class_colision_time.h

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#ifndef _CLASS_COLISION_TIME_H_
#define _CLASS_COLISION_TIME_H_


#include <stdio.h>
#include <ros/ros.h>
#include <mtt/TargetListPC.h>
#include <time.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/conversions.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl_ros/transforms.h>
#include <tf/transform_listener.h>
#include <points_from_volume/points_from_volume.h>
// #include <atlascar_base/AtlascarStatus.h>
// #include <atlascar_base/AtlascarVelocityStatus.h>
// #include <atlascar_base/AtlascarPartialStatus.h>
#include <visualization_msgs/Marker.h>

#include "ros/file_log.h"
#include "rosgraph_msgs/Log.h"

#define PFLN printf("Line = %d\n", __LINE__);

using namespace std;
using namespace pcl;

class class_colision_time
{
        public:
                
                struct TYPE_msg_mtt
                {
                int id;
                float x;
                float y;
                float z;
                float v_x;
                float v_y;
                float v_z;
                
                friend ostream& operator<< (ostream &o, const TYPE_msg_mtt &i)
                        {
                                return o
                                <<"||||||||msg_mtt||||||"<<endl
                                << "id: "<< i.id<<endl
                                << "x: "<< i.x<<endl
                                << "y: "<< i.y<<endl
                                << "z: "<< i.z<<endl
                                << "v_x: "<< i.v_x<<endl
                                << "v_y: "<< i.v_y<<endl
                                << "v_z: "<< i.v_z<<endl;       
                        }
                
                };

                struct TYPE_msg_partial
                {
                int lights_high;
                int lights_medium;
                int ignition;
                int lights_left;
                int lights_right;
                int danger_lights;
                int horn;
                int throttle;
                int brake;
                int clutch;
                
                friend ostream& operator<< (ostream &o, const TYPE_msg_partial &i)
                        {
                                return o
                                <<"||||||||msg_partial||||||"<<endl
                                << "lights_high: "<< i.lights_high<<endl
                                << "lights_medium: "<< i.lights_medium<<endl
                                << "ignition: "<< i.ignition<<endl
                                << "lights_left: "<< i.lights_left<<endl
                                << "lights_right: "<< i.lights_right<<endl
                                << "danger_lights: "<< i.danger_lights<<endl
                                << "horn: "<< i.horn<<endl      
                                << "throttle: "<< i.throttle<<endl
                                << "brake: "<< i.brake<<endl
                                << "clutch: "<< i.clutch<<endl; 
                        }
                };

                struct TYPE_msg_velocity
                {
                float counting;
                float pulses_sec;
                float revolutions_sec;
                float velocity;
                
                friend ostream& operator<< (ostream &o, const TYPE_msg_velocity &i)
                        {
                                return o
                                <<"||||||||msg_velocityl||||||"<<endl
                                << "counting: "<< i.counting<<endl
                                << "pulses_sec: "<< i.pulses_sec<<endl
                                << "revolutions_sec: "<< i.revolutions_sec<<endl
                                << "velocity: "<< i.velocity<<endl;
                        }               
                };


                struct TYPE_msg_plc
                {
                float steering_wheel;
                float rpm;
                
                
//              friend ostream& operator<< (ostream &o, const t_parameters &i)
                friend ostream& operator<< (ostream &o, const TYPE_msg_plc &i)
                {
                        return o
                        <<"||||||||msg_plc||||||"<<endl
                        << "steering_wheel: "<< i.steering_wheel<<endl
                        << "rpm: "<< i.rpm<<endl;
                }
                        
                };

                
                struct TYPE_msg_bags
                {
                string name_file;
                
                //double   sit_begin;
                //double   duration;
//              double   sit_end_1;
                double   bag_time;
                
                
                string sit_type_1;
                int     sit_1;
                double lst_obj_sit_1;
                int internal_1;
                double   sit_begin_1;
                double   duration_1;
                double   sit_end_1;
                
                string sit_type_2;
                int     sit_2;
                double lst_obj_sit_2;
                int internal_2;
                double   sit_begin_2;
                double   duration_2;
                double   sit_end_2;
                
                string sit_type_3;
                int     sit_3;
                double lst_obj_sit_3;
                int internal_3;
                double   sit_begin_3;
                double   duration_3;
                double   sit_end_3;
                
                string sit_type_4;
                int     sit_4;
                float lst_obj_sit_4;
                int internal_4;
                double   sit_begin_4;
                double   duration_4;
                double   sit_end_4;
                
                
                
                friend ostream& operator<< (ostream &o, const TYPE_msg_bags &i)
                {
                        return o
                        <<"||||||||msg_plc||||||"<<endl
                        << "name_file: "<< i.name_file<<endl
//                      << "sit_type: "<< i.sit_type<<endl
//                      << "sit_begin: "<< i.sit_begin<<endl
//                      << "duration: "<< i.duration<<endl
//                      << "sit_end: "<< i.sit_end<<endl
                        << "bag_time: "<< i.bag_time<<endl;
                }
                        
                };
                
                
                
                class_colision_time()
                {               };
                
                ~class_colision_time()
                {               };
                
                
//              void topic_callback_partial(atlascar_base::AtlascarPartialStatus AtlascarPartialStatus_msg);
// //           
//              void topic_callback_velocity(atlascar_base::AtlascarVelocityStatus AtlascarVelocityStatus_msg);
//              
//              void topic_callback_plc_status(atlascar_base::AtlascarStatus AtlascarStatus_msg);
                
//              int cria_txt(void);
//              char* TimeString();
                
                
        private:
                
                
                
                
};

#endif