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/*
* RPLIDAR SDK
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014-2020 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_cmd.h"
#include "rplidar_protocol.h"
// Commands
//-----------------------------------------
#define RPLIDAR_AUTOBAUD_MAGICBYTE SL_LIDAR_AUTOBAUD_MAGICBYTE
// Commands without payload and response
#define RPLIDAR_CMD_STOP SL_LIDAR_CMD_STOP
#define RPLIDAR_CMD_SCAN SL_LIDAR_CMD_SCAN
#define RPLIDAR_CMD_FORCE_SCAN SL_LIDAR_CMD_FORCE_SCAN
#define RPLIDAR_CMD_RESET SL_LIDAR_CMD_RESET
// Commands without payload but have response
#define RPLIDAR_CMD_GET_DEVICE_INFO SL_LIDAR_CMD_GET_DEVICE_INFO
#define RPLIDAR_CMD_GET_DEVICE_HEALTH SL_LIDAR_CMD_GET_DEVICE_HEALTH
#define RPLIDAR_CMD_GET_SAMPLERATE SL_LIDAR_CMD_GET_SAMPLERATE //added in fw 1.17
#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL
// Commands with payload but no response
#define RPLIDAR_CMD_NEW_BAUDRATE_CONFIRM SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM //added in fw 1.30
// Commands with payload and have response
#define RPLIDAR_CMD_EXPRESS_SCAN SL_LIDAR_CMD_EXPRESS_SCAN //added in fw 1.17
#define RPLIDAR_CMD_HQ_SCAN SL_LIDAR_CMD_HQ_SCAN //added in fw 1.24
#define RPLIDAR_CMD_GET_LIDAR_CONF SL_LIDAR_CMD_GET_LIDAR_CONF //added in fw 1.24
#define RPLIDAR_CMD_SET_LIDAR_CONF SL_LIDAR_CMD_SET_LIDAR_CONF //added in fw 1.24
//add for A2 to set RPLIDAR motor pwm when using accessory board
#define RPLIDAR_CMD_SET_MOTOR_PWM SL_LIDAR_CMD_SET_MOTOR_PWM
#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG SL_LIDAR_CMD_GET_ACC_BOARD_FLAG
#if defined(_WIN32)
#pragma pack(1)
#endif
// Payloads
// ------------------------------------------
#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL
#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE // won't been supported but keep to prevent build fail
//for express working flag(extending express scan protocol)
#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST
#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION
//for ultra express working flag
#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD
#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY
#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)
#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)
#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)
typedef sl_lidar_payload_express_scan_t rplidar_payload_express_scan_t;
typedef sl_lidar_payload_hq_scan_t rplidar_payload_hq_scan_t;
typedef sl_lidar_payload_get_scan_conf_t rplidar_payload_get_scan_conf_t;
typedef sl_lidar_payload_motor_pwm_t rplidar_payload_motor_pwm_t;
typedef sl_lidar_payload_acc_board_flag_t rplidar_payload_acc_board_flag_t;
typedef sl_lidar_payload_set_scan_conf_t rplidar_payload_set_scan_conf_t;
typedef sl_lidar_payload_new_bps_confirmation_t rplidar_payload_new_bps_confirmation_t;
// Response
// ------------------------------------------
#define RPLIDAR_ANS_TYPE_DEVINFO SL_LIDAR_ANS_TYPE_DEVINFO
#define RPLIDAR_ANS_TYPE_DEVHEALTH SL_LIDAR_ANS_TYPE_DEVHEALTH
#define RPLIDAR_ANS_TYPE_MEASUREMENT SL_LIDAR_ANS_TYPE_MEASUREMENT
// Added in FW ver 1.17
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED
#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ
// Added in FW ver 1.17
#define RPLIDAR_ANS_TYPE_SAMPLE_RATE SL_LIDAR_ANS_TYPE_SAMPLE_RATE
//added in FW ver 1.23alpha
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA
//added in FW ver 1.24
#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF
#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF
#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED
#define RPLIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED
#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG
#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK
typedef sl_lidar_response_acc_board_flag_t rplidar_response_acc_board_flag_t;
#define RPLIDAR_STATUS_OK SL_LIDAR_STATUS_OK
#define RPLIDAR_STATUS_WARNING SL_LIDAR_STATUS_WARNING
#define RPLIDAR_STATUS_ERROR SL_LIDAR_STATUS_ERROR
#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_SYNCBIT
#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT
#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT SL_LIDAR_RESP_HQ_FLAG_SYNCBIT
#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT SL_LIDAR_RESP_MEASUREMENT_CHECKBIT
