/// <summary>
/// コンストラクタ
/// </summary>
public CersioSimForm()
{
InitializeComponent();
// マップファイル読み込み
LoadMapFile(defaultMapFileName);
if ( useSlamForm || cb_LRFForm.Checked)
{
// LRFフォーム生成
slamForm = new LRFMapForm(carSim, MapBmp.Width, MapBmp.Height, ScaleRealToPixel);
slamForm.Show();
}
// IP,Port表示
lbl_bServerIP.Text = bSrv.listenIP + " : " + bSrv.listenPort.ToString();
lbl_URGIP.Text = UrgSim.listenIP + " : " + UrgSim.listenPort.ToString();
// bServer回線待ち
bSrv.OpenAsync();
// URG回線待ち
UrgSim.OpenAsync();
// ROS-IF Emu
try
{
ipc = new IpcServer();
}
catch
{
ipc = null;
}
bLRF_Disable = cbLRF_Off.Checked;
tmr_Update.Enabled = true;
}
private void cb_LRFForm_CheckedChanged(object sender, EventArgs e)
{
if (cb_LRFForm.Checked)
{
slamForm = new LRFMapForm(carSim, 1200, 1300, ScaleRealToPixel);
slamForm.Show();
}
else
{
if (null != slamForm)
{
slamForm.Close();
slamForm = null;
}
}
}
