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rp::standalone::rplidar::RPlidarDriver Class Referenceabstract

Detailed Description

Definition at line 44 of file rplidar_driver.h.

#include <rplidar/include/rplidar_driver.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriver:
Inheritance graph

Public Types

enum  { DEFAULT_TIMEOUT = 2000 }
 
enum  { DRIVER_TYPE_SERIALPORT = 0x0 }
 

Public Member Functions

virtual u_result connect (const char *port_path, _u32 baudrate, _u32 flag=0)=0
 Open the specified serial port and connect to a target RPLIDAR device. More...
 
virtual void disconnect ()=0
 Disconnect with the RPLIDAR and close the serial port. More...
 
virtual bool isConnected ()=0
 Returns TRUE when the connection has been established. More...
 
virtual u_result reset (_u32 timeout=DEFAULT_TIMEOUT)=0
 Ask the RPLIDAR core system to reset it self The host system can use the Reset operation to help RPLIDAR escape the self-protection mode. More...
 
virtual u_result getHealth (rplidar_response_device_health_t &health, _u32 timeout=DEFAULT_TIMEOUT)=0
 Retrieve the health status of the RPLIDAR The host system can use this operation to check whether RPLIDAR is in the self-protection mode. More...
 
virtual u_result getDeviceInfo (rplidar_response_device_info_t &info, _u32 timeout=DEFAULT_TIMEOUT)=0
 Get the device information of the RPLIDAR include the serial number, firmware version, device model etc. More...
 
virtual u_result getSampleDuration_uS (rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT)=0
 Get the sample duration information of the RPLIDAR. More...
 
virtual u_result setMotorPWM (_u16 pwm)=0
 Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only. More...
 
virtual u_result startMotor ()=0
 Start RPLIDAR's motor when using accessory board. More...
 
virtual u_result stopMotor ()=0
 Stop RPLIDAR's motor when using accessory board. More...
 
virtual u_result checkMotorCtrlSupport (bool &support, _u32 timeout=DEFAULT_TIMEOUT)=0
 Check whether the device support motor control. More...
 
virtual u_result getFrequency (bool inExpressMode, size_t count, float &frequency, bool &is4kmode)=0
 Calcuate RPLIDAR's current scanning frequency from the given scan data Please refer to the application note doc for details Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data. More...
 
virtual u_result startScan (bool force=false, bool autoExpressMode=true)=0
 Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) A background thread will be created by the RPLIDAR driver to fetch the scan data continuously. More...
 
virtual u_result startScanNormal (bool force, _u32 timeout=DEFAULT_TIMEOUT)=0
 
virtual u_result startScanExpress (bool fixedAngle, _u32 timeout=DEFAULT_TIMEOUT)=0
 
virtual u_result checkExpressScanSupported (bool &support, _u32 timeout=DEFAULT_TIMEOUT)=0
 Check whether the device support express mode. More...
 
virtual u_result stop (_u32 timeout=DEFAULT_TIMEOUT)=0
 Ask the RPLIDAR core system to stop the current scan operation and enter idle state. More...
 
virtual u_result grabScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)=0
 Wait and grab a complete 0-360 degree scan data previously received. More...
 
virtual u_result ascendScanData (rplidar_response_measurement_node_t *nodebuffer, size_t count)=0
 Ascending the scan data according to the angle value in the scan. More...
 

Static Public Member Functions

static RPlidarDriverCreateDriver (_u32 drivertype=DRIVER_TYPE_SERIALPORT)
 Create an RPLIDAR Driver Instance This interface should be invoked first before any other operations. More...
 
static void DisposeDriver (RPlidarDriver *drv)
 Dispose the RPLIDAR Driver Instance specified by the drv parameter Applications should invoke this interface when the driver instance is no longer used in order to free memory. More...
 

Protected Member Functions

 RPlidarDriver ()
 
virtual ~RPlidarDriver ()
 

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
DEFAULT_TIMEOUT 

Definition at line 46 of file rplidar_driver.h.

