private static extern int ParaConfiguration(ref PARA_SYNC_RSP g_stRealPara);
//LSxxx laser = new LSxxx();
private void LS210()
{
PARA_SYNC_RSP g_stRealPara = new PARA_SYNC_RSP();
int err;
//byte i = 0;
string hostPC = "192.168.1.100";
Int32 portPC = 5500;
byte IntensityStatus = 0;
// Create a different thread
while (true)
{
LS_connect(hostPC, portPC);
if (!isConnected())
{
continue;
}
this.Dispatcher.Invoke(new Action(delegate()
{
LidarConnectionStatus.Text = "Network connection OK";
DoEvents();
}));
do
{
err = ParaSync(ref g_stRealPara);
} while (err != 0);
this.Dispatcher.Invoke(new Action(delegate()
{
LidarConnectionStatus.Text = "Parameter synchronization OK";
DoEvents();
}));
//g_stRealPara.ucIntensityStatus = 0;
//g_stRealPara.ucIntensityStatus = 1;
//g_stRealPara.ucIntensityStatus = 2;
g_stRealPara.ucIntensityStatus = IntensityStatus;
do
{
err = ParaConfiguration(ref g_stRealPara);
} while (0 != err);
this.Dispatcher.Invoke(new Action(delegate()
{
LidarConnectionStatus.Text = "Parameter configuration OK";
DoEvents();
}));
StartMeasureTransmission();
this.Dispatcher.Invoke(new Action(delegate()
{
LidarConnectionStatus.Text = "Start getting the Measurements ...";
DoEvents();
}));
////Alarm Area Para
//if ((0x00 != pAlarmPara[0]) || (0x00 != pAlarmPara[1]) || (0x00 != pAlarmPara[2]) || (0x00 != pAlarmPara[3]) || (0x00 != pAlarmPara[4]))
//{
// g_stRealPara.stAlarmArea[pAlarmPara[0]].ucAreaType = pAlarmPara[1];
// //printf("pAlarmPara[0]=%d\r\n",pAlarmPara[0]);
// //printf("g_stRealPara.stAlarmArea[pAlarmPara[0]].ucAreaType=%d\r\n",g_stRealPara.stAlarmArea[pAlarmPara[0]].ucAreaType);
// for (i = 0; i < 19; i++)
// {
// g_stRealPara.stAlarmArea[pAlarmPara[0]].aucPara[i] = pAlarmPara[i + 2];
// //printf("g_stRealPara.stAlarmArea[%d].aucPara[%d]=%d\r\n",pAlarmPara[0],i,g_stRealPara.stAlarmArea[pAlarmPara[0]].aucPara[i]);
// }
//}
//do
//{
// err = Convert.ToByte(LSxxx.ParaConfiguration(g_stRealPara));
//} while (0 != err);
//MessageBox.Show("Parameter configuration OK\r\n");
while (true)
{
this.Dispatcher.Invoke(new Action(delegate()
{
LidarConnectionStatus.Text = "Start getting the Measurements ...";
DoEvents();
}));
LidarConnectionStatus.Text = "Start getting the Measurements ...";
//err = LSxxx.GetLidarMeasData();
//if (0 == err)
//{
// /*test: Print receiving ridar data */
// for (int i = 0; i < 1080; i++)
// {
// //printf("DataIntensity0[ %d].ulDistance=%d\r\n", i, DataIntensity0[i].ulDistance);
// //printf("DataIntensity1[ %d].ulDistance=%d\r\n", i, DataIntensity1[i].ulDistance);
// //printf("DataIntensity1[ %d].ucIntensity=%d\r\n", i, DataIntensity1[i].ucIntensity);
// //printf("DataIntensity2[ %d].ulDistance=%d\r\n", i, DataIntensity2[i].ulDistance);
// //printf("DataIntensity2[ %d].usIntensity=%d\r\n\r\n", i, DataIntensity2[i].usIntensity);
// //printf("DataIntensity2[ %d].usIntensity=%d\r\n\r\n", i, DataIntensity2[i].usIntensity);
// //printf("DataIntensity1[ %d].ulOutputStatus=%d\r\n\r\n", i, DataIntensity1[i].ulOutputStatus);
// //printf("DataIntensity1[ %d].ulOutputStatus=%04x\r\n\r\n", i, DataIntensity1[i].ulOutputStatus);
// }
//}
//else
//{
// //break;
//}
}
}
}
private static extern int ParaSync(ref PARA_SYNC_RSP g_stRealPara);
public static extern Int32 UnpackParaSyncRsp(byte[] vpucMsg, PARA_SYNC_RSP vpstParaSyncRsp);
public static extern Int32 GetLidarMeasData(PARA_SYNC_RSP g_stRealPara, MEAS_DATA_NO_INTENSITY g_stMeasDataNoIntensity, MEAS_DATA_HAVE_INTENSITY1 g_stMeasDataHaveIntensity1, MEAS_DATA_HAVE_INTENSITY2 g_stMeasDataHaveIntensity2);
public static extern Int32 ParaConfiguration(PARA_SYNC_RSP g_stRealPara);
public static extern Int32 ParaSync(PARA_SYNC_RSP g_stRealPara);
