Inheritance diagram for sl::SlamtecLidarDriver:

Public Types
enum	{ LEGACY_SAMPLE_DURATION = 476 }

enum	{ NORMAL_CAPSULE = 0, DENSE_CAPSULE = 1 }

enum	{ A2A3_LIDAR_MINUM_MAJOR_ID = 2, TOF_LIDAR_MINUM_MAJOR_ID = 6 }

Public Types inherited from sl::ILidarDriver
enum	{ DEFAULT_TIMEOUT = 2000 }

Public Member Functions
sl_result	ascendScanData (sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t count)

sl_result	checkMotorCtrlSupport (MotorCtrlSupport &support, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	connect (IChannel *channel)

void	disconnect ()

sl_result	getAllSupportedScanModes (std::vector< LidarScanMode > &outModes, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
	Get all scan modes that supported by lidar. More...

sl_result	getDeviceInfo (sl_lidar_response_device_info_t &info, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	getDeviceMacAddr (sl_u8 *macAddrArray, sl_u32 timeoutInMs)

sl_result	getFrequency (const LidarScanMode &scanMode, const sl_lidar_response_measurement_node_hq_t *nodes, size_t count, float &frequency)

sl_result	getHealth (sl_lidar_response_device_health_t &health, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	getMotorInfo (LidarMotorInfo &motorInfo, sl_u32 timeoutInMs)

sl_result	getScanDataWithIntervalHq (sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &count)

sl_result	getTypicalScanMode (sl_u16 &outMode, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
	Get typical scan mode of lidar. More...

sl_result	grabScanDataHq (sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &count, sl_u32 timeout=DEFAULT_TIMEOUT)

bool	isConnected ()

sl_result	reset (sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	setLidarIpConf (const sl_lidar_ip_conf_t &conf, sl_u32 timeout)

sl_result	setMotorSpeed (sl_u16 speed=DEFAULT_MOTOR_SPEED)

	SlamtecLidarDriver ()

sl_result	startScan (bool force, bool useTypicalScan, sl_u32 options=0, LidarScanMode *outUsedScanMode=nullptr)

sl_result	startScanExpress (bool force, sl_u16 scanMode, sl_u32 options=0, LidarScanMode *outUsedScanMode=nullptr, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	startScanNormal (bool force, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	stop (sl_u32 timeout=DEFAULT_TIMEOUT)

Public Member Functions inherited from sl::ILidarDriver
virtual	~ILidarDriver ()

Protected Member Functions
sl_result	checkSupportConfigCommands (bool &outSupport, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getDesiredSpeed (sl_lidar_response_desired_rot_speed_t &motorSpeed, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getLidarConf (sl_u32 type, std::vector< sl_u8 > &outputBuf, const std::vector< sl_u8 > &reserve=std::vector< sl_u8 >(), sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	getLidarSampleDuration (float &sampleDurationRes, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getMaxDistance (float &maxDistance, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getScanModeAnsType (sl_u8 &ansType, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getScanModeCount (sl_u16 &modeCount, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	getScanModeName (char *modeName, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)

sl_result	negotiateSerialBaudRate (sl_u32 requiredBaudRate, sl_u32 *baudRateDetected)

sl_result	setLidarConf (sl_u32 type, const void *payload, size_t payloadSize, sl_u32 timeout)

sl_result	startMotor ()

Private Member Functions
sl_result	_cacheCapsuledScanData ()

sl_result	_cacheHqScanData ()

sl_result	_cacheScanData ()

sl_result	_cacheUltraCapsuledScanData ()

void	_capsuleToNormal (const sl_lidar_response_capsule_measurement_nodes_t &capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

sl_result	_clearRxDataCache ()

void	_dense_capsuleToNormal (const sl_lidar_response_capsule_measurement_nodes_t &capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

void	_disableDataGrabbing ()

void	_HqToNormal (const sl_lidar_response_hq_capsule_measurement_nodes_t &node_hq, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

sl_result	_sendCommand (sl_u16 cmd, const void *payload=NULL, size_t payloadsize=0)

