static List <Radar> ProgramRadars; //启用的雷达集合 static List <Radar> radarSet(int maxnumber) //设置可使用的雷达,其中maxnumber为单个雷达单次最大采样点数量 { List <Radar> set = new List <Radar>(); RadarSetting setting = new RadarSetting(); //雷达设置,area为雷达涵盖的区域坐标,capacity为雷达点的容量, setting.area = new squareArea(1780, 0, 3560, 2000); //position为雷达的xy坐标,type为雷达的链接方式 setting.capacity = maxnumber; //链接方式有TCP链接和串口链接,有默认的函数进行设置,当然也可以根据 setting.position.set(2670, 2300, -180); //需要手动设置 setting.type.setA2defaultTCP(); RadarA2 radar1 = new RadarA2(setting); //设置A2雷达 radar1.connect(); //连接雷达 if (radar1.isHealthAndConnect()) //若连接成功,加入可用雷达序列 { set.Add(radar1); } setting.type.setG4defaultSerial(); setting.position.set(895, 2300, -180); setting.area = new squareArea(0, 0, 1790, 2000); RadarG4 radar2 = new RadarG4(setting); radar2.connect(); if (radar2.isHealthAndConnect()) { set.Add(radar2); } ProgramRadars = set; return(set); //返回可用雷达集合 }
private rplidar_response_measurement_node_hq_t[] nodeInformation; //SDK接口返回的点数据 public RadarA2(RadarSetting setting) { capacity = setting.capacity; connectType = setting.type; radarArea = setting.area; radarPosition = setting.position; xyData = new XYPoint[capacity]; nodeInformation = new rplidar_response_measurement_node_hq_t[capacity]; dataNumber = 0; createNewRadar(); }
private string filePath = "setting.ini"; //初始化文件地址 public RadarG4(RadarSetting setting, string path = "setting.ini", int rate = 15, int freq = 15, bool reversion = false) { sampleRate = rate; scanFreq = freq; ifReversion = reversion; filePath = path; radarPosition = setting.position; radarArea = setting.area; connectType = setting.type; capacity = setting.capacity; createNewRadar(); xyData = new XYPoint[capacity]; dataNumber = 0; }