0 ||
					len(masterConfig.RuleOfTpperceptionVis2) > 0 ||
					len(masterConfig.RuleOfTpperceptionVis3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *visualization_msgs.MarkerArray) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfTpperceptionVis1) > 0 {
								for _, f := range masterConfig.RuleOfTpperceptionVis1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfTpperceptionVis2) > 0 {
								for _, f := range masterConfig.RuleOfTpperceptionVis2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfTpperceptionVis3) > 0 {
								for _, f := range masterConfig.RuleOfTpperceptionVis3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 32
			if topic == masterConfig.TopicOfTprouteplan &&
				(len(masterConfig.RuleOfTprouteplan1) > 0 ||
					len(masterConfig.RuleOfTprouteplan2) > 0 ||
					len(masterConfig.RuleOfTprouteplan3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.RoutePlan) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfTprouteplan1) > 0 {
								for _, f := range masterConfig.RuleOfTprouteplan1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfTprouteplan2) > 0 {
								for _, f := range masterConfig.RuleOfTprouteplan2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfTprouteplan3) > 0 {
								for _, f := range masterConfig.RuleOfTprouteplan3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 33
			if topic == masterConfig.TopicOfTrajectoryDisplay &&
				(len(masterConfig.RuleOfTrajectoryDisplay1) > 0 ||
					len(masterConfig.RuleOfTrajectoryDisplay2) > 0 ||
					len(masterConfig.RuleOfTrajectoryDisplay3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *nav_msgs.Path) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfTrajectoryDisplay1) > 0 {
								for _, f := range masterConfig.RuleOfTrajectoryDisplay1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfTrajectoryDisplay2) > 0 {
								for _, f := range masterConfig.RuleOfTrajectoryDisplay2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfTrajectoryDisplay3) > 0 {
								for _, f := range masterConfig.RuleOfTrajectoryDisplay3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 34
			if topic == masterConfig.TopicOfUngroundCloudpoints &&
				(len(masterConfig.RuleOfUngroundCloudpoints1) > 0 ||
					len(masterConfig.RuleOfUngroundCloudpoints2) > 0 ||
					len(masterConfig.RuleOfUngroundCloudpoints3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.PointCloud2) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfUngroundCloudpoints1) > 0 {
								for _, f := range masterConfig.RuleOfUngroundCloudpoints1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfUngroundCloudpoints2) > 0 {
								for _, f := range masterConfig.RuleOfUngroundCloudpoints2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfUngroundCloudpoints3) > 0 {
								for _, f := range masterConfig.RuleOfUngroundCloudpoints3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 35
			if topic == masterConfig.TopicOfCameraImage &&
				(len(masterConfig.RuleOfCameraImage1) > 0 ||
					len(masterConfig.RuleOfCameraImage2) > 0 ||
					len(masterConfig.RuleOfCameraImage3) > 0) {

				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *sensor_msgs.Image) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfCameraImage1) > 0 {
								for _, f := range masterConfig.RuleOfCameraImage1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfCameraImage2) > 0 {
								for _, f := range masterConfig.RuleOfCameraImage2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfCameraImage3) > 0 {
								for _, f := range masterConfig.RuleOfCameraImage3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 36 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfDataRead {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.Retrieval) {
						// 更新共享变量
						mutexOfDataRead.RLock()
						{
							pjisuvParam.NumCountDataReadOfDataRead++
							if pjisuvParam.NumCountDataReadOfDataRead == 10 {
								pjisuvParam.EgoSteeringRealOfDataRead = append(pjisuvParam.EgoSteeringRealOfDataRead, data.ActStrWhAng)
								pjisuvParam.EgoThrottleRealOfDataRead = append(pjisuvParam.EgoThrottleRealOfDataRead, data.AccPed2)
								pjisuvParam.NumCountDataReadOfDataRead = 0
							}
							pjisuvParam.StrgAngleRealValueOfDataRead = data.ActStrWhAng
						}
						mutexOfDataRead.RUnlock()
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfDataRead1) > 0 {
								for _, f := range masterConfig.RuleOfDataRead1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfDataRead2) > 0 {
								for _, f := range masterConfig.RuleOfDataRead2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfDataRead3) > 0 {
								for _, f := range masterConfig.RuleOfDataRead3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}
			// 37
			if topic == masterConfig.TopicOfPjiGps &&
				(len(masterConfig.RuleOfPjiGps1) > 0 ||
					len(masterConfig.RuleOfPjiGps2) > 0 ||
					len(masterConfig.RuleOfPjiGps3) > 0) {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfPjiGps1) > 0 {
								for _, f := range masterConfig.RuleOfPjiGps1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfPjiGps2) > 0 {
								for _, f := range masterConfig.RuleOfPjiGps2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfPjiGps3) > 0 {
								for _, f := range masterConfig.RuleOfPjiGps3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
					},
				})
			}

			// 39 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfPjVehicleFdbPub {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *pjisuv_msgs.VehicleFdb) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfPjVehicleFdbPub1) > 0 {
								for _, f := range masterConfig.RuleOfPjVehicleFdbPub1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfPjVehicleFdbPub2) > 0 {
								for _, f := range masterConfig.RuleOfPjVehicleFdbPub2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfPjVehicleFdbPub3) > 0 {
								for _, f := range masterConfig.RuleOfPjVehicleFdbPub3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()
						// 更新共享变量
						shareVars.Store("Automode", data.Automode)
					},
				})
			}
			// 40 有共享变量的订阅者必须被创建
			if topic == masterConfig.TopicOfEndPointMessage {
				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
					Node:  commonConfig.RosNode,
					Topic: topic,
					Callback: func(data *geometry_msgs.Point) {
						subscribersTimeMutexes[i].Lock()
						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
							subscribersMutexes[i].Lock()
							faultHappenTime := util.GetNowTimeCustom()         // 获取当前故障发生时间
							lastTimeWindow := commonEntity.GetLastTimeWindow() // 获取最后一个时间窗口
							faultLabel := ""
							if len(masterConfig.RuleOfEndPointMessage1) > 0 {
								for _, f := range masterConfig.RuleOfEndPointMessage1 {
									faultLabel = f(data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}

							if len(masterConfig.RuleOfEndPointMessage2) > 0 {
								for _, f := range masterConfig.RuleOfEndPointMessage2 {
									faultLabel = f(data, &pjisuvParam)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)

