cicv_data_closed_loop/aarch64/pjisuv/master/config/trigger_init.go

package config

import (
	"cicv-data-closedloop/aarch64/pjisuv/common/config"
	"cicv-data-closedloop/common/config/c_log"
	"cicv-data-closedloop/common/util"
	"cicv-data-closedloop/pjisuv_msgs"
	entity "cicv-data-closedloop/pjisuv_param"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
	"plugin"
	"slices"
	"sync"
)

func InitTriggerConfig() {
	config.OssMutex.Lock()
	defer config.OssMutex.Unlock()
	triggerLocalPathsMapTriggerId := make(map[string]string)
	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
	// 1 获取数采任务的触发器列表
	cloudTriggers := &config.PlatformConfig.TaskTriggers
	// 2 获取本地触发器列表（触发器目录的一级子目录为【触发器ID_触发器Label】）
	localTriggerIds := util.GetFirstLevelSubdirectories(config.CloudConfig.TriggersDir)
	// 3 对比触发器列表，本地没有的则下载
	for _, trigger := range *cloudTriggers {
		id := util.ToString(trigger.TriggerId)
		hasIdDir := slices.Contains(localTriggerIds, id) // 改成了 slices 工具库
		triggerLocalDir := config.CloudConfig.TriggersDir + id + "/"
		hasLabelSo, soPaths := util.CheckSoFilesInDirectory(triggerLocalDir)
		var triggerLocalPath string
		if hasIdDir && hasLabelSo { // 已存在的触发器需要判断是否大小一致
			triggerLocalPath = soPaths[0]
			ossSize, _ := util.GetOSSFileSize(config.OssBucket, trigger.TriggerScriptPath)
			localSize, _ := util.GetFileSize(triggerLocalPath)
			if ossSize == localSize {
				c_log.GlobalLogger.Info("触发器插件 ", triggerLocalPath, " 存在且与云端触发器大小一致。")
				triggerLocalPathsMapTriggerId[triggerLocalPath] = id
				continue
			}
		}
		label := util.GetFileNameWithoutExtension(config.CloudConfig.TriggersDir + trigger.TriggerScriptPath)
		triggerLocalPath = config.CloudConfig.TriggersDir + id + "/" + label + ".so"
		c_log.GlobalLogger.Info("开始下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
		_ = util.CreateParentDir(triggerLocalPath)
		for {
			if err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath); err != nil {
				c_log.GlobalLogger.Error("下载触发器插件失败，再次尝试：", err)
				continue
			}
			break
		}
		triggerLocalPathsMapTriggerId[triggerLocalPath] = id
	}

	success := 0
	// 加载所有触发器的文件
	for triggerLocalPath, triggerId := range triggerLocalPathsMapTriggerId {
		// 载入插件到数组
		open, err := plugin.Open(triggerLocalPath)
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
			continue
		}
		topic0, err := open.Lookup("Topic")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
			continue
		}
		topic1, ok := topic0.(func() string)
		if ok != true {
			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
			continue
		}
		topic2 := topic1()
		rule, err := open.Lookup("Rule")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
			continue
		}

		if TopicOfCicvExtend == topic2 { // 自定义扩展
			if f, ok1 := rule.(func(param entity.PjisuvParam) string); ok1 {
				RuleOfCicvExtend = append(RuleOfCicvExtend, f)
				goto JudgeDone
			}
			continue
		} else if TopicOfAmrPose == topic2 { //1
			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
				RuleOfAmrPose1 = append(RuleOfAmrPose1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *visualization_msgs.MarkerArray, param *entity.PjisuvParam) string); ok2 {
				RuleOfAmrPose2 = append(RuleOfAmrPose2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
				RuleOfAmrPose3 = append(RuleOfAmrPose3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfBoundingBoxesFast == topic2 { //2
			if f, ok1 := rule.(func(data *pjisuv_msgs.BoundingBoxArray) string); ok1 {
				RuleOfBoundingBoxesFast1 = append(RuleOfBoundingBoxesFast1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.BoundingBoxArray, param *entity.PjisuvParam) string); ok2 {
				RuleOfBoundingBoxesFast2 = append(RuleOfBoundingBoxesFast2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.BoundingBoxArray) string); ok3 {
				RuleOfBoundingBoxesFast3 = append(RuleOfBoundingBoxesFast3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCameraFault == topic2 { //3
			if f, ok1 := rule.(func(data *pjisuv_msgs.FaultVec) string); ok1 {
				RuleOfCameraFault1 = append(RuleOfCameraFault1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.FaultVec, param *entity.PjisuvParam) string); ok2 {
				RuleOfCameraFault2 = append(RuleOfCameraFault2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string); ok3 {
				RuleOfCameraFault3 = append(RuleOfCameraFault3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCanData == topic2 { //4
			if f, ok1 := rule.(func(data *pjisuv_msgs.Frame) string); ok1 {
