cicv_data_closed_loop/trigger/jili/tpperception/CBLA/main/CBLA.go

package main

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

var (
	ObjDicOfTpperception any
	objDic               = make(map[uint32][][]float32)
	ok1                  bool
	StartTime            int64
	IsFollow             bool
)

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

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

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	ObjDicOfTpperception, ok1 = shareVars.Load("ObjDicOfTpperception")
	if !ok1 {
		return ""
	}
	objDic = ObjDicOfTpperception.(map[uint32][][]float32)
	for objid, objval := range objDic {
		//if obj.Type == 1 && obj.X >= 2 && obj.X <= 20 && math.Abs(float64(obj.Y)) <= 1.2 {//理论条件
		if objval[objid][6] == 4 && objval[objid][0] >= 2 && objval[objid][0] <= 20 && math.Abs(float64(objval[objid][1])) <= 1.2 { //简化条件
			if StartTime == 0 {
				StartTime = time.Now().Unix()
			}

			// 判断是否持续超过一分钟
			if time.Now().Unix()-StartTime > 5 {
				if !IsFollow {
					IsFollow = true
					return Label()
				}
			}
		} else {
			StartTime = 0
			IsFollow = false
		}
	}
	return ""
}