public static Hokuyo CreateHokuyo(String portCom, LidarID id)
{
bool forceUart = false;
bool forceUsb = false;
if (forceUart)
return new HokuyoUart(id);
else if (forceUsb)
return new HokuyoUsb(portCom, id);
Hokuyo hok;
try
{
hok = new HokuyoUsb(portCom, id);
return hok;
}
catch (Exception)
{
hok = new HokuyoUart(id);
return hok;
}
}
private void btnHokuyoUart_Click(object sender, EventArgs e)
{
////String mess = "MS000072500001";
//String mess = "VV\n00P\n";
//byte[] b = new Byte[mess.Length];
//for (int i = 0; i < mess.Length; i++)
//{
// b[i] = (byte)mess[i];
//}
//Trame trameUart = new Trame(b);
//Trame trameUdp = TrameFactory.EnvoyerUart(Carte.RecIO, trameUart);
//Connexions.ConnexionIO.SendMessage(trameUdp);
HokuyoUart lidar = new HokuyoUart(LidarID.LidarSol);
List<PointReel> pts = lidar.GetMesure();
Plateau.ObstaclesPlateau = new List<IForme>();
foreach (PointReel p in pts)
{
Plateau.ObstaclesPlateau.Add(new Cercle(p, 4));
}
MessageBox.Show(pts.Count + " points");
}
