public void GenerateDataPacket_ValidAzimutDelta_CorrectDifference()
{
double packetAzimuthAngleDelta = 2;
double blockDelta = packetAzimuthAngleDelta / 12;
LidarFormatPacketGenerator packetGenerator = new LidarFormatPacketGenerator(0, 0, packetAzimuthAngleDelta);
byte[] packet1 = packetGenerator.GenerateDataPacket(azimuth: 10, packetStartDistance: 0);
byte[] packet2 = packetGenerator.GenerateDataPacket(azimuth: 10 + packetAzimuthAngleDelta, packetStartDistance: 0);
List <double> horizontalAngles = GetHorizontalAnglesFromPackets(packet1);
horizontalAngles.AddRange(GetHorizontalAnglesFromPackets(packet2));
for (int i = 1; i < horizontalAngles.Count; i++)
{
Assert.Equal(blockDelta, horizontalAngles[i] - horizontalAngles[i - 1], 1);
}
}
public SimulatedLidarPacketReceiver(SimulatorAppServiceClient simulatorCommunication)
{
_simulatorCommunication = simulatorCommunication;
_packetGenerator = new LidarFormatPacketGenerator(packetDeltaDistance: 0, channelDeltaDistance: 0, packetAzimuthAngleDelta: 0);
}
public MockLidarPacketReceiver()
{
const double channelDeltaDistance = 2;
_packetGenerator = new LidarFormatPacketGenerator(_packetDeltaDistance, channelDeltaDistance, _packetAzimuthAngleDelta);
}
