cicv_data_closed_loop/aarch64/pjisuv/master/config/trigger_var.go

package config

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

var (
	LabelMapTriggerId = new(sync.Map)

	// 0
	// 定时任务触发器，详见 pjisuv_ticker包
	TopicOfCicvTicker = pjisuv_ticker.TickerTopic
	RuleOfCicvTicker  = make([]func(shareVars *sync.Map), 0) // tick代表定时任务间隔时间；对于长度为0的slice，无论是使用var还是make创建，它们在内存占用上的差异通常可以忽略不计

	// 1
	TopicOfAmrPose = "/amr_pose"
	RuleOfAmrPose1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfAmrPose3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	// 2
	TopicOfBoundingBoxesFast = "/bounding_boxes_fast"
	RuleOfBoundingBoxesFast1 []func(data *pjisuv_msgs.BoundingBoxArray) string
	RuleOfBoundingBoxesFast3 []func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string

	// 3
	TopicOfCameraFault = "/camera_fault"
	RuleOfCameraFault1 []func(data *pjisuv_msgs.FaultVec) string
	RuleOfCameraFault3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string

	// 4
	TopicOfCanData = "/can_data"
	RuleOfCanData1 []func(data *pjisuv_msgs.Frame) string
	RuleOfCanData3 []func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string

	// 5
	TopicOfCh128x1LslidarPointCloud = "/ch128x1/lslidar_point_cloud"
	RuleOfCh128x1LslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh128x1LslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 6
	TopicOfCh64wLLslidarPointCloud = "/ch64w_l/lslidar_point_cloud"
	RuleOfCh64wLLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh64wLLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 7
	TopicOfCh64wLScan = "/ch64w_l/scan"
	RuleOfCh64wLScan1 []func(data *sensor_msgs.LaserScan) string
	RuleOfCh64wLScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string

	// 8
	TopicOfCh64wRLslidarPointCloud = "/ch64w_r/lslidar_point_cloud"
	RuleOfCh64wRLslidarPointCloud1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfCh64wRLslidarPointCloud3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 9
	TopicOfCh64wRScan = "/ch64w_r/scan"
	RuleOfCh64wRScan1 []func(data *sensor_msgs.LaserScan) string
	RuleOfCh64wRScan3 []func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string

	// 10
	TopicOfCicvLidarclusterMovingObjects = "/cicv/lidarcluster_moving_objects"
	RuleOfCicvLidarclusterMovingObjects1 []func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string
	RuleOfCicvLidarclusterMovingObjects3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string

	// 11
	TopicOfCicvAmrTrajectory = "/cicv_amr_trajectory"
	RuleOfCicvAmrTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
	RuleOfCicvAmrTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string

	// 12
	TopicOfCicvLocation = "/cicv_location"
	RuleOfCicvLocation1 []func(data *pjisuv_msgs.PerceptionLocalization) string
	RuleOfCicvLocation3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string

	// 13
	TopicOfCloudClusters = "/cloud_clusters"
	RuleOfCloudClusters1 []func(data *pjisuv_msgs.AutowareCloudClusterArray) string
	RuleOfCloudClusters3 []func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string

	// 14
	TopicOfHeartbeatInfo = "/heartbeat_info"
	RuleOfHeartbeatInfo1 []func(data *pjisuv_msgs.HeartBeatInfo) string
	RuleOfHeartbeatInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string

	// 15
	TopicOfLidarPretreatmentCost = "/lidarPretreatment_Cost"
	RuleOfLidarPretreatmentCost1 []func(data *geometry_msgs.Vector3Stamped) string
	RuleOfLidarPretreatmentCost3 []func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string

	// 16
	TopicOfLidarPretreatmentOdometry = "/lidar_pretreatment/odometry"
	RuleOfLidarPretreatmentOdometry1 []func(data *nav_msgs.Odometry) string
	RuleOfLidarPretreatmentOdometry3 []func(shareVars *sync.Map, data *nav_msgs.Odometry) string

	// 17
	TopicOfLidarRoi = "/lidar_roi"
	RuleOfLidarRoi1 []func(data *geometry_msgs.PolygonStamped) string
	RuleOfLidarRoi3 []func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string

	// 18
	TopicOfLine1 = "/line_1"
	RuleOfLine11 []func(data *nav_msgs.Path) string
	RuleOfLine13 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	// 19
	TopicOfLine2 = "/line_2"
	RuleOfLine21 []func(data *nav_msgs.Path) string
	RuleOfLine23 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	// 20
	TopicOfMapPolygon = "/map_polygon"
	RuleOfMapPolygon1 []func(data *pjisuv_msgs.PolygonStamped) string
	RuleOfMapPolygon3 []func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string

	// 21
	TopicOfObstacleDisplay = "/obstacle_display"
	RuleOfObstacleDisplay1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfObstacleDisplay3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	// 22
	TopicOfPjControlPub = "/pj_control_pub"
	RuleOfPjControlPub1 []func(data *pjisuv_msgs.CommonVehicleCmd) string
	RuleOfPjControlPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string

	// 23
	TopicOfPointsCluster = "/points_cluster"
	RuleOfPointsCluster1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfPointsCluster3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 24
	TopicOfPointsConcat = "/points_concat"
	RuleOfPointsConcat1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfPointsConcat3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 25
	TopicOfReferenceDisplay = "/reference_display"
	RuleOfReferenceDisplay1 []func(data *nav_msgs.Path) string
	RuleOfReferenceDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	// 26
	TopicOfReferenceTrajectory = "/reference_trajectory"
	RuleOfReferenceTrajectory1 []func(data *pjisuv_msgs.Trajectory) string
	RuleOfReferenceTrajectory3 []func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string

