#ifndef IVDETECTION_RADAR_H
#define IVDETECTION_RADAR_H

#include "ivdetection.h"

#include "modulecomm.h"

#include <QMutex>
#include <QWaitCondition>

#include "canmsg.pb.h"
#include "canraw.pb.h"
#include "radarobjectarray.pb.h"

namespace iv {
class ivdetection_radar : public ivdetection
{
public:
    ivdetection_radar();

public:
    void setcanmsgname(const std::string str);
    void setradarmsgname(const std::string str);

private:
    void UpdateCANMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);

    void ShareRadarMsg(void * pa,iv::radar::radarobjectarray * pradar);
public:
    virtual int DecodeCANMsg(iv::radar::radarobjectarray & xradar,iv::can::canraw *prawmsg) = 0;
public:
    virtual void modulerun();
private:
    void * mpmsgcan;
    void * mpmsgradar;
    std::string mstrcanmsgname;
    std::string mstrradarmsgname;
    bool mbUpdateCANMsg = false;
    iv::can::canmsg mCANMsg;
    QMutex mMutex;
    QMutex mWaitMutex;
    QWaitCondition mwc;

};

}

#endif // IVDETECTION_RADAR_H