cicv_data_closed_loop/trigger/pjisuv/tpperception/CCFtap/main/CCFtap.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 "CCFtap"
}

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

	if ok && ok1 && ok2 && ok3 && OutsideWorkshopFlag.(bool) && LeftCurveFlag.(bool) == true {

		for _, obj := range data.Objs {
			if obj.Type == 2 || obj.Type == 3 {

				Distance := math.Sqrt(math.Pow(PositionXOfCicvLocation.(float64)-obj.Xabs, 2) + math.Pow(PositionYOfCicvLocation.(float64)-obj.Yabs, 2))
				absspeed := math.Sqrt(math.Pow(float64(obj.Vxabs), 2) + math.Pow(float64(obj.Vyabs), 2))
				//fmt.Println("Distance:", Distance)
				if obj.X >= 2.0 && obj.X <= 30.0 && (math.Abs(float64(obj.Y)) <= 4.0 || Distance <= 35.0) && absspeed > 1.5 {
					event_lable := "CCFtap"
					fmt.Println(event_lable)
					return Label()
				}
			}
		}
	}

	return ""
}