cicv_data_closed_loop/trigger/pjisuv/tpperception/TrafficCongestion/main/TrafficCongestion.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_
func Label() string {
	return "TrafficCongestion"
}
func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string {
	NumTargets := 0
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	velocityXOfCicvLocation, ok := shareVars.Load("VelocityXOfCicvLocation")
	OutsideWorkshopFlag, ok1 := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
	if ok && ok1 {
		if velocityXOfCicvLocation.(float64) < 3.5 && len(data.Objs) > 3 {
			for _, obj := range data.Objs {
				if (obj.Type == 2 || obj.Type == 3) && math.Abs(float64(obj.Y)) <= 2.5 && math.Abs(float64(obj.X)) <= 20 && obj.Speed <= 4 {
					NumTargets++
				}
			}
			if NumTargets >= 3 && OutsideWorkshopFlag == true {
				return Label()

			}
		}
	}

	return ""

}