sl::SL_LidarDriver Class Reference

#include <sl_lidar_driver_impl.h>

Inheritance diagram for sl::SL_LidarDriver:

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	ascendScanData (sl_lidar_response_measurement_node_t *nodebuffer, size_t count)
sl_result	checkMotorCtrlSupport (MotorCtrlSupport &support, sl_u32 timeout=DEFAULT_TIMEOUT)
sl_result	connect (IChannel *channel)
	DEPRECATED (sl_result grabScanData(sl_lidar_response_measurement_node_t *nodebuffer, size_t &count, sl_u32 timeout=DEFAULT_TIMEOUT))
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	getLidarIpConf (sl_lidar_ip_conf_t &conf, sl_u32 timeout)
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	negotiateSerialBaudRate (sl_u32 requiredBaudRate, sl_u32 *baudRateDetected=NULL)
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_PWM)
	SL_LidarDriver ()
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 LIDARMajorType	getLIDARMajorType (const sl_lidar_response_device_info_t *devInfo=nullptr)=0
virtual LIDARTechnologyType	getLIDARTechnologyType (const sl_lidar_response_device_info_t *devInfo=nullptr)=0
virtual sl_result	getModelNameDescriptionString (std::string &out_description, bool fetchAliasName=true, const sl_lidar_response_device_info_t *devInfo=nullptr, sl_u32 timeout=DEFAULT_TIMEOUT)=0
virtual sl_result	getMotorInfo (LidarMotorInfo &motorInfo, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)=0
virtual sl_result	grabScanDataHqWithTimeStamp (sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &count, sl_u64 &timestamp_uS, sl_u32 timeout=DEFAULT_TIMEOUT)=0
virtual	~ILidarDriver ()

Protected Member Functions
sl_result	checkSupportConfigCommands (bool &outSupport, 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	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 ()
sl_result	_cacheUltraDenseCapsuledScanData ()
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	_ultra_dense_capsuleToNormal (const sl_lidar_response_ultra_dense_capsule_measurement_nodes_t &capslue, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)
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)
sl_result	_waitUltraDenseCapsuledNode (sl_lidar_response_ultra_dense_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

Detailed Description

Definition at line 36 of file sl_lidar_driver_impl.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
LEGACY_SAMPLE_DURATION

Definition at line 39 of file sl_lidar_driver_impl.h.

anonymous enum

anonymous enum

Enumerator
NORMAL_CAPSULE
DENSE_CAPSULE

Definition at line 43 of file sl_lidar_driver_impl.h.

anonymous enum

anonymous enum

Enumerator
A2A3_LIDAR_MINUM_MAJOR_ID
TOF_LIDAR_MINUM_MAJOR_ID

Definition at line 49 of file sl_lidar_driver_impl.h.

Constructor & Destructor Documentation

SL_LidarDriver()

sl::SL_LidarDriver::SL_LidarDriver ( )

inline

Definition at line 54 of file sl_lidar_driver_impl.h.

Member Function Documentation

_cacheCapsuledScanData()

sl_result sl::SL_LidarDriver::_cacheCapsuledScanData ( )

private

_cacheHqScanData()

sl_result sl::SL_LidarDriver::_cacheHqScanData ( )

private

_cacheScanData()

sl_result sl::SL_LidarDriver::_cacheScanData ( )

private

_cacheUltraCapsuledScanData()

sl_result sl::SL_LidarDriver::_cacheUltraCapsuledScanData ( )

private

_cacheUltraDenseCapsuledScanData()

sl_result sl::SL_LidarDriver::_cacheUltraDenseCapsuledScanData ( )

private

_capsuleToNormal()

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

private

_clearRxDataCache()

sl_result sl::SL_LidarDriver::_clearRxDataCache ( )

private

_dense_capsuleToNormal()

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

private

_disableDataGrabbing()

void sl::SL_LidarDriver::_disableDataGrabbing ( )

private

_HqToNormal()

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

private

_sendCommand()

