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

#include "serial.h"
#include "message_queue.h"

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

void CSerialSensor::SetSerialSensor(SensorSerial<CSerialSensor>* serial)
{
    _serial = serial;
}

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

void CSerialSensor::Run()
{
    uint8_t comment[] = "#01\r";
    
    while (_run)
    {
        _serial->Write(comment,4);
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }
}

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

void CSerialSensor::Notify(uint8_t * buffer,int32_t size)
{
    //＋0000000012↙,车辆姿态编码器

    u_char Temp = '+';
    u_char *p = nullptr;

    if(_run)
    {
        p = (u_char *)strchr((const char *)buffer,Temp);
        //_message->_Feeddata.steer_angle = strtol((const char *)p + 1,NULL,10);
    }
}