Implemented code for Slamtec rplidar C1

1 files changed, 247 insertions, 0 deletions

diff --git a/LIDAR/sdk/include/rplidar_driver.h b/LIDAR/sdk/include/rplidar_driver.h
new file mode 100644
index 0000000..bd2fc82
--- /dev/null
+++ b/LIDAR/sdk/include/rplidar_driver.h
@@ -0,0 +1,247 @@
+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, 
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, 
+ *    this list of conditions and the following disclaimer in the documentation 
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#pragma once
+#include "sl_lidar_driver.h"
+
+#ifndef __cplusplus
+#error "The RPlidar SDK requires a C++ compiler to be built"
+#endif
+
+
+namespace rp { namespace standalone{ namespace rplidar {
+    using namespace sl;
+    typedef LidarScanMode RplidarScanMode;
+
+enum {
+   DRIVER_TYPE_SERIALPORT = 0x0,
+   DRIVER_TYPE_TCP = 0x1,
+   DRIVER_TYPE_UDP = 0x2,
+};
+
+class RPlidarDriver {
+public:
+    enum {
+        DEFAULT_TIMEOUT = 2000, //2000 ms
+    };
+
+    enum {
+        MAX_SCAN_NODES = 8192,
+    };
+
+    enum {
+        LEGACY_SAMPLE_DURATION = 476,
+    };
+
+public:
+    /// Create an RPLIDAR Driver Instance
+    /// This interface should be invoked first before any other operations
+    ///
+    /// \param drivertype the connection type used by the driver. 
+    static RPlidarDriver * CreateDriver(_u32 drivertype = CHANNEL_TYPE_SERIALPORT);
+    
+
+    RPlidarDriver(sl_u32 channelType);
+
+    /// 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
+    static void DisposeDriver(RPlidarDriver * drv);
+
+    /// Open the specified serial port and connect to a target RPLIDAR device
+    ///
+    /// \param port_path     the device path of the serial port 
+    ///        e.g. on Windows, it may be com3 or \\.\com10 
+    ///             on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
+    ///
+    /// \param baudrate      the baudrate used
+    ///        For most RPLIDAR models, the baudrate should be set to 115200
+    ///
+    /// \param flag          other flags
+    ///        Reserved for future use, always set to Zero
+    u_result connect(const char *path, _u32 portOrBaud, _u32 flag = 0);
+    
+    /// Disconnect with the RPLIDAR and close the serial port
+    void disconnect();
+
+    /// Returns TRUE when the connection has been established
+    bool isConnected(); 
+
+    /// 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.
+    ///
+    ///  \param timeout       The operation timeout value (in millisecond) for the serial port communication                     
+    u_result reset(_u32 timeout = DEFAULT_TIMEOUT);
+
+    u_result clearNetSerialRxCache() {
+        return RESULT_OK;
+    }
+    // FW1.24
+    /// Get all scan modes that supported by lidar
+    u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT);
+   
+    /// Get typical scan mode of lidar
+    u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT);
+
+    /// Start scan
+    ///
+    /// \param force            Force the core system to output scan data regardless whether the scanning motor is rotating or not.
+    /// \param useTypicalScan   Use lidar's typical scan mode or use the compatibility mode (2k sps)
+    /// \param options          Scan options (please use 0)
+    /// \param outUsedScanMode  The scan mode selected by lidar
+    u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL);
+
+    /// Start scan in specific mode
+    ///
+    /// \param force            Force the core system to output scan data regardless whether the scanning motor is rotating or not.
+    /// \param scanMode         The scan mode id (use getAllSupportedScanModes to get supported modes)
+    /// \param options          Scan options (please use 0)
+    /// \param outUsedScanMode  The scan mode selected by lidar
+    u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT);
+
+    /// Retrieve the health status of the RPLIDAR
+    /// The host system can use this operation to check whether RPLIDAR is in the self-protection mode.
+    ///
+    /// \param health        The health status info returned from the RPLIDAR
+    ///
+    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication     
+    u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT);
+
+    /// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
+    /// 
+    /// \param info          The device information returned from the RPLIDAR
+    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication  
+    u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT);
+
+    /// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.
+    /// 
+    /// \param pwm           The motor pwm value would like to set 
+    u_result setMotorPWM(_u16 pwm);
+
+    /// Start RPLIDAR's motor when using accessory board
+    u_result startMotor();
+
+    /// Stop RPLIDAR's motor when using accessory board
+    u_result stopMotor();
+
+    /// Check whether the device support motor control.
+    /// Note: this API will disable grab.
+    /// 
+    /// \param support       Return the result.
+    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication. 
+    u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT);
+
+	///Set LPX and S2E series lidar's static IP address
+	///
+	/// \param conf             Network parameter that LPX series lidar owned
+	/// \param timeout          The operation timeout value (in millisecond) for the ethernet udp communication
+	u_result  setLidarIpConf(const rplidar_ip_conf_t& conf, _u32 timeout = DEFAULT_TIMEOUT);
+
+    ///Get LPX and S2E series lidar's static IP address
+    ///
+    /// \param conf             Network parameter that LPX series lidar owned
+    /// \param timeout          The operation timeout value (in millisecond) for the ethernet udp communication
+    u_result  getLidarIpConf(rplidar_ip_conf_t& conf, _u32 timeout = DEFAULT_TIMEOUT);
+
+	///Get LPX and S2E series lidar's MAC address
+	///
+	/// \param macAddrArray         The device MAC information returned from the LPX series lidar
+	u_result getDeviceMacAddr(_u8* macAddrArray, _u32 timeoutInMs = DEFAULT_TIMEOUT);
+
+    /// Ask the RPLIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated
+    ///
+    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication 
+    u_result stop(_u32 timeout = DEFAULT_TIMEOUT);
+
+    /// 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.
+    ///
+    /// \param nodebuffer     Buffer provided by the caller application to store the scan data
+    ///
+    /// \param 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.
+    ///
+    /// \param 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. 
+    ///
+    /// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
+    u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT);
+
+    /// Ascending the scan data according to the angle value in the scan.
+    ///
+    /// \param nodebuffer     Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
+    ///
+    /// \param 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. 
+    u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count);
+
+    /// Return received scan points even if it's not complete scan
+    ///
+    /// \param nodebuffer     Buffer provided by the caller application to store the scan data
+    ///
+    /// \param count          Once the interface returns, this parameter will store the actual received data count.
+    ///
+    /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
+    u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count);
+
+    /// Return received scan points even if it's not complete scan
+    ///
+    /// \param nodebuffer     Buffer provided by the caller application to store the scan data
+    ///
+    /// \param count          Once the interface returns, this parameter will store the actual received data count.
+    ///
+    /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
+    u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count);
+
+
+    virtual ~RPlidarDriver();
+protected:
+    RPlidarDriver();
+
+private:
+    sl_u32 _channelType;
+    IChannel* _channel;
+    ILidarDriver* _lidarDrv;
+    
+};
+
+
+
+
+}}}