private void switchEnable_ValueChanged(object sender, bool value)
{
if (_selectedLidar != null)
{
_selectedLidar.FrequencyChange -= lidar_FrequencyChange;
_selectedLidar.NewMeasure -= lidar_NewMeasure;
_selectedLidar.StartLoopMeasure();
}
if (value)
{
if ((String)cboLidar.Text == "Ground")
{
_selectedLidar = AllDevices.LidarGround;
}
else if ((String)cboLidar.Text == "Avoid")
{
_selectedLidar = AllDevices.LidarAvoid;
}
else
{
_selectedLidar = null;
}
if (_selectedLidar != null)
{
_selectedLidar.FrequencyChange += lidar_FrequencyChange;
_selectedLidar.NewMeasure += lidar_NewMeasure;
_selectedLidar.StartLoopMeasure();
}
}
}
private void SetLidar(Lidar lidar)
{
if (_selectedLidar != lidar)
{
if (_selectedLidar != null)
{
_selectedLidar.NewMeasure -= lidar_NewMeasure;
if (_selectedLidar == AllDevices.LidarGround)
{
_selectedLidar.StopLoopMeasure();
}
}
_selectedLidar = lidar;
if (_selectedLidar != null)
{
_selectedLidar.NewMeasure += lidar_NewMeasure;
if (_selectedLidar == AllDevices.LidarGround)
{
_selectedLidar.StartLoopMeasure();
}
}
_measureObjects = null;
_measureBoard = null;
picWorld.Invalidate();
}
}
public void LidarEnable(bool lidarEnable)
{
if (_selectedLidar != null && !lidarEnable && _running)
{
_selectedLidar.NewMeasure -= lidar_NewMeasure;
_running = false;
}
if (lidarEnable && !_running)
{
if (_selectedLidar != null)
{
_selectedLidar.NewMeasure += lidar_NewMeasure;
if (!_selectedLidar.Activated)
{
_selectedLidar.StartLoopMeasure();
}
_running = true;
}
}
}
