cicv_data_closed_loop/test/ey_common_test.go

package test

import (
	"cicv-data-closedloop/pjisuv_msgs"
	"fmt"
	"github.com/bluenviron/goroslib/v2"
	"log"
	"math"
	"testing"
	"time"
)

type Object struct {
	ID               uint32
	StableFrame      int
	LastExistingTime float64
}

var objectsStability = make(map[uint32]Object)

const (
	Cgcs2000X           = 456256.260152
	Cgcs2000Y           = 4397809.886833
	MinStableFrameCount = 5
	MaxTimeBetweenFrame = 0.5
)

// typeCheck 目标物类型检测
// × 金龙车：CAR_TYPE=0, TRUCK_TYPE=1, PEDESTRIAN_TYPE=2, CYCLIST_TYPE=3, UNKNOWN_TYPE=4, UNKNOWN_MOVABLE_TYPE=5, UNKNOWN_UNMOVABLE_TYPE=6
// √ 多功能车：UNKNOWN TYPE=O, PEDESTRIAN TYPE=1, CAR TYPE=2, TRUCK TYPE=3, Bicycle TYPE=4, Tricycle TYPE=5, Traffic Cone TYPE=6
func typeCheck(obj *pjisuv_msgs.PerceptionObject) bool {
	const targetType uint8 = 0

	return targetType == obj.Type
}

// sizeCheck 目标物大小检测
func sizeCheck(obj *pjisuv_msgs.PerceptionObject) bool {
	// 多功能车
	const targetMinLength = 3.6   // m
	const targetMinWidth = 1.605  // m
	const targetMinHeight = 1.995 // m

	// 金龙车
	//targetMinLength := 5.99
	//targetMinWidth := 2.065
	//targetMinHeight := 2.82

	// 至少满足两个条件
	counter := 0
	if obj.Length >= targetMinLength {
		counter++
	}
	if obj.Width >= targetMinWidth {
		counter++
	}
	if obj.Height >= targetMinHeight {
		counter++
	}

	return counter > 1
}

// posCheck 判断目标物位置关系
func posCheck(obj *pjisuv_msgs.PerceptionObject) bool {
	const laneWidth = 3.5 // m

	return obj.X > 0 && math.Abs(float64(obj.Y)) < laneWidth*1.5
}

// Rule 检测前方未知大目标物
func Rule(msg *pjisuv_msgs.PerceptionObjects) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()

	fmt.Println()
	for _, obj := range msg.Objs {
		//fmt.Println(fmt.Sprintf("id: [%d], type: [%d], x/yrel: [%f, %f], x/yabs: [%f, %f], speed: [%f], size: [%f/%f/%f]",
		//	obj.Id, obj.Type, obj.X, obj.Y, obj.Xabs-CGCS2000_X, obj.Yabs-CGCS2000_Y, obj.Speed, obj.Length, obj.Width, obj.Height))

		// 判断目标物是否满足筛选条件
		if typeCheck(&obj) && posCheck(&obj) && sizeCheck(&obj) {
			fmt.Println(time.Unix(int64(msg.Header.TimeStamp), int64(msg.Header.TimeStamp*1e9)%1e9).Format(time.StampNano))

			// 目标物初见存档
			if prevObjRecord, exists := objectsStability[obj.Id]; exists == false {
				objectsStability[obj.Id] = Object{
					ID:               obj.Id,
					StableFrame:      1,
					LastExistingTime: msg.Header.TimeStamp,
				}
				fmt.Println("create: ", objectsStability[obj.Id])
			} else {
				currObjRecord := Object{
					ID:               obj.Id,
					StableFrame:      1,
					LastExistingTime: msg.Header.TimeStamp,
				}

				// 目标物确认/更新/重置
				if currObjRecord.LastExistingTime-prevObjRecord.LastExistingTime <= MaxTimeBetweenFrame { // 目标物消失不超过0.5s
					currObjRecord.StableFrame = prevObjRecord.StableFrame + 1
					if currObjRecord.StableFrame == MinStableFrameCount {
						fmt.Println("found: ", currObjRecord)
						fmt.Println(fmt.Sprintf("id: [%d], type: [%d], x/yrel: [%f, %f], x/yabs: [%f, %f], speed: [%f], size: [%f/%f/%f]",
							obj.Id, obj.Type, obj.X, obj.Y, obj.Xabs-Cgcs2000X, obj.Yabs-Cgcs2000Y, obj.Speed, obj.Length, obj.Width, obj.Height))
						delete(objectsStability, obj.Id)

						//continue // todo
						//return "UnknownBigTargetAhead"
					} else {
						fmt.Println("update: ", currObjRecord)
						objectsStability[obj.Id] = currObjRecord
					}
				} else {
					fmt.Println("reset: ", currObjRecord)
					objectsStability[obj.Id] = currObjRecord
				}
			}
		}
	}
	return ""
}

func TestGoRosLib(t *testing.T) {
	defer func() {
		if err := recover(); err != nil {
			log.Println(err, fmt.Sprintf("recover: [%#v]", err), false)
		}
	}()

	rosNode, err := goroslib.NewNode(goroslib.NodeConf{
		Name:          "eyTest",
		MasterAddress: "localhost:11311",
	})
	if err != nil {
		log.Panicln(err, fmt.Sprintf("failed to create rosNode: [%#v]", err), false)
	}

	_, err = goroslib.NewSubscriber(goroslib.SubscriberConf{
		Node:  rosNode,
		Topic: "/tpperception",
		Callback: func(msg *pjisuv_msgs.PerceptionObjects) {
			Rule(msg)
		},
	})
	if err != nil {
		log.Panicln(err, fmt.Sprintf("failed to create subscriber: [%#v]", err), false)
	}

	select {}
}