#include <rplidar_driver.h>

Public Types
enum	{ DEFAULT_TIMEOUT = 2000 }

enum	{ MAX_SCAN_NODES = 8192 }

enum	{ LEGACY_SAMPLE_DURATION = 476 }

Public Member Functions
u_result	ascendScanData (rplidar_response_measurement_node_hq_t *nodebuffer, size_t count)

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

u_result	clearNetSerialRxCache ()

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

void	disconnect ()
	Disconnect with the RPLIDAR and close the serial port. More...

u_result	getAllSupportedScanModes (std::vector< RplidarScanMode > &outModes, _u32 timeoutInMs=DEFAULT_TIMEOUT)
	Get all scan modes that supported by lidar. More...

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

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

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

u_result	getLidarIpConf (rplidar_ip_conf_t &conf, _u32 timeout=DEFAULT_TIMEOUT)

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)

u_result	getTypicalScanMode (_u16 &outMode, _u32 timeoutInMs=DEFAULT_TIMEOUT)
	Get typical scan mode of lidar. More...

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

bool	isConnected ()
	Returns TRUE when the connection has been established. More...

u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)

	RPlidarDriver (sl_u32 channelType)

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

u_result	setMotorPWM (_u16 pwm)

u_result	startMotor ()
	Start RPLIDAR's motor when using accessory board. More...

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	stop (_u32 timeout=DEFAULT_TIMEOUT)

u_result	stopMotor ()
	Stop RPLIDAR's motor when using accessory board. More...

virtual	~RPlidarDriver ()

Static Public Member Functions
static RPlidarDriver *	CreateDriver (_u32 drivertype=CHANNEL_TYPE_SERIALPORT)

static void	DisposeDriver (RPlidarDriver *drv)

Protected Member Functions
	RPlidarDriver ()

Private Attributes
IChannel *	_channel

sl_u32	_channelType

ILidarDriver *	_lidarDrv

Detailed Description

Definition at line 53 of file rplidar_driver.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
DEFAULT_TIMEOUT

Definition at line 55 of file rplidar_driver.h.

◆ anonymous enum

anonymous enum

Enumerator
MAX_SCAN_NODES

Definition at line 59 of file rplidar_driver.h.

◆ anonymous enum

anonymous enum

Enumerator
LEGACY_SAMPLE_DURATION

Definition at line 63 of file rplidar_driver.h.

Constructor & Destructor Documentation

◆ RPlidarDriver() [1/2]

rp::standalone::rplidar::RPlidarDriver::RPlidarDriver ( sl_u32 channelType )

Definition at line 49 of file rplidar_driver.cpp.

◆ ~RPlidarDriver()

rp::standalone::rplidar::RPlidarDriver::~RPlidarDriver ( )

virtual

Definition at line 54 of file rplidar_driver.cpp.

◆ RPlidarDriver() [2/2]

rp::standalone::rplidar::RPlidarDriver::RPlidarDriver ( )

protected

Definition at line 47 of file rplidar_driver.cpp.

Member Function Documentation

◆ ascendScanData()

u_result rp::standalone::rplidar::RPlidarDriver::ascendScanData	(	rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t	count
	)

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.

Definition at line 175 of file rplidar_driver.cpp.

◆ checkMotorCtrlSupport()

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

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.

Definition at line 141 of file rplidar_driver.cpp.

◆ clearNetSerialRxCache()

u_result rp::standalone::rplidar::RPlidarDriver::clearNetSerialRxCache ( )

inline

Definition at line 106 of file rplidar_driver.h.

◆ connect()

u_result rp::standalone::rplidar::RPlidarDriver::connect	(	const char *	path,
		_u32	portOrBaud,
		_u32	flag = `0`
	)

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 \.\com10 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

Definition at line 67 of file rplidar_driver.cpp.

◆ CreateDriver()

RPlidarDriver * rp::standalone::rplidar::RPlidarDriver::CreateDriver ( _u32 drivertype = CHANNEL_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 56 of file rplidar_driver.cpp.

◆ disconnect()

void rp::standalone::rplidar::RPlidarDriver::disconnect ( )

Disconnect with the RPLIDAR and close the serial port.

Definition at line 91 of file rplidar_driver.cpp.

◆ DisposeDriver()

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 62 of file rplidar_driver.cpp.

◆ getAllSupportedScanModes()

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

Get all scan modes that supported by lidar.

Definition at line 106 of file rplidar_driver.cpp.

◆ getDeviceInfo()

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

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

Definition at line 131 of file rplidar_driver.cpp.

