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Diffstat (limited to 'LIDAR/sdk/include/rplidar_driver.h')
| -rw-r--r-- | LIDAR/sdk/include/rplidar_driver.h | 247 |
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; + +}; + + + + +}}} |