cicv_data_closed_loop/trigger/pjisuv/cicv_location/BrakeWithHighSpeed/main/BrakeWithHighSpeed.go

package main

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

var (
	threshold float64 = 5.4
)

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

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

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	OutsideWorkshopFlag, _ := shareVars.Load("OutsideWorkshopFlag")
	OutsideWorkshopFlag = OutsideWorkshopFlag.(bool)
	AbsSpeed, _ := shareVars.Load("AbsSpeed")
	if data.AccelX*9.8 < -12.0 && OutsideWorkshopFlag == true && AbsSpeed.(float64) > threshold {
		return Label()
	}
	return ""
}