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

package main

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

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

// 禁止存在下划线_
func Label() string {
	return "TargetAhead"
}

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	velocityXOfCicvLocation, ok1 := shareVars.Load("VelocityXOfCicvLocation")
	angularVelocityZOfCicvLocation, ok2 := shareVars.Load("AngularVelocityZOfCicvLocation")
	OutsideWorkshopFlag, ok3 := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)

	if ok1 && ok2 && ok3 {
		value1 := velocityXOfCicvLocation.(float64)
		value2 := angularVelocityZOfCicvLocation.(float64)
		for _, obj := range data.Objs {
			if math.Abs(float64(obj.Y)) <= 2.3 && obj.X >= 0 && obj.X <= 13 && value1 < 5.5 && math.Abs(value2) >= 0.5 && OutsideWorkshopFlag == true {
				return Label()
			}
		}
	}

	return ""
}