Vehicle-cpp/remote_drive/EgoZJ/EgoSystem/Outriggers.cpp

#include "Outriggers.h"
#include "message_queue.h"

COutriggersSensor::COutriggersSensor(CMessageQueue* q) :_message(q)
{
    _run = false;
}

void COutriggersSensor::SetModbusTcpSensor(SensorModbusTcp<COutriggersSensor>* modbus)
{
    _modbus = modbus;
}

void COutriggersSensor::Start()
{
    if(!_run)
    {
        _thread = std::thread(&COutriggersSensor::Run, this);
        _run = true;
    } 
}

void COutriggersSensor::Run()
{
    
     while (_run)
    {
        _modbus->read_registers(0x00,0x10);
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }
}

void COutriggersSensor::Stop()
{
    if (_run)
    {
        _run = false;
        _thread.join();
    }
    
}

void COutriggersSensor::Notify(uint16_t * buffer)
{
    if (_run)
    {
        _message->_Feeddata.wire_sensor_l = buffer[0];
        _message->_Feeddata.wire_sensor_r = buffer[1];
    }
}