/*************************
sick 511 雷达 upd协议连接控制板
*************************/
#pragma once
#include "Laser.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <mutex>
class CUdpLaser : public CLaser
{
public:
	CUdpLaser(int id, Automatic::stLaserCalibParam laser_param);
	virtual ~CUdpLaser();
	virtual bool Connect();
	virtual void Disconnect();
	virtual bool Start();
	virtual bool Stop();

protected:
	virtual bool RecvData(CBinaryData& data);
	virtual DATA_type Data2PointXYZ(CBinaryData* pData, std::vector<CPoint3D>& points);
	

private:
	bool Send(char* sendbuf, int len);                          // 发送指令
	int Recv(char* recvbuf, int len);                           // 接收数据
	static int FindHead(char* buf, int b_len);
	static int FindTail(char* buf, int b_len);
private:
	bool GetData(CBinaryData* pData, std::vector<float>& distance,
		float& freq, float& start_angle);
	long Str0x2Long(const char* data, int len);

protected:
#pragma region udp相关变量
	int				m_socket;
//	WSADATA			m_wsd;
	struct sockaddr_in m_send_addr;
	std::mutex		m_mutex;
#pragma endregion
};