void	_ultraCapsuleToNormal (const sl_lidar_response_ultra_capsule_measurement_nodes_t &capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

sl_result	_waitCapsuledNode (sl_lidar_response_capsule_measurement_nodes_t &node, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	_waitHqNode (sl_lidar_response_hq_capsule_measurement_nodes_t &node, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	_waitNode (sl_lidar_response_measurement_node_t *node, sl_u32 timeout=DEFAULT_TIMEOUT)

template<typename T >
sl_result	_waitResponse (T &payload, sl_u8 ansType, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	_waitResponseHeader (sl_lidar_ans_header_t *header, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	_waitScanData (sl_lidar_response_measurement_node_t *nodebuffer, size_t &count, sl_u32 timeout=DEFAULT_TIMEOUT)

sl_result	_waitUltraCapsuledNode (sl_lidar_response_ultra_capsule_measurement_nodes_t &node, sl_u32 timeout=DEFAULT_TIMEOUT)

Private Attributes
sl_u8	_cached_capsule_flag

sl_lidar_response_capsule_measurement_nodes_t	_cached_previous_capsuledata

sl_lidar_response_dense_capsule_measurement_nodes_t	_cached_previous_dense_capsuledata

sl_lidar_response_hq_capsule_measurement_nodes_t	_cached_previous_Hqdata

sl_lidar_response_ultra_capsule_measurement_nodes_t	_cached_previous_ultracapsuledata

sl_u16	_cached_sampleduration_express

sl_u16	_cached_sampleduration_std

sl_lidar_response_measurement_node_hq_t	_cached_scan_node_hq_buf [8192]

sl_lidar_response_measurement_node_hq_t	_cached_scan_node_hq_buf_for_interval_retrieve [8192]

size_t	_cached_scan_node_hq_count

size_t	_cached_scan_node_hq_count_for_interval_retrieve

rp::hal::Thread	_cachethread

IChannel *	_channel

rp::hal::Event	_dataEvt

bool	_is_previous_capsuledataRdy

bool	_is_previous_HqdataRdy

bool	_isConnected

bool	_isScanning

MotorCtrlSupport	_isSupportingMotorCtrl

rp::hal::Locker	_lock

bool	_scan_node_synced

Detailed Description

Definition at line 209 of file sl_lidar_driver.cpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
LEGACY_SAMPLE_DURATION

Definition at line 212 of file sl_lidar_driver.cpp.

◆ anonymous enum

anonymous enum

Enumerator
NORMAL_CAPSULE
DENSE_CAPSULE

Definition at line 216 of file sl_lidar_driver.cpp.

◆ anonymous enum

anonymous enum

Enumerator
A2A3_LIDAR_MINUM_MAJOR_ID
TOF_LIDAR_MINUM_MAJOR_ID

Definition at line 221 of file sl_lidar_driver.cpp.

Constructor & Destructor Documentation

◆ SlamtecLidarDriver()

sl::SlamtecLidarDriver::SlamtecLidarDriver ( )

inline

Definition at line 227 of file sl_lidar_driver.cpp.

Member Function Documentation

◆ _cacheCapsuledScanData()

sl_result sl::SlamtecLidarDriver::_cacheCapsuledScanData ( )

inlineprivate

Definition at line 1612 of file sl_lidar_driver.cpp.

◆ _cacheHqScanData()

sl_result sl::SlamtecLidarDriver::_cacheHqScanData ( )

inlineprivate

Definition at line 1759 of file sl_lidar_driver.cpp.

◆ _cacheScanData()

sl_result sl::SlamtecLidarDriver::_cacheScanData ( )

inlineprivate

Definition at line 1258 of file sl_lidar_driver.cpp.

◆ _cacheUltraCapsuledScanData()

sl_result sl::SlamtecLidarDriver::_cacheUltraCapsuledScanData ( )

inlineprivate

Definition at line 1892 of file sl_lidar_driver.cpp.

◆ _capsuleToNormal()

void sl::SlamtecLidarDriver::_capsuleToNormal	(	const sl_lidar_response_capsule_measurement_nodes_t &	capsule,
		sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

inlineprivate

Definition at line 1499 of file sl_lidar_driver.cpp.