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

private

_ultra_dense_capsuleToNormal()

void sl::SL_LidarDriver::_ultra_dense_capsuleToNormal ( const sl_lidar_response_ultra_dense_capsule_measurement_nodes_t &  capslue, sl_lidar_response_measurement_node_hq_t *  nodebuffer, size_t &  nodeCount  )

private

_ultraCapsuleToNormal()

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

private

_waitCapsuledNode()

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

private

_waitHqNode()

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

private

_waitNode()

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

private

_waitResponse()

template<typename T >

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

private

_waitResponseHeader()

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

private

_waitScanData()

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

private

_waitUltraCapsuledNode()

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

private

_waitUltraDenseCapsuledNode()

sl_result sl::SL_LidarDriver::_waitUltraDenseCapsuledNode ( sl_lidar_response_ultra_dense_capsule_measurement_nodes_t &  node, sl_u32  timeout = DEFAULT_TIMEOUT  )

private

ascendScanData() [1/2]

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

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 SL_RESULT_OPERATION_FAIL when all the scan data is invalid.

Implements sl::ILidarDriver.

ascendScanData() [2/2]

sl_result sl::SL_LidarDriver::ascendScanData	(	sl_lidar_response_measurement_node_t *	nodebuffer,
		size_t	count
	)

checkMotorCtrlSupport()

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

virtual

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.

checkSupportConfigCommands()

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

protected

connect()

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

virtual

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.

DEPRECATED()

sl::SL_LidarDriver::DEPRECATED

(

sl_result

grabScanDatasl_lidar_response_measurement_node_t *nodebuffer, size_t &count, sl_u32 timeout=DEFAULT_TIMEOUT

)

disconnect()

void sl::SL_LidarDriver::disconnect ( )

virtual

Disconnect from the LIDAR

Implements sl::ILidarDriver.

getAllSupportedScanModes()

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

virtual

Get all scan modes that supported by lidar.

Implements sl::ILidarDriver.

getDeviceInfo()

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

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

Implements sl::ILidarDriver.

getDeviceMacAddr()

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

virtual

Get LPX series lidar's MAC address

Parameters

macAddrArray

The device MAC information returned from the LPX series lidar Notice: the macAddrArray must point to a valid buffer with at least 6 bytes length Otherwise, buffer overwrite will occur

Implements sl::ILidarDriver.

getFrequency()

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

virtual

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.

getHealth()

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

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

Implements sl::ILidarDriver.

getLidarConf()

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

protected

getLidarIpConf()

sl_result sl::SL_LidarDriver::getLidarIpConf ( sl_lidar_ip_conf_t &  conf, sl_u32  timeout  )

virtual

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

Implements sl::ILidarDriver.

getLidarSampleDuration()

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

protected

getMaxDistance()

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

protected

getScanDataWithIntervalHq()

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

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

Implements sl::ILidarDriver.

getScanModeAnsType()

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

protected

getScanModeCount()

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

protected

getScanModeName()

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

protected

getTypicalScanMode()

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

virtual

Get typical scan mode of lidar.

Implements sl::ILidarDriver.

grabScanDataHq()

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

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 SL_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.

Implements sl::ILidarDriver.

isConnected()

bool sl::SL_LidarDriver::isConnected ( )

virtual

Check if the connection is established

Implements sl::ILidarDriver.

negotiateSerialBaudRate()

sl_result sl::SL_LidarDriver::negotiateSerialBaudRate ( sl_u32  requiredBaudRate, sl_u32 *  baudRateDetected = NULL  )

virtual

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.

reset()

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

virtual

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.

setLidarConf()

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

protected

setLidarIpConf()

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

virtual

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

Implements sl::ILidarDriver.

setMotorSpeed()

sl_result sl::SL_LidarDriver::setMotorSpeed ( sl_u16  speed = DEFAULT_MOTOR_PWM )

virtual

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.

startMotor()

sl_result sl::SL_LidarDriver::startMotor ( )

protected

startScan()

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

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

Implements sl::ILidarDriver.

startScanExpress()

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

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

Implements sl::ILidarDriver.

startScanNormal()

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

stop()

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

virtual

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.

