public override async Task ConnectAsync()
{
// don't do this again if we're already connected :O
if (Connected)
{
return;
}
var protocolInfo = await commandClient.GetAsAsync <ProtocolInformation>("get_protocol_info");
this.instanceProtocolVersion = protocolInfo.GetProtocolVersion();
this.SensorInformation = await FetchConfigObject <BasicSensorInformation>();
this.SensorCapabilities = await FetchConfigObject <SensorCapabilitiesInformation>();
this.EthernetConfiguration = await FetchConfigObject <EthernetConfigurationInformation>();
this.MeasurementConfiguration = await FetchConfigObject <MeasuringConfigurationInformation>();
// start the periodical fetching if required
if (fetchStatusInterval > 0)
{
this.fetchStatusCts = new CancellationTokenSource();
this.fetchStatusThread = new Thread(ThreadFetchStatusPeriodically);
this.fetchStatusThread.Start();
}
// Note: well... yes this is somewhat stupid, but hey(!) we managed to talk with
// the R2000, so everything's fine and dandy
this.connected = true;
}
public R2000ParameterInfoAttribute(
R2000ParameterType parameterAccessType,
R2000ProtocolVersion minVersion = R2000ProtocolVersion.Any,
R2000ProtocolVersion maxVersion = R2000ProtocolVersion.Any)
{
this.AccessType = parameterAccessType;
this.MinProtocolVersion = minVersion;
this.MaxProtocolVersion = maxVersion;
}
public TCPConnector(
HttpClient httpc,
IPAddress address,
bool enableWatchdog = true,
int watchdogTimeout = 10000,
R2000ProtocolVersion protocolVersion = R2000ProtocolVersion.v100)
{
this.observers = new List <IObserver <ScanFramePoint> >();
this.statusObservers = new List <IObserver <LidarStatusEvent> >();
this.httpClient = httpc;
this.r2000IpAddress = address;
this.watchdogEnabled = enableWatchdog;
this.watchdogTimeout = watchdogTimeout;
this.protocolVersion = protocolVersion;
}
/// <summary>
/// Get the list of "R2000 parameters" in this type
/// </summary>
/// <param name="type"></param>
/// <returns></returns>
public static string[] GetR2000ParametersList(
this Type type,
R2000ProtocolVersion protocolVersion,
R2000ParameterType accessorTypes = R2000ParameterType.All)
{
var fieldNames = type.GetRuntimeProperties()
// get only fields where we find a R2000ParameterTypeAttribute with the required filter
.Where(field =>
{
var parameterTypeAttribute = field.GetCustomAttributes <R2000ParameterInfoAttribute>();
if (!parameterTypeAttribute.Any())
{
return(false);
}
var accessorsOk = parameterTypeAttribute.All(x => accessorTypes.HasFlag(x.AccessType));
var minVersionOk = parameterTypeAttribute.All(x => x.MinProtocolVersion == R2000ProtocolVersion.Any || x.MinProtocolVersion <= protocolVersion);
var maxVersionOk = parameterTypeAttribute.All(x => x.MaxProtocolVersion == R2000ProtocolVersion.Any || x.MaxProtocolVersion >= protocolVersion);
return(accessorsOk && minVersionOk && maxVersionOk);
})
// select either the JsonProperty.PropertyName or the Fields true name as fallback
.Select(field =>
{
var jsonAttribute = field.GetCustomAttribute <JsonPropertyAttribute>();
if (jsonAttribute != null)
{
return(jsonAttribute.PropertyName);
}
else
{
return(field.Name);
}
});
return(fieldNames.ToArray());
}
