sl::SlamtecLidarDriver Class Reference

Inheritance diagram for sl::SlamtecLidarDriver:

Public Types
enum	{ MAX_SCANNODE_CACHE_COUNT = 8192 }
enum	{ A2A3_LIDAR_MINUM_MAJOR_ID = 2, BUILTIN_MOTORCTL_MINUM_MAJOR_ID = 6 }
enum	{   TOF_C_SERIAL_MINUM_MAJOR_ID = 4, TOF_S_SERIAL_MINUM_MAJOR_ID = 6, TOF_T_SERIAL_MINUM_MAJOR_ID = 9, TOF_M_SERIAL_MINUM_MAJOR_ID = 12,   NEWDESIGN_MINUM_MAJOR_ID = TOF_C_SERIAL_MINUM_MAJOR_ID }
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	getLidarIpConf (sl_lidar_ip_conf_t &conf, sl_u32 timeout)
LIDARMajorType	getLIDARMajorType (const sl_lidar_response_device_info_t *devInfo)
LIDARTechnologyType	getLIDARTechnologyType (const sl_lidar_response_device_info_t *devInfo)
sl_result	getModelNameDescriptionString (std::string &out_description, bool fetchAliasName, const sl_lidar_response_device_info_t *devInfo, sl_u32 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)
sl_result	grabScanDataHqWithTimeStamp (sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &count, sl_u64 &timestamp_uS, sl_u32 timeout=DEFAULT_TIMEOUT)
bool	isConnected ()
sl_result	negotiateSerialBaudRate (sl_u32 requiredBaudRate, sl_u32 *baudRateDetected)
virtual void	onHQNodeDecoded (_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t *node)
virtual void	onHQNodeScanResetReq ()
virtual void	onProtocolMessageDecoded (const internal::ProtocolMessage &msg)
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	startScanNormal_commonpath (bool force, bool ifSupportLidarConf, LidarScanMode &outUsedScanMode, sl_u32 timeout)
sl_result	stop (sl_u32 timeout=DEFAULT_TIMEOUT)
virtual	~SlamtecLidarDriver ()
Public Member Functions inherited from sl::ILidarDriver
virtual	~ILidarDriver ()

Protected Member Functions
bool	_checkNDMagicNumber (_u8 model)
u_result	_detectLIDARNativeInterfaceType (LIDARInterfaceType &outputType, const rplidar_response_device_info_t &devInfo, sl_u32 timeout=DEFAULT_TIMEOUT)
void	_disableDataGrabbing ()
u_result	_getLegacySampleDuration_uS (rplidar_response_sample_rate_t &rateInfo, _u32 timeout)
_u32	_getNativeBaudRate (const rplidar_response_device_info_t &devInfo)
u_result	_sendCommandWithoutResponse (_u8 cmd, const void *payload=NULL, size_t payloadsize=0, bool noForceStop=false)
u_result	_sendCommandWithResponse (_u8 cmd, _u8 responseType, internal::message_autoptr_t &ansPkt, _u32 timeout=DEFAULT_TIMEOUT, const void *payload=NULL, size_t payloadsize=0)
bool	_updateTimingDesc (const rplidar_response_device_info_t &devInfo, float selectedSampleDuration)
u_result	checkSupportConfigCommands (bool &outSupport, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getDesiredSpeed (sl_lidar_response_desired_rot_speed_t &motorSpeed, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getLidarConf (_u32 type, std::vector< _u8 > &outputBuf, const void *payload=NULL, size_t payloadSize=0, _u32 timeout=DEFAULT_TIMEOUT)
u_result	getLidarSampleDuration (float &sampleDurationRes, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getMaxDistance (float &maxDistance, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getScanModeAnsType (sl_u8 &ansType, sl_u16 scanModeID, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getScanModeCount (sl_u16 &modeCount, sl_u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	getScanModeName (char *modeName, size_t stringSize, _u16 scanModeID, _u32 timeoutInMs=DEFAULT_TIMEOUT)
u_result	setLidarConf (_u32 type, const void *payload, size_t payloadSize, _u32 timeout)
sl_result	startMotor ()

Static Protected Member Functions
static std::string	GetModelNameStringByModelID (_u8 modelID)
static LIDARMajorType	ParseLIDARMajorTypeByModelID (_u8 modelID)
static LIDARTechnologyType	ParseLIDARTechnologyTypeByModelID (_u8 modelID)