Member Data Documentation

_cached_capsule_flag

sl_u8 sl::SL_LidarDriver::_cached_capsule_flag

private

Definition at line 144 of file sl_lidar_driver_impl.h.

_cached_previous_capsuledata

sl_lidar_response_capsule_measurement_nodes_t sl::SL_LidarDriver::_cached_previous_capsuledata

private

Definition at line 149 of file sl_lidar_driver_impl.h.

_cached_previous_dense_capsuledata

sl_lidar_response_dense_capsule_measurement_nodes_t sl::SL_LidarDriver::_cached_previous_dense_capsuledata

private

Definition at line 150 of file sl_lidar_driver_impl.h.

_cached_previous_Hqdata

sl_lidar_response_hq_capsule_measurement_nodes_t sl::SL_LidarDriver::_cached_previous_Hqdata

private

Definition at line 152 of file sl_lidar_driver_impl.h.

_cached_previous_ultracapsuledata

sl_lidar_response_ultra_capsule_measurement_nodes_t sl::SL_LidarDriver::_cached_previous_ultracapsuledata

private

Definition at line 151 of file sl_lidar_driver_impl.h.

_cached_sampleduration_express

sl_u16 sl::SL_LidarDriver::_cached_sampleduration_express

private

Definition at line 140 of file sl_lidar_driver_impl.h.

_cached_sampleduration_std

sl_u16 sl::SL_LidarDriver::_cached_sampleduration_std

private

Definition at line 139 of file sl_lidar_driver_impl.h.

_cached_scan_node_hq_buf

sl_lidar_response_measurement_node_hq_t sl::SL_LidarDriver::_cached_scan_node_hq_buf[8192]

private

Definition at line 142 of file sl_lidar_driver_impl.h.

_cached_scan_node_hq_buf_for_interval_retrieve

sl_lidar_response_measurement_node_hq_t sl::SL_LidarDriver::_cached_scan_node_hq_buf_for_interval_retrieve[8192]

private

Definition at line 146 of file sl_lidar_driver_impl.h.

_cached_scan_node_hq_count

size_t sl::SL_LidarDriver::_cached_scan_node_hq_count

private

Definition at line 143 of file sl_lidar_driver_impl.h.

_cached_scan_node_hq_count_for_interval_retrieve

size_t sl::SL_LidarDriver::_cached_scan_node_hq_count_for_interval_retrieve

private

Definition at line 147 of file sl_lidar_driver_impl.h.

_cachethread

rp::hal::Thread sl::SL_LidarDriver::_cachethread

private

Definition at line 138 of file sl_lidar_driver_impl.h.

_channel

IChannel* sl::SL_LidarDriver::_channel

private

Definition at line 131 of file sl_lidar_driver_impl.h.

_dataEvt

rp::hal::Event sl::SL_LidarDriver::_dataEvt

private

Definition at line 137 of file sl_lidar_driver_impl.h.

_is_previous_capsuledataRdy

bool sl::SL_LidarDriver::_is_previous_capsuledataRdy

private

Definition at line 153 of file sl_lidar_driver_impl.h.

_is_previous_HqdataRdy

bool sl::SL_LidarDriver::_is_previous_HqdataRdy

private

Definition at line 154 of file sl_lidar_driver_impl.h.

_isConnected

bool sl::SL_LidarDriver::_isConnected

private

Definition at line 132 of file sl_lidar_driver_impl.h.

_isScanning

bool sl::SL_LidarDriver::_isScanning

private

Definition at line 133 of file sl_lidar_driver_impl.h.

_isSupportingMotorCtrl

MotorCtrlSupport sl::SL_LidarDriver::_isSupportingMotorCtrl

private

Definition at line 134 of file sl_lidar_driver_impl.h.

_lock

rp::hal::Locker sl::SL_LidarDriver::_lock

private

Definition at line 136 of file sl_lidar_driver_impl.h.

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

• sl_lidar_driver_impl.h