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/*
* Slamtec LIDAR SDK
*
* 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.
*
*/
#include "sdkcommon.h"
#include "hal/abs_rxtx.h"
#include "hal/thread.h"
#include "hal/types.h"
#include "hal/assert.h"
#include "hal/locker.h"
#include "hal/socket.h"
#include "hal/event.h"
#include "rplidar_driver.h"
#include "sl_crc.h"
#include <algorithm>
namespace rp { namespace standalone{ namespace rplidar {
RPlidarDriver::RPlidarDriver(){}
RPlidarDriver::RPlidarDriver(sl_u32 channelType)
:_channelType(channelType)
{
}
RPlidarDriver::~RPlidarDriver() {}
RPlidarDriver * RPlidarDriver::CreateDriver(_u32 drivertype)
{
//_channelType = drivertype;
return new RPlidarDriver(drivertype);
}
void RPlidarDriver::DisposeDriver(RPlidarDriver * drv)
{
delete drv;
}
u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, _u32 flag)
{
switch (_channelType)
{
case CHANNEL_TYPE_SERIALPORT:
_channel = (*createSerialPortChannel(path, portOrBaud));
break;
case CHANNEL_TYPE_TCP:
_channel = *createTcpChannel(path, portOrBaud);
break;
case CHANNEL_TYPE_UDP:
_channel = *createUdpChannel(path, portOrBaud);
break;
}
if (!(bool)_channel) return SL_RESULT_OPERATION_FAIL;
_lidarDrv = *createLidarDriver();
if (!(bool)_lidarDrv) return SL_RESULT_OPERATION_FAIL;
sl_result ans =(_lidarDrv)->connect(_channel);
return ans;
}
void RPlidarDriver::disconnect()
{
(_lidarDrv)->disconnect();
}
bool RPlidarDriver::isConnected()
{
return (_lidarDrv)->isConnected();
}
u_result RPlidarDriver::reset(_u32 timeout)
{
return (_lidarDrv)->reset();
}
u_result RPlidarDriver::getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs)
{
return (_lidarDrv)->getAllSupportedScanModes(outModes, timeoutInMs);
}
u_result RPlidarDriver::getTypicalScanMode(_u16& outMode, _u32 timeoutInMs)
{
return (_lidarDrv)->getTypicalScanMode(outMode, timeoutInMs);
}
u_result RPlidarDriver::startScan(bool force, bool useTypicalScan, _u32 options, RplidarScanMode* outUsedScanMode)
{
return (_lidarDrv)->startScan(force, useTypicalScan, options, outUsedScanMode);
}
u_result RPlidarDriver::startScanExpress(bool force, _u16 scanMode, _u32 options, RplidarScanMode* outUsedScanMode, _u32 timeout)
{
return (_lidarDrv)->startScanExpress(force, scanMode, options, outUsedScanMode, timeout);
}
u_result RPlidarDriver::getHealth(rplidar_response_device_health_t & health, _u32 timeout)
{
return (_lidarDrv)->getHealth(health, timeout);
}
u_result RPlidarDriver::getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout)
{
return (_lidarDrv)->getDeviceInfo(info, timeout);
}
u_result RPlidarDriver::setMotorPWM(_u16 pwm)
{
return (_lidarDrv)->setMotorSpeed(pwm);
}
u_result RPlidarDriver::checkMotorCtrlSupport(bool & support, _u32 timeout)
{
MotorCtrlSupport motorSupport;
u_result ans = (_lidarDrv)->checkMotorCtrlSupport(motorSupport, timeout);
if (motorSupport == MotorCtrlSupportNone)
support = false;
return ans;
}
u_result RPlidarDriver::setLidarIpConf(const rplidar_ip_conf_t& conf, _u32 timeout)
{
return (_lidarDrv)->setLidarIpConf(conf, timeout);
}
u_result RPlidarDriver::getLidarIpConf(rplidar_ip_conf_t& conf, _u32 timeout)
{
return (_lidarDrv)->getLidarIpConf(conf, timeout);
}
u_result RPlidarDriver::getDeviceMacAddr(_u8* macAddrArray, _u32 timeoutInMs)
{
return (_lidarDrv)->getDeviceMacAddr(macAddrArray, timeoutInMs);
}
u_result RPlidarDriver::stop(_u32 timeout)
{
return (_lidarDrv)->stop(timeout);
}
u_result RPlidarDriver::grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout)
{
return (_lidarDrv)->grabScanDataHq(nodebuffer, count, timeout);
}
u_result RPlidarDriver::ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count)
{
return (_lidarDrv)->ascendScanData(nodebuffer, count);
}
u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count)
{
return RESULT_OPERATION_NOT_SUPPORT;
}
u_result RPlidarDriver::getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count)
{
return (_lidarDrv)->getScanDataWithIntervalHq(nodebuffer, count);
}
u_result RPlidarDriver::startMotor()
{
return (_lidarDrv)->setMotorSpeed(DEFAULT_MOTOR_SPEED);
}
u_result RPlidarDriver::stopMotor()
{
return (_lidarDrv)->setMotorSpeed(0);
}
}}}
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