Private Attributes
sl_lidar_response_device_info_t	_cached_DevInfo
rp::hal::Locker	_data_locker
std::shared_ptr< internal::LIDARSampleDataUnpacker >	_dataunpacker
bool	_isConnected
MotorCtrlSupport	_isSupportingMotorCtrl
internal::message_autoptr_t	_lastAnsPkt
rp::hal::Locker	_op_locker
std::shared_ptr< internal::RPLidarProtocolCodec >	_protocolHandler
RawSampleNodeHolder< sl_lidar_response_measurement_node_hq_t >	_rawSampleNodeHolder
rp::hal::Waiter< _u32 >	_response_waiter
ScanDataHolder< sl_lidar_response_measurement_node_hq_t >	_scanHolder
SlamtecLidarTimingDesc	_timing_desc
std::shared_ptr< internal::AsyncTransceiver >	_transeiver
_u32	_waiting_packet_type

Additional Inherited Members

Detailed Description

Definition at line 373 of file sl_lidar_driver.cpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
MAX_SCANNODE_CACHE_COUNT

Definition at line 377 of file sl_lidar_driver.cpp.

anonymous enum

anonymous enum

Enumerator
A2A3_LIDAR_MINUM_MAJOR_ID
BUILTIN_MOTORCTL_MINUM_MAJOR_ID

Definition at line 381 of file sl_lidar_driver.cpp.

anonymous enum

anonymous enum

Enumerator
TOF_C_SERIAL_MINUM_MAJOR_ID
TOF_S_SERIAL_MINUM_MAJOR_ID
TOF_T_SERIAL_MINUM_MAJOR_ID
TOF_M_SERIAL_MINUM_MAJOR_ID
NEWDESIGN_MINUM_MAJOR_ID

Definition at line 387 of file sl_lidar_driver.cpp.

Constructor & Destructor Documentation

SlamtecLidarDriver()

sl::SlamtecLidarDriver::SlamtecLidarDriver ( )

inline

Definition at line 398 of file sl_lidar_driver.cpp.

~SlamtecLidarDriver()

virtual sl::SlamtecLidarDriver::~SlamtecLidarDriver ( )

inlinevirtual

Definition at line 416 of file sl_lidar_driver.cpp.

Member Function Documentation

_checkNDMagicNumber()

bool sl::SlamtecLidarDriver::_checkNDMagicNumber ( _u8  model )

inlineprotected

Definition at line 1467 of file sl_lidar_driver.cpp.

_detectLIDARNativeInterfaceType()

u_result sl::SlamtecLidarDriver::_detectLIDARNativeInterfaceType ( LIDARInterfaceType &  outputType, const rplidar_response_device_info_t &  devInfo, sl_u32  timeout = DEFAULT_TIMEOUT  )

inlineprotected

Definition at line 1475 of file sl_lidar_driver.cpp.

_disableDataGrabbing()

void sl::SlamtecLidarDriver::_disableDataGrabbing ( )

inlineprotected

Definition at line 1459 of file sl_lidar_driver.cpp.

_getLegacySampleDuration_uS()

u_result sl::SlamtecLidarDriver::_getLegacySampleDuration_uS ( rplidar_response_sample_rate_t &  rateInfo, _u32  timeout  )

inlineprotected

Definition at line 1556 of file sl_lidar_driver.cpp.

_getNativeBaudRate()

_u32 sl::SlamtecLidarDriver::_getNativeBaudRate ( const rplidar_response_device_info_t &  devInfo )

inlineprotected

Definition at line 1516 of file sl_lidar_driver.cpp.

_sendCommandWithoutResponse()

u_result sl::SlamtecLidarDriver::_sendCommandWithoutResponse ( _u8  cmd, const void *  payload = NULL, size_t  payloadsize = 0, bool  noForceStop = false  )

inlineprotected

Definition at line 1600 of file sl_lidar_driver.cpp.

_sendCommandWithResponse()

u_result sl::SlamtecLidarDriver::_sendCommandWithResponse ( _u8  cmd, _u8  responseType, internal::message_autoptr_t &  ansPkt, _u32  timeout = DEFAULT_TIMEOUT, const void *  payload = NULL, size_t  payloadsize = 0  )

inlineprotected

Definition at line 1612 of file sl_lidar_driver.cpp.

