#include <stdint.h>

#include "Protocol.pb.h"
#include "../common/comm.h"
#include "./include/EgoInterface.h"
#include "EgoClient.h"
#include "radar_sim.h"
CRadarSim::CRadarSim(CEgoClient* radar) :_radar(radar)
{

}
void CRadarSim::Start()
{

}
void CRadarSim::Stop()
{

}
void CRadarSim::OnPeerMessage(int16_t cmd, int16_t length, const void* data)
{
	 
	RemoNet::CCSensor Req;
	Req.ParseFromArray(data, length);
	int32_t range[7] = { 0 };
	int32_t count = Req.node_size();
	for (int32_t i = 0; i < count; i++)
	{
		//range[i] = Req.range(i);
		auto& n = Req.node(i);
		range[n.id()] = n.range();
	}

	_radar->OnRadarData(range[0], range[1], range[2], range[3], range[4], range[5],range[6]);
	_radar->OnEncodeData(Req.left_encode(), Req.right_encode());
	 
}