Vehicle-cpp/EgoJC/EgoSystem/radar_sensor.h

#pragma once
#include "../common/notifier.h"
#include <thread>
#include <unordered_map>
#include <mutex>
#pragma pack(1)

struct Radar_Frame
{
      uint8_t Addr=0x01;
      uint8_t Func=0x03;
      uint8_t RegAddr[2]={0x01,0x06};
      uint8_t RegData[2]={0x00,0x04};
      uint16_t crc;
       

};
struct Radar_Ret
{
      uint8_t Addr=0x01;
      uint8_t Func=0x03;
      uint8_t RegAddr={0x06};
      uint8_t RegData[8];
      uint16_t crc;  
};
#pragma pack()
 
 
struct radar_node
{
    // int32_t rid;
     uint32_t range;
     int64_t radar_tick=0;//std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();;
};

class CMessageQueue;
 
class CRadarSensor//:public ISensorNotify
{
public:
     CRadarSensor(CMessageQueue *q);
     void Notify(int8_t * buffer,int32_t size);
     void SetSensorSocket(SensorSocket<CRadarSensor>* can);
     void Start();
     void Stop();
     void SetChannelReady(bool ret){_channelReady=ret;}
     const radar_node* GetRadarInfo(){ return _node;}
private:
    
private:
     CMessageQueue* _message;
     SensorSocket<CRadarSensor> * _socket;
     //std::mutex _lock;
    //int32_t  _info[7]={-1,-1,-1,-1,-1,-1,-1};
     bool _channelReady;
     radar_node _node[7];
     int64_t _tick=0;
     int16_t mask=0x0;
};