modularization/src/driver/driver_autoware_computewaypoints/computewaypoints.h

#ifndef COMPUTEWAYPOINTS_H
#define COMPUTEWAYPOINTS_H

#include <QMutex>
#include <QWaitCondition>

#include <thread>
#include <iostream>

#include "math/gnss_coordinate_convert.h"

#include "gpsimu.pb.h"
#include "mapdata.pb.h"

#include "modulecomm.h"


class ComputeWayPoints
{
public:
    ComputeWayPoints();
    ~ComputeWayPoints();

private:
    iv::gps::gpsimu mgpsimu;
    QMutex mMutexgpsimu;
    bool mbGPSIMUUpdate = false;

    iv::map::tracemap  mtracemap;
    QMutex mMutexTraceMap;
    bool mbHaveMap = false;

    QMutex mMutexWait;
    QWaitCondition mwc;
    bool mbCompute = true;

    void ThreadCompute();

    std::thread * mpthread;

    void ListenGPSIMU(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
    void ListenNewTraceMap(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

    int FindWayPoints(iv::map::tracemap & xtracemap);

    void * mpagpsimu;
    void * mpanewtrace;
    void * mpawaypoints;

    double mfVel = 15.0;

};

#endif // COMPUTEWAYPOINTS_H