	// 27
	TopicOfRoiPoints = "/roi/points"
	RuleOfRoiPoints1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfRoiPoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 28
	TopicOfRoiPolygon = "/roi/polygon"
	RuleOfRoiPolygon1 []func(data *nav_msgs.Path) string
	RuleOfRoiPolygon3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	// 29
	TopicOfTf = "/tf"
	RuleOfTf1 []func(data *tf2_msgs.TFMessage) string
	RuleOfTf3 []func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string

	// 30
	TopicOfTpperception = "/tpperception"
	RuleOfTpperception1 []func(data *pjisuv_msgs.PerceptionObjects) string
	RuleOfTpperception3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string

	// 31
	TopicOfTpperceptionVis = "/tpperception/vis"
	RuleOfTpperceptionVis1 []func(data *visualization_msgs.MarkerArray) string
	RuleOfTpperceptionVis3 []func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string

	// 32
	TopicOfTprouteplan = "/tprouteplan"
	RuleOfTprouteplan1 []func(data *pjisuv_msgs.RoutePlan) string
	RuleOfTprouteplan3 []func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string

	// 33
	TopicOfTrajectoryDisplay = "/trajectory_display"
	RuleOfTrajectoryDisplay1 []func(data *nav_msgs.Path) string
	RuleOfTrajectoryDisplay3 []func(shareVars *sync.Map, data *nav_msgs.Path) string

	// 34
	TopicOfUngroundCloudpoints = "/unground_cloudpoints"
	RuleOfUngroundCloudpoints1 []func(data *sensor_msgs.PointCloud2) string
	RuleOfUngroundCloudpoints3 []func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string

	// 35
	TopicOfCameraImage = "/camera_image"
	RuleOfCameraImage1 []func(data *sensor_msgs.Image) string
	RuleOfCameraImage3 []func(shareVars *sync.Map, data *sensor_msgs.Image) string

	// 36
	TopicOfDataRead = "/data_read"
	RuleOfDataRead1 []func(data *pjisuv_msgs.Retrieval) string
	RuleOfDataRead3 []func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string

	// 37
	TopicOfPjiGps = "/pji_gps"
	RuleOfPjiGps1 []func(data *pjisuv_msgs.PerceptionLocalization) string
	RuleOfPjiGps3 []func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string

	// 38
	TopicOfFaultInfo = "/fault_info"
	RuleOfFaultInfo1 []func(data *pjisuv_msgs.FaultVec) string
	RuleOfFaultInfo3 []func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string

	//39
	TopicOfPjVehicleFdbPub = "/pj_vehicle_fdb_pub"
	RuleOfPjVehicleFdbPub1 []func(data *pjisuv_msgs.VehicleFdb) string
	RuleOfPjVehicleFdbPub3 []func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string

	//40
	TopicOfEndPointMessage = "/end_point_message"
	RuleOfEndPointMessage1 []func(data *geometry_msgs.Point) string
	RuleOfEndPointMessage3 []func(shareVars *sync.Map, data *geometry_msgs.Point) string

	// todo 这里是全量的topic，添加topic则需要同时在下面的数组添加；也需要在produce_window.go中添加新的订阅者
	AllTopics = []string{
		TopicOfCicvTicker,                    // 0
		TopicOfAmrPose,                       // 1
		TopicOfBoundingBoxesFast,             // 2
		TopicOfCameraFault,                   // 3
		TopicOfCanData,                       // 4
		TopicOfCh128x1LslidarPointCloud,      // 5
		TopicOfCh64wLLslidarPointCloud,       // 6
		TopicOfCh64wLScan,                    // 7
		TopicOfCh64wRLslidarPointCloud,       // 8
		TopicOfCh64wRScan,                    // 9
		TopicOfCicvLidarclusterMovingObjects, // 10
		TopicOfCicvAmrTrajectory,             // 11
		TopicOfCicvLocation,                  // 12
		TopicOfCloudClusters,                 // 13
		TopicOfHeartbeatInfo,                 // 14
		TopicOfLidarPretreatmentCost,         // 15
		TopicOfLidarPretreatmentOdometry,     // 16
		TopicOfLidarRoi,                      // 17
		TopicOfLine1,                         // 18
		TopicOfLine2,                         // 19
		TopicOfMapPolygon,                    // 20
		TopicOfObstacleDisplay,               // 21
		TopicOfPjControlPub,                  // 22
		TopicOfPointsCluster,                 // 23
		TopicOfPointsConcat,                  // 24
		TopicOfReferenceDisplay,              // 25
		TopicOfReferenceTrajectory,           // 26
		TopicOfRoiPoints,                     // 27
		TopicOfRoiPolygon,                    // 28
		TopicOfTf,                            // 29
		TopicOfTpperception,                  // 30
		TopicOfTpperceptionVis,               // 31
		TopicOfTprouteplan,                   // 32
		TopicOfTrajectoryDisplay,             // 33
		TopicOfUngroundCloudpoints,           // 34
		TopicOfCameraImage,                   // 35
		TopicOfDataRead,                      // 36
		TopicOfPjiGps,                        // 37
		TopicOfFaultInfo,                     // 38
		TopicOfPjVehicleFdbPub,               // 39
		TopicOfEndPointMessage,               // 40
	}

	AllTopicsNumber = len(AllTopics)
)