public void GenerateDataPacket_ValidAzimutDelta_CorrectDifference()
{
double packetAzimuthAngleDelta = 2;
double blockDelta = packetAzimuthAngleDelta / 12;
LidarFormatPacketGenerator packetGenerator = new LidarFormatPacketGenerator(0, 0, packetAzimuthAngleDelta);
byte[] packet1 = packetGenerator.GenerateDataPacket(azimuth: 10, packetStartDistance: 0);
byte[] packet2 = packetGenerator.GenerateDataPacket(azimuth: 10 + packetAzimuthAngleDelta, packetStartDistance: 0);
List <double> horizontalAngles = GetHorizontalAnglesFromPackets(packet1);
horizontalAngles.AddRange(GetHorizontalAnglesFromPackets(packet2));
for (int i = 1; i < horizontalAngles.Count; i++)
{
Assert.Equal(blockDelta, horizontalAngles[i] - horizontalAngles[i - 1], 1);
}
}
private Queue <byte[]> ConvertDistancesToByteArray(float[] distancesAsFloats)
{
Queue <byte[]> dataPackets = new Queue <byte[]>();
for (int i = 0; i < distancesAsFloats.Length; i++)
{
dataPackets.Enqueue(_packetGenerator.GenerateDataPacket(azimuth: i, packetStartDistance: distancesAsFloats[i]));
}
return(dataPackets);
}
public async Task <Queue <byte[]> > GetQueueOfDataPacketsAsync(byte numberOfCycles)
{
int packetsToGenerate = 60;
Queue <byte[]> dataPackets = new Queue <byte[]>();
for (int i = 0; i < packetsToGenerate; i++)
{
dataPackets.Enqueue(_packetGenerator.GenerateDataPacket(_packetAzimuthAngleDelta * i, _packetDeltaDistance * i));
}
await Task.Delay(600);
return(dataPackets);
}
