rplidar_driver.h

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/*
 *  RPLIDAR SDK
 *
 *  Copyright (c) 2009 - 2014 RoboPeak Team
 *  http://www.robopeak.com
 *  Copyright (c) 2014 - 2019 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.
 *
 */

#pragma once
#include "sl_lidar_driver.h"

#ifndef __cplusplus
#error "The RPlidar SDK requires a C++ compiler to be built"
#endif


namespace rp { namespace standalone{ namespace rplidar {
    using namespace sl;
    typedef LidarScanMode RplidarScanMode;

//enum {
//    DRIVER_TYPE_SERIALPORT = 0x0,
//    DRIVER_TYPE_TCP = 0x1,
//    DRIVER_TYPE_UDP = 0x2,
//};
class RPlidarDriver {
public:
    enum {
        DEFAULT_TIMEOUT = 2000, //2000 ms
    };

    enum {
        MAX_SCAN_NODES = 8192,
    };

    enum {
        LEGACY_SAMPLE_DURATION = 476,
    };

public:
    static RPlidarDriver * CreateDriver(_u32 drivertype = CHANNEL_TYPE_SERIALPORT);
    

    RPlidarDriver(sl_u32 channelType);

    static void DisposeDriver(RPlidarDriver * drv);

    u_result connect(const char *path, _u32 portOrBaud, _u32 flag = 0);
    
    void disconnect();

    bool isConnected(); 

    u_result reset(_u32 timeout = DEFAULT_TIMEOUT);

    u_result clearNetSerialRxCache() {
        return RESULT_OK;
    }
    // FW1.24
    u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT);
   
    u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT);

    u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL);

    u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT);

    u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT);

    u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT);

    u_result setMotorPWM(_u16 pwm);

    u_result startMotor();

    u_result stopMotor();

    u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT);

        u_result  setLidarIpConf(const rplidar_ip_conf_t& conf, _u32 timeout = DEFAULT_TIMEOUT);

        u_result getDeviceMacAddr(_u8* macAddrArray, _u32 timeoutInMs = DEFAULT_TIMEOUT);

    u_result stop(_u32 timeout = DEFAULT_TIMEOUT);

    u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT);

    u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count);

    u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count);

    u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count);


    virtual ~RPlidarDriver();
protected:
    RPlidarDriver();

private:
    sl_u32 _channelType;
    IChannel* _channel;
    ILidarDriver* _lidarDrv;
    
};




}}}