/// <summary>
/// read MD command
/// </summary>
/// <param name="get_command">received command</param>
/// <param name="time_stamp">timestamp data</param>
/// <param name="distances">distance data</param>
/// <returns>is successful</returns>
public static bool MD(string get_command, ref long time_stamp, ref List <long> distances)
{
//distances.Clear();
string[] split_command = get_command.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries);
if (!split_command[0].StartsWith("MD"))
{
return(false);
}
if (split_command[1].StartsWith("00"))
{
return(true);
}
else if (split_command[1].StartsWith("99"))
{
time_stamp = SCIP_Reader.decode(split_command[2], 4);
distance_data(split_command, 3, ref distances);
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// read distance data
/// </summary>
/// <param name="lines"></param>
/// <param name="start_line"></param>
/// <returns></returns>
public static bool distance_data(string[] lines, int start_line, ref List <long> distances)
{
StringBuilder sb = new StringBuilder();
for (int i = start_line; i < lines.Length; ++i)
{
sb.Append(lines[i].Substring(0, lines[i].Length - 1));
}
return(SCIP_Reader.decode_array(sb.ToString(), 3, ref distances));
}
public bool MakeScan()
{
bool status = true;
try
{
if (urg.IsOpen)
{
CloseConnection();
}
PreparePort(port, baudrate);
urg.Write(SCIP_Writer.SCIP2());
urg.ReadLine(); // ignore echo back
urg.Write(SCIP_Writer.MD(start_step, end_step));
urg.ReadLine(); // ignore echo back
distances = new List <long> [one_pos_scans];
for (int i = 0; i < one_pos_scans; i++)
{
distances[i] = new List <long>();
time_stamp = 0;
string receive_data = urg.ReadLine();
if (!SCIP_Reader.MD(receive_data, ref time_stamp, ref distances[i]))
{
Console.WriteLine(receive_data);
Console.WriteLine("----------------");
status = false;
}
if (distances[i].Count == 0 && status == true)
{
Console.WriteLine(receive_data);
Console.WriteLine("----------------");
status = false;
}
// show distance data
//for (int j = 0; j < distances[i].Count; j++)
//{
// Console.WriteLine("time stamp: " + time_stamp.ToString() + " distance " + j + " is: " + distances[i][j].ToString());
//}
}
urg.Write(SCIP_Writer.QT()); // stop measurement mode
urg.ReadLine(); // ignore echo back
CloseConnection();
if (status)
{
CalculateDistances();
}
return(status);
}
catch (Exception ex)
{
excpt = ex.ToString();
return(false);
}
}
