/// <summary>
/// 各モードに応じて、クローズ
/// </summary>
public void Close()
{
if (null != urgLog)
{
urgLog.CloseFile();
urgLog = null;
}
if (null != stream)
{
try
{
write(stream, SCIP_Writer.QT()); // stop measurement mode
read_line(stream); // ignore echo back
stream.Close();
urg.Close();
stream = null;
}
catch
{
}
}
}
public static void TestMode()
{
const int GET_NUM = 10;
const int start_step = 0;
const int end_step = 1080;
try
{
string ip_address = LRF_IP_ADDR;
int port_number = LRF_PORT;
//get_connect_information(out ip_address, out port_number);
TcpClient urg = new TcpClient();
urg.Connect(ip_address, port_number);
NetworkStream stream = urg.GetStream();
write(stream, SCIP_Writer.SCIP2());
read_line(stream); // ignore echo back
write(stream, SCIP_Writer.MD(start_step, end_step));
read_line(stream); // ignore echo back
List <double> distances = new List <double>();
long time_stamp = 0;
for (int i = 0; i < GET_NUM; ++i)
{
string receive_data = read_line(stream);
if (!SCIP_Reader.MD(receive_data, ref time_stamp, ref distances))
{
Console.WriteLine(receive_data);
break;
}
if (distances.Count == 0)
{
Console.WriteLine(receive_data);
continue;
}
// show distance data
Console.WriteLine("time stamp: " + time_stamp.ToString() + " distance[100] : " + distances[100].ToString());
}
write(stream, SCIP_Writer.QT()); // stop measurement mode
read_line(stream); // ignore echo back
stream.Close();
urg.Close();
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
Console.WriteLine(ex.StackTrace);
}
finally
{
Console.WriteLine("Press any key.");
//Console.ReadKey();
}
}
/// <summary>
/// LANからデータ取得
/// </summary>
/// <returns></returns>
public double[] getScanDataIP()
{
const int start_step = 0;
const int end_step = 1080;
try
{
write(stream, SCIP_Writer.MD(start_step, end_step, 4, 1)); // 270=度のParticleFilterの仕様にあわせる
//read_line(stream); // ignore echo back
List <double> distances = new List <double>();
long time_stamp = 0;
bool retryFlg = true;
while (retryFlg)
{
string receive_data = read_line(stream);
if (!SCIP_Reader.MD(receive_data, ref time_stamp, ref distances))
{
//Console.WriteLine(receive_data);
break;
}
if (distances.Count == 0)
{
Console.WriteLine("not DistanceData :" + receive_data);
continue;
}
else
{
retryFlg = false;
}
// show distance data
//Console.WriteLine("time stamp: " + time_stamp.ToString() + " distance[100] : " + distances[100].ToString());
}
return(distances.ToArray());
}
catch
{
return(new double[0]);
}
}
/// <summary>
/// IP モードでオープン
/// </summary>
/// <param name="LRFip">ip addr</param>
/// <param name="LRFport">ip port</param>
/// <returns></returns>
public bool IpOpen(string LRFip = LRF_IP_ADDR, int LRFport = LRF_PORT)
{
try
{
urg = new TcpClient();
urg.NoDelay = true;
urg.Connect(LRFip, LRFport);
stream = urg.GetStream();
if (null != stream)
{
// SCIP Ver2 Command
write(stream, SCIP_Writer.SCIP2());
read_line(stream); // ignore echo back
return(true);
}
return(false);
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
return(false);
}
}
