private void InitializeDriverMode()
{
serverIP.Text = config.getServerIp();
string lidarIP = config.getLidarIp();
string lidarPort = config.getLidarPort();
lidar = new Lidar(config, lidarIP, int.Parse(lidarPort));
if (config.getControllerComName() != "כבוי")
{
SerialPortConnection();
}
if (config.getGPSComName() != "כבוי")
{
gps = new GPS(config);
gps.StartListening(GpsStatus);
gpsStatusLabel.Text = gps.getStatus();
gpsStatusLabel.ForeColor = gps.isFix ? Color.DarkGreen : Color.Red;
}
else
{
activeAlert.Columns.RemoveAt(1);
log.Columns.RemoveAt(2);
}
if (config.getInterntAdapter() != "כבוי")
{
new Thread(configServerConnection).Start();
}
}
private void Reconfig_Click(object sender, EventArgs e)
{
lidar.StopScan();
var result = new Redefine().ShowDialog();
if (result == DialogResult.OK)
{
lidar.PauseScan();
config.LoadConfiguration();
DistLabelSetup();
// Reconfig lidar settings
string lidarIP = config.getLidarIp();
string lidarPort = config.getLidarPort();
if (lidarIP != Lidar.IP.ToString() || Lidar.PORT != Convert.ToInt32(lidarPort))
{
lidar.SetIp(lidarIP);
lidar.SetPort(int.Parse(lidarPort));
}
LidarInitialization();
// Reconfig Serial Port
if (serialPort != null)
{
serialPort.Close();
serialPort = null;
}
if (config.getControllerComName() != "כבוי")
{
SerialPortConnection();
}
// Reconfig GPS Serial Port
if (gps != null && config.getGPSComName() == "כבוי")
{
activeAlert.Columns.RemoveAt(1);
log.Columns.RemoveAt(2);
gps.StopListening();
gps = null;
}
else if (config.getGPSComName() != "כבוי")
{
if (activeAlert.Columns.Count == 6)
{
activeAlert.Columns.Insert(1, "קורדינטות");
activeAlert.Columns[1].Width = 300;
activeAlert.Columns[1].TextAlign = HorizontalAlignment.Center;
}
if (log.Columns.Count == 7)
{
log.Columns.Insert(2, "קורדינטות");
log.Columns[2].Width = 300;
log.Columns[2].TextAlign = HorizontalAlignment.Center;
}
gps = new GPS(config);
gps.StartListening(GpsStatus);
}
// Reconfig Server
if (sendSocket != null)
{
sendSocket.Disconnect();
sendSocket = null;
if (config.getInterntAdapter() != "כבוי")
{
new Thread(configServerConnection).Start();
}
}
lidar.ResumeScan();
}
else
{
lidar.ResumeScan();
}
}
