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

#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"
#include "../common/iobuffer.h"
#include "../common/sensor_socket.h"

typedef struct StateDat
{
     uint32_t rader[9];
     uint16_t outrigger[2];
     uint16_t easypro[2];
     int32_t  speed;
}StateDat_p;

class CMessageQueue;
class CUdpStateSensor
{
public:
     CUdpStateSensor(CMessageQueue *q);
     void Notify(int8_t * buffer,int32_t size);
     
     void SetSensorSocket(SensorSocket<CUdpStateSensor>* udpstate);
     void Start();
     void Stop();
     void SendStatusToMSG();
     
private:
     void Run();
     

private:
     CMessageQueue* _message;
     SensorSocket<CUdpStateSensor> * _udpcan;
     bool _run;

     std::thread _udp_thread;

     StateDat_p m_StateDat;
     int32_t _count = 0;
};