/*************************
sick 511 雷达 文件数据解析
*************************/
#ifndef __SICK_511_LASER_FILE__HH
#define __SICK_511_LASER_FILE__HH
#include "Laser.h"
#include <fstream>
class CSick511FileLaser :
	public CLaser
{
public:
	CSick511FileLaser(int id, Automatic::stLaserCalibParam laser_param);
	virtual ~CSick511FileLaser();
	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);

protected:
	int FindHead(char* buf, int b_len);
	int FindTail(char* buf, int b_len);
protected:
	virtual bool GetData(CBinaryData* pData, std::vector<float>& distance,
		float& freq, float& start_angle);
	long Str0x2Long(const char* data, int len);

protected:
	std::ifstream	m_stream_read;
	std::string		m_file;
	bool			m_start_read;
	std::mutex		m_mutex;
};
#endif