◆ _clearRxDataCache()

sl_result sl::SlamtecLidarDriver::_clearRxDataCache ( )

inlineprivate

Definition at line 1948 of file sl_lidar_driver.cpp.

◆ _dense_capsuleToNormal()

void sl::SlamtecLidarDriver::_dense_capsuleToNormal	(	const sl_lidar_response_capsule_measurement_nodes_t &	capsule,
		sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

inlineprivate

Definition at line 1556 of file sl_lidar_driver.cpp.

◆ _disableDataGrabbing()

void sl::SlamtecLidarDriver::_disableDataGrabbing ( )

inlineprivate

Definition at line 1168 of file sl_lidar_driver.cpp.

◆ _HqToNormal()

void sl::SlamtecLidarDriver::_HqToNormal	(	const sl_lidar_response_hq_capsule_measurement_nodes_t &	node_hq,
		sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

inlineprivate

Definition at line 1746 of file sl_lidar_driver.cpp.

◆ _sendCommand()

sl_result sl::SlamtecLidarDriver::_sendCommand	(	sl_u16	cmd,
		const void *	payload = `NULL`,
		size_t	payloadsize = `0`
	)

inlineprivate

Definition at line 1056 of file sl_lidar_driver.cpp.

◆ _ultraCapsuleToNormal()

void sl::SlamtecLidarDriver::_ultraCapsuleToNormal	(	const sl_lidar_response_ultra_capsule_measurement_nodes_t &	capsule,
		sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

inlineprivate

Definition at line 1311 of file sl_lidar_driver.cpp.

◆ _waitCapsuledNode()

sl_result sl::SlamtecLidarDriver::_waitCapsuledNode	(	sl_lidar_response_capsule_measurement_nodes_t &	node,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1424 of file sl_lidar_driver.cpp.

◆ _waitHqNode()

sl_result sl::SlamtecLidarDriver::_waitHqNode	(	sl_lidar_response_hq_capsule_measurement_nodes_t &	node,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1675 of file sl_lidar_driver.cpp.

◆ _waitNode()

sl_result sl::SlamtecLidarDriver::_waitNode	(	sl_lidar_response_measurement_node_t *	node,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1176 of file sl_lidar_driver.cpp.

◆ _waitResponse()

template<typename T >

sl_result sl::SlamtecLidarDriver::_waitResponse	(	T &	payload,
		sl_u8	ansType,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1144 of file sl_lidar_driver.cpp.

◆ _waitResponseHeader()

sl_result sl::SlamtecLidarDriver::_waitResponseHeader	(	sl_lidar_ans_header_t *	header,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1097 of file sl_lidar_driver.cpp.

◆ _waitScanData()

sl_result sl::SlamtecLidarDriver::_waitScanData	(	sl_lidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1233 of file sl_lidar_driver.cpp.

◆ _waitUltraCapsuledNode()

sl_result sl::SlamtecLidarDriver::_waitUltraCapsuledNode	(	sl_lidar_response_ultra_capsule_measurement_nodes_t &	node,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprivate

Definition at line 1809 of file sl_lidar_driver.cpp.

◆ ascendScanData()

sl_result sl::SlamtecLidarDriver::ascendScanData	(	sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t	count
	)

inlinevirtual

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 SL_RESULT_OPERATION_FAIL when all the scan data is invalid.

Implements sl::ILidarDriver.

Definition at line 675 of file sl_lidar_driver.cpp.

◆ checkMotorCtrlSupport()

sl_result sl::SlamtecLidarDriver::checkMotorCtrlSupport	(	MotorCtrlSupport &	motorCtrlSupport,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlinevirtual

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

Parameters

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

Implements sl::ILidarDriver.

Definition at line 592 of file sl_lidar_driver.cpp.

◆ checkSupportConfigCommands()

sl_result sl::SlamtecLidarDriver::checkSupportConfigCommands	(	bool &	outSupport,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 781 of file sl_lidar_driver.cpp.

◆ connect()

sl_result sl::SlamtecLidarDriver::connect ( IChannel * channel )

inlinevirtual

Connect to LIDAR via channel

Parameters

channel The communication channel Note: you should manage the lifecycle of the channel object, make sure it is alive during lidar driver's lifecycle

Implements sl::ILidarDriver.

Definition at line 238 of file sl_lidar_driver.cpp.

◆ disconnect()

void sl::SlamtecLidarDriver::disconnect ( )

inlinevirtual

Disconnect from the LIDAR

Implements sl::ILidarDriver.

Definition at line 262 of file sl_lidar_driver.cpp.

◆ getAllSupportedScanModes()

sl_result sl::SlamtecLidarDriver::getAllSupportedScanModes	(	std::vector< LidarScanMode > &	outModes,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlinevirtual

Get all scan modes that supported by lidar.

Implements sl::ILidarDriver.

Definition at line 286 of file sl_lidar_driver.cpp.

◆ getDesiredSpeed()

sl_result sl::SlamtecLidarDriver::getDesiredSpeed	(	sl_lidar_response_desired_rot_speed_t &	motorSpeed,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 768 of file sl_lidar_driver.cpp.

◆ getDeviceInfo()

sl_result sl::SlamtecLidarDriver::getDeviceInfo	(	sl_lidar_response_device_info_t &	info,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlinevirtual

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 sl::ILidarDriver.

Definition at line 579 of file sl_lidar_driver.cpp.

◆ getDeviceMacAddr()

sl_result sl::SlamtecLidarDriver::getDeviceMacAddr	(	sl_u8 *	macAddrArray,
		sl_u32	timeoutInMs
	)

inlinevirtual

Get LPX series lidar's MAC address

Parameters

macAddrArray The device MAC information returned from the LPX series lidar

Implements sl::ILidarDriver.

Definition at line 661 of file sl_lidar_driver.cpp.

◆ getFrequency()

sl_result sl::SlamtecLidarDriver::getFrequency	(	const LidarScanMode &	scanMode,
		const sl_lidar_response_measurement_node_hq_t *	nodes,
		size_t	count,
		float &	frequency
	)

inlinevirtual

Calculate LIDAR'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
nodes	Current scan's measurements
count	The number of sample nodes inside the given buffer

Implements sl::ILidarDriver.

Definition at line 627 of file sl_lidar_driver.cpp.

◆ getHealth()

sl_result sl::SlamtecLidarDriver::getHealth	(	sl_lidar_response_device_health_t &	health,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlinevirtual

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 sl::ILidarDriver.

Definition at line 640 of file sl_lidar_driver.cpp.

◆ getLidarConf()

sl_result sl::SlamtecLidarDriver::getLidarConf	(	sl_u32	type,
		std::vector< sl_u8 > &	outputBuf,
		const std::vector< sl_u8 > &	reserve = `std::vector<sl_u8>()`,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 859 of file sl_lidar_driver.cpp.

◆ getLidarSampleDuration()

sl_result sl::SlamtecLidarDriver::getLidarSampleDuration	(	float &	sampleDurationRes,
		sl_u16	scanModeID,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 923 of file sl_lidar_driver.cpp.

◆ getMaxDistance()

sl_result sl::SlamtecLidarDriver::getMaxDistance	(	float &	maxDistance,
		sl_u16	scanModeID,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 942 of file sl_lidar_driver.cpp.

◆ getMotorInfo()

sl_result sl::SlamtecLidarDriver::getMotorInfo	(	LidarMotorInfo &	motorInfo,
		sl_u32	timeoutInMs
	)

inlinevirtual

Get the motor information of the RPLIDAR include the max speed, min speed, desired speed.

Parameters

motorInfo The motor information returned from the RPLIDAR

Implements sl::ILidarDriver.

Definition at line 730 of file sl_lidar_driver.cpp.

◆ getScanDataWithIntervalHq()

sl_result sl::SlamtecLidarDriver::getScanDataWithIntervalHq	(	sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	count
	)

inlinevirtual

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 SL_RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.

Implements sl::ILidarDriver.

Definition at line 680 of file sl_lidar_driver.cpp.

◆ getScanModeAnsType()

sl_result sl::SlamtecLidarDriver::getScanModeAnsType	(	sl_u8 &	ansType,
		sl_u16	scanModeID,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 960 of file sl_lidar_driver.cpp.

◆ getScanModeCount()

sl_result sl::SlamtecLidarDriver::getScanModeCount	(	sl_u16 &	modeCount,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 796 of file sl_lidar_driver.cpp.

◆ getScanModeName()

sl_result sl::SlamtecLidarDriver::getScanModeName	(	char *	modeName,
		sl_u16	scanModeID,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlineprotected

Definition at line 979 of file sl_lidar_driver.cpp.

◆ getTypicalScanMode()

sl_result sl::SlamtecLidarDriver::getTypicalScanMode	(	sl_u16 &	outMode,
		sl_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

inlinevirtual

Get typical scan mode of lidar.

Implements sl::ILidarDriver.

Definition at line 320 of file sl_lidar_driver.cpp.

◆ grabScanDataHq()

sl_result sl::SlamtecLidarDriver::grabScanDataHq	(	sl_lidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	count,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlinevirtual

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 SL_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 sl::ILidarDriver.

Definition at line 552 of file sl_lidar_driver.cpp.

◆ isConnected()

bool sl::SlamtecLidarDriver::isConnected ( )

inlinevirtual

Check if the connection is established

Implements sl::ILidarDriver.

Definition at line 268 of file sl_lidar_driver.cpp.

◆ negotiateSerialBaudRate()

sl_result sl::SlamtecLidarDriver::negotiateSerialBaudRate	(	sl_u32	requiredBaudRate,
		sl_u32 *	baudRateDetected
	)

inlineprotectedvirtual

Ask the LIDAR to use a new baudrate for serial communication The target LIDAR system must support such feature to work. This function does NOT check whether the target LIDAR works with the requiredBaudRate or not. In order to verifiy the result, use getDeviceInfo or other getXXXX functions instead.

Parameters

requiredBaudRate	The new baudrate required to be used. It MUST matches with the baudrate of the binded channel.
baudRateDetected	The actual baudrate detected by the LIDAR system

Implements sl::ILidarDriver.

Definition at line 994 of file sl_lidar_driver.cpp.

◆ reset()

sl_result sl::SlamtecLidarDriver::reset ( sl_u32 timeoutInMs = DEFAULT_TIMEOUT )

inlinevirtual

Ask the LIDAR core system to reset it self The host system can use the Reset operation to help LIDAR escape the self-protection mode.

Parameters

timeout The operation timeout value (in millisecond)

Implements sl::ILidarDriver.

Definition at line 273 of file sl_lidar_driver.cpp.

◆ setLidarConf()

sl_result sl::SlamtecLidarDriver::setLidarConf	(	sl_u32	type,
		const void *	payload,
		size_t	payloadSize,
		sl_u32	timeout
	)

inlineprotected

Definition at line 809 of file sl_lidar_driver.cpp.

◆ setLidarIpConf()

sl_result sl::SlamtecLidarDriver::setLidarIpConf	(	const sl_lidar_ip_conf_t &	conf,
		sl_u32	timeout
	)

inlinevirtual

Set LPX series lidar's static IP address

Parameters

conf	Network parameter that LPX series lidar owned
timeout	The operation timeout value (in millisecond) for the ethernet udp communication

Implements sl::ILidarDriver.

Definition at line 634 of file sl_lidar_driver.cpp.

◆ setMotorSpeed()

sl_result sl::SlamtecLidarDriver::setMotorSpeed ( sl_u16 speed = DEFAULT_MOTOR_SPEED )

inlinevirtual

Set lidar motor speed The host system can use this operation to set lidar motor speed.

Parameters

speed The speed value set to lidar

Note: The function will stop scan if speed is DEFAULT_MOTOR_SPEED.

Implements sl::ILidarDriver.

Definition at line 697 of file sl_lidar_driver.cpp.

