#include <rplidar_driver_serial.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriverSerialImpl:

Public Types
enum	{ MAX_SCAN_NODES = 2048 }
Public Member Functions
virtual u_result	ascendScanData (rplidar_response_measurement_node_t *nodebuffer, size_t count)
virtual u_result	connect (const char *port_path, _u32 baudrate, _u32 flag)
virtual void	disconnect ()
	Disconnect with the RPLIDAR and close the serial port.
virtual u_result	getDeviceInfo (rplidar_response_device_info_t &, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	getFrequency (rplidar_response_measurement_node_t *nodebuffer, size_t count, float &frequency)
virtual u_result	getHealth (rplidar_response_device_health_t &, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	grabScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)
virtual bool	isConnected ()
	Returns TRUE when the connection has been established.
virtual u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)
	RPlidarDriverSerialImpl ()
virtual u_result	startMotor ()
virtual u_result	startScan (bool force, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	stop (_u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	stopMotor ()
virtual	~RPlidarDriverSerialImpl ()
Protected Member Functions
u_result	_cacheScanData ()
void	_disableDataGrabbing ()
u_result	_sendCommand (_u8 cmd, const void *payload=NULL, size_t payloadsize=0)
u_result	_waitNode (rplidar_response_measurement_node_t *node, _u32 timeout)
u_result	_waitResponseHeader (rplidar_ans_header_t *header, _u32 timeout)
u_result	_waitScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)
Protected Attributes
rplidar_response_measurement_node_t	_cached_scan_node_buf [2048]
size_t	_cached_scan_node_count
rp::hal::Thread	_cachethread
rp::hal::Event	_dataEvt
bool	_isConnected
bool	_isScanning
rp::hal::Locker	_lock
rp::hal::serial_rxtx *	_rxtx

Detailed Description

Definition at line 41 of file rplidar_driver_serial.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

MAX_SCAN_NODES

Definition at line 45 of file rplidar_driver_serial.h.

Constructor & Destructor Documentation

rp::standalone::rplidar::RPlidarDriverSerialImpl::RPlidarDriverSerialImpl ( )

Definition at line 72 of file rplidar_driver.cpp.

rp::standalone::rplidar::RPlidarDriverSerialImpl::~RPlidarDriverSerialImpl ( ) [virtual]

Definition at line 80 of file rplidar_driver.cpp.

Member Function Documentation

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_cacheScanData ( ) [protected]

Definition at line 258 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerialImpl::_disableDataGrabbing ( ) [protected]

Definition at line 603 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_sendCommand	(	_u8	cmd,
		const void *	payload = `NULL`,
		size_t	payloadsize = `0`
	)		`[protected]`

Definition at line 509 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitNode	(	rplidar_response_measurement_node_t *	node,
		_u32	timeout
	)		`[protected]`

Definition at line 425 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitResponseHeader	(	rplidar_ans_header_t *	header,
		_u32	timeout
	)		`[protected]`

Definition at line 552 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

Definition at line 483 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::ascendScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t	count
	)		`[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.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 328 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::connect	(	const char *	port_path,
		_u32	baudrate,
		_u32	flag
	)		`[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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 88 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerialImpl::disconnect ( ) [virtual]

Disconnect with the RPLIDAR and close the serial port.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 106 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getDeviceInfo	(	rplidar_response_device_info_t &	info,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 164 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getFrequency	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t	count,
		float &	frequency
	)		`[virtual]`

Calculate RPLIDAR's current scanning frequency from the given scan data Please refer to the application note doc for details Remark: the calculation will be incorrect if the specified scan data doesn't contain enough data

Parameters:

nodebuffer	The buffer belongs to a 360degress scan data
count	The number of sample nodes inside the given buffer

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 201 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getHealth	(	rplidar_response_device_health_t &	health,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 128 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::grabScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[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.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 301 of file rplidar_driver.cpp.

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::isConnected ( ) [virtual]

Returns TRUE when the connection has been established.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 113 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::reset ( _u32 timeout = DEFAULT_TIMEOUT ) [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.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 119 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startMotor ( ) [virtual]

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 417 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startScan	(	bool	force,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[virtual]`

Ask the RPLIDAR core system to enter the scan 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.
timeout	The operation timeout value (in millisecond) for the serial port communication

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 215 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::stop ( _u32 timeout = DEFAULT_TIMEOUT ) [virtual]