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rplidar_driver_serial.h
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1 /*
2  * RPLIDAR SDK
3  *
4  * Copyright (c) 2009 - 2014 RoboPeak Team
5  * http://www.robopeak.com
6  * Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
7  * http://www.slamtec.com
8  *
9  */
10 /*
11  * Redistribution and use in source and binary forms, with or without
12  * modification, are permitted provided that the following conditions are met:
13  *
14  * 1. Redistributions of source code must retain the above copyright notice,
15  * this list of conditions and the following disclaimer.
16  *
17  * 2. Redistributions in binary form must reproduce the above copyright notice,
18  * this list of conditions and the following disclaimer in the documentation
19  * and/or other materials provided with the distribution.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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23  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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33  */
34 
35 #pragma once
36 
37 namespace rp { namespace standalone{ namespace rplidar {
38 
40 {
41 public:
42 
43  enum {
45  };
46 
47  enum {
49  };
50 
52  virtual ~RPlidarDriverSerialImpl();
53 
54 public:
55  virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag);
56  virtual void disconnect();
57  virtual bool isConnected();
58 
59  virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT);
60 
61  virtual u_result getHealth(rplidar_response_device_health_t &, _u32 timeout = DEFAULT_TIMEOUT);
62  virtual u_result getDeviceInfo(rplidar_response_device_info_t &, _u32 timeout = DEFAULT_TIMEOUT);
63  virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT);
64 
65  virtual u_result setMotorPWM(_u16 pwm);
66  virtual u_result startMotor();
67  virtual u_result stopMotor();
68  virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT);
69  virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode);
70 
71  virtual u_result startScan(bool force = false, bool autoExpressMode = true);
72  virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT);
73  virtual u_result startScanExpress(bool fixedAngle, _u32 timeout = DEFAULT_TIMEOUT);
74  virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT);
75 
76  virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT);
77  virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT);
78  virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count);
79 
80 protected:
81  u_result _waitNode(rplidar_response_measurement_node_t * node, _u32 timeout = DEFAULT_TIMEOUT);
82  u_result _waitScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT);
84  void _capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t & capsule, rplidar_response_measurement_node_t *nodebuffer, size_t &nodeCount);
85  u_result _waitCapsuledNode(rplidar_response_capsule_measurement_nodes_t & node, _u32 timeout = DEFAULT_TIMEOUT);
87  u_result _sendCommand(_u8 cmd, const void * payload = NULL, size_t payloadsize = 0);
88  u_result _waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout = DEFAULT_TIMEOUT);
89  u_result _waitSampleRate(rplidar_response_sample_rate_t * res, _u32 timeout = DEFAULT_TIMEOUT);
90 
91  void _disableDataGrabbing();
92 
96 
100  rplidar_response_measurement_node_t _cached_scan_node_buf[2048];
102 
105 
106  rplidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata;
108 
110 };
111 
112 
113 }}}
GLuint GLuint GLsizei count
Definition: glext.h:3512
virtual u_result startScanNormal(bool force, _u32 timeout=DEFAULT_TIMEOUT)
virtual bool isConnected()
Returns TRUE when the connection has been established.
virtual u_result ascendScanData(rplidar_response_measurement_node_t *nodebuffer, size_t count)
Ascending the scan data according to the angle value in the scan.
void _capsuleToNormal(const rplidar_response_capsule_measurement_nodes_t &capsule, rplidar_response_measurement_node_t *nodebuffer, size_t &nodeCount)
virtual u_result getFrequency(bool inExpressMode, size_t count, float &frequency, bool &is4kmode)
Calcuate RPLIDAR's current scanning frequency from the given scan data Please refer to the applicatio...
virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT)
Get the sample duration information of the RPLIDAR.
virtual u_result connect(const char *port_path, _u32 baudrate, _u32 flag)
Open the specified serial port and connect to a target RPLIDAR device.
virtual u_result startScanExpress(bool fixedAngle, _u32 timeout=DEFAULT_TIMEOUT)
virtual void disconnect()
Disconnect with the RPLIDAR and close the serial port.
rplidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata
virtual u_result grabScanData(rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)
Wait and grab a complete 0-360 degree scan data previously received.
uint8_t _u8
Definition: rptypes.h:63
virtual u_result stopMotor()
Stop RPLIDAR's motor when using accessory board.
nv_oem6_header_t header
Novatel frame: NV_OEM6_BESTPOS.
virtual u_result checkMotorCtrlSupport(bool &support, _u32 timeout=DEFAULT_TIMEOUT)
Check whether the device support motor control.
virtual u_result startScan(bool force=false, bool autoExpressMode=true)
Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) A backgro...
virtual u_result startMotor()
Start RPLIDAR's motor when using accessory board.
virtual u_result setMotorPWM(_u16 pwm)
Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.
u_result _sendCommand(_u8 cmd, const void *payload=NULL, size_t payloadsize=0)
u_result _waitResponseHeader(rplidar_ans_header_t *header, _u32 timeout=DEFAULT_TIMEOUT)
u_result _waitNode(rplidar_response_measurement_node_t *node, _u32 timeout=DEFAULT_TIMEOUT)
u_result _waitSampleRate(rplidar_response_sample_rate_t *res, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result checkExpressScanSupported(bool &support, _u32 timeout=DEFAULT_TIMEOUT)
Check whether the device support express mode.
virtual u_result getDeviceInfo(rplidar_response_device_info_t &, _u32 timeout=DEFAULT_TIMEOUT)
Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
virtual u_result reset(_u32 timeout=DEFAULT_TIMEOUT)
Ask the RPLIDAR core system to reset it self The host system can use the Reset operation to help RPLI...
rplidar_response_measurement_node_t _cached_scan_node_buf[2048]
uint32_t _u32
Definition: rptypes.h:69
u_result _waitCapsuledNode(rplidar_response_capsule_measurement_nodes_t &node, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result stop(_u32 timeout=DEFAULT_TIMEOUT)
Ask the RPLIDAR core system to stop the current scan operation and enter idle state.
virtual u_result getHealth(rplidar_response_device_health_t &, _u32 timeout=DEFAULT_TIMEOUT)
Retrieve the health status of the RPLIDAR The host system can use this operation to check whether RPL...
GLuint res
Definition: glext.h:6298
uint16_t _u16
Definition: rptypes.h:66
uint32_t u_result
Definition: rptypes.h:100
u_result _waitScanData(rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)



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