/// <summary>
///
/// </summary>
/// <param name="df"></param>
/// <param name="sr"></param>
/// <param name="sps"></param>
/// <param name="msf"></param>
private SamplingRateSetting(R2000DeviceFamily df, R2000SamplingRate sr, uint sps, double msf)
{
this.MaximumSampleRate = sr;
this.SamplesPerScan = sps;
this.DeviceFamily = df;
this.MaximumScanFrequency = msf;
}
//async Task LidarSetApplicationBitmapMode()
//{
// string request = @"http://" + LidarIpAddress + "/cmd/set_parameter?hmi_display_mode=application_bitmap";
// var content = await HttpClient.GetStringAsync(request);
// //Console.WriteLine(content);
//}
//async Task LidarSetImage(int horizontalShift)
//{
// Image image = DrawText("Merci Pepperl+Fuchs", new Font("Verdana", 12.0f, FontStyle.Bold), -horizontalShift);
// var array = ConvertBitmapToArray(new Bitmap(image));
// var bitmapString = ConvertToBase64StringForLidar(array);
// string request = @"http://" + LidarIpAddress + "/cmd/set_parameter?hmi_application_bitmap="+ bitmapString;
// var content = await HttpClient.GetStringAsync(request);
//}
/// <summary>
/// Set the sampling rate
/// </summary>
/// <param name="targetSamplingRate">Target rate or AutoMaximum</param>
public void SetSamplingRate(R2000SamplingRate targetSamplingRate)
{
try
{
SetSamplingRateAsync(targetSamplingRate).Wait();
}
catch
{
;
}
}
//double angleIncrement;
private void LidarStartAndAcquire(double freq, R2000SamplingRate samplingRate)
{
using (r2000 = new R2000Scanner(IPAddress.Parse("169.254.235.44"), R2000ConnectionType.TCPConnection))
{
r2000.Connect();
r2000.SetSamplingRate(R2000SamplingRate._8kHz);
r2000.SetScanFrequency(freq);
r2000.SetSamplingRate(samplingRate);
r2000.DisplayMessage(1, "Points :");
r2000.DisplayMessage(2, "50 points");
//angleIncrement = 2 * Math.PI/((double)R2000SamplingRate._252kHz / 20);
r2000.OnlyStatusEvents().Subscribe(ev =>
{
var oldColor = Console.ForegroundColor;
Console.ForegroundColor = ConsoleColor.Blue;
Console.WriteLine($"Event: {ev.Level.ToString()} / {ev.Message}");
Console.ForegroundColor = oldColor;
});
r2000.OnlyLidarPoints()
.BufferByScan()
.Subscribe(x =>
{
//lastLidarPtList = new List<PolarPoint>();
//lastLidarPtList.Add(new PolarPoint(x.Points[0].Distance / 1000, Utilities.Toolbox.DegToRad(x.Points[0].Azimuth)));
//for (int i=1; i< x.Points.Count; i++ )
//{
// if()
//}
lastLidarPtList = new List <PolarPointRssi>(x.Points.Select(pt => new PolarPointRssi(Utilities.Toolbox.DegToRad(pt.Azimuth), pt.Distance / 1000, pt.Amplitude)));
lastScanNumber = (int)x.Scan;
newLidarDataAvailable = true;
//Console.WriteLine($"Got {x.Count} points for scan {x.Scan} / Min {x.Points.Min(pt => pt.Azimuth)} :: Max {x.Points.Max(pt => pt.Azimuth)}");
});
r2000.StartScan();
while (true)
{
Thread.Sleep(5);
}
}
}
public LidaRxR2000(double freq = 20, R2000SamplingRate samplingRate = R2000SamplingRate._252kHz)
{
var threadStartLidar = new Thread(() => LidarStartAndAcquire(freq, samplingRate));
threadStartLidar.IsBackground = true;
threadStartLidar.SetApartmentState(ApartmentState.STA);
threadStartLidar.Start();
var threadSendEventLidar = new Thread(LidarSendEvent);
threadSendEventLidar.IsBackground = true;
threadSendEventLidar.SetApartmentState(ApartmentState.STA);
threadSendEventLidar.Start();
timerDisplayBitmap.Elapsed += TimerDisplayBitmap_Elapsed;
timerDisplayBitmap.Start();
}
/// <summary>
/// Set the sampling rate
/// </summary>
/// <param name="targetSamplingRate">Target rate or AutoMaximum</param>
public async Task SetSamplingRateAsync(R2000SamplingRate targetSamplingRate)
{
if (!Connected)
{
throw new LidaRxStateException("This instance is not yet connected to the R2000 scanner.");
}
// on recent devices we can check the configurable sample rate range!
if (this.instanceProtocolVersion >= R2000ProtocolVersion.v101 &&
targetSamplingRate != R2000SamplingRate.AutomaticMaximum)
{
var targetAsInt = (uint)targetSamplingRate;
if (targetAsInt < SensorCapabilities.SamplingRateMin || targetAsInt > SensorCapabilities.SamplingRateMax)
{
throw new ArgumentOutOfRangeException(
"targetSamplingRate",
$"Acceptable range is [{SensorCapabilities.SamplingRateMin}, {SensorCapabilities.SamplingRateMax}]");
}
}
uint targetSamplesPerScan = 0;
// select the max sr automatically if the user asks for it ;)
if (targetSamplingRate == R2000SamplingRate.AutomaticMaximum)
{
var currentDeviceFamily = this.SensorInformation.DeviceFamilly;
var currentScanFrequency = this.MeasurementConfiguration.ScanFrequency;
targetSamplesPerScan = SamplingRateSetting.Table
.Where(x => x.DeviceFamily == currentDeviceFamily)
.Where(x => x.MaximumScanFrequency <= currentScanFrequency)
.Select(x => x.SamplesPerScan)
.Max();
}
// if the user specified a sample rate, then check if it's in range
// given the current scan frequency configuration
else
{
var currentDeviceFamily = this.SensorInformation.DeviceFamilly;
var currentScanFrequency = this.MeasurementConfiguration.ScanFrequency;
targetSamplesPerScan = SamplingRateSetting.Table
.Where(x => x.DeviceFamily == currentDeviceFamily)
.Where(x => x.MaximumScanFrequency >= currentScanFrequency)
.Where(x => x.MaximumSampleRate == targetSamplingRate)
.Select(x => x.SamplesPerScan)
.Max();
}
if (targetSamplesPerScan == 0)
{
throw new ArgumentException("targetSamplingRate",
"There's no valid configuration for your device and the chosen target sample rate. "
+ "Please check for valid configurations in the R2000 manual");
}
// write the config to the R2000
await SetConfigParameter <MeasuringConfigurationInformation, uint>(x => x.SamplesPerScan, targetSamplesPerScan);
// reflect the value in the local config
this.MeasurementConfiguration.SamplesPerScan = targetSamplesPerScan;
}
/// <summary>
/// Set the sampling rate
/// </summary>
/// <param name="targetSamplingRate">Target rate or AutoMaximum</param>
public void SetSamplingRate(R2000SamplingRate targetSamplingRate)
{
SetSamplingRateAsync(targetSamplingRate).Wait();
}
private void LidarStartAndAcquire(double freq, R2000SamplingRate samplingRate)
{
while (true)
{
/// Si le lidar n'est pas connecté, on tente de le connecter
if (!isLidarConnected)
{
Console.WriteLine("Trying to connect Lidar R2000");
try
{
var r2000 = new R2000Scanner(IPAddress.Parse("169.254.235.44"), R2000ConnectionType.TCPConnection);
//using (r2000 = new R2000Scanner(IPAddress.Parse("169.254.235.44"), R2000ConnectionType.TCPConnection))
{
var isLidarReachable = r2000.Connect();
if (isLidarReachable)
{
r2000.SetSamplingRate(R2000SamplingRate._8kHz);
r2000.SetScanFrequency(freq);
r2000.SetSamplingRate(samplingRate);
//angleIncrement = 2 * Math.PI/((double)R2000SamplingRate._252kHz / 20);
r2000.OnlyStatusEvents().Subscribe(ev =>
{
var oldColor = Console.ForegroundColor;
Console.ForegroundColor = ConsoleColor.Blue;
Console.WriteLine($"Event: {ev.Level.ToString()} / {ev.Message}");
Console.ForegroundColor = oldColor;
});
r2000.OnlyLidarPoints()
.BufferByScan()
.Subscribe(x =>
{
lastLidarPtList = new List <PolarPointRssi>(x.Points.Select(pt => new PolarPointRssi(Utilities.Toolbox.DegToRad(pt.Azimuth), pt.Distance / 1000, pt.Amplitude)));
lastScanNumber = (int)x.Scan;
newLidarDataAvailable = true;
});
r2000.StartScan();
Console.WriteLine("Lidar R2000 Connected");
isLidarConnected = true;
}
}
}
catch (IOException e)
{
Console.WriteLine(e);
isLidarConnected = false;
}
//using (r2000 = new R2000Scanner(IPAddress.Parse("169.254.235.44"), R2000ConnectionType.TCPConnection))
//{
// r2000.Connect();
// r2000.SetSamplingRate(R2000SamplingRate._8kHz);
// r2000.SetScanFrequency(freq);
// r2000.SetSamplingRate(samplingRate);
// r2000.DisplayMessage(1, "Points :");
// r2000.DisplayMessage(2, "50 points");
// r2000.OnlyStatusEvents().Subscribe(ev =>
// {
// var oldColor = Console.ForegroundColor;
// Console.ForegroundColor = ConsoleColor.Blue;
// Console.WriteLine($"Event: {ev.Level.ToString()} / {ev.Message}");
// Console.ForegroundColor = oldColor;
// });
// r2000.OnlyLidarPoints()
// .BufferByScan()
// .Subscribe(x =>
// {
// lastLidarPtList = new List<PolarPointRssi>(x.Points.Select(pt => new PolarPointRssi(Utilities.Toolbox.DegToRad(pt.Azimuth), pt.Distance / 1000, pt.Amplitude)));
// lastScanNumber = (int)x.Scan;
// newLidarDataAvailable = true;
// });
// r2000.StartScan();
// while (true)
// {
// Thread.Sleep(5);
// }
//}
}
Thread.Sleep(2000);
}
}
