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

package main

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

var ()

// 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 "CCRH"
}

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(3) * 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)
}
func isCuttingOut(ObjectList [][]float32) bool {
	for i := 0; i < len(ObjectList[0]); i++ {
		xi := ObjectList[0][i]
		yi := math.Abs(float64(ObjectList[1][i]))
		Type := ObjectList[4][0]

		if xi >= 0 && yi <= 0.7 && Type != 1.0 {
			for j := 0; j < len(ObjectList[0])-i-1; j++ {
				xj := ObjectList[0][j]
				yj := math.Abs(float64(ObjectList[1][j]))

				if xj >= 0 && yj >= 2.5 {
					return true
				}
			}
		}
	}
	return false
}
func FinalCallback(shareVars *sync.Map) {

	OutsideWorkshopFlag, ok := shareVars.Load("OutsideWorkshopFlag")
	ObjDicOfTpperception, ok1 := shareVars.Load("objDicOfTpperception")
	AngularVelocityZOfCicvLocation, ok3 := shareVars.Load("AngularVelocityZOfCicvLocation")
	ObjDic := ObjDicOfTpperception.(map[uint32][][]float32)
	AbsSpeed, ok2 := shareVars.Load("AbsSpeed")

	if ok && ok1 && ok2 && ok3 && AngularVelocityZOfCicvLocation.(float64) < 0.6 && AbsSpeed.(float64) > 1 && OutsideWorkshopFlag.(bool) == true {
		for _, objValue := range ObjDic {
			if len(ObjDic[0]) <= 10 || !isCuttingOut(objValue) {
				continue
			}
			event_lable := "CCRH"
			fmt.Println(event_lable)
			pjisuv_ticker.TickerChan <- pjisuv_ticker.TickInfo{FaultLabel: Label(), FaultHappenTime: pjisuv_ticker.GetNowTimeCustom()}
		}

	}

}