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);
}
}
