public ActiveDetour()
{
hexMap = new HexPixelMap(mapWidth, mapHeight);
urgLRF = new URG_LRF();
//LRF_IPConnectFlg = urgLRF.IpOpen();
urgLRF.LogFileOpen(Path.GetDirectoryName( Application.ExecutablePath)+"\\urgLog20150815.txt",1);
}
public MainForm()
{
InitializeComponent();
// 初期値をセット
objTCPSC = new TCPClient();
textBox_ChangeIPAdress.Text = objTCPSC.ipStringProperty;
textBox_port.Text = objTCPSC.portProperty.ToString();
objTCPSC_INFO = new TCPServerCheck();
textBox_ChangeIPAdressINFO.Text = objTCPSC_INFO.ipStringProperty;
textBox_portINFO.Text = objTCPSC_INFO.portProperty.ToString();
urgLRF = new URG_LRF();
bsReder = new BServerReader();
// SavePath
tb_LogFile.Text = Path.GetDirectoryName(Directory.GetCurrentDirectory()) + "\\" + GetNowTimeStampFileName("tcpLog", ".log");
tb_MapLogFile.Text = Path.GetDirectoryName(Directory.GetCurrentDirectory()) + "\\" + GetNowTimeStampFileName("AutoMap", ".png");
// 300m四方
autoMapBmp = new Bitmap(mapWidthPix, mapHeightPix);
{
Graphics g = Graphics.FromImage(autoMapBmp);
g.FillRectangle(Brushes.Black, 0, 0, mapWidthPix, mapHeightPix);
g.Dispose();
}
picbox_LRFMap.Image = autoMapBmp;
#if EMURATE_MODE
// エミュレーションモード用アドレス
textBox_ChangeIPAdress.Text = "127.0.0.1";
tb_LrfIP.Text = "127.0.0.10";
#endif
}
/// <summary>
/// LRF初期化 エミュレーションモード
/// </summary>
public void Open()
{
urgLRF = null;
}
/// <summary>
/// LRF初期化 ＬＡＮモード
/// </summary>
/// <param name="IPAddr"></param>
/// <param name="IPPort"></param>
public void Open(string IPAddr, int IPPort)
{
urgLRF = new URG_LRF();
if (!urgLRF.IpOpen(IPAddr, IPPort))
{
// Open失敗
urgLRF = null;
}
}
/// <summary>
/// LRF初期化 ログデータモード
/// </summary>
/// <param name="logFilename"></param>
public void Open(string logFilename)
{
urgLRF = new URG_LRF();
urgLRF.LogFileOpen(logFilename);
}