◆ startMotor()

sl_result sl::SlamtecLidarDriver::startMotor ( )

inlineprotected

Definition at line 763 of file sl_lidar_driver.cpp.

◆ startScan()

sl_result sl::SlamtecLidarDriver::startScan	(	bool	force,
		bool	useTypicalScan,
		sl_u32	options = `0`,
		LidarScanMode *	outUsedScanMode = `nullptr`
	)

inlinevirtual

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

Implements sl::ILidarDriver.

Definition at line 347 of file sl_lidar_driver.cpp.

◆ startScanExpress()

sl_result sl::SlamtecLidarDriver::startScanExpress	(	bool	force,
		sl_u16	scanMode,
		sl_u32	options = `0`,
		LidarScanMode *	outUsedScanMode = `nullptr`,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inlinevirtual

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

Implements sl::ILidarDriver.

Definition at line 416 of file sl_lidar_driver.cpp.

◆ startScanNormal()

sl_result sl::SlamtecLidarDriver::startScanNormal	(	bool	force,
		sl_u32	timeout = `DEFAULT_TIMEOUT`
	)

inline

Definition at line 381 of file sl_lidar_driver.cpp.

◆ stop()

sl_result sl::SlamtecLidarDriver::stop ( sl_u32 timeout = DEFAULT_TIMEOUT )

inlinevirtual

Ask the LIDAR 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

Implements sl::ILidarDriver.

Definition at line 534 of file sl_lidar_driver.cpp.

Member Data Documentation

◆ _cached_capsule_flag

sl_u8 sl::SlamtecLidarDriver::_cached_capsule_flag

private

Definition at line 1970 of file sl_lidar_driver.cpp.

◆ _cached_previous_capsuledata

sl_lidar_response_capsule_measurement_nodes_t sl::SlamtecLidarDriver::_cached_previous_capsuledata

private

Definition at line 1975 of file sl_lidar_driver.cpp.

◆ _cached_previous_dense_capsuledata

sl_lidar_response_dense_capsule_measurement_nodes_t sl::SlamtecLidarDriver::_cached_previous_dense_capsuledata

private

Definition at line 1976 of file sl_lidar_driver.cpp.

◆ _cached_previous_Hqdata

sl_lidar_response_hq_capsule_measurement_nodes_t sl::SlamtecLidarDriver::_cached_previous_Hqdata

private

Definition at line 1978 of file sl_lidar_driver.cpp.

◆ _cached_previous_ultracapsuledata

sl_lidar_response_ultra_capsule_measurement_nodes_t sl::SlamtecLidarDriver::_cached_previous_ultracapsuledata

private

Definition at line 1977 of file sl_lidar_driver.cpp.

◆ _cached_sampleduration_express

sl_u16 sl::SlamtecLidarDriver::_cached_sampleduration_express

private

Definition at line 1965 of file sl_lidar_driver.cpp.

◆ _cached_sampleduration_std

sl_u16 sl::SlamtecLidarDriver::_cached_sampleduration_std

private

Definition at line 1964 of file sl_lidar_driver.cpp.

◆ _cached_scan_node_hq_buf

sl_lidar_response_measurement_node_hq_t sl::SlamtecLidarDriver::_cached_scan_node_hq_buf[8192]

private

Definition at line 1968 of file sl_lidar_driver.cpp.

◆ _cached_scan_node_hq_buf_for_interval_retrieve

sl_lidar_response_measurement_node_hq_t sl::SlamtecLidarDriver::_cached_scan_node_hq_buf_for_interval_retrieve[8192]

private

Definition at line 1972 of file sl_lidar_driver.cpp.

◆ _cached_scan_node_hq_count

size_t sl::SlamtecLidarDriver::_cached_scan_node_hq_count

private

Definition at line 1969 of file sl_lidar_driver.cpp.

◆ _cached_scan_node_hq_count_for_interval_retrieve

size_t sl::SlamtecLidarDriver::_cached_scan_node_hq_count_for_interval_retrieve

private

Definition at line 1973 of file sl_lidar_driver.cpp.

◆ _cachethread

rp::hal::Thread sl::SlamtecLidarDriver::_cachethread

private

Definition at line 1963 of file sl_lidar_driver.cpp.

◆ _channel

IChannel* sl::SlamtecLidarDriver::_channel

private

Definition at line 1957 of file sl_lidar_driver.cpp.

◆ _dataEvt

rp::hal::Event sl::SlamtecLidarDriver::_dataEvt

private

Definition at line 1962 of file sl_lidar_driver.cpp.

◆ _is_previous_capsuledataRdy

bool sl::SlamtecLidarDriver::_is_previous_capsuledataRdy

private

Definition at line 1979 of file sl_lidar_driver.cpp.

◆ _is_previous_HqdataRdy

bool sl::SlamtecLidarDriver::_is_previous_HqdataRdy

private

Definition at line 1980 of file sl_lidar_driver.cpp.

◆ _isConnected

bool sl::SlamtecLidarDriver::_isConnected

private

Definition at line 1958 of file sl_lidar_driver.cpp.

◆ _isScanning

bool sl::SlamtecLidarDriver::_isScanning

private

Definition at line 1959 of file sl_lidar_driver.cpp.

◆ _isSupportingMotorCtrl

MotorCtrlSupport sl::SlamtecLidarDriver::_isSupportingMotorCtrl

private

Definition at line 1960 of file sl_lidar_driver.cpp.

◆ _lock

rp::hal::Locker sl::SlamtecLidarDriver::_lock

private

Definition at line 1961 of file sl_lidar_driver.cpp.

◆ _scan_node_synced

bool sl::SlamtecLidarDriver::_scan_node_synced

private

Definition at line 1966 of file sl_lidar_driver.cpp.

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

sl_lidar_driver.cpp

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ SlamtecLidarDriver()

Member Function Documentation

◆ _cacheCapsuledScanData()

◆ _cacheHqScanData()

◆ _cacheScanData()

◆ _cacheUltraCapsuledScanData()

◆ _capsuleToNormal()

◆ _clearRxDataCache()

◆ _dense_capsuleToNormal()

◆ _disableDataGrabbing()

◆ _HqToNormal()

◆ _sendCommand()

◆ _ultraCapsuleToNormal()

◆ _waitCapsuledNode()

◆ _waitHqNode()

◆ _waitNode()

◆ _waitResponse()

◆ _waitResponseHeader()

◆ _waitScanData()

◆ _waitUltraCapsuledNode()

◆ ascendScanData()

◆ checkMotorCtrlSupport()

◆ checkSupportConfigCommands()

◆ connect()

◆ disconnect()

◆ getAllSupportedScanModes()

◆ getDesiredSpeed()

◆ getDeviceInfo()

◆ getDeviceMacAddr()

◆ getFrequency()

◆ getHealth()

◆ getLidarConf()

◆ getLidarSampleDuration()

◆ getMaxDistance()

◆ getMotorInfo()

◆ getScanDataWithIntervalHq()

◆ getScanModeAnsType()

◆ getScanModeCount()

◆ getScanModeName()

◆ getTypicalScanMode()

◆ grabScanDataHq()

◆ isConnected()

◆ negotiateSerialBaudRate()

◆ reset()

◆ setLidarConf()

◆ setLidarIpConf()

◆ setMotorSpeed()

◆ startMotor()

◆ startScan()

◆ startScanExpress()

◆ startScanNormal()

◆ stop()

Member Data Documentation

◆ _cached_capsule_flag

◆ _cached_previous_capsuledata

◆ _cached_previous_dense_capsuledata

◆ _cached_previous_Hqdata

◆ _cached_previous_ultracapsuledata

◆ _cached_sampleduration_express

◆ _cached_sampleduration_std

◆ _cached_scan_node_hq_buf

◆ _cached_scan_node_hq_buf_for_interval_retrieve

◆ _cached_scan_node_hq_count

◆ _cached_scan_node_hq_count_for_interval_retrieve

◆ _cachethread

◆ _channel

◆ _dataEvt

◆ _is_previous_capsuledataRdy

◆ _is_previous_HqdataRdy