cicv_data_closed_loop/trigger/jili/cicv_location/AuLongStop/main/AuLongStop.go

package main

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

var (
	StartTime int64
	IsStopped bool
)

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

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

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	automodeOfPjVehicleFdbPub, ok := shareVars.Load("AutomodeOfPjVehicleFdbPub")
	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
	if ok {
		if automodeOfPjVehicleFdbPub.(int16) == 1 {
			if data.VelocityX < 0.5 {
				// 如果之前没有记录开始时间，记录当前时间
				if StartTime == 0 {
					StartTime = time.Now().Unix()
				}
				// 判断是否持续超过 50s
				if time.Now().Unix()-StartTime > 50 && OutsideWorkshopFlag == true {
					if !IsStopped {
						IsStopped = true
						return Label()
					}
				}
			} else {
				// 如果速度大于 0.1，重置开始时间和停止标志
				StartTime = 0
				IsStopped = false
			}
		} else {
			StartTime = 0
			IsStopped = false
		}
	}

	return ""
}