_updateTimingDesc()

bool sl::SlamtecLidarDriver::_updateTimingDesc ( const rplidar_response_device_info_t &  devInfo, float  selectedSampleDuration  )

inlineprotected

Definition at line 1538 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 957 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 833 of file sl_lidar_driver.cpp.

checkSupportConfigCommands()

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

inlineprotected

Definition at line 1176 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 473 of file sl_lidar_driver.cpp.

disconnect()

void sl::SlamtecLidarDriver::disconnect ( )

inlinevirtual

Disconnect from the LIDAR

Implements sl::ILidarDriver.

Definition at line 495 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 518 of file sl_lidar_driver.cpp.

getDesiredSpeed()

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

inlineprotected

Definition at line 1163 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 808 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 Notice: the macAddrArray must point to a valid buffer with at least 6 bytes length Otherwise, buffer overwrite will occur

Implements sl::ILidarDriver.

Definition at line 937 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 880 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 913 of file sl_lidar_driver.cpp.

getLidarConf()

u_result sl::SlamtecLidarDriver::getLidarConf ( _u32  type, std::vector< _u8 > &  outputBuf, const void *  payload = NULL, size_t  payloadSize = 0, _u32  timeout = DEFAULT_TIMEOUT  )

inlineprotected

Definition at line 1261 of file sl_lidar_driver.cpp.

getLidarIpConf()

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

inlinevirtual

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.

Definition at line 896 of file sl_lidar_driver.cpp.

getLIDARMajorType()

LIDARMajorType sl::SlamtecLidarDriver::getLIDARMajorType ( const sl_lidar_response_device_info_t *  devInfo )

inlinevirtual

Get the Major Type (Series Info) of the LIDAR

Parameters

devInfo

The device info used to deduct the result If NULL is specified, a driver cached version of the connected LIDAR will be used

Implements sl::ILidarDriver.

Definition at line 433 of file sl_lidar_driver.cpp.

getLidarSampleDuration()

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

inlineprotected

Definition at line 1306 of file sl_lidar_driver.cpp.

getLIDARTechnologyType()

LIDARTechnologyType sl::SlamtecLidarDriver::getLIDARTechnologyType ( const sl_lidar_response_device_info_t *  devInfo )

inlinevirtual

Get the technology of the LIDAR's measurement system

Parameters

devInfo

The device info used to deduct the result If NULL is specified, a driver cached version of the connected LIDAR will be used

Implements sl::ILidarDriver.

Definition at line 423 of file sl_lidar_driver.cpp.

getMaxDistance()

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

inlineprotected

Definition at line 1325 of file sl_lidar_driver.cpp.

getModelNameDescriptionString()

sl_result sl::SlamtecLidarDriver::getModelNameDescriptionString ( std::string &  out_description, bool  fetchAliasName, const sl_lidar_response_device_info_t *  devInfo, sl_u32  timeout  )

inlinevirtual

Get the Model Name of the LIDAR The result will be somthing like: "A1M8" or "S1M1" or "A3M1-R1"

Parameters

out_description	The output string that contains the generated model name
fetchAliasName	If set to true, a communication will be taken to ask if there is any Alias name availabe
devInfo	The device info used to deduct the result If NULL is specified, a driver cached version of the connected LIDAR will be used
timeout	The timeout value used by potential data communication

Implements sl::ILidarDriver.

Definition at line 444 of file sl_lidar_driver.cpp.

GetModelNameStringByModelID()

static std::string sl::SlamtecLidarDriver::GetModelNameStringByModelID ( _u8  modelID )

inlinestaticprotected

Definition at line 1416 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 1023 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 962 of file sl_lidar_driver.cpp.

getScanModeAnsType()

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

inlineprotected

Definition at line 1345 of file sl_lidar_driver.cpp.

getScanModeCount()

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

inlineprotected

Definition at line 1199 of file sl_lidar_driver.cpp.

getScanModeName()

u_result sl::SlamtecLidarDriver::getScanModeName ( char *  modeName, size_t  stringSize, _u16  scanModeID, _u32  timeoutInMs = DEFAULT_TIMEOUT  )

inlineprotected

Definition at line 1364 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 556 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.

\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.

Definition at line 802 of file sl_lidar_driver.cpp.

grabScanDataHqWithTimeStamp()

sl_result sl::SlamtecLidarDriver::grabScanDataHqWithTimeStamp ( sl_lidar_response_measurement_node_hq_t *  nodebuffer, size_t &  count, sl_u64 &  timestamp_uS, sl_u32  timeout = DEFAULT_TIMEOUT  )

inlinevirtual

Wait and grab a complete 0-360 degree scan data previously received with timestamp support.

