/// <summary>
/// Scan task
/// </summary>
/// <param name="mode"></param>
/// <param name="cancellationToken"></param>
/// <returns></returns>
private void Scan(ScanMode mode, CancellationToken cancellationToken)
{
// Main loop
while (!cancellationToken.IsCancellationRequested)
{
// Try to start lidar
if (!StartLidar(mode))
{
// Reset and try to start again in a while to avoid high CPU load if something breaks
lidar.Reset();
Thread.Sleep(1000);
continue;
}
// Run lidar
if (!RunLidar(cancellationToken))
{
// Reset and try to start again
lidar.Reset();
continue;
}
}
// Stop lidar
StopLidar();
}