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"
	"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 (
	lastGlobalTriggerTime = time.Now()
	thisGlobalTriggerTime = time.Now()
	pjisuvParam           = pjisuv_param.PjisuvParam{
		ObjDicOfTpperception:      make(map[uint32][]float32),
		ObjTypeDicOfTpperception:  make(map[uint32]uint8),
		ObjSpeedDicOfTpperception: make(map[uint32]float64),
	} // /cicv_location
	mutexOfCicvLocation sync.RWMutex
	// /tpperception
	mutexOfTpperception sync.RWMutex
	// /pj_control_pub
	mutexOfPjControlPub sync.RWMutex
	// /data_read
	mutexOfDataRead sync.RWMutex
	// /pj_vehicle_fdb_pub
	mutexOfPjVehicleFdbPub sync.RWMutex
	// /pj_vehicle_fdb_pub
	mutexOfCicvAmrTrajectory sync.RWMutex
)

// PrepareTimeWindowProducerQueue 负责监听所有主题并修改时间窗口
func PrepareTimeWindowProducerQueue() {
	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 {
		// 增加了可扩展性
		if topic == masterConfig.TopicOfCicvExtend {
			go func() {
				for {
					time.Sleep(time.Duration(3500) * time.Millisecond)
					for _, f := range masterConfig.RuleOfCicvExtend {
						label := f(pjisuvParam)
						if label != "" {
							saveTimeWindow(label, util.GetNowTimeCustom(), commonEntity.GetLastTimeWindow())
							lastGlobalTriggerTime = thisGlobalTriggerTime
							thisGlobalTriggerTime = time.Now()
							subscribersTimes[i] = thisGlobalTriggerTime
							break
						}
					}
				}
			}()
		}

		// 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) {
			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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 2
		if topic == masterConfig.TopicOfBoundingBoxesFast && (len(masterConfig.RuleOfBoundingBoxesFast1) > 0 || len(masterConfig.RuleOfBoundingBoxesFast2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 3
		if topic == masterConfig.TopicOfCameraFault && (len(masterConfig.RuleOfCameraFault1) > 0 || len(masterConfig.RuleOfCameraFault2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 4
		if topic == masterConfig.TopicOfCanData && (len(masterConfig.RuleOfCanData1) > 0 || len(masterConfig.RuleOfCanData2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 5
		if topic == masterConfig.TopicOfCh128x1LslidarPointCloud && (len(masterConfig.RuleOfCh128x1LslidarPointCloud1) > 0 || len(masterConfig.RuleOfCh128x1LslidarPointCloud2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 6
		if topic == masterConfig.TopicOfCh64wLLslidarPointCloud && (len(masterConfig.RuleOfCh64wLLslidarPointCloud1) > 0 || len(masterConfig.RuleOfCh64wLLslidarPointCloud2) > 1) {
			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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 7
		if topic == masterConfig.TopicOfCh64wLScan && (len(masterConfig.RuleOfCh64wLScan1) > 0 || len(masterConfig.RuleOfCh64wLScan2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 8
		if topic == masterConfig.TopicOfCh64wRLslidarPointCloud && (len(masterConfig.RuleOfCh64wRLslidarPointCloud1) > 0 || len(masterConfig.RuleOfCh64wRLslidarPointCloud2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 9
		if topic == masterConfig.TopicOfCh64wRScan && (len(masterConfig.RuleOfCh64wRScan1) > 0 || len(masterConfig.RuleOfCh64wRScan2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 10
		if topic == masterConfig.TopicOfCicvLidarclusterMovingObjects && (len(masterConfig.RuleOfCicvLidarclusterMovingObjects1) > 0 || len(masterConfig.RuleOfCicvLidarclusterMovingObjects2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 11
		if topic == masterConfig.TopicOfCicvAmrTrajectory && (len(masterConfig.RuleOfCicvAmrTrajectory1) > 0 || len(masterConfig.RuleOfCicvAmrTrajectory2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfCicvAmrTrajectory2) > 0 {
							for _, f := range masterConfig.RuleOfCicvAmrTrajectory2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									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
					}
					mutexOfCicvAmrTrajectory.RUnlock()
				},
			})
		}

