public static LidarData[] GetSampleData()
{
var d = new LidarData[2];
var handler = GCHandle.Alloc(d, GCHandleType.Pinned);
GetLDataSampleArray(handler.AddrOfPinnedObject());
handler.Free();
return(d);
}
public void Initialize(LidarData lidarData, TimeEntry[] vehicleData)
{
this.vehicleData = vehicleData;
this.lidarData = lidarData;
particles = new ParticleSystem.Particle[0];
lidarDisplay = gameObject.GetComponent <ParticleSystem>();
vehicleRender = new List <GameObject>();
timeSlice = .2f;
Render();
StartCoroutine(Animate());
}
static void Main(string[] args)
{
LidarData[] data = new LidarData[720];
String port;
while (true)
{
Console.WriteLine("input COM port:");
var comport = Console.ReadLine().ToUpper();
int p = 0;
if (comport.StartsWith("COM") && comport.Length == 4 && int.TryParse(comport.Substring(3), out p))
{
port = comport;
break;
}
}
RplidarBinding.OnConnect(port);
Console.WriteLine("on conn");
RplidarBinding.StartMotor();
Console.WriteLine("start motor");
RplidarBinding.StartScan();
Console.WriteLine("start scan");
var datalen = RplidarBinding.GetData(ref data);
for (var i = 0; i < datalen; i++)
{
Console.WriteLine($"{data[i].distant} {data[i].theta} {data[i].quality}");
}
Console.ReadLine();
Console.WriteLine("end scan");
RplidarBinding.EndScan();
Console.WriteLine("end motor");
RplidarBinding.EndMotor();
Console.ReadLine();
Console.WriteLine("disconnect");
RplidarBinding.OnDisconnect();
}