/// <summary>
/// Start scan button press
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void ButtonStart_Click(object sender, EventArgs e)
{
// Parse mode
if (!Enum.TryParse(comboMode.SelectedItem.ToString(), out ScanMode mode))
{
logger.LogError($"Invalid scan mode: {comboMode.SelectedItem.ToString()}");
return;
}
// Decide port
if (comboPort.SelectedIndex < 0)
{
logger.LogError($"No port selected");
return;
}
lidar.PortName = (string)comboPort.SelectedItem;
// Set timeout high enough to allow slow speed scanning
lidar.ReceiveTimeout = 3000;
// Flipped ?
lidar.IsFlipped = comboIsFlipped.SelectedIndex == 1;
// Try to parse angle offset
if (float.TryParse(textAngleOffset.Text, out float angleOffset))
{
lidar.AngleOffset = angleOffset;
}
else
{
logger.LogWarning("Invalid angle offset, using zero.");
lidar.AngleOffset = 0.0f;
}
// Try to open port
if (lidar.Open())
{
// Allow stopping
comboPort.Enabled = false;
comboMode.Enabled = false;
buttonStart.Enabled = false;
buttonStop.Enabled = true;
// Start scan task
cancellationSource = new CancellationTokenSource();
lidarTask = Task.Run(() => Scan(mode, cancellationSource.Token));
}
}
public void lidarSerial()
{
//turn on Lidar
l.Open();
}
