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Is a unitary representation always semisimple?

I have been reading the online lecture notes by Fiona Murnaghan http://www.math.toronto.edu/murnaghan/courses/mat1197/notes.pdf The first lemma in p.35 says that every unitary representation of ...
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$p$-adic analogues of $SO(3)$

I read in the paper " From Laplace to Langlands via representations of orthogonal groups" by Benedict Gross and Mark Reeder that there are, up to isomorphism, two orthogonal groups of the ...