#include <rplidar_driver.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriver:

Public Types
enum	{ DEFAULT_TIMEOUT = 2000 }
enum	{ MAX_SCAN_NODES = 8192 }
enum	{ LEGACY_SAMPLE_DURATION = 476 }
Public Member Functions
virtual u_result	ascendScanData (rplidar_response_measurement_node_hq_t *nodebuffer, size_t count)=0
virtual u_result	checkMotorCtrlSupport (bool &support, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	clearNetSerialRxCache ()=0
virtual u_result	connect (const char *, _u32, _u32 flag=0)=0
	DEPRECATED (virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT))=0
	DEPRECATED (virtual u_result getFrequency(bool inExpressMode, size_t count, float &frequency, bool &is4kmode))=0
	DEPRECATED (virtual u_result checkExpressScanSupported(bool &support, _u32 timeout=DEFAULT_TIMEOUT))=0
	DEPRECATED (virtual u_result grabScanData(rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT))=0
	DEPRECATED (virtual u_result ascendScanData(rplidar_response_measurement_node_t *nodebuffer, size_t count))=0
	DEPRECATED (virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t *nodebuffer, size_t &count))=0
virtual void	disconnect ()=0
	Disconnect with the RPLIDAR and close the serial port.
virtual u_result	getAllSupportedScanModes (std::vector< RplidarScanMode > &outModes, _u32 timeoutInMs=DEFAULT_TIMEOUT)=0
	Get all scan modes that supported by lidar.
virtual u_result	getDeviceInfo (rplidar_response_device_info_t &info, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	getFrequency (const RplidarScanMode &scanMode, size_t count, float &frequency)=0
virtual u_result	getHealth (rplidar_response_device_health_t &health, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	getScanDataWithIntervalHq (rplidar_response_measurement_node_hq_t *nodebuffer, size_t &count)=0
virtual u_result	getTypicalScanMode (_u16 &outMode, _u32 timeoutInMs=DEFAULT_TIMEOUT)=0
	Get typical scan mode of lidar.
virtual u_result	grabScanDataHq (rplidar_response_measurement_node_hq_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual bool	isConnected ()=0
	Returns TRUE when the connection has been established.
virtual u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	setMotorPWM (_u16 pwm)=0
virtual u_result	startMotor ()=0
	Start RPLIDAR's motor when using accessory board.
virtual u_result	startScan (bool force, bool useTypicalScan, _u32 options=0, RplidarScanMode *outUsedScanMode=NULL)=0
virtual u_result	startScanExpress (bool force, _u16 scanMode, _u32 options=0, RplidarScanMode *outUsedScanMode=NULL, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	startScanNormal (bool force, _u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	stop (_u32 timeout=DEFAULT_TIMEOUT)=0
virtual u_result	stopMotor ()=0
	Stop RPLIDAR's motor when using accessory board.
virtual	~RPlidarDriver ()
Static Public Member Functions
static RPlidarDriver *	CreateDriver (_u32 drivertype=DRIVER_TYPE_SERIALPORT)
static void	DisposeDriver (RPlidarDriver *drv)
Public Attributes
ChannelDevice *	_chanDev
Protected Member Functions
	RPlidarDriver ()

Detailed Description

Definition at line 83 of file rplidar_driver.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

DEFAULT_TIMEOUT

Definition at line 85 of file rplidar_driver.h.

anonymous enum

Enumerator:

MAX_SCAN_NODES

Definition at line 89 of file rplidar_driver.h.

anonymous enum

Enumerator:

LEGACY_SAMPLE_DURATION

Definition at line 93 of file rplidar_driver.h.

Constructor & Destructor Documentation

virtual rp::standalone::rplidar::RPlidarDriver::~RPlidarDriver ( ) [inline, virtual]

Definition at line 314 of file rplidar_driver.h.

rp::standalone::rplidar::RPlidarDriver::RPlidarDriver ( ) [inline, protected]

Definition at line 316 of file rplidar_driver.h.

Member Function Documentation

virtual u_result rp::standalone::rplidar::RPlidarDriver::ascendScanData	(	rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t	count
	)		`[pure 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.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::checkMotorCtrlSupport	(	bool &	support,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[pure virtual]`

Check whether the device support motor control. Note: this API will disable grab.

Parameters:

support	Return the result.
timeout	The operation timeout value (in millisecond) for the serial port communication.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::clearNetSerialRxCache ( ) [pure virtual]

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::connect	(	const char *	,
		_u32	,
		_u32	flag = `0`
	)		`[pure 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

Implemented in rp::standalone::rplidar::RPlidarDriverSerial, and rp::standalone::rplidar::RPlidarDriverTCP.

RPlidarDriver * rp::standalone::rplidar::RPlidarDriver::CreateDriver ( _u32 drivertype = DRIVER_TYPE_SERIALPORT ) [static]

Create an RPLIDAR Driver Instance This interface should be invoked first before any other operations

Parameters:

drivertype the connection type used by the driver.

Definition at line 85 of file rplidar_driver.cpp.