◆ anonymous enum

anonymous enum
Enumerator
DRIVER_TYPE_SERIALPORT 

Definition at line 50 of file rplidar_driver.h.

Constructor & Destructor Documentation

◆ RPlidarDriver()

rp::standalone::rplidar::RPlidarDriver::RPlidarDriver ( )
inlineprotected

Definition at line 201 of file rplidar_driver.h.

◆ ~RPlidarDriver()

virtual rp::standalone::rplidar::RPlidarDriver::~RPlidarDriver ( )
inlineprotectedvirtual

Definition at line 202 of file rplidar_driver.h.

Member Function Documentation

◆ ascendScanData()

virtual u_result rp::standalone::rplidar::RPlidarDriver::ascendScanData ( rplidar_response_measurement_node_t *  nodebuffer,
size_t  count 
)
pure virtual

Ascending the scan data according to the angle value in the scan.

Parameters
nodebufferBuffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
countThe caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). Once the interface returns, this parameter will store the actual received data count. The interface will return RESULT_OPERATION_FAIL when all the scan data is invalid.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ checkExpressScanSupported()

virtual u_result rp::standalone::rplidar::RPlidarDriver::checkExpressScanSupported ( bool &  support,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Check whether the device support express mode.

Parameters
supportReturn the result.
timeoutThe operation timeout value (in millisecond) for the serial port communication.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ checkMotorCtrlSupport()

virtual u_result rp::standalone::rplidar::RPlidarDriver::checkMotorCtrlSupport ( bool &  support,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Check whether the device support motor control.

Note: this API will disable grab.

Parameters
supportReturn the result.
timeoutThe operation timeout value (in millisecond) for the serial port communication.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ connect()

virtual u_result rp::standalone::rplidar::RPlidarDriver::connect ( const char *  port_path,
_u32  baudrate,
_u32  flag = 0 
)
pure virtual

Open the specified serial port and connect to a target RPLIDAR device.

Parameters
port_paththe device path of the serial port e.g. on Windows, it may be com3 or \. on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
baudratethe baudrate used For most RPLIDAR models, the baudrate should be set to 115200
flagother flags Reserved for future use, always set to Zero

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ CreateDriver()

RPlidarDriver * rp::standalone::rplidar::RPlidarDriver::CreateDriver ( _u32  drivertype = DRIVER_TYPE_SERIALPORT)
static

Create an RPLIDAR Driver Instance This interface should be invoked first before any other operations.

Parameters
drivertypethe connection type used by the driver.

Definition at line 50 of file rplidar_driver.cpp.

References DRIVER_TYPE_SERIALPORT.

◆ disconnect()

virtual void rp::standalone::rplidar::RPlidarDriver::disconnect ( )
pure virtual

Disconnect with the RPLIDAR and close the serial port.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ DisposeDriver()

void rp::standalone::rplidar::RPlidarDriver::DisposeDriver ( RPlidarDriver drv)
static

Dispose the RPLIDAR Driver Instance specified by the drv parameter Applications should invoke this interface when the driver instance is no longer used in order to free memory.

Definition at line 61 of file rplidar_driver.cpp.

◆ getDeviceInfo()

virtual u_result rp::standalone::rplidar::RPlidarDriver::getDeviceInfo ( rplidar_response_device_info_t &  info,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.

Parameters
infoThe device information returned from the RPLIDAR
timeoutThe operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ getFrequency()

virtual u_result rp::standalone::rplidar::RPlidarDriver::getFrequency ( bool  inExpressMode,
size_t  count,
float &  frequency,
bool &  is4kmode 
)
pure virtual

Calcuate RPLIDAR's current scanning frequency from the given scan data Please refer to the application note doc for details Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data.