The returned timestamp belongs to the first data point of the scan data (begining of the scan). Its value is represented based on the current machine's time domain with the unit of microseconds (uS).

If the currently connected LIDAR supports hardware timestamp mechanism, this timestamp will use the actual data emitted by the LIDAR device and remap it to the current machine's time domain.

For other models that do not support hardware timestamps, this data will be deducted through estimation, and there may be a slight deviation from the actual situation.

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.
timestamp_uS	The reference used to store the timestamp value.
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.

Definition at line 783 of file sl_lidar_driver.cpp.

isConnected()

bool sl::SlamtecLidarDriver::isConnected ( )

inlinevirtual

Check if the connection is established

Implements sl::ILidarDriver.

Definition at line 506 of file sl_lidar_driver.cpp.

negotiateSerialBaudRate()

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

inlinevirtual

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 1058 of file sl_lidar_driver.cpp.

onHQNodeDecoded()

virtual void sl::SlamtecLidarDriver::onHQNodeDecoded ( _u64  timestamp_uS, const rplidar_response_measurement_node_hq_t *  node  )

inlinevirtual

Definition at line 1645 of file sl_lidar_driver.cpp.

onHQNodeScanResetReq()

virtual void sl::SlamtecLidarDriver::onHQNodeScanResetReq ( )

inlinevirtual

Definition at line 1651 of file sl_lidar_driver.cpp.

onProtocolMessageDecoded()

virtual void sl::SlamtecLidarDriver::onProtocolMessageDecoded ( const internal::ProtocolMessage &  msg )

inlinevirtual

Implements sl::internal::IProtocolMessageListener.

Definition at line 1655 of file sl_lidar_driver.cpp.

ParseLIDARMajorTypeByModelID()

static LIDARMajorType sl::SlamtecLidarDriver::ParseLIDARMajorTypeByModelID ( _u8  modelID )

inlinestaticprotected

Definition at line 1394 of file sl_lidar_driver.cpp.

ParseLIDARTechnologyTypeByModelID()

static LIDARTechnologyType sl::SlamtecLidarDriver::ParseLIDARTechnologyTypeByModelID ( _u8  modelID )

inlinestaticprotected

Definition at line 1382 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 511 of file sl_lidar_driver.cpp.

setLidarConf()

u_result sl::SlamtecLidarDriver::setLidarConf ( _u32  type, const void *  payload, size_t  payloadSize, _u32  timeout  )

inlineprotected

Definition at line 1215 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 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.

Definition at line 887 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 968 of file sl_lidar_driver.cpp.

startMotor()

sl_result sl::SlamtecLidarDriver::startMotor ( )

inlineprotected

Definition at line 1158 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 586 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 682 of file sl_lidar_driver.cpp.

startScanNormal()

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

inline

Definition at line 664 of file sl_lidar_driver.cpp.

startScanNormal_commonpath()

sl_result sl::SlamtecLidarDriver::startScanNormal_commonpath ( bool  force, bool  ifSupportLidarConf, LidarScanMode &  outUsedScanMode, sl_u32  timeout  )

inline

Definition at line 620 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 763 of file sl_lidar_driver.cpp.

Member Data Documentation

_cached_DevInfo

sl_lidar_response_device_info_t sl::SlamtecLidarDriver::_cached_DevInfo

private

Definition at line 1693 of file sl_lidar_driver.cpp.

_data_locker

rp::hal::Locker sl::SlamtecLidarDriver::_data_locker

private

Definition at line 1685 of file sl_lidar_driver.cpp.

_dataunpacker

std::shared_ptr<internal::LIDARSampleDataUnpacker> sl::SlamtecLidarDriver::_dataunpacker

private

Definition at line 1677 of file sl_lidar_driver.cpp.

_isConnected

bool sl::SlamtecLidarDriver::_isConnected

private

Definition at line 1679 of file sl_lidar_driver.cpp.

_isSupportingMotorCtrl

MotorCtrlSupport sl::SlamtecLidarDriver::_isSupportingMotorCtrl

private

Definition at line 1681 of file sl_lidar_driver.cpp.

_lastAnsPkt

internal::message_autoptr_t sl::SlamtecLidarