#include "PCANBasic.h"
#include "message_queue.h"
#include "auto_sensor.h"

#include "message.h"
CAutoSensor::CAutoSensor(CMessageQueue * q):_message(q)
{
   
}
bool CAutoSensor::Start()
{
   return true;
} 
void CAutoSensor::Notify(int8_t* data,int32_t size)
{
    MessageHead head;
    head.Deserialize(data);
    auto ptr=data+sizeof(MessageHead);
    switch (head.Command)
    {
    case AR::AR_Finish/* constant-expression */:
            {
                ARFinish * node=(ARFinish *)ptr;
                _message->OnGoalFinish((WorkArea)node->area,node->no);
                RemoNet::CSMoveEnd Req;
                Req.set_area(node->area);
                Req.set_no(node->no);
                Req.set_uid(0);
                CIOBuffer buffer;
                 MessageHead Head;
                Head.Command=RemoNet::CS_MoveEnd;
                Head.Length=Req.ByteSize();
                Head.Serialize(buffer.Buffer);
                auto ptr=buffer.Buffer+MessageHead::Size();
                Req.SerializeToArray(ptr,Head.Length);
                buffer.Length=MessageHead::Size()+Head.Length;
                _message->WriteBuffer(buffer);
                _message->SetAutomous(false,0);
                

            } 
        break;
    case AR::AR_NDTPos:
    {
        ARNdtPos* node=(ARNdtPos *)ptr;
        _message->SetNdtPos(node);
        /*
        RemoNet::NDTPos Req;
        Req.set_x(node->x);
        Req.set_y(node->y);
        Req.set_z(node->z);
        Req.set_rx(node->rx);
        Req.set_ry(node->ry);
        Req.set_rz(node->rz);
        Req.set_rw(node->rw);

        CIOBuffer buffer;
        MessageHead Head;
        Head.Command=RemoNet::CC_NDTPOS;
        Head.Length=Req.ByteSize();
        Head.Serialize(buffer.Buffer);
        auto ptr=buffer.Buffer+MessageHead::Size();
        Req.SerializeToArray(ptr,Head.Length);
        buffer.Length=MessageHead::Size()+Head.Length;
        _message->WriteBuffer(ChannelType::CHANNEL_CAR,buffer);
        */

        
    }
    break;
    default:
        break;
    }
}

void CAutoSensor::SetSensorSocket(SensorSocket<CAutoSensor>* can)
{
    _socket=can;
}