public static extern int LidarGetDeviceInfo(
ref rplidar_response_device_info_t info,
uint timeout = 2000);
/// <summary>
/// Starts this instance.
/// </summary>
/// <param name="scanMode">The scan mode.</param>
/// <returns><c>true</c> if successfully, <c>false</c> otherwise.</returns>
public bool LidarStart(EScanMode scanMode = EScanMode.Boost)
{
try
{
if (IsRunning ||
IsDisposed)
{
return(false);
}
_ScanNumber = 0;
// Load driver
if (!NativeModuleManager.InitializeNativeModule(NativeModuleNames.NativeRpLidar))
{
Console.WriteLine("Can not load lidar native driver library.");
return(false);
}
// Initialize driver
if (RpLidarInterface.LidarInitializeDriver() != 0)
{
Console.WriteLine("Can not initialize lidar driver.");
}
// Connect device
if (RpLidarInterface.LidarConnect(_SerialPort, _SerialPortSpeed) != 0)
{
Console.WriteLine($"Can not connect to serial port \"{_SerialPort}:{_SerialPortSpeed}\".");
}
// Get device info
_DeviceInfo = new rplidar_response_device_info_t
{
serialNum = new byte[16]
};
if (RpLidarInterface.LidarGetDeviceInfo(ref _DeviceInfo) != 0)
{
Console.WriteLine("Can not get device info from device.");
}
// Get device health info
_DeviceHealthInfo = new rplidar_response_device_health_t();
if (RpLidarInterface.LidarGetHealth(ref _DeviceHealthInfo) != 0)
{
Console.WriteLine($"Can not get device health info from device.");
}
// Reset device on error state
if (_DeviceHealthInfo.Status == (byte)EDeviceStatus.RPLIDAR_STATUS_ERROR)
{
Console.WriteLine($@"Reset device due to error device health status: {_DeviceHealthInfo.Status}");
RpLidarInterface.LidarReset();
}
// Start spinning motor
if (RpLidarInterface.LidarStartMotor() != 0)
{
Console.WriteLine($"Can not start device motor.");
}
// Start scanning
_RpLidarScanMode = new RplidarScanMode
{
scan_mode = new char[64]
};
if (RpLidarInterface.LidarStartScan(false, (ushort)scanMode, ref _RpLidarScanMode) != 0)
{
Console.WriteLine($"Can not start scan mode.");
}
// Initialize task
_TokenSource = new CancellationTokenSource();
_Token = _TokenSource.Token;
_Task = Task.Factory.StartNew(() => LidarTaskDoWork(_Token), _Token);
if (RpLidarInterface.LidarIsConnected() == 1)
{
return(true);
}
else
{
return(false);
}
}
finally
{
if (RpLidarInterface.LidarIsConnected() == 1)
{
OnDeviceConnected?.Invoke(this, EventArgs.Empty);
}
}
}
