public LidarReader(double setNoVehicle, double sensitivy, double trigger_sensetivity)
{
Debug.Print("== LidarReader constructor");
_sensitivy = sensitivy;
_minValue = setNoVehicle * 0.7;
_noVehicleDistanceRange = _minValue * 3.2; // distance with no vehicle , if we get more than that , we just ignore the value.
_mLidarStartTime = 0;
LidarInitialized = true;
_lastTriggerDistance = 0;
_triggerSensetivity = trigger_sensetivity;
_stoppedVehicleHappened = false;
_distanceValueLocation = null;
_interruptDisableCount = 0;
// assign port , but disable interrupts , will be enabled in the start function
_oport = new OutputPort(Pins.GPIO_PIN_D2, true);
_inport = new InterruptPort(Pins.GPIO_PIN_D1, true, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
/*
* // Manualy set interrupot c**t before
* lock (_inport)
* {
* _interruptDisableCount++;
* _inport.DisableInterrupt();
* Debug.Print("lr" + " Disable: " + _interruptDisableCount);
* }
*/
}
// private OutputPort led;
/// <summary>
/// Creates an NeonMika.Webserver instance running in a seperate thread
/// </summary>
/// <param name="portNumber">The port to listen for incoming requests</param>
public Server()
{
// Turn on red Light to show we are initializing
_statusLED = new StatusLED.StatusLED(Pins.GPIO_PIN_D8, Pins.GPIO_PIN_D9, Pins.GPIO_PIN_D10);
_statusLED.redLED();
_laser = new Laser.Laser(Pins.GPIO_PIN_D4);
_distanceValue = new DistanceValue.DistanceValueClass();
}
public void setDistanceValue(DistanceValue.DistanceValueClass dv)
{
_distanceValue = dv;
}
public void setDistanceValue(DistanceValue.DistanceValueClass dv)
{
_readLidarResponse.setDistanceValue(dv);
}
public void setDistanceValue(DistanceValue.DistanceValueClass dv)
{
}
public void setDistanceValueLocation(DistanceValue.DistanceValueClass dv)
{
_distanceValueLocation = dv;
}