modularization/src1/decision/common/common/fusion.h

#pragma once
#ifndef FUSION_H
#define FUSION_H

#include <common/boost.h>
#include <boost/serialization/singleton.hpp>
#include <common/obstacle_type.h>
#include <common/car_status.h>
#include <QMutex>


namespace iv {
    class Fusion : public boost::noncopyable {
    public:
        Fusion();
        ~Fusion();
        bool genggai1 = false, genggai2 = false;
        bool is_run = false;
        boost::mutex mtx1, mtx2;
        iv::ObsFsuion fusion_Grid;
        iv::ObsFsuion fusion_;
        QMutex mMutexper;
        std::shared_ptr<iv::fusion::fusionobjectarray> mper;

        void copyfromlidar(iv::ObsLiDAR& obs);
        void copylidarto(iv::ObsLiDAR& obs);
        void copyfromlidarobs(iv::ObsLiDAR& obs);
        void copylidarobsto(iv::ObsLiDAR& obs);

        void copyfromlidarper(std::shared_ptr<std::vector<iv::Perception::PerceptionOutput>> & per);
        void copylidarperto(std::shared_ptr<std::vector<iv::Perception::PerceptionOutput>> & per);
        bool did_lidar_ok();
    };
    typedef boost::serialization::singleton<iv::Fusion> FusionSingleton;
}
#define ServiceFusion iv::FusionSingleton::get_mutable_instance()
#endif // FUSION_H