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#ifndef _ATLASMV_H_
#define _ATLASMV_H_

#define _DO_NOT_USE_OPENCV_ 0
#define _DO_NOT_USE_CARMEN_ 0

//####################################################################
// Includes: no need to include headers from carmen modules carmen.h #
// already does                 #####################################
//####################################################################

#include "c_atlasmv.h"

#include <pthread.h>
#include <strings.h>
#include <math.h>
#include <queue>
#include <vector>
#include <atlasmv_base/AtlasmvLightsCommand.h>
#include <atlasmv_base/AtlasmvVertSignsCommand.h>
#include <atlasmv_base/AtlasmvMotionCommand.h>
#include <atlasmv_base/AtlasmvStatus.h>

using namespace std;

template <class cmd_type>
class command_queue_priority
{
        typename std::map<int,cmd_type> message_map;
        
        typename std::map<int,cmd_type>::iterator it;
        
        public:
                void maintenance(void)
                {
                        for(it=message_map.begin();it!=message_map.end();it++)
                                if(ros::Time::now().toSec() > (*it).second->lifetime)
                                        message_map.erase(it);
                }
                
                void push_msg(cmd_type msg)
                {
                        msg->lifetime=ros::Time::now().toSec()+msg->lifetime;
                        
                        it=message_map.find(msg->priority);
                        
                        if(it==message_map.end())
                                message_map[msg->priority]=msg;
                        else
                        {
                                message_map.erase(it);
                                message_map[msg->priority]=msg;
                        }
                }
                
                cmd_type top_msg(void)
                {
                        maintenance();
                        
                        int max_priority=-1;
                        typename std::map<int,cmd_type>::iterator it_max;
                        
                        for(it=message_map.begin();it!=message_map.end();it++)
                                if((*it).second->priority > max_priority)
                                {
                                        max_priority=(*it).second->priority;
                                        it_max=it;
                                }
                        
                        if(message_map.size())
                                return (*it_max).second;
                        
                        cmd_type null_ptr;
                        return null_ptr;
                }
};


typedef struct
{
        double X,Y;
        double V;
        double SA;
        double HA;
        double L;
        double S;
        double R;
}t_motion_model;

//####################################################################
// Typedefs: required typedefs are declared here. All declared types #
// should have TYPE_[the name]                  ###############################
//####################################################################

//####################################################################
// Prototypes:  for private functions can be declared #################
// in atlasmv.c or preferably in atlasmv_functions.c  ##
//####################################################################
int main(int argc, char **argv);
void atlasmv_shutdown_module(int x);
void atlasmv_help(bool debug);
// void handler_param_daemon(void);
// void handler_speed_gain(TYPE_des_sysparam* sys, c_atlasmv* robot, TYPE_executionflags *);
// void handler_motion(custom_data_t *);
// bool CheckBrakeToggle(void);

double percentage2real_velocity(double percentage);
int increment_motion_model(t_motion_model*model,double dt);
int update_motion_model(t_motion_model*model,double velocity,double steering_angle);
int initialize_motion_model(t_motion_model*model,double X0,double Y0,double orientation,double wheelbase);

//####################################################################
// Global vars: They will be in the scope of modulename.c main's #####
// otherwise are declared extern #####################################
//####################################################################

//####################################################################
// Global vars: They will be in the scope of modulename.c main's #####
// otherwise are declared extern #####################################
//####################################################################
//mike confusion, uses a message structure to install parameters. message and parameters should not be different?


//a thread for each communication
pthread_t des_thread, dioc_thread, servos_thread;
int des_iret, dioc_iret, servos_iret;
pthread_mutex_t speed_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t dir_mutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t brk_mutex = PTHREAD_MUTEX_INITIALIZER; 
pthread_mutex_t dioc_mutex = PTHREAD_MUTEX_INITIALIZER; 
pthread_mutex_t command_mutex = PTHREAD_MUTEX_INITIALIZER; 
pthread_mutex_t count_des_errors_mutex;
pthread_mutex_t speed_check_mutex;
int speed_check;
pthread_mutex_t brake_check_mutex;
int brake_check;
int count_des_errors;


TYPE_atlasmv_public_params params; //this is a structure
c_timer timer;
t_motion_model motion_model;

double speed, dir, brake;
char new_command_received;

atlasmv_base::AtlasmvStatusPtr atlasmv_status;
atlasmv_base::AtlasmvMotionCommandPtr atlasmv_motion;
atlasmv_base::AtlasmvVertSignsCommandPtr atlasmv_vert_signs;
atlasmv_base::AtlasmvLightsCommandPtr atlasmv_lights;



TYPE_atlasmv_public_params atlasmv_details;
c_atlasmv* atlasmv;

command_queue_priority<atlasmv_base::AtlasmvMotionCommandPtr> command_queue;

#endif

---

atlasmv_base
Author(s): David Gameiro, Jorge Almeida
autogenerated on Wed Jul 23 04:34:43 2014