public void OnRawLidarBalisePointsReceived(object sender, EventArgsLibrary.RawLidarArgs e)
{
List <Point> ptListBalises = new List <Point>();
ptListBalises = e.PtList.Select(p => new Point(p.Angle, p.Distance)).ToList();
oscilloLidar.UpdatePointListOfLine(2, ptListBalises);
}
public void OnRawLidarDataReceived(object sender, EventArgsLibrary.RawLidarArgs e)
{
List <Point> ptList = new List <Point>();
ptList = e.PtList.Select(p => new Point(p.Angle, p.Rssi)).ToList();
oscilloLidar.UpdatePointListOfLine(0, ptList);
List <Point> ptList2 = new List <Point>();
ptList2 = e.PtList.Select(p => new Point(p.Angle, p.Distance)).ToList();
oscilloLidar.UpdatePointListOfLine(1, ptList2);
}
public void OnRawLidarDataReceived(object sender, EventArgsLibrary.RawLidarArgs e)
{
if (localWorldMap == null || localWorldMap.robotLocation == null)
{
return;
}
if (RobotId == e.RobotId)
{
List <PointD> listPtLidar = new List <PointD>();
for (int i = 0; i < e.AngleList.Count; i++)
{
listPtLidar.Add(new PointD(localWorldMap.robotLocation.X + e.DistanceList[i] * Math.Cos(e.AngleList[i]),
localWorldMap.robotLocation.Y + e.DistanceList[i] * Math.Sin(e.AngleList[i])));
}
localWorldMap.lidarMap = listPtLidar;
}
}
public void OnRawLidarDataReceived(object sender, EventArgsLibrary.RawLidarArgs e)
{
if (localWorldMap == null || localWorldMap.robotLocation == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId && e.PtList.Count != 0)
{
List <PointDExtended> listPtLidar = new List <PointDExtended>();
try
{
listPtLidar = e.PtList.Select(
pt => new PointDExtended(
new PointD(localWorldMap.robotLocation.X + pt.Distance * Math.Cos(pt.Angle + localWorldMap.robotLocation.Theta),
localWorldMap.robotLocation.Y + pt.Distance * Math.Sin(pt.Angle + localWorldMap.robotLocation.Theta)),
System.Drawing.Color.White, 0.1)).ToList();
switch (e.Type)
{
case LidarDataType.RawData:
localWorldMap.lidarMap = listPtLidar;
break;
//case LidarDataType.ProcessedData1:
// localWorldMap.lidarMapProcessed1 = listPtLidar;
// break;
//case LidarDataType.ProcessedData2:
// localWorldMap.lidarMapProcessed2 = listPtLidar;
// break;
//case LidarDataType.ProcessedData3:
// localWorldMap.lidarMapProcessed3 = listPtLidar;
// break;
}
}
catch { };
}
}
public void OnProcessedLidarDataReceived(object sender, EventArgsLibrary.RawLidarArgs e)
{
if (localWorldMap == null || localWorldMap.robotLocation == null)
{
return;
}
if (localWorldMap.RobotId == e.RobotId && e.PtList.Count != 0)
{
List <PointD> listPtLidar = new List <PointD>();
try
{
//for (int i = 0; i < 500; i++) //Stress test
{
listPtLidar = e.PtList.Select(
pt => new PointD(localWorldMap.robotLocation.X + pt.Distance * Math.Cos(pt.Angle + localWorldMap.robotLocation.Theta),
localWorldMap.robotLocation.Y + pt.Distance * Math.Sin(pt.Angle + localWorldMap.robotLocation.Theta))).ToList();
}
}
catch { };
localWorldMap.lidarMapProcessed = listPtLidar;
}
}
