/// <summary> /// コンストラクタ /// </summary> public CersioSimForm() { InitializeComponent(); // マップファイル読み込み LoadMapFile(defaultMapFileName); if ( useSlamForm || cb_LRFForm.Checked) { // LRFフォーム生成 slamForm = new LRFMapForm(carSim, MapBmp.Width, MapBmp.Height, ScaleRealToPixel); slamForm.Show(); } // IP,Port表示 lbl_bServerIP.Text = bSrv.listenIP + " : " + bSrv.listenPort.ToString(); lbl_URGIP.Text = UrgSim.listenIP + " : " + UrgSim.listenPort.ToString(); // bServer回線待ち bSrv.OpenAsync(); // URG回線待ち UrgSim.OpenAsync(); // ROS-IF Emu try { ipc = new IpcServer(); } catch { ipc = null; } bLRF_Disable = cbLRF_Off.Checked; tmr_Update.Enabled = true; }
private void cb_LRFForm_CheckedChanged(object sender, EventArgs e) { if (cb_LRFForm.Checked) { slamForm = new LRFMapForm(carSim, 1200, 1300, ScaleRealToPixel); slamForm.Show(); } else { if (null != slamForm) { slamForm.Close(); slamForm = null; } } }