rplidar_driver_serial.h
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1 /*
2  * RPLIDAR SDK
3  *
4  * Copyright (c) 2009 - 2014 RoboPeak Team
5  * http://www.robopeak.com
6  * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
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34 
35 #pragma once
36 
37 namespace rp { namespace standalone{ namespace rplidar {
38 
40 {
41 public:
44 
45  SerialChannelDevice():_rxtxSerial(rp::hal::serial_rxtx::CreateRxTx()){}
46 
47  bool bind(const char * portname, uint32_t baudrate)
48  {
49  _closePending = false;
50  return _rxtxSerial->bind(portname, baudrate);
51  }
52  bool open()
53  {
54  return _rxtxSerial->open();
55  }
56  void close()
57  {
58  _closePending = true;
59  _rxtxSerial->cancelOperation();
60  _rxtxSerial->close();
61  }
62  void flush()
63  {
64  _rxtxSerial->flush(0);
65  }
66  bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL)
67  {
68  if (_closePending) return false;
69  return (_rxtxSerial->waitfordata(data_count, timeout, returned_size) == rp::hal::serial_rxtx::ANS_OK);
70  }
71  int senddata(const _u8 * data, size_t size)
72  {
73  return _rxtxSerial->senddata(data, size) ;
74  }
75  int recvdata(unsigned char * data, size_t size)
76  {
77  size_t lenRec = 0;
78  lenRec = _rxtxSerial->recvdata(data, size);
79  return lenRec;
80  }
81  void setDTR()
82  {
83  _rxtxSerial->setDTR();
84  }
85  void clearDTR()
86  {
87  _rxtxSerial->clearDTR();
88  }
89  void ReleaseRxTx()
90  {
92  }
93 };
94 
96 {
97 public:
98 
100  virtual ~RPlidarDriverSerial();
101  virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag = 0);
102  virtual void disconnect();
103 
104 };
105 
106 }}}
virtual int recvdata(unsigned char *data, size_t size)=0
virtual void cancelOperation()
Definition: abs_rxtx.h:74
virtual bool bind(const char *portname, _u32 baudrate, _u32 flags=0)=0
_u8 flag
Definition: rplidar_cmd.h:2
int senddata(const _u8 *data, size_t size)
_u8 size
virtual void setDTR()=0
virtual int senddata(const unsigned char *data, size_t size)=0
static void ReleaseRxTx(serial_rxtx *)
uint8_t _u8
Definition: rptypes.h:63
virtual bool open()=0
virtual void close()=0
int recvdata(unsigned char *data, size_t size)
virtual void clearDTR()=0
virtual int waitfordata(size_t data_count, _u32 timeout=-1, size_t *returned_size=NULL)=0
uint32_t _u32
Definition: rptypes.h:69
virtual void flush(_u32 flags)=0
_u8 data[0]
bool bind(const char *portname, uint32_t baudrate)
bool waitfordata(size_t data_count, _u32 timeout=-1, size_t *returned_size=NULL)
uint32_t u_result
Definition: rptypes.h:100


rplidar_ros
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autogenerated on Wed Jan 1 2020 04:01:40