◆ getDeviceMacAddr()

u_result rp::standalone::rplidar::RPlidarDriver::getDeviceMacAddr	(	_u8 *	macAddrArray,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

Get LPX and S2E series lidar's MAC address

Parameters

macAddrArray The device MAC information returned from the LPX series lidar

Definition at line 160 of file rplidar_driver.cpp.

◆ getHealth()

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

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

Definition at line 126 of file rplidar_driver.cpp.

◆ getLidarIpConf()

u_result rp::standalone::rplidar::RPlidarDriver::getLidarIpConf	(	rplidar_ip_conf_t &	conf,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

Get LPX and S2E 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

Definition at line 155 of file rplidar_driver.cpp.

◆ getScanDataWithInterval()

u_result rp::standalone::rplidar::RPlidarDriver::getScanDataWithInterval	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count
	)

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.

Definition at line 180 of file rplidar_driver.cpp.

◆ getScanDataWithIntervalHq()

u_result rp::standalone::rplidar::RPlidarDriver::getScanDataWithIntervalHq	(	rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	count
	)

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.

Definition at line 185 of file rplidar_driver.cpp.

◆ getTypicalScanMode()

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

Get typical scan mode of lidar.

Definition at line 111 of file rplidar_driver.cpp.

◆ grabScanDataHq()

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

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.

\The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.

Definition at line 170 of file rplidar_driver.cpp.

◆ isConnected()

bool rp::standalone::rplidar::RPlidarDriver::isConnected ( )

Returns TRUE when the connection has been established.

Definition at line 96 of file rplidar_driver.cpp.

◆ reset()

u_result rp::standalone::rplidar::RPlidarDriver::reset ( _u32 timeout = DEFAULT_TIMEOUT )

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

Definition at line 101 of file rplidar_driver.cpp.

◆ setLidarIpConf()

u_result rp::standalone::rplidar::RPlidarDriver::setLidarIpConf	(	const rplidar_ip_conf_t &	conf,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

Set LPX and S2E 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

Definition at line 150 of file rplidar_driver.cpp.

◆ setMotorPWM()

u_result rp::standalone::rplidar::RPlidarDriver::setMotorPWM ( _u16 pwm )

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

Definition at line 136 of file rplidar_driver.cpp.

◆ startMotor()

u_result rp::standalone::rplidar::RPlidarDriver::startMotor ( )

Start RPLIDAR's motor when using accessory board.

Definition at line 190 of file rplidar_driver.cpp.

◆ startScan()

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

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

Definition at line 116 of file rplidar_driver.cpp.

◆ startScanExpress()

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

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

Definition at line 121 of file rplidar_driver.cpp.

◆ stop()

u_result rp::standalone::rplidar::RPlidarDriver::stop ( _u32 timeout = DEFAULT_TIMEOUT )

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

Definition at line 165 of file rplidar_driver.cpp.

◆ stopMotor()

u_result rp::standalone::rplidar::RPlidarDriver::stopMotor ( )

Stop RPLIDAR's motor when using accessory board.

Definition at line 194 of file rplidar_driver.cpp.

Member Data Documentation

◆ _channel

IChannel* rp::standalone::rplidar::RPlidarDriver::_channel

private

Definition at line 239 of file rplidar_driver.h.

◆ _channelType

sl_u32 rp::standalone::rplidar::RPlidarDriver::_channelType

private

Definition at line 238 of file rplidar_driver.h.

◆ _lidarDrv

ILidarDriver* rp::standalone::rplidar::RPlidarDriver::_lidarDrv

private

Definition at line 240 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

Protected Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ RPlidarDriver() [1/2]

◆ ~RPlidarDriver()

◆ RPlidarDriver() [2/2]

Member Function Documentation

◆ ascendScanData()

◆ checkMotorCtrlSupport()

◆ clearNetSerialRxCache()

◆ connect()

◆ CreateDriver()

◆ disconnect()

◆ DisposeDriver()

◆ getAllSupportedScanModes()

◆ getDeviceInfo()

◆ getDeviceMacAddr()

◆ getHealth()

◆ getLidarIpConf()

◆ getScanDataWithInterval()

◆ getScanDataWithIntervalHq()

◆ getTypicalScanMode()

◆ grabScanDataHq()

◆ isConnected()

◆ reset()

◆ setLidarIpConf()

◆ setMotorPWM()

◆ startMotor()

◆ startScan()

◆ startScanExpress()

◆ stop()

◆ stopMotor()

Member Data Documentation

◆ _channel

◆ _channelType

◆ _lidarDrv