Vehicle-cpp/ZJ_PRO/EgoSystem/radar_can.h

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

class CMessageQueue;
class CCanRadarSensor
{
public:
     CCanRadarSensor(CMessageQueue *q);
     void Notify(struct can_frame *date);
     
     void SetCanBusSensor(SensorCanBus<CCanRadarSensor>* can);
     void Start();
     void Stop();
     //新增
     uint16_t bcd2dec(uint8_t data0, uint8_t data1);
     
private:
     void Run();
     

private:
     CMessageQueue* _message;
     SensorCanBus<CCanRadarSensor> * _canbus;
     bool _run;

     struct RadarData _data;

     int32_t _count;
};