				RuleOfCanData1 = append(RuleOfCanData1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.Frame, param *entity.PjisuvParam) string); ok2 {
				RuleOfCanData2 = append(RuleOfCanData2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Frame) string); ok3 {
				RuleOfCanData3 = append(RuleOfCanData3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCh128x1LslidarPointCloud == topic2 { //5
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfCh128x1LslidarPointCloud1 = append(RuleOfCh128x1LslidarPointCloud1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfCh128x1LslidarPointCloud2 = append(RuleOfCh128x1LslidarPointCloud2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfCh128x1LslidarPointCloud3 = append(RuleOfCh128x1LslidarPointCloud3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCh64wLLslidarPointCloud == topic2 { //6
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfCh64wLLslidarPointCloud1 = append(RuleOfCh64wLLslidarPointCloud1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfCh64wLLslidarPointCloud2 = append(RuleOfCh64wLLslidarPointCloud2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfCh64wLLslidarPointCloud3 = append(RuleOfCh64wLLslidarPointCloud3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCh64wLScan == topic2 { //7
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				RuleOfCh64wLScan1 = append(RuleOfCh64wLScan1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.LaserScan, param *entity.PjisuvParam) string); ok2 {
				RuleOfCh64wLScan2 = append(RuleOfCh64wLScan2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string); ok3 {
				RuleOfCh64wLScan3 = append(RuleOfCh64wLScan3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCh64wRLslidarPointCloud == topic2 { //8
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfCh64wRLslidarPointCloud1 = append(RuleOfCh64wRLslidarPointCloud1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfCh64wRLslidarPointCloud2 = append(RuleOfCh64wRLslidarPointCloud2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfCh64wRLslidarPointCloud3 = append(RuleOfCh64wRLslidarPointCloud3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCh64wRScan == topic2 { //9
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				RuleOfCh64wRScan1 = append(RuleOfCh64wRScan1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.LaserScan, param *entity.PjisuvParam) string); ok2 {
				RuleOfCh64wRScan2 = append(RuleOfCh64wRScan2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.LaserScan) string); ok3 {
				RuleOfCh64wRScan3 = append(RuleOfCh64wRScan3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCicvLidarclusterMovingObjects == topic2 { //10
			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects) string); ok1 {
				RuleOfCicvLidarclusterMovingObjects1 = append(RuleOfCicvLidarclusterMovingObjects1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.PerceptionCicvMovingObjects, param *entity.PjisuvParam) string); ok2 {
				RuleOfCicvLidarclusterMovingObjects2 = append(RuleOfCicvLidarclusterMovingObjects2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionCicvMovingObjects) string); ok3 {
				RuleOfCicvLidarclusterMovingObjects3 = append(RuleOfCicvLidarclusterMovingObjects3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCicvAmrTrajectory == topic2 { //11
			if f, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string); ok1 {
				RuleOfCicvAmrTrajectory1 = append(RuleOfCicvAmrTrajectory1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.Trajectory, param *entity.PjisuvParam) string); ok2 {
				RuleOfCicvAmrTrajectory2 = append(RuleOfCicvAmrTrajectory2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string); ok3 {
				RuleOfCicvAmrTrajectory3 = append(RuleOfCicvAmrTrajectory3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCicvLocation == topic2 { //12
			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string); ok1 {
				RuleOfCicvLocation1 = append(RuleOfCicvLocation1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.PerceptionLocalization, param *entity.PjisuvParam) string); ok2 {
				RuleOfCicvLocation2 = append(RuleOfCicvLocation2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string); ok3 {
				RuleOfCicvLocation3 = append(RuleOfCicvLocation3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCloudClusters == topic2 { //13
			if f, ok1 := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray) string); ok1 {
