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);
}
}
