public Lidar(Configuration config, string newIP, int port)
{
PORT = port;
this.config = config;
IP = IPAddress.Parse(newIP);
IPAddress my = LocalIP.GetLocalIP(LOCAL_IP_TYPE.LIDAR);
socket = new SocketSync(my, IP, PORT);
}
// Create Socket Connection with the server.
// And send to the server configuration for correct display
private void configServerConnection()
{
try {
bool isSucceeded = false;
int vehicleWidth = config.getVehicleWidth();
int height = config.getSensorHeightSetup();
int setUpAngle = config.getAngleSetup();
float resolution = config.getResolution();
int startAngle = config.getStartAngle();
int stopAngle = config.getStopAngle();
int sideL = config.getSideLowAlert();
int sideH = config.getSideHighAlert();
int FrontL = config.getFrontLowAlert();
int FrontH = config.getFrontHighAlert();
int HoleL = config.getHoleLowAlert();
int HoleH = config.getHoleHighAlert();
int minimumHeightDetected = config.getMinimumHeightDetected();
string srvConfig = "Config " + vehicleWidth + " " + height + " " +
setUpAngle + " " + resolution + " " + startAngle + " " +
stopAngle + " " + sideL + " " + sideH + " " + FrontL + " " +
FrontH + " " + HoleL + " " + HoleH + " " + minimumHeightDetected;
IPAddress server = IPAddress.Parse(config.getServerIp());
IPAddress my = LocalIP.GetLocalIP(LOCAL_IP_TYPE.INTERNET);
if (my == null || server == null)
{
throw new ProtocolViolationException();
}
sendSocket = new SocketSync(my, server, serverPort, ServerTimeOut);
isSucceeded = sendSocket.Connect();
if (isSucceeded)
{
isSucceeded = sendSocket.Send(srvConfig, false);
}
ServerTimeOut(!isSucceeded);
} catch (Exception e) {
Console.WriteLine(e);
}
}
private void Reconfig_Click(object sender, EventArgs e)
{
lidar.StopScan();
var result = new Redefine().ShowDialog();
if (result == DialogResult.OK)
{
lidar.PauseScan();
config.LoadConfiguration();
DistLabelSetup();
// Reconfig lidar settings
string lidarIP = config.getLidarIp();
string lidarPort = config.getLidarPort();
if (lidarIP != Lidar.IP.ToString() || Lidar.PORT != Convert.ToInt32(lidarPort))
{
lidar.SetIp(lidarIP);
lidar.SetPort(int.Parse(lidarPort));
}
LidarInitialization();
// Reconfig Serial Port
if (serialPort != null)
{
serialPort.Close();
serialPort = null;
}
if (config.getControllerComName() != "כבוי")
{
SerialPortConnection();
}
// Reconfig GPS Serial Port
if (gps != null && config.getGPSComName() == "כבוי")
{
activeAlert.Columns.RemoveAt(1);
log.Columns.RemoveAt(2);
gps.StopListening();
gps = null;
}
else if (config.getGPSComName() != "כבוי")
{
if (activeAlert.Columns.Count == 6)
{
activeAlert.Columns.Insert(1, "קורדינטות");
activeAlert.Columns[1].Width = 300;
activeAlert.Columns[1].TextAlign = HorizontalAlignment.Center;
}
if (log.Columns.Count == 7)
{
log.Columns.Insert(2, "קורדינטות");
log.Columns[2].Width = 300;
log.Columns[2].TextAlign = HorizontalAlignment.Center;
}
gps = new GPS(config);
gps.StartListening(GpsStatus);
}
// Reconfig Server
if (sendSocket != null)
{
sendSocket.Disconnect();
sendSocket = null;
if (config.getInterntAdapter() != "כבוי")
{
new Thread(configServerConnection).Start();
}
}
lidar.ResumeScan();
}
else
{
lidar.ResumeScan();
}
}