				RuleOfCloudClusters1 = append(RuleOfCloudClusters1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.AutowareCloudClusterArray, param *entity.PjisuvParam) string); ok2 {
				RuleOfCloudClusters2 = append(RuleOfCloudClusters2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.AutowareCloudClusterArray) string); ok3 {
				RuleOfCloudClusters3 = append(RuleOfCloudClusters3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfHeartbeatInfo == topic2 { //14
			if f, ok1 := rule.(func(data *pjisuv_msgs.HeartBeatInfo) string); ok1 {
				RuleOfHeartbeatInfo1 = append(RuleOfHeartbeatInfo1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.HeartBeatInfo, param *entity.PjisuvParam) string); ok2 {
				RuleOfHeartbeatInfo2 = append(RuleOfHeartbeatInfo2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.HeartBeatInfo) string); ok3 {
				RuleOfHeartbeatInfo3 = append(RuleOfHeartbeatInfo3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfLidarPretreatmentCost == topic2 { //15
			if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
				RuleOfLidarPretreatmentCost1 = append(RuleOfLidarPretreatmentCost1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *geometry_msgs.Vector3Stamped, param *entity.PjisuvParam) string); ok2 {
				RuleOfLidarPretreatmentCost2 = append(RuleOfLidarPretreatmentCost2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *geometry_msgs.Vector3Stamped) string); ok3 {
				RuleOfLidarPretreatmentCost3 = append(RuleOfLidarPretreatmentCost3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfLidarPretreatmentOdometry == topic2 { //16
			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
				RuleOfLidarPretreatmentOdometry1 = append(RuleOfLidarPretreatmentOdometry1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Odometry, param *entity.PjisuvParam) string); ok2 {
				RuleOfLidarPretreatmentOdometry2 = append(RuleOfLidarPretreatmentOdometry2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Odometry) string); ok3 {
				RuleOfLidarPretreatmentOdometry3 = append(RuleOfLidarPretreatmentOdometry3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfLidarRoi == topic2 { //17
			if f, ok1 := rule.(func(data *geometry_msgs.PolygonStamped) string); ok1 {
				RuleOfLidarRoi1 = append(RuleOfLidarRoi1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *geometry_msgs.PolygonStamped, param *entity.PjisuvParam) string); ok2 {
				RuleOfLidarRoi2 = append(RuleOfLidarRoi2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *geometry_msgs.PolygonStamped) string); ok3 {
				RuleOfLidarRoi3 = append(RuleOfLidarRoi3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfLine1 == topic2 { //18
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				RuleOfLine11 = append(RuleOfLine11, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string); ok2 {
				RuleOfLine12 = append(RuleOfLine12, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
				RuleOfLine13 = append(RuleOfLine13, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfLine2 == topic2 { //19
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				RuleOfLine21 = append(RuleOfLine21, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string); ok2 {
				RuleOfLine22 = append(RuleOfLine22, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
				RuleOfLine23 = append(RuleOfLine23, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfMapPolygon == topic2 { //20
			if f, ok1 := rule.(func(data *pjisuv_msgs.PolygonStamped) string); ok1 {
				RuleOfMapPolygon1 = append(RuleOfMapPolygon1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.PolygonStamped, param *entity.PjisuvParam) string); ok2 {
				RuleOfMapPolygon2 = append(RuleOfMapPolygon2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PolygonStamped) string); ok3 {
				RuleOfMapPolygon3 = append(RuleOfMapPolygon3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfObstacleDisplay == topic2 { //21
			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
				RuleOfObstacleDisplay1 = append(RuleOfObstacleDisplay1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *visualization_msgs.MarkerArray, param *entity.PjisuvParam) string); ok2 {
				RuleOfObstacleDisplay2 = append(RuleOfObstacleDisplay2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
				RuleOfObstacleDisplay3 = append(RuleOfObstacleDisplay3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfPjControlPub == topic2 { //22
			if f, ok1 := rule.(func(data *pjisuv_msgs.CommonVehicleCmd) string); ok1 {
