Vehicle-cpp/remote_drive/EgoZJ/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();
     
private:
     void Run();
     

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

     std::thread _can_thread;
};