Vehicle-cpp/ZJ_PRO/EgoSystem/radar_ip.h

#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/iobuffer.h"
#include "../common/sensor_socket.h"
#include <thread>

#pragma pack(1)
struct Radar_Frame_CM_Revice
{

    int8_t DLC_radar1;
    int32_t Addr_radar1;
    int8_t RegData_radar1[8];
    int8_t DLC_radar2;
    int32_t Addr_radar2;
    int8_t RegData_radar2[8];
};

class CMessageQueue;
 
class CRadarSensor//:public ISensorNotify
{
public:
     CRadarSensor(CMessageQueue *q);
     void Notify(int8_t * buffer,int32_t size);

     void SetSensorSocket(SensorSocket<CRadarSensor>* can);
     void Start();
     void Stop();
     
    // void PreProcess();
private:
     void Run();

private:
     CMessageQueue* _message;
     SensorSocket<CRadarSensor> * _socket;

     uint16_t bcd2dec(const int8_t *data);

     bool _run;
     int32_t _count = 0;

     struct RadarData _data;
};