public List<int> PartialGDScan(int buffersize,int first, int last)
{
List<int> listp = new List<int>();
IntPtr pParam = URG.Native.Urg_GetParameters(this.pUrg);
this.parameter = (URG.Native.urg_parameter)Marshal.PtrToStructure(pParam, typeof(URG.Native.urg_parameter));
IntPtr pData= URG.Native.Urg_PartialGDScan(this.pUrg,first, last, buffersize);
int[] data = new int[buffersize];
Marshal.Copy(pData, data, 0, buffersize);
for(int i =0; i<buffersize;i++)
listp.Add(data[i]);
return listp;
}
public virtual void Connect()
{
try {
pUrg = URG.Native.Urg_Initialise(port);
//Fill parameters..
IntPtr pParam = URG.Native.Urg_GetParameters(pUrg);
parameter = new URG.Native.urg_parameter();
parameter = (URG.Native.urg_parameter)Marshal.PtrToStructure(pParam, typeof(URG.Native.urg_parameter));
if (pUrg != IntPtr.Zero)
isConnected = true;
} catch (Exception e) {
//IConsole.Write("URG Connection Error:", e.Message);
Console.WriteLine("URG Connection Error: {0} ", e.Message);
}
}
