static List <Radar> ProgramRadars; //启用的雷达集合
static List <Radar> radarSet(int maxnumber) //设置可使用的雷达，其中maxnumber为单个雷达单次最大采样点数量
{
List <Radar> set = new List <Radar>();
RadarSetting setting = new RadarSetting(); //雷达设置，area为雷达涵盖的区域坐标，capacity为雷达点的容量，
setting.area = new squareArea(1780, 0, 3560, 2000); //position为雷达的xy坐标，type为雷达的链接方式
setting.capacity = maxnumber; //链接方式有TCP链接和串口链接，有默认的函数进行设置，当然也可以根据
setting.position.set(2670, 2300, -180); //需要手动设置
setting.type.setA2defaultTCP();
RadarA2 radar1 = new RadarA2(setting); //设置A2雷达
radar1.connect(); //连接雷达
if (radar1.isHealthAndConnect()) //若连接成功，加入可用雷达序列
{
set.Add(radar1);
}
setting.type.setG4defaultSerial();
setting.position.set(895, 2300, -180);
setting.area = new squareArea(0, 0, 1790, 2000);
RadarG4 radar2 = new RadarG4(setting);
radar2.connect();
if (radar2.isHealthAndConnect())
{
set.Add(radar2);
}
ProgramRadars = set;
return(set); //返回可用雷达集合
}
private rplidar_response_measurement_node_hq_t[] nodeInformation; //SDK接口返回的点数据
public RadarA2(RadarSetting setting)
{
capacity = setting.capacity;
connectType = setting.type;
radarArea = setting.area;
radarPosition = setting.position;
xyData = new XYPoint[capacity];
nodeInformation = new rplidar_response_measurement_node_hq_t[capacity];
dataNumber = 0;
createNewRadar();
}
private string filePath = "setting.ini"; //初始化文件地址
public RadarG4(RadarSetting setting, string path = "setting.ini", int rate = 15, int freq = 15, bool reversion = false)
{
sampleRate = rate;
scanFreq = freq;
ifReversion = reversion;
filePath = path;
radarPosition = setting.position;
radarArea = setting.area;
connectType = setting.type;
capacity = setting.capacity;
createNewRadar();
xyData = new XYPoint[capacity];
dataNumber = 0;
}