modularization/src/apollo/code/apollocontroller_shenlanfd/shenlanfd.h

#ifndef SHENLANFD_H
#define SHENLANFD_H

#include <thread>
#include <iostream>
#include <mutex>

namespace iv {
struct dcs
{
    double mfTorque;
    double mfBrake;
    double mfWheel;
    double mblampleft;
    double mblampright;
};


}

class  Shenlanfd
{
public:
    Shenlanfd();
    ~Shenlanfd();

    void SetSpeed(double fSpeed);
    void SetDecision(iv::dcs &xdcs);

    void Get1C4(unsigned char * p1C4);
    void Get24E(unsigned char * p24E);
    void Get25E(unsigned char * p25E);

private:
    void threadsend();

    void ExecuteDecision(iv::dcs & xdcs);


private:
    std::thread * mpthreadsend;
    bool mbRun = true;

    bool mbHaveVehSpd  = false;
    double mfVehSpd = 0.0;

    iv::dcs mdcs;
    std::mutex mmutexdcs;
    int64_t mnLastUpdate = 0;
};

#endif // SHENLANFD_H