Detailed Description

Definition at line 44 of file rplidar_driver.h.

#include <rplidar/include/rplidar_driver.h>

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

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 RPlidarDriver *	CreateDriver (_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

nodebuffer	Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
count	The 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

support	Return the result.
timeout	The 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

support	Return the result.
timeout	The 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_path	the 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
baudrate	the baudrate used For most RPLIDAR models, the baudrate should be set to 115200
flag	other 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

drivertype the 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

info	The device information returned from the RPLIDAR
timeout	The 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

inExpressMode	Indicate whether the RPLIDAR is in express mode
count	The number of sample nodes inside the given buffer
frequency	The scanning frequency (in HZ) calcuated by the interface.
is4kmode	Return 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

health	The health status info returned from the RPLIDAR
timeout	The 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

rateInfo	The sample duration information returned from the RPLIDAR
timeout	The 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

nodebuffer	Buffer provided by the caller application to store the scan data
count	The 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.
timeout	Max 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

pwm	The 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

force	Force the core system to output scan data regardless whether the scanning motor is rotating or not.
autoExpressMode	Force the core system to trying express mode first, if the system does not support express mode, it will use normal mode.
timeout	The 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

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

◆ startScanNormal()

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

pure virtual

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

◆ 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

timeout The 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.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ RPlidarDriver()

◆ ~RPlidarDriver()

Member Function Documentation

◆ ascendScanData()

◆ checkExpressScanSupported()

◆ checkMotorCtrlSupport()

◆ connect()

◆ CreateDriver()

◆ disconnect()

◆ DisposeDriver()

◆ getDeviceInfo()

◆ getFrequency()

◆ getHealth()

◆ getSampleDuration_uS()

◆ grabScanData()

◆ isConnected()

◆ reset()

◆ setMotorPWM()

◆ startMotor()

◆ startScan()

◆ startScanExpress()

◆ startScanNormal()

◆ stop()

◆ stopMotor()