public bool LoadLidarConfigFromFile()
{
bool Succeeded = false;
List <string> sendData = new List <string>();
List <string> ackData = new List <string>();
string path = AppDomain.CurrentDomain.BaseDirectory + @"\Lidar\LidarConfig.txt";
ProgressBarDialog form =
new ProgressBarDialog("טוען את המערכת", "מבצע איתחול לחיישן Lidar...");
Thread thread = new Thread(() => {
if (File.Exists(path))
{
var reader = new StreamReader(path);
while (!reader.EndOfStream)
{
string line = reader.ReadLine();
if (line.Contains("SEND"))
{
var lst = line.Split('\t');
string send = lst.Last().Replace("<STX>", ((char)2).ToString())
.Replace("<ETX>", ((char)3).ToString())
.Replace("{resolution}", LidarTelegram.Resolution)
.Replace("{start angle}", LidarTelegram.StartAngle)
.Replace("{stop angle}", LidarTelegram.StopAngle);
line = reader.ReadLine();
lst = line.Split('\t');
string received = lst.Last().Replace("<STX>", ((char)2).ToString())
.Replace("<ETX>", ((char)3).ToString())
.Replace("{resolution}", LidarTelegram.Resolution)
.Replace("{start angle}", LidarTelegram.StartAngle)
.Replace("{stop angle}", LidarTelegram.StopAngle);
sendData.Add(send);
ackData.Add(received);
}
}
for (int i = 0; i < sendData.Count; i++)
{
//Succeeded = socket.SendWithAck(sendData[i], ackData[i]);
Succeeded = socket.Send(sendData[i]);
if (!Succeeded)
{
break;
}
form.updateProgressBar(100 / sendData.Count);
}
form.Invoke(new Action(() => form.Close()));
}
else
{
Console.WriteLine("File not Exists");
}
});
thread.IsBackground = true;
thread.Start();
form.ShowDialog();
return(Succeeded);
}
// If needed sending the scan results to serial port & server
private void PastResultsOn(string data)
{
// send data to controller
if (serialPort != null && serialPort.IsOpen)
{
new Thread(() => {
if (config.getSerialDataType() == Configuration.DataType[0])
{
serialPort.Write(data);
}
else if (config.getSerialDataType() == Configuration.DataType[1])
{
foreach (var it in obstacle.Select((x, i) => new { Value = x, Index = i }))
{
StringBuilder str = new StringBuilder("מסד: " + (it.Index + 1).ToString() + ",");
if (gps != null)
{
str.Append("קורדינטות: " + it.Value.GetLocation(gps) + ",");
}
str.Append("זווית: " + it.Value.GetAngle() + ",");
str.Append("צד" + it.Value.GetSideDistance() + ",");
str.Append("מרחק" + it.Value.GetFrontDistance() + ",");
str.Append("גובה מתחת לחיישן" + it.Value.GetHeight() + ",");
str.AppendLine("רמת התראה" + it.Value.GetAleatLevel() + ".");
serialPort.Write(str.ToString());
}
}
}).Start();
}
// send data to server
if (sendSocket != null)
{
new Thread(() => {
string serverData = data;
if (gps != null)
{
serverData += " Location " + gps.getLocation().ToString();
}
if (gps != null)
{
serverData += " Azimuth " + gps.getAzimuth();
}
if (serverStatus.Text == "מחובר")
{
sendSocket.Send(serverData, false);
}
}).Start();
}
}
// 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);
}
}
