/*
* 在此方法中处理摄像头的打开、处理数据、关闭等
* 识别到障碍物时 触发signal_camera_obstacle
*
*/
#include <perception/sensor_camera.h>

void iv::perception::CameraSensor::processSensor() {
	std::cout << "camera process start" << std::endl;
	//打开激光雷达
	//障碍物识别
	iv::ObsCamera obs(new std::vector<iv::ObstacleBasic>);
	iv::ObstacleBasic t = {  };
	obs->push_back(t);
	//ODS("\n\n------>thread camera: %X\n\n", GetCurrentThreadId());
	while (true) {
		srand(time(NULL));
		if (rand() % 11 == 0) {
			obs->at(0).valid = true;
			obs->at(0).nomal_x = rand() % 5;
			obs->at(0).nomal_y = rand() / 6;
			obs->at(0).nomal_z = rand() / 7;

            //signal_camera_obstacle->operator()(obs);//触发


			//std::cout << "Camera Dectected: " << obs->at(0).nomal_x << " " << obs->at(0).nomal_y << " " << obs->at(0).nomal_z << std::endl;

		}
		/*if (rand() % 9 == 0)
			break;*/
#ifdef linux
            sleep(1);
#endif
#ifdef WIN32
            boost::this_thread::sleep(boost::posix_time::milliseconds(1));
  //          Sleep(1000);
#endif
        //boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
	}

	std::cout << "camera process end" << std::endl;
}