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

package main

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

type Point struct {
	Latitude  float64
	Longitude float64
}

var (
	threshold  float64 = 10
	IsCurve    bool
	count1     int64
	pointcurve = Point{39.73004426154644, 116.49248639463602}
	pointlist1 = []Point{pointcurve}
)

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

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

func IfEnter(pointlist []Point, radius float64, lat, lon float64) bool {
	// 判断是否进入点列表中的区域
	point1 := Point{Latitude: lat, Longitude: lon}
	for _, point := range pointlist {
		d := distance(point1, point)
		if d <= radius {
			return true
		}
	}
	return false
}

// 计算两点之间的距离（米）
func distance(point1, point2 Point) float64 {
	// 经纬度转弧度
	lat1 := point1.Latitude * math.Pi / 180
	lon1 := point1.Longitude * math.Pi / 180
	lat2 := point2.Latitude * math.Pi / 180
	lon2 := point2.Longitude * math.Pi / 180

	// 计算距离
	dlon := lon2 - lon1
	dlat := lat2 - lat1
	a := math.Sin(dlat/2)*math.Sin(dlat/2) + math.Sin(dlon/2)*math.Sin(dlon/2)*math.Cos(lat1)*math.Cos(lat2)
	c := 2 * math.Atan2(math.Sqrt(a), math.Sqrt(1-a))
	d := 6371000 * c

	return d
}

func Rule(shareVars *sync.Map, data *pjisuv_msgs.PerceptionLocalization) string {
	defer func() {
		if r := recover(); r != nil {
			fmt.Println("Recovered from panic:", r)
		}
	}()
	if count1%10 == 0 {
		Automode, _ := shareVars.Load("AutomodeOfPjVehicleFdbPub")
		Automode = Automode.(int16)
		IsCurve = IfEnter(pointlist1, 30.0, data.Latitude, data.Longitude)

		if Automode == 1 && IsCurve {
			absspeed := math.Sqrt(math.Pow(data.VelocityX, 2) + math.Pow(data.VelocityY, 2))
			if absspeed >= threshold {
				eventLabel := "CurveOverspeed"
				fmt.Println(eventLabel)
				count1 = 1
				return Label()
			}
		}
	}
	count1++
	return ""
}