		// 12
		if topic == masterConfig.TopicOfCicvLocation && (len(masterConfig.RuleOfCicvLocation1) > 0 || len(masterConfig.RuleOfCicvLocation2) > 0) {
			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  commonConfig.RosNode,
				Topic: topic,
				Callback: func(data *pjisuv_msgs.PerceptionLocalization) {
					// 更新共享变量
					mutexOfCicvLocation.RLock()
					{
						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()

					subscribersTimeMutexes[i].Lock()
					if time.Since(subscribersTimes[i]).Seconds() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 13
		if topic == masterConfig.TopicOfCloudClusters && (len(masterConfig.RuleOfCloudClusters1) > 0 || len(masterConfig.RuleOfCloudClusters2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfCloudClusters2) > 0 {
							for _, f := range masterConfig.RuleOfCloudClusters2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 14
		if topic == masterConfig.TopicOfHeartbeatInfo && (len(masterConfig.RuleOfHeartbeatInfo1) > 0 || len(masterConfig.RuleOfHeartbeatInfo2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

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

		// 15
		if topic == masterConfig.TopicOfLidarPretreatmentCost && (len(masterConfig.RuleOfLidarPretreatmentCost1) > 0 || len(masterConfig.RuleOfLidarPretreatmentCost2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfLidarPretreatmentCost2) > 0 {
							for _, f := range masterConfig.RuleOfLidarPretreatmentCost2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 16
		if topic == masterConfig.TopicOfLidarPretreatmentOdometry && (len(masterConfig.RuleOfLidarPretreatmentOdometry1) > 0 || len(masterConfig.RuleOfLidarPretreatmentOdometry2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfLidarPretreatmentOdometry2) > 0 {
							for _, f := range masterConfig.RuleOfLidarPretreatmentOdometry2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 17
		if topic == masterConfig.TopicOfLidarRoi && (len(masterConfig.RuleOfLidarRoi1) > 0 || len(masterConfig.RuleOfLidarRoi2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfLidarRoi2) > 0 {
							for _, f := range masterConfig.RuleOfLidarRoi2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 18
		if topic == masterConfig.TopicOfLine1 && (len(masterConfig.RuleOfLine11) > 0 || len(masterConfig.RuleOfLine12) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfLine12) > 0 {
							for _, f := range masterConfig.RuleOfLine12 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 19
		if topic == masterConfig.TopicOfLine2 && (len(masterConfig.RuleOfLine21) > 0 || len(masterConfig.RuleOfLine22) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfLine22) > 0 {
							for _, f := range masterConfig.RuleOfLine22 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 20
		if topic == masterConfig.TopicOfMapPolygon && (len(masterConfig.RuleOfMapPolygon1) > 0 || len(masterConfig.RuleOfMapPolygon2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfMapPolygon2) > 0 {
							for _, f := range masterConfig.RuleOfMapPolygon2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 21
		if topic == masterConfig.TopicOfObstacleDisplay && (len(masterConfig.RuleOfObstacleDisplay1) > 0 || len(masterConfig.RuleOfObstacleDisplay2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfObstacleDisplay2) > 0 {
							for _, f := range masterConfig.RuleOfObstacleDisplay2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 22
		if topic == masterConfig.TopicOfPjControlPub && (len(masterConfig.RuleOfPjControlPub1) > 0 || len(masterConfig.RuleOfPjControlPub2) > 0) {
			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  commonConfig.RosNode,
				Topic: topic,
				Callback: func(data *pjisuv_msgs.CommonVehicleCmd) {
					// 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()
					subscribersTimeMutexes[i].Lock()
					if time.Since(subscribersTimes[i]).Seconds() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfPjControlPub2) > 0 {
							for _, f := range masterConfig.RuleOfPjControlPub2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 23
		if topic == masterConfig.TopicOfPointsCluster && (len(masterConfig.RuleOfPointsCluster1) > 0 || len(masterConfig.RuleOfPointsCluster2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfPointsCluster2) > 0 {
							for _, f := range masterConfig.RuleOfPointsCluster2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 24
		if topic == masterConfig.TopicOfPointsConcat && (len(masterConfig.RuleOfPointsConcat1) > 0 || len(masterConfig.RuleOfPointsConcat2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfPointsConcat2) > 0 {
							for _, f := range masterConfig.RuleOfPointsConcat2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 25
		if topic == masterConfig.TopicOfReferenceDisplay && (len(masterConfig.RuleOfReferenceDisplay1) > 0 || len(masterConfig.RuleOfReferenceDisplay2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfReferenceDisplay2) > 0 {
							for _, f := range masterConfig.RuleOfReferenceDisplay2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 26
		if topic == masterConfig.TopicOfReferenceTrajectory && (len(masterConfig.RuleOfReferenceTrajectory1) > 0 || len(masterConfig.RuleOfReferenceTrajectory2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfReferenceTrajectory2) > 0 {
							for _, f := range masterConfig.RuleOfReferenceTrajectory2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 27
		if topic == masterConfig.TopicOfRoiPoints && (len(masterConfig.RuleOfRoiPoints1) > 0 || len(masterConfig.RuleOfRoiPoints2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfRoiPoints2) > 0 {
							for _, f := range masterConfig.RuleOfRoiPoints2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 28
		if topic == masterConfig.TopicOfRoiPolygon && (len(masterConfig.RuleOfRoiPolygon1) > 0 || len(masterConfig.RuleOfRoiPolygon2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfRoiPolygon2) > 0 {
							for _, f := range masterConfig.RuleOfRoiPolygon2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 29
		if topic == masterConfig.TopicOfTf && (len(masterConfig.RuleOfTf1) > 0 || len(masterConfig.RuleOfTf2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfTf2) > 0 {
							for _, f := range masterConfig.RuleOfTf2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 30
		if topic == masterConfig.TopicOfTpperception && (len(masterConfig.RuleOfTpperception1) > 0 || len(masterConfig.RuleOfTpperception2) > 0) {
			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
				Node:  commonConfig.RosNode,
				Topic: topic,
				Callback: func(data *pjisuv_msgs.PerceptionObjects) {
					// 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)
						}
					}
					mutexOfTpperception.RUnlock()
					subscribersTimeMutexes[i].Lock()
					if time.Since(subscribersTimes[i]).Seconds() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfTpperception2) > 0 {
							for _, f := range masterConfig.RuleOfTpperception2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

					TriggerSuccess:
						subscribersMutexes[i].Unlock()
					}
					subscribersTimeMutexes[i].Unlock()
					// -------- 触发后更新共享变量
					mutexOfTpperception.RLock()
					{
						for _, obj := range data.Objs {
							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) {
			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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfTpperceptionVis2) > 0 {
							for _, f := range masterConfig.RuleOfTpperceptionVis2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 32
		if topic == masterConfig.TopicOfTprouteplan && (len(masterConfig.RuleOfTprouteplan1) > 0 || len(masterConfig.RuleOfTprouteplan2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfTprouteplan2) > 0 {
							for _, f := range masterConfig.RuleOfTprouteplan2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 33
		if topic == masterConfig.TopicOfTrajectoryDisplay && (len(masterConfig.RuleOfTrajectoryDisplay1) > 0 || len(masterConfig.RuleOfTrajectoryDisplay2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfTrajectoryDisplay2) > 0 {
							for _, f := range masterConfig.RuleOfTrajectoryDisplay2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 34
		if topic == masterConfig.TopicOfUngroundCloudpoints && (len(masterConfig.RuleOfUngroundCloudpoints1) > 0 || len(masterConfig.RuleOfUngroundCloudpoints2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfUngroundCloudpoints2) > 0 {
							for _, f := range masterConfig.RuleOfUngroundCloudpoints2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 35
		if topic == masterConfig.TopicOfCameraImage && (len(masterConfig.RuleOfCameraImage1) > 0 || len(masterConfig.RuleOfCameraImage2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfCameraImage2) > 0 {
							for _, f := range masterConfig.RuleOfCameraImage2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