				RuleOfPjControlPub1 = append(RuleOfPjControlPub1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.CommonVehicleCmd, param *entity.PjisuvParam) string); ok2 {
				RuleOfPjControlPub2 = append(RuleOfPjControlPub2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.CommonVehicleCmd) string); ok3 {
				RuleOfPjControlPub3 = append(RuleOfPjControlPub3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfPointsCluster == topic2 { //23
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfPointsCluster1 = append(RuleOfPointsCluster1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfPointsCluster2 = append(RuleOfPointsCluster2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfPointsCluster3 = append(RuleOfPointsCluster3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfPointsConcat == topic2 { //24
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfPointsConcat1 = append(RuleOfPointsConcat1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfPointsConcat2 = append(RuleOfPointsConcat2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfPointsConcat3 = append(RuleOfPointsConcat3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfReferenceDisplay == topic2 { //25
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				RuleOfReferenceDisplay1 = append(RuleOfReferenceDisplay1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string); ok2 {
				RuleOfReferenceDisplay2 = append(RuleOfReferenceDisplay2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
				RuleOfReferenceDisplay3 = append(RuleOfReferenceDisplay3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfReferenceTrajectory == topic2 { //26
			if f, ok1 := rule.(func(data *pjisuv_msgs.Trajectory) string); ok1 {
				RuleOfReferenceTrajectory1 = append(RuleOfReferenceTrajectory1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.Trajectory, param *entity.PjisuvParam) string); ok2 {
				RuleOfReferenceTrajectory2 = append(RuleOfReferenceTrajectory2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Trajectory) string); ok3 {
				RuleOfReferenceTrajectory3 = append(RuleOfReferenceTrajectory3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfRoiPoints == topic2 { //27
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfRoiPoints1 = append(RuleOfRoiPoints1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfRoiPoints2 = append(RuleOfRoiPoints2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfRoiPoints3 = append(RuleOfRoiPoints3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfRoiPolygon == topic2 { //28
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				RuleOfRoiPolygon1 = append(RuleOfRoiPolygon1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string); ok2 {
				RuleOfRoiPolygon2 = append(RuleOfRoiPolygon2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
				RuleOfRoiPolygon3 = append(RuleOfRoiPolygon3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfTf == topic2 { //29
			if f, ok1 := rule.(func(data *tf2_msgs.TFMessage) string); ok1 {
				RuleOfTf1 = append(RuleOfTf1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *tf2_msgs.TFMessage, param *entity.PjisuvParam) string); ok2 {
				RuleOfTf2 = append(RuleOfTf2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *tf2_msgs.TFMessage) string); ok3 {
				RuleOfTf3 = append(RuleOfTf3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfTpperception == topic2 { //30
			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionObjects) string); ok1 {
				RuleOfTpperception1 = append(RuleOfTpperception1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.PerceptionObjects, param *entity.PjisuvParam) string); ok2 {
				RuleOfTpperception2 = append(RuleOfTpperception2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionObjects) string); ok3 {
				RuleOfTpperception3 = append(RuleOfTpperception3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfTpperceptionVis == topic2 { //31
			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
				RuleOfTpperceptionVis1 = append(RuleOfTpperceptionVis1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *visualization_msgs.MarkerArray, param *entity.PjisuvParam) string); ok2 {
				RuleOfTpperceptionVis2 = append(RuleOfTpperceptionVis2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *visualization_msgs.MarkerArray) string); ok3 {
				RuleOfTpperceptionVis3 = append(RuleOfTpperceptionVis3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfTprouteplan == topic2 { //32
			if f, ok1 := rule.(func(data *pjisuv_msgs.RoutePlan) string); ok1 {