Parameters
inExpressModeIndicate whether the RPLIDAR is in express mode
countThe number of sample nodes inside the given buffer
frequencyThe scanning frequency (in HZ) calcuated by the interface.
is4kmodeReturn whether the RPLIDAR is working on 4k sample rate mode.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ getHealth()

virtual u_result rp::standalone::rplidar::RPlidarDriver::getHealth ( rplidar_response_device_health_t &  health,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Retrieve the health status of the RPLIDAR The host system can use this operation to check whether RPLIDAR is in the self-protection mode.

Parameters
healthThe health status info returned from the RPLIDAR
timeoutThe operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ getSampleDuration_uS()

virtual u_result rp::standalone::rplidar::RPlidarDriver::getSampleDuration_uS ( rplidar_response_sample_rate_t &  rateInfo,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Get the sample duration information of the RPLIDAR.

Parameters
rateInfoThe sample duration information returned from the RPLIDAR
timeoutThe operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ grabScanData()

virtual u_result rp::standalone::rplidar::RPlidarDriver::grabScanData ( rplidar_response_measurement_node_t *  nodebuffer,
size_t &  count,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

Wait and grab a complete 0-360 degree scan data previously received.

The grabbed scan data returned by this interface always has the following charactistics:

1) The first node of the grabbed data array (nodebuffer[0]) must be the first sample of a scan, i.e. the start_bit == 1 2) All data nodes are belong to exactly ONE complete 360-degrees's scan 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer.

Parameters
nodebufferBuffer provided by the caller application to store the scan data
countThe caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t). Once the interface returns, this parameter will store the actual received data count.
timeoutMax duration allowed to wait for a complete scan data, nothing will be stored to the nodebuffer if a complete 360-degrees' scan data cannot to be ready timely.

The interface will return RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.

caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ isConnected()

virtual bool rp::standalone::rplidar::RPlidarDriver::isConnected ( )
pure virtual

Returns TRUE when the connection has been established.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ reset()

virtual u_result rp::standalone::rplidar::RPlidarDriver::reset ( _u32  timeout = DEFAULT_TIMEOUT)
pure virtual

Ask the RPLIDAR core system to reset it self The host system can use the Reset operation to help RPLIDAR escape the self-protection mode.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ setMotorPWM()

virtual u_result rp::standalone::rplidar::RPlidarDriver::setMotorPWM ( _u16  pwm)
pure virtual

Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.

Parameters
pwmThe motor pwm value would like to set

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ startMotor()

virtual u_result rp::standalone::rplidar::RPlidarDriver::startMotor ( )
pure virtual

Start RPLIDAR's motor when using accessory board.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ startScan()

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScan ( bool  force = false,
bool  autoExpressMode = true 
)
pure virtual

Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) A background thread will be created by the RPLIDAR driver to fetch the scan data continuously.

User Application can use the grabScanData() interface to retrieved the scan data cached previous by this background thread.

Parameters
forceForce the core system to output scan data regardless whether the scanning motor is rotating or not.
autoExpressModeForce the core system to trying express mode first, if the system does not support express mode, it will use normal mode.
timeoutThe operation timeout value (in millisecond) for the serial port communication.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ startScanExpress()

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScanExpress ( bool  fixedAngle,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

◆ startScanNormal()

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScanNormal ( bool  force,
_u32  timeout = DEFAULT_TIMEOUT 
)
pure virtual

◆ stop()

virtual u_result rp::standalone::rplidar::RPlidarDriver::stop ( _u32  timeout = DEFAULT_TIMEOUT)
pure virtual

Ask the RPLIDAR core system to stop the current scan operation and enter idle state.

The background thread will be terminated

Parameters
timeoutThe operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.

◆ stopMotor()

virtual u_result rp::standalone::rplidar::RPlidarDriver::stopMotor ( )
pure virtual

Stop RPLIDAR's motor when using accessory board.

Implemented in rp::standalone::rplidar::RPlidarDriverSerialImpl.




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