					TriggerSuccess:
						subscribersMutexes[i].Unlock()
					}
					subscribersTimeMutexes[i].Unlock()
				},
			})
		}
		// 36
		if topic == masterConfig.TopicOfDataRead && (len(masterConfig.RuleOfDataRead1) > 0 || len(masterConfig.RuleOfDataRead2) > 0) {
			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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfDataRead2) > 0 {
							for _, f := range masterConfig.RuleOfDataRead2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

					TriggerSuccess:
						subscribersMutexes[i].Unlock()
					}
					subscribersTimeMutexes[i].Unlock()
				},
			})
		}
		// 37
		if topic == masterConfig.TopicOfPjiGps && (len(masterConfig.RuleOfPjiGps1) > 0 || len(masterConfig.RuleOfPjiGps2) > 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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfPjiGps2) > 0 {
							for _, f := range masterConfig.RuleOfPjiGps2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		// 39
		if topic == masterConfig.TopicOfPjVehicleFdbPub && (len(masterConfig.RuleOfPjVehicleFdbPub1) > 0 || len(masterConfig.RuleOfPjVehicleFdbPub2) > 0) {
			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() > 1 {
						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)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

						if len(masterConfig.RuleOfPjVehicleFdbPub2) > 0 {
							for _, f := range masterConfig.RuleOfPjVehicleFdbPub2 {
								faultLabel = f(data, &pjisuvParam)
								if faultLabel != "" {
									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
									lastGlobalTriggerTime = thisGlobalTriggerTime
									thisGlobalTriggerTime = time.Now()
									subscribersTimes[i] = thisGlobalTriggerTime
									goto TriggerSuccess
								}
							}
						}

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

		if err != nil {
			c_log.GlobalLogger.Info("创建订阅者报错：", err)
			continue
		}
	}

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

func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *commonEntity.TimeWindow) {
	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)
		earliestBegin := util.GetTimeString(lastGlobalTriggerTime) // 窗口最早时间不能早于上一次触发时间
		finalTimeWindowBegin := ""
		if util.TimeCustom1LessEqualThanTimeCustom2(exceptBegin, earliestBegin) {
			finalTimeWindowBegin = earliestBegin
		} else {
			finalTimeWindowBegin = exceptBegin
		}
		newTimeWindow := commonEntity.TimeWindow{
			FaultTime:       faultHappenTime,
			TimeWindowBegin: finalTimeWindowBegin,
			TimeWindowEnd:   util.TimeCustomChange(faultHappenTime, commonConfig.PlatformConfig.TaskAfterTime),
			Length:          commonConfig.PlatformConfig.TaskBeforeTime + commonConfig.PlatformConfig.TaskAfterTime + 1,
			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
		latestEnd := util.TimeCustomChange(lastTimeWindow.TimeWindowBegin, commonConfig.PlatformConfig.TaskMaxTime) // 窗口最晚关闭时间是窗口开启时间加上最大任务时间
		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
		if util.TimeCustom1GreaterTimeCustom2(expectEnd, latestEnd) {
			lastTimeWindow.TimeWindowEnd = latestEnd
			lastTimeWindow.Length = commonConfig.PlatformConfig.TaskMaxTime
		} else {
			if util.TimeCustom1GreaterTimeCustom2(expectEnd, lastTimeWindow.TimeWindowEnd) {
				lastTimeWindow.TimeWindowEnd = expectEnd
				lastTimeWindow.Length = util.CalculateDifferenceOfTimeCustom(lastTimeWindow.TimeWindowBegin, expectEnd)
			}
		}
		// 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
}