private async void Lidar_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
{
switch (e.PropertyName)
{
case nameof(Lidar.RunCollector) when Lidar.RunCollector == false:
CalculateHorizontalPoints = false;
break;
case nameof(Lidar.RaiseNotificationForSelective) when Lidar.RaiseNotificationForSelective == false:
AutoCalculateDirections = false;
AutoCalculateLargestDistance = false;
break;
}
if (e.PropertyName != nameof(Lidar.LastUpdate))
{
return;
}
if (AutoCalculateDirections)
{
Task.Run(() =>
{
float fwd = Lidar.Fwd;
float left = Lidar.Left;
float right = Lidar.Right;
});
}
if (AutoCalculateLargestDistance)
{
HorizontalPoint point = Lidar.LargestDistance;
}
if (CalculateHorizontalPoints)
{
float fromAngle = CenterForAnglesInRange - BeamOpeningForAnglesInRange / 2;
float toAngle = CenterForAnglesInRange + BeamOpeningForAnglesInRange / 2;
if (fromAngle < 0)
{
fromAngle += 360;
}
if (toAngle > 360)
{
fromAngle -= 360;
}
SelectedAngleRange = $"From {fromAngle} to {toAngle}";
HorizontalPointsInRange = await Task.Run(() => Lidar.GetHorizontalPointsInRange(fromAngle, toAngle, Lidar.Config.DefaultVerticalAngle));
}
}
