From 0017128218f87fd999180f278cb1adef8a913af5 Mon Sep 17 00:00:00 2001
From: QUYVN <quyvn@phenikaa-x.com>
Date: Thu, 16 Jul 2026 09:55:38 +0700
Subject: [PATCH] update reconnect imu

---
 .../Drivers/HfiA9IMU/HfiA9IMU.cs                 | 12 ++++++------
 .../Drivers/WheeltecIMU/WheeltecN100IMU.cs       | 14 +++++++-------
 .../RobotNet10.RobotApp/appsettings.json         | 16 ++++++++--------
 3 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs
index 2b3beb3..2b8e4ab 100644
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs
@@ -190,12 +190,12 @@ namespace RobotNet10.RobotApp.Drivers.HfiA9IMU
                         var ori = CachedOrientation.Vector;
                         var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
 
-                        Console.WriteLine(
-                            $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
-                            $"t={t:HH:mm:ss.fff} " +
-                            $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
-                            $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
-                            $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})");
+                        // Console.WriteLine(
+                        //     $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
+                        //     $"t={t:HH:mm:ss.fff} " +
+                        //     $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
+                        //     $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
+                        //     $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})");
                     }
                     catch { }
                 }, null, dueTime: TimeSpan.Zero, period: _printDataInterval);
diff --git a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
index e401eeb..c5f8c93 100644
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
@@ -202,13 +202,13 @@ namespace RobotNet10.RobotApp.Drivers.WheeltecIMU
                         var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
                         var tempStr = temp.HasValue ? temp.Value.ToString("F2") : "NA";
 
-                        Console.WriteLine(
-                            $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
-                            $"t={t:HH:mm:ss.fff} " +
-                            $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
-                            $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
-                            $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
-                            $"temp={tempStr}");
+                        // Console.WriteLine(
+                        //     $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
+                        //     $"t={t:HH:mm:ss.fff} " +
+                        //     $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
+                        //     $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
+                        //     $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
+                        //     $"temp={tempStr}");
                     }
                     catch { }
                 }, null, dueTime: TimeSpan.Zero, period: _printDataInterval);
diff --git a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
index 3b2a78e..e18e063 100644
--- a/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
+++ b/srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
@@ -464,7 +464,7 @@
     "HinsonLidar": 
     {
       "Enabled": true,
-      "DeviceId": "lidar-hinson-front",
+      "DeviceId": "scan",
       "DeviceName": "Hinson FE-35FB-01000",
       "DeviceType": "Lidar",
       "DriverName": "HinsonFE35LidarDriver",
@@ -472,7 +472,7 @@
       "Connection": {
         "IpAddress": "192.168.100.88",
         "Port": 8080,
-        "FrameId": "hinson-front",
+        "FrameId": "scan_1",
         "MaxRangeM": 35.0
       }
     },
@@ -961,10 +961,10 @@
       "ImuSensorId": "imu",
       "ImuFrameId": "imu",
       "EnableLidar1": true,
-      "EnableLidar2": true,
+      "EnableLidar2": false,
       "EnableLidar3": false,
-      "Lidar1DeviceId": "scan_1",
-      "Lidar1SensorId": "scan_1",
+      "Lidar1DeviceId": "scan",
+      "Lidar1SensorId": "scan",
       "Lidar2DeviceId": "scan_2",
       "Lidar2SensorId": "scan_2",
       "Lidar3DeviceId": "scan_3",
@@ -977,7 +977,7 @@
   },
   "Navigation": {
     "Integration": {
-      "Enabled": true,
+      "Enabled": false,
       "UpdateIntervalMs": 100,
       "EnableNavigationIntegration": true,
       "EnableOdometryDispatch": true,
@@ -1024,7 +1024,7 @@
     "Integration": {
       "Enabled": false,
       "MarkerType": "Segment",
-      "LidarDeviceId": "scan_1",
+      "LidarDeviceId": "scan",
       "LaserScanSensorId": "scan",
       "LaserScanDispatchIntervalMs": 50,
       "RectangleMarkerOptions": {
@@ -1074,7 +1074,7 @@
       },
       {
         "FrameId": "base_link",
-        "ChildFrameId": "scan_1",
+        "ChildFrameId": "scan",
         "Pose": {
           "Position": { "X": 0.095, "Y": 0.01, "Z": 0.0 },
           "Orientation": { "X": 0.0, "Y": 0.0, "Z": 0.0261769, "W": 0.9996573 }