public override bool isHealthAndConnect() //检查雷达状态是否健康和雷达是否连接正常 { if (IntPtr.Zero != handle) { rplidar_response_device_health_t healthInformation = new rplidar_response_device_health_t(); if (isOK(originRadarA2.getHealth(handle, ref healthInformation, timeout))) { if ((healthInformation.status == 0) && (originRadarA2.isConnected(handle))) { return(true); } } } return(false); }
public extern static UInt32 getHealth(IntPtr drv, ref rplidar_response_device_health_t health, UInt32 timeout = (UInt32)TIMEOUT.DEFAULT_TIMEOUT);