				RuleOfTprouteplan1 = append(RuleOfTprouteplan1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.RoutePlan, param *entity.PjisuvParam) string); ok2 {
				RuleOfTprouteplan2 = append(RuleOfTprouteplan2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.RoutePlan) string); ok3 {
				RuleOfTprouteplan3 = append(RuleOfTprouteplan3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfTrajectoryDisplay == topic2 { //33
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				RuleOfTrajectoryDisplay1 = append(RuleOfTrajectoryDisplay1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *nav_msgs.Path, param *entity.PjisuvParam) string); ok2 {
				RuleOfTrajectoryDisplay2 = append(RuleOfTrajectoryDisplay2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *nav_msgs.Path) string); ok3 {
				RuleOfTrajectoryDisplay3 = append(RuleOfTrajectoryDisplay3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfUngroundCloudpoints == topic2 { //34
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				RuleOfUngroundCloudpoints1 = append(RuleOfUngroundCloudpoints1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.PointCloud2, param *entity.PjisuvParam) string); ok2 {
				RuleOfUngroundCloudpoints2 = append(RuleOfUngroundCloudpoints2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.PointCloud2) string); ok3 {
				RuleOfUngroundCloudpoints3 = append(RuleOfUngroundCloudpoints3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfCameraImage == topic2 { //35
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				RuleOfCameraImage1 = append(RuleOfCameraImage1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *sensor_msgs.Image, param *entity.PjisuvParam) string); ok2 {
				RuleOfCameraImage2 = append(RuleOfCameraImage2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *sensor_msgs.Image) string); ok3 {
				RuleOfCameraImage3 = append(RuleOfCameraImage3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfDataRead == topic2 { //36
			if f, ok1 := rule.(func(data *pjisuv_msgs.Retrieval) string); ok1 {
				RuleOfDataRead1 = append(RuleOfDataRead1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.Retrieval, param *entity.PjisuvParam) string); ok2 {
				RuleOfDataRead2 = append(RuleOfDataRead2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.Retrieval) string); ok3 {
				RuleOfDataRead3 = append(RuleOfDataRead3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfPjiGps == topic2 { //37
			if f, ok1 := rule.(func(data *pjisuv_msgs.PerceptionLocalization) string); ok1 {
				RuleOfPjiGps1 = append(RuleOfPjiGps1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.PerceptionLocalization, param *entity.PjisuvParam) string); ok2 {
				RuleOfPjiGps2 = append(RuleOfPjiGps2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string); ok3 {
				RuleOfPjiGps3 = append(RuleOfPjiGps3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfFaultInfo == topic2 { //38
			if f, ok1 := rule.(func(data *pjisuv_msgs.FaultVec) string); ok1 {
				RuleOfFaultInfo1 = append(RuleOfFaultInfo1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.FaultVec, param *entity.PjisuvParam) string); ok2 {
				RuleOfFaultInfo2 = append(RuleOfFaultInfo2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.FaultVec) string); ok3 {
				RuleOfFaultInfo3 = append(RuleOfFaultInfo3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else if TopicOfPjVehicleFdbPub == topic2 { //39
			if f, ok1 := rule.(func(data *pjisuv_msgs.VehicleFdb) string); ok1 {
				RuleOfPjVehicleFdbPub1 = append(RuleOfPjVehicleFdbPub1, f)
				goto JudgeDone
			}
			if f, ok2 := rule.(func(data *pjisuv_msgs.VehicleFdb, param *entity.PjisuvParam) string); ok2 {
				RuleOfPjVehicleFdbPub2 = append(RuleOfPjVehicleFdbPub2, f)
				goto JudgeDone
			}
			if f, ok3 := rule.(func(shareVars *sync.Map, data *pjisuv_msgs.VehicleFdb) string); ok3 {
				RuleOfPjVehicleFdbPub3 = append(RuleOfPjVehicleFdbPub3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else {
			c_log.GlobalLogger.Error("未知的topic：", topic2)
			continue
		}
	JudgeDone:
		label, err := open.Lookup("Label")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
			continue
		}
		labelFunc := label.(func() string)
		labelString := labelFunc()
		LabelMapTriggerId.Store(labelString, triggerId)
		success++
	}
	c_log.GlobalLogger.Info("一共应加载", len(config.PlatformConfig.TaskTriggers), "个触发器，实际加载 ", success, " 个触发器。")
}

func log(triggerLocalPath string) {
	c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的 Rule 方法参数格式不正确。")
}