/// <summary>
/// Start lidar (at least try)
/// </summary>
/// <param name="mode">Scan mode</param>
/// <returns>true if succeeded, false if not</returns>
private bool StartLidar(ScanMode mode)
{
// Get health
HealthInfo health = lidar.GetHealth();
if (health == null)
{
return(false);
}
// Good health ?
if (health.Status != HealthStatus.Good)
{
logger.LogWarning($"Health {health.Status}, error code {health.ErrorCode}.");
return(false);
}
// Good health
logger.LogInformation($"Health good.");
// Get configuration
Configuration config = lidar.GetConfiguration();
if (config == null)
{
return(false);
}
// Show configuration
logger.LogInformation("Configuration:");
foreach (KeyValuePair <ushort, ScanModeConfiguration> modeConfig in config.Modes)
{
logger.LogInformation($"0x{modeConfig.Key:X4} - {modeConfig.Value}"
+ (config.Typical == modeConfig.Key ? " (typical)" : string.Empty));
}
// Start motor
lidar.ControlMotorDtr(false);
// Start scanning
if (!lidar.StartScan(mode))
{
return(false);
}
// Report
logger.LogInformation("Scanning started.");
return(true);
}
