void OnDestroy()
{
m_thread.Abort();
RplidarBinding.EndScan();
RplidarBinding.EndMotor();
RplidarBinding.OnDisconnect();
RplidarBinding.ReleaseDrive();
m_onscan = false;
}
static void Main(string[] args)
{
LidarData[] data = new LidarData[720];
String port;
while (true)
{
Console.WriteLine("input COM port:");
var comport = Console.ReadLine().ToUpper();
int p = 0;
if (comport.StartsWith("COM") && comport.Length == 4 && int.TryParse(comport.Substring(3), out p))
{
port = comport;
break;
}
}
RplidarBinding.OnConnect(port);
Console.WriteLine("on conn");
RplidarBinding.StartMotor();
Console.WriteLine("start motor");
RplidarBinding.StartScan();
Console.WriteLine("start scan");
var datalen = RplidarBinding.GetData(ref data);
for (var i = 0; i < datalen; i++)
{
Console.WriteLine($"{data[i].distant} {data[i].theta} {data[i].quality}");
}
Console.ReadLine();
Console.WriteLine("end scan");
RplidarBinding.EndScan();
Console.WriteLine("end motor");
RplidarBinding.EndMotor();
Console.ReadLine();
Console.WriteLine("disconnect");
RplidarBinding.OnDisconnect();
}
private void OnGUI()
{
DrawButton("Connect", () =>
{
if (string.IsNullOrEmpty(port))
{
return;
}
int result = RplidarBinding.OnConnect(port);
Debug.Log("Connect on " + port + " result:" + result);
});
DrawButton("DisConnect", () =>
{
bool r = RplidarBinding.OnDisconnect();
Debug.Log("Disconnect:" + r);
});
DrawButton("StartScan", () =>
{
bool r = RplidarBinding.StartScan();
Debug.Log("StartScan:" + r);
});
DrawButton("EndScan", () =>
{
bool r = RplidarBinding.EndScan();
Debug.Log("EndScan:" + r);
});
DrawButton("StartMotor", () =>
{
bool r = RplidarBinding.StartMotor();
Debug.Log("StartMotor:" + r);
});
DrawButton("EndMotor", () =>
{
bool r = RplidarBinding.EndMotor();
Debug.Log("EndMotor:" + r);
});
DrawButton("Release Driver", () =>
{
bool r = RplidarBinding.ReleaseDrive();
Debug.Log("Release Driver:" + r);
});
DrawButton("GrabData", () =>
{
int count = RplidarBinding.GetData(ref data);
Debug.Log("GrabData:" + count);
if (count > 0)
{
for (int i = 0; i < 20; i++)
{
Debug.Log("d:" + data[i].distant + " " + data[i].quality + " " + data[i].syncBit + " " + data[i].theta);
}
}
});
}