										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
							if len(masterConfig.RuleOfEndPointMessage3) > 0 {
								for _, f := range masterConfig.RuleOfEndPointMessage3 {
									faultLabel = f(shareVars, data)
									if faultLabel != "" {
										saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
										subscribersTimes[i] = time.Now()
										goto TriggerSuccess
									}
								}
							}
						TriggerSuccess:
							subscribersMutexes[i].Unlock()
						}
						subscribersTimeMutexes[i].Unlock()

						// 更新共享变量
						shareVars.Store("EndPointX", data.X)
						shareVars.Store("EndPointY", data.Y)
					},
				})
			}
			if err != nil {
				c_log.GlobalLogger.Info("创建订阅者报错，可能由于节点未启动，再次尝试：", err)
				time.Sleep(time.Duration(2) * time.Second)
				continue
			} else {
				break
			}
		}
	}

	select {
	case signal := <-service.ChannelKillWindowProducer:
		if signal == 1 {
			commonConfig.RosNode.Close()
			service.AddKillTimes("3")
			return
		}
	}
}

func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *commonEntity.TimeWindow) {
	saveTimeWindowMutex.Lock()
	defer saveTimeWindowMutex.Unlock()
	masterTopics, slaveTopics := getTopicsOfNode(faultLabel)
	if lastTimeWindow == nil || util.TimeCustom1GreaterTimeCustom2(faultHappenTime, lastTimeWindow.TimeWindowEnd) { // 如果是不在旧故障窗口内，添加一个新窗口
		exceptBegin := util.TimeCustomChange(faultHappenTime, -commonConfig.PlatformConfig.TaskBeforeTime)
		finalTimeWindowBegin := ""
		if util.TimeCustom1LessEqualThanTimeCustom2(exceptBegin, latestTimeWindowEnd) { // 窗口最早时间不能早于上一个窗口结束时间
			finalTimeWindowBegin = latestTimeWindowEnd
		} else {
			finalTimeWindowBegin = exceptBegin
		}
		latestTimeWindowEnd = util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime)
		newTimeWindow := commonEntity.TimeWindow{
			FaultTime:       faultHappenTime,
			TimeWindowBegin: finalTimeWindowBegin,
			TimeWindowEnd:   latestTimeWindowEnd,
			Length:          util.CalculateDifferenceOfTimeCustom(finalTimeWindowBegin, latestTimeWindowEnd),
			Labels:          []string{faultLabel},
			MasterTopics:    masterTopics,
			SlaveTopics:     slaveTopics,
		}
		c_log.GlobalLogger.Infof("不在旧故障窗口内，向生产者队列添加一个新窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", newTimeWindow.Labels, newTimeWindow.FaultTime, newTimeWindow.Length)

		commonEntity.AddTimeWindowToTimeWindowProducerQueue(newTimeWindow)
	} else { // 如果在旧故障窗口内
		commonEntity.TimeWindowProducerQueueMutex.RLock()
		defer commonEntity.TimeWindowProducerQueueMutex.RUnlock()
		// 更新故障窗口end时间
		expectEnd := util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime) // 窗口期望关闭时间是触发时间加上后置时间
		expectLength := util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
		if expectLength < commonConfig.PlatformConfig.TaskMaxTime {
			latestTimeWindowEnd = expectEnd
			lastTimeWindow.TimeWindowEnd = latestTimeWindowEnd
			lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, lastTimeWindow.TimeWindowEnd)
		}
		// 更新label
		labels := lastTimeWindow.Labels
		lastTimeWindow.Labels = util.AppendIfNotExists(labels, faultLabel)
		// 更新 topic
		sourceMasterTopics := lastTimeWindow.MasterTopics
		lastTimeWindow.MasterTopics = util.MergeSlice(sourceMasterTopics, masterTopics)
		sourceSlaveTopics := lastTimeWindow.SlaveTopics
		lastTimeWindow.SlaveTopics = util.MergeSlice(sourceSlaveTopics, slaveTopics)
		c_log.GlobalLogger.Infof("在旧故障窗口内，更新生产者队列最新的窗口，【Lable】=%v，【FaultTime】=%v，【Length】=%v", lastTimeWindow.Labels, lastTimeWindow.FaultTime, lastTimeWindow.Length)
	}
}

func getTopicsOfNode(faultLabel string) (masterTopics []string, slaveTopics []string) {
	// 获取所有需要采集的topic
	var faultCodeTopics []string
	for _, code := range commonConfig.CloudConfig.Triggers {
		if code.Label == faultLabel {
			faultCodeTopics = code.Topics
		}
	}
	// 根据不同节点采集的topic进行分配采集
	for _, acceptTopic := range faultCodeTopics {
		for _, host := range commonConfig.CloudConfig.Hosts {
			for _, topic := range host.Topics {
				if host.Name == commonConfig.CloudConfig.Hosts[0].Name && acceptTopic == topic {
					masterTopics = append(masterTopics, acceptTopic)
				}
				if host.Name == commonConfig.CloudConfig.Hosts[1].Name && acceptTopic == topic {
					slaveTopics = append(slaveTopics, acceptTopic)
				}
			}
		}
	}
	return masterTopics, slaveTopics
}