cicv_data_closed_loop/trigger/pjisuv/cicv_ticker/RolloverWarning/main/RolloverWarning.go

package main

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

//记得在produce_window.go中将AngleSlice的注释解除！！！

var (
	threshold float64 = 0.5236 //车辆的横滚角大于 30 度到 45 度时，就存在较高的侧翻风险。
)

// 定时任务触发器固定的
func Topic() string {
	return pjisuv_ticker.TickerTopic
}

// ******* 禁止存在下划线_
// 触发器标记

func Label() string {
	return "RolloverWarning"
}

func Rule(shareVars *sync.Map) {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	// 1 使用goroutine
	go func(shareVars *sync.Map) {
		// 2 定义触发器的间隔时间
		ticker := time.NewTicker(time.Duration(2) * time.Second)
		defer ticker.Stop()
		// 3 运行一个无限循环
		for {
			select {
			// 定时器触发时执行的代码
			case <-ticker.C:
				FinalCallback(shareVars)
			}
		}
	}(shareVars)
}

// QuaternionToEuler 将四元数转换为欧拉角
func QuaternionToEuler(x, y, z, w float64) float64 {
	// 归一化四元数
	length := math.Sqrt(x*x + y*y + z*z + w*w)
	x /= length
	y /= length
	z /= length
	w /= length
	// 计算欧拉角
	roll := math.Atan2(2*(w*x+y*z), 1-2*(x*x+y*y))
	//pitch := math.Asin(2 * (w*y - z*x))
	//yaw := math.Atan2(2*(w*z+x*y), 1-2*(y*y+z*z))
	return roll
}
func countChanges(AngleSlice [][]float64) int {
	num := 0
	for i := 0; i < len(AngleSlice[1]); i++ {
		roll := QuaternionToEuler(AngleSlice[0][i], AngleSlice[1][i], AngleSlice[2][i], AngleSlice[3][i])
		if math.Abs(roll) >= threshold {
			num++
		}
	}
	return num
}
func FinalCallback(shareVars *sync.Map) {
	OutsideWorkshopFlag, ok := shareVars.Load("OutsideWorkshopFlag")
	AngleSlice, ok1 := shareVars.Load("AngleSlice")

	if ok && ok1 && OutsideWorkshopFlag.(bool) == true {
		count := countChanges(AngleSlice.([][]float64))
		if count >= 5 {
			event_lable := "RolloverWarning"
			fmt.Println(event_lable)
			pjisuv_ticker.TickerChan <- pjisuv_ticker.TickInfo{FaultLabel: Label(), FaultHappenTime: pjisuv_ticker.GetNowTimeCustom()}
			AngleSlice = make([][]float64, 0)
			shareVars.Store("AngleSlice", AngleSlice)
		}

	}

}