Vehicle-cpp/remote_drive/EgoZJ/EgoSystem/radar_sensor.h

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

#pragma pack(1)
struct Radar_Frame//��Ӧ���״�
{
      uint8_t Addr=0x01;
      uint8_t Func=0x03;
      uint8_t RegAddr[2]={0x01,0x06};
      uint8_t RegData[2]={0x00,0x04};
      //uint8_t RegCRC[2] = { 0xa5,0xf4 };
      uint16_t crc;
       

};

#pragma pack(1)
struct Radar_Frame_CM
{
    int8_t DLC;
    int32_t Addr;
    int8_t RegData[8];
};

#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];
};

#pragma pack(1)
struct Radar_Frame_Nl_Revice
{

    int8_t DLC_Nl_radar;
    int32_t Addr_Nl_radar;
    uint8_t RegData_Nl_radar1[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 SetSensorSocket(SensorSocket<CRadarSensor>* can);
     void Start();
     void Stop();
     
    // void PreProcess();
private:
     void Run();
     uint16_t bcd2dec(const int8_t *data);
     unsigned int CRC16(uint8_t *buf, int len);
     void CRC_DYP(uint8_t *buf);
private:
     CMessageQueue* _message;
     SensorSocket<CRadarSensor> * _socket;
     std::thread _thread;
     bool _run;
     
     int32_t _count=0;
};