private void OKButton_Click(object sender, EventArgs e)
{
ScanParameters t = new ScanParameters();
try
{
t.HRange = (byte) HRangeBox.SelectedIndex;
t.HRes = (byte) HResBox.SelectedIndex;
t.scanBottom = float.Parse(BottomBox.Text);
t.scanRes = float.Parse(VResBox.Text);
t.scanLines = Int32.Parse(ScanLineBox.Text);
lock (parameters)
{
parameters.HRange = t.HRange;
parameters.HRes = t.HRes;
parameters.scanBottom = t.scanBottom;
parameters.scanLines = t.scanLines;
parameters.scanRes = t.scanRes;
}
Close();
}
catch
{
// bring up an error box
MessageBox.Show("Invalid Scan Parameters");
}
}
public ScanParametersViewer(ref ScanParameters rp)
{
InitializeComponent();
parameters = rp;
HRangeBox.SelectedIndex = rp.HRange;
HResBox.SelectedIndex = rp.HRes;
BottomBox.Text = "" + rp.scanBottom;
ScanLineBox.Text = "" + rp.scanLines;
VResBox.Text = "" + rp.scanRes;
}
public RangeImageViewer(Robot Robot)
{
m_Robot = Robot;
m_DrawStyle = DrawStyle.TrianglesColorByDistance;
scanParams = new ScanParameters();
// these should probably be read in from a file or something...
scanParams.HRange = 0;
scanParams.HRes = 0;
scanParams.scanBottom = -45;
scanParams.scanLines = 360;
scanParams.scanRes = (float).25;
InitializeComponent();
}
/* Request the LADAR to scan */
public void Scan(ScanParameters p)
{
byte[] arr = new byte[14];
lock (p)
{
arr[0] = (byte)(p.HRange * 80 + 100);
arr[1] = (byte)(p.HRes == 0 ? 25 : p.HRes * 50);
Array.Copy(BitConverter.GetBytes(p.scanLines), 0, arr, 2, 4);
Array.Copy(BitConverter.GetBytes(p.scanRes), 0, arr, 6, 4);
Array.Copy(BitConverter.GetBytes(p.scanBottom), 0, arr, 10, 4);
}
SendMessage(0x0000000b, arr);
}
/**
* @brief Event handler. Called by button10 for click events.
* @param sender An object - Source of the event
* @param e An EventArgs - Event Information
*/
private void button10_Click(object sender, EventArgs e)
{
ScanParameters sp = new ScanParameters();
sp.HRange = 0;
sp.HRes = 0;
sp.scanBottom = -45;
sp.scanLines = 1;
sp.scanRes = (float).25;
m_Robot.Scan(sp);
sp.scanBottom = -45;
}
/**
* @brief Initializes the lidar scanning
*/
public void initLidarScanning()
{
scanParams = new ScanParameters();
// these should probably be read in from a file or something...
scanParams.HRange = 0;
scanParams.HRes = 0;
scanParams.scanBottom = -45;
scanParams.scanLines = 360;
scanParams.scanRes = (float).25;
}
public Navigation(Robot R)
{
InitializeComponent();
m_Robot = R;
if (m_Robot == null)
m_Map = new Map(1024, 1024, 0.1f);
else
m_Map = m_Robot.Map;
m_History = new List<PointF>();
m_Scale = 0.05f;
m_PathPen = new Pen(Color.Black, 2.0f);
m_HistoryBrush = new SolidBrush(Color.Black);
m_NoScanWaypointBrush = new SolidBrush(Color.Black);
m_DirectionalScanWaypointBrush = new SolidBrush(Color.Green);
m_FullScanWaypointBrush = new SolidBrush(Color.Blue);
m_RobotBrush = new SolidBrush(Color.DarkGray);
m_BlackPen = new Pen(Color.Black, 2.0f);
m_Path = new Path();
m_MinorGridPen = new Pen(Color.Silver, 1.0f);
m_MinorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dot;
m_MajorGridPen = new Pen(Color.Black, 1.0f);
m_MajorGridPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
m_IndexToMove = -1;
m_MovingPoint = false;
UpdateMap();
if (m_Robot != null)
ScrollToPosition(m_Robot.Telemetry.Position);
//---------------------
//For RangeImage Viewer
//---------------------
m_DrawStyle = DrawStyle.TrianglesColorByDistance;
scanParams = new ScanParameters();
// these should probably be read in from a file or something...
scanParams.HRange = 0;
scanParams.HRes = 0;
scanParams.scanBottom = -45;
scanParams.scanLines = 360;
scanParams.scanRes = (float).25;
//InitGraphics();
InitializeComponent();
}
