/// <summary>
/// Run lidar task
/// </summary>
/// <param name="cancellationToken"></param>
private bool RunLidar(CancellationToken cancellationToken)
{
while (!cancellationToken.IsCancellationRequested)
{
// Try to get scan
Scan scan = lidar.GetScan(cancellationToken);
if (scan == null)
{
// It was either cancellation or error
return(cancellationToken.IsCancellationRequested);
}
// Display it
BeginInvoke(new UpdateScanDelegate(UpdateScan), new object[] { scan });
}
// Normal exit
return(true);
}
