void simLidarClient_MsgReceived(object sender, MsgReceivedEventArgs <SimMessage <ILidarScan <ILidar2DPoint> > > e)
{
if (e.message.RobotID == robotID)
{
ScanReceived.Invoke(sender, new ILidarScanEventArgs <ILidarScan <ILidar2DPoint> >(e.message.Message));
}
}
private void Device_Input_2(byte[] data)
{
byte length = data[1];
int symbology = (data[2] << 16) | (data[3] << 8) | data[4];
byte continuation = data[63];
Buffer.Write(data, 5, length);
if (continuation == 0)
{
var scannedData = Buffer.ToArray();
Buffer = new MemoryStream();
SyncCtx.Post((_1) =>
{
ScanReceived?.Invoke(this, new HidScanReceivedEventArgs(scannedData, (HidScannerSymbology)symbology));
}, null);
}
}
void OnScanReceived(object sender, Scanner.DataEventArgs args)
{
// Pass the EMDK events to the our new event handler
ScanReceived?.Invoke(sender, args);
}
private void OnScanReceived(object sender, Scanner.DataEventArgs args)
{
MainThread.BeginInvokeOnMainThread(() => ScanReceived?.Invoke(sender, args));
}