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

#include "modbus.h"
#include "message_queue.h"

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

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

void CModbusTcpSensor::Start()
{
    if(!_run)
    {
        _thread = std::thread(&CModbusTcpSensor::Run, this);
        _run = true;
    } 
    //_modbus->read_registers(0x28,0x04);
}

void CModbusTcpSensor::Run()
{
    
     while (_run)
    {
        _modbus->read_input_registers(0x10A,1);
        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    }
}

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

void CModbusTcpSensor::Notify(uint16_t * buffer)
{
    if (_run)
    {
        _message->_Radardata.r7 = buffer[0];
        _message->_Radardata.r8 = buffer[1];
    }
}