public bool initialization(int startAngle, int stopAngle, double resolution) { socket.Connect(); startAngle *= 10000; stopAngle *= 10000; resolution *= 10000; LidarTelegram.StartAngle = startAngle > 0 ? "+" + startAngle.ToString() : startAngle.ToString(); LidarTelegram.StopAngle = stopAngle > 0 ? "+" + stopAngle.ToString() : stopAngle.ToString(); LidarTelegram.Resolution = "+" + resolution.ToString(); LidarTelegram.Update(); bool Succeeded = false; Succeeded = LoadLidarConfigFromFile(); return(Succeeded); }
// Create Socket Connection with the server. // And send to the server configuration for correct display private void configServerConnection() { try { bool isSucceeded = false; int vehicleWidth = config.getVehicleWidth(); int height = config.getSensorHeightSetup(); int setUpAngle = config.getAngleSetup(); float resolution = config.getResolution(); int startAngle = config.getStartAngle(); int stopAngle = config.getStopAngle(); int sideL = config.getSideLowAlert(); int sideH = config.getSideHighAlert(); int FrontL = config.getFrontLowAlert(); int FrontH = config.getFrontHighAlert(); int HoleL = config.getHoleLowAlert(); int HoleH = config.getHoleHighAlert(); int minimumHeightDetected = config.getMinimumHeightDetected(); string srvConfig = "Config " + vehicleWidth + " " + height + " " + setUpAngle + " " + resolution + " " + startAngle + " " + stopAngle + " " + sideL + " " + sideH + " " + FrontL + " " + FrontH + " " + HoleL + " " + HoleH + " " + minimumHeightDetected; IPAddress server = IPAddress.Parse(config.getServerIp()); IPAddress my = LocalIP.GetLocalIP(LOCAL_IP_TYPE.INTERNET); if (my == null || server == null) { throw new ProtocolViolationException(); } sendSocket = new SocketSync(my, server, serverPort, ServerTimeOut); isSucceeded = sendSocket.Connect(); if (isSucceeded) { isSucceeded = sendSocket.Send(srvConfig, false); } ServerTimeOut(!isSucceeded); } catch (Exception e) { Console.WriteLine(e); } }