cicv_data_closed_loop/trigger/pjisuv/tpperception/multiTargetAhead/main/multiTargetAhead.go

package main

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

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

// Label todo 禁止存在下划线_
// MultiPedestrianAhead
// MultiCarAhead
// MultiTruckAhead
// MultiBicycleAhead
// MultiTricycleAhead
// MultiTrafficConeAhead
func Label() string {
	return "MultiPedestrianAhead"
}

type Record struct {
	StableFrame      int
	LastExistingTime float64
}

var record *Record = nil

// 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 = 1

	return targetType == obj.Type
}

// 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 检测前方指定目标物数量
func Rule(shareVars *sync.Map, msg *pjisuv_msgs.PerceptionObjects) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()

	const Cgcs2000X = 456256.260152
	const Cgcs2000Y = 4397809.886833
	const MinStableFrameCount = 5   // frame
	const MaxTimeBetweenFrame = 0.5 // second
	const minTargetNum = 4
	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)

	if len(msg.Objs) >= minTargetNum {

		currTargetNum := 0
		for _, obj := range msg.Objs {

			// 判断目标物是否满足筛选条件
			if typeCheck(&obj) && posCheck(&obj) {
				currTargetNum++
			}
		}

		if currTargetNum >= minTargetNum {
			if nil == record {
				record = &Record{
					StableFrame:      1,
					LastExistingTime: msg.Header.TimeStamp,
				}
			} else {
				newRecord := Record{
					StableFrame:      1,
					LastExistingTime: msg.Header.TimeStamp,
				}

				if newRecord.LastExistingTime-record.LastExistingTime <= MaxTimeBetweenFrame {
					newRecord.StableFrame = record.StableFrame + 1
					if newRecord.StableFrame == MinStableFrameCount && OutsideWorkshopFlag == true {
						record = nil
						return Label()
					} else {
					}
				} else {
				}
				record = &newRecord
			}
		}

	}

	return ""
}