#include <stdint.h>

#include "Protocol.pb.h"
#include "../common/comm.h"
#include "./include/EgoInterface.h"
#include "EgoClient.h"
#include "radar_sim.h"
CRadarSim::CRadarSim(CEgoClient* radar) :_radar(radar)
{

}
void CRadarSim::Start()
{

}
void CRadarSim::Stop()
{

}
void CRadarSim::OnPeerMessage(int16_t cmd, int16_t length, const void* data)
{
    RemoNet::CCSensor Req;
    Req.ParseFromArray(data, length);
    //金川使用角度传感器提供的支腿高度
    // 大冶使用的是拉线传感器提供的支腿高度
    // 此处注释掉了使用角度传感器的方式
    //_radar->OnEncodeData(Req.left_encode(), Req.right_encode());

    RemoNet::CCRadarMessage ReqRadar;
    ReqRadar.ParseFromArray(data, length);
    _radar->OnRadarData(ReqRadar.radar0(), ReqRadar.radar1(), ReqRadar.radar2(), ReqRadar.radar3(), ReqRadar.radar4(), ReqRadar.radar5(), ReqRadar.radar6(), ReqRadar.radar7(), ReqRadar.radar8());

    /*
    int32_t range[9] = { 0 };
    int32_t count = Req.node_size();
            for (int32_t i = 0; i < count; i++)
    {
        //range[i] = Req.range(i);
        auto& n = Req.node(i);
        range[n.id()] = n.range();

    }
    //_radar->OnRadarData(range[0], range[1], range[2], range[3], range[4], range[5],range[6],range[7],range[8]);
    */
}