public static HealthDataResponse ToHealthDataResponse(byte[] data)
{
HealthDataResponse dataResponse = new HealthDataResponse();
dataResponse.Status = data[0];
dataResponse.ErrorCode = BitConverter.ToUInt16(data, 1);
return(dataResponse);
}
private void StartScan()
{
_rpLidar = new RPLidarSerialDevice("com6");
//Connect RPLidar
_rpLidar.Connect();
//Reset - Not really sure how this is supposed to work, reconnecting USB works too
//RPLidar.Reset();
//Stop motor
_rpLidar.StopMotor();
//Get Device Information
InfoDataResponse infoDataResponse = _rpLidar.GetInfo();
//Get Device Health
HealthDataResponse healthDataResponse = _rpLidar.GetHealth();
//Get Data Event
_rpLidar.NewScan += RPLidar_NewScan;
//Start Scan Thread
_rpLidar.StartScan();
}
