#pragma once
#ifndef _IV_PERCEPTION_SENSOR_RADAR_
#define _IV_PERCEPTION_SENSOR_RADAR_

#include <common/boost.h>
#include <perception/sensor.h>

#include "radarobjectarray.pb.h"

#include  "modulecomm.h"
namespace iv {
	namespace perception {
		class RadarSensor : public iv::perception::Sensor {
		public:
			RadarSensor();
			~RadarSensor();
			// 通过 Sensor 继承
			virtual void start() override;
			virtual void stop() override;
			virtual bool isRunning() const override;
			virtual void processSensor() override;

			/* 毫米波雷达障碍物*/
			typedef void
			(sig_cb_radar_sensor_obstacle)(iv::ObsRadar);

		private:
			boost::signals2::signal<sig_cb_radar_sensor_obstacle>* signal_radar_obstacle;//毫米波雷达障碍物信号

        private:
            void * mparadar;
        public:
            void UpdateRADAR(iv::radar::radarobjectarray xarray);
		};
	}
}
#endif // !_IV_PERCEPTION_SENSOR_RADAR_