/// <summary>
/// Thread used for scanning
/// Populates a list of Measurements, and adds that list to
/// </summary>
public void ScanThread()
{
DateTime _LastSyncBit = new DateTime();
//Make some room for a measurement
Response_PointFormat measurementType = null;
//Start writing output (for piping to csv)
if (WriteOutCoordinates)
{
Console.WriteLine("X:Y");
}
//Loop while we're scanning
while (this._isScanning)
{
//Init Point format
measurementType = new Response_PointFormat();
//Poll for data and parse response
measurementType.parseData(waitPoint(1000));
//measurementType.parseData(Reponse(1000, (iRPLidarResponse)measurementType));
//Check for new 360 degree scan bit
if (measurementType.CheckBit)
{
_motorSpeed = (1 / (DateTime.Now - _LastSyncBit).TotalSeconds) * 60;
_LastSyncBit = DateTime.Now;
//New Frame
_Frames.Add(Frame);
if (Data != null)
{
//Publish new frame
Data(Frame);
}
//Keep it below 10 frames
if (_Frames.Count > 10)
{
_Frames.RemoveAt(0);
}
//Start a new Frame list
Frame = new List <Response_PointFormat>();
if (Verbose)
{
Console.WriteLine(":: Syncbit, last # of valid measurements: " + _Frames[_Frames.Count - 1].Count);
}
}
if (WriteOutCoordinates)
{
Console.WriteLine("{0}:{1}", measurementType.X.ToString(), measurementType.Y.ToString());
}
//Dont collect invalid data
if (measurementType.IsValid)
{
Frame.Add(measurementType);
}
}
}
public static Frame Convert(Response_PointFormat frame)
{
return(new Frame(frame.X, frame.Y, frame.Distance, frame.AngleDegrees, frame.CheckBit));
}