#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT
typedef sl_lidar_response_sample_rate_t rplidar_response_sample_rate_t;
typedef sl_lidar_response_measurement_node_t rplidar_response_measurement_node_t;
//[distance_sync flags]
#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK
#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK
typedef sl_lidar_response_cabin_nodes_t rplidar_response_cabin_nodes_t;
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2
#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT
typedef sl_lidar_response_capsule_measurement_nodes_t rplidar_response_capsule_measurement_nodes_t;
typedef sl_lidar_response_dense_cabin_nodes_t rplidar_response_dense_cabin_nodes_t;
typedef sl_lidar_response_dense_capsule_measurement_nodes_t rplidar_response_dense_capsule_measurement_nodes_t;
typedef sl_lidar_response_ultra_dense_capsule_measurement_nodes_t rplidar_response_ultra_dense_capsule_measurement_nodes_t;
// ext1 : x2 boost mode
#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS
#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS
typedef sl_lidar_response_ultra_cabin_nodes_t rplidar_response_ultra_cabin_nodes_t;
typedef sl_lidar_response_ultra_capsule_measurement_nodes_t rplidar_response_ultra_capsule_measurement_nodes_t;
typedef sl_lidar_response_measurement_node_hq_t rplidar_response_measurement_node_hq_t;
typedef sl_lidar_response_hq_capsule_measurement_nodes_t rplidar_response_hq_capsule_measurement_nodes_t;
# define RPLIDAR_CONF_SCAN_COMMAND_STD SL_LIDAR_CONF_SCAN_COMMAND_STD
# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS
# define RPLIDAR_CONF_SCAN_COMMAND_HQ SL_LIDAR_CONF_SCAN_COMMAND_HQ
# define RPLIDAR_CONF_SCAN_COMMAND_BOOST SL_LIDAR_CONF_SCAN_COMMAND_BOOST
# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY SL_LIDAR_CONF_SCAN_COMMAND_STABILITY
# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY
#define RPLIDAR_CONF_ANGLE_RANGE SL_LIDAR_CONF_ANGLE_RANGE
#define RPLIDAR_CONF_DESIRED_ROT_FREQ SL_LIDAR_CONF_DESIRED_ROT_FREQ
#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP SL_LIDAR_CONF_SCAN_COMMAND_BITMAP
#define RPLIDAR_CONF_MIN_ROT_FREQ SL_LIDAR_CONF_MIN_ROT_FREQ
#define RPLIDAR_CONF_MAX_ROT_FREQ SL_LIDAR_CONF_MAX_ROT_FREQ
#define RPLIDAR_CONF_MAX_DISTANCE SL_LIDAR_CONF_MAX_DISTANCE
#define RPLIDAR_CONF_SCAN_MODE_COUNT SL_LIDAR_CONF_SCAN_MODE_COUNT
#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE
#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE
#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE
#define RPLIDAR_CONF_SCAN_MODE_TYPICAL SL_LIDAR_CONF_SCAN_MODE_TYPICAL
#define RPLIDAR_CONF_SCAN_MODE_NAME SL_LIDAR_CONF_SCAN_MODE_NAME
#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP
#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP
#define RPLIDAR_CONF_LIDAR_STATIC_IP_ADDR SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR
#define RPLIDAR_CONF_LIDAR_MAC_ADDR SL_LIDAR_CONF_LIDAR_MAC_ADDR
#define RPLIDAR_CONF_DETECTED_SERIAL_BPS SL_LIDAR_CONF_DETECTED_SERIAL_BPS
typedef sl_lidar_response_get_lidar_conf_t rplidar_response_get_lidar_conf_t;
typedef sl_lidar_response_set_lidar_conf_t rplidar_response_set_lidar_conf_t;
typedef sl_lidar_response_device_info_t rplidar_response_device_info_t;
typedef sl_lidar_response_device_health_t rplidar_response_device_health_t;
typedef sl_lidar_ip_conf_t rplidar_ip_conf_t;
typedef sl_lidar_response_device_macaddr_info_t rplidar_response_device_macaddr_info_t;
// Definition of the variable bit scale encoding mechanism
#define RPLIDAR_VARBITSCALE_X2_SRC_BIT SL_LIDAR_VARBITSCALE_X2_SRC_BIT
#define RPLIDAR_VARBITSCALE_X4_SRC_BIT SL_LIDAR_VARBITSCALE_X4_SRC_BIT
#define RPLIDAR_VARBITSCALE_X8_SRC_BIT SL_LIDAR_VARBITSCALE_X8_SRC_BIT
#define RPLIDAR_VARBITSCALE_X16_SRC_BIT SL_LIDAR_VARBITSCALE_X16_SRC_BIT
#define RPLIDAR_VARBITSCALE_X2_DEST_VAL SL_LIDAR_VARBITSCALE_X2_DEST_VAL
#define RPLIDAR_VARBITSCALE_X4_DEST_VAL SL_LIDAR_VARBITSCALE_X4_DEST_VAL
#define RPLIDAR_VARBITSCALE_X8_DEST_VAL SL_LIDAR_VARBITSCALE_X8_DEST_VAL
#define RPLIDAR_VARBITSCALE_X16_DEST_VAL SL_LIDAR_VARBITSCALE_X16_DEST_VAL
#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_)
#if defined(_WIN32)
#pragma pack()
#endif
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