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result getSampleDuration_uSrplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT ) [pure virtual]

Get the sample duration information of the RPLIDAR. DEPRECATED, please use RplidarScanMode::us_per_sample

Parameters:

rateInfo	The sample duration information returned from the RPLIDAR
timeout	The operation timeout value (in millisecond) for the serial port communication

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result getFrequencybool inExpressMode, size_t count, float &frequency, bool &is4kmode ) [pure virtual]

Calculate RPLIDAR's current scanning frequency from the given scan data DEPRECATED, please use getFrequency(RplidarScanMode, size_t)

Please refer to the application note doc for details Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data

Parameters:

inExpressMode	Indicate whether the RPLIDAR is in express mode
count	The number of sample nodes inside the given buffer
frequency	The scanning frequency (in HZ) calcuated by the interface.
is4kmode	Return whether the RPLIDAR is working on 4k sample rate mode.

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result checkExpressScanSupportedbool &support, _u32 timeout=DEFAULT_TIMEOUT ) [pure virtual]

Check whether the device support express mode. DEPRECATED, please use getAllSupportedScanModes

Parameters:

support	Return the result.
timeout	The operation timeout value (in millisecond) for the serial port communication.

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result grabScanDatarplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT ) [pure virtual]

Wait and grab a complete 0-360 degree scan data previously received. NOTE: This method only support distance less than 16.38 meters, for longer distance, please use grabScanDataHq 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.

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result ascendScanDatarplidar_response_measurement_node_t *nodebuffer, size_t count ) [pure 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.

rp::standalone::rplidar::RPlidarDriver::DEPRECATED ( virtual u_result getScanDataWithIntervalrplidar_response_measurement_node_t *nodebuffer, size_t &count ) [pure virtual]

Return received scan points even if it's not complete scan

Parameters:

nodebuffer	Buffer provided by the caller application to store the scan data
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.

virtual void rp::standalone::rplidar::RPlidarDriver::disconnect ( ) [pure virtual]

Disconnect with the RPLIDAR and close the serial port.

Implemented in rp::standalone::rplidar::RPlidarDriverSerial, and rp::standalone::rplidar::RPlidarDriverTCP.

void rp::standalone::rplidar::RPlidarDriver::DisposeDriver ( RPlidarDriver * drv ) [static]

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

Definition at line 98 of file rplidar_driver.cpp.

virtual u_result rp::standalone::rplidar::RPlidarDriver::getAllSupportedScanModes	(	std::vector< RplidarScanMode > &	outModes,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)		`[pure virtual]`

Get all scan modes that supported by lidar.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

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

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::getFrequency	(	const RplidarScanMode &	scanMode,
		size_t	count,
		float &	frequency
	)		`[pure virtual]`

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

Parameters:

scanMode	Lidar's current scan mode
count	The number of sample nodes inside the given buffer

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

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

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::getScanDataWithIntervalHq	(	rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	count
	)		`[pure virtual]`

Return received scan points even if it's not complete scan

Parameters:

nodebuffer	Buffer provided by the caller application to store the scan data
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.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::getTypicalScanMode	(	_u16 &	outMode,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)		`[pure virtual]`

Get typical scan mode of lidar.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::grabScanDataHq	(	rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	count,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[pure 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.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual bool rp::standalone::rplidar::RPlidarDriver::isConnected ( ) [pure virtual]

Returns TRUE when the connection has been established.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::reset ( _u32 timeout = DEFAULT_TIMEOUT ) [pure 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.

Parameters:

timeout The operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::setMotorPWM ( _u16 pwm ) [pure virtual]

Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.

Parameters:

pwm	The motor pwm value would like to set

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::startMotor ( ) [pure virtual]

Start RPLIDAR's motor when using accessory board.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScan	(	bool	force,
		bool	useTypicalScan,
		_u32	options = `0`,
		RplidarScanMode *	outUsedScanMode = `NULL`
	)		`[pure virtual]`

Start scan

Parameters:

force	Force the core system to output scan data regardless whether the scanning motor is rotating or not.
useTypicalScan	Use lidar's typical scan mode or use the compatibility mode (2k sps)
options	Scan options (please use 0)
outUsedScanMode	The scan mode selected by lidar

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScanExpress	(	bool	force,
		_u16	scanMode,
		_u32	options = `0`,
		RplidarScanMode *	outUsedScanMode = `NULL`,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[pure virtual]`

Start scan in specific mode

Parameters:

force	Force the core system to output scan data regardless whether the scanning motor is rotating or not.
scanMode	The scan mode id (use getAllSupportedScanModes to get supported modes)
options	Scan options (please use 0)
outUsedScanMode	The scan mode selected by lidar

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::startScanNormal	(	bool	force,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[pure virtual]`

Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k 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.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

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

Ask the RPLIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated

Parameters:

timeout The operation timeout value (in millisecond) for the serial port communication

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

virtual u_result rp::standalone::rplidar::RPlidarDriver::stopMotor ( ) [pure virtual]

Stop RPLIDAR's motor when using accessory board.

Implemented in rp::standalone::rplidar::RPlidarDriverImplCommon.

Member Data Documentation

ChannelDevice* rp::standalone::rplidar::RPlidarDriver::_chanDev

Definition at line 319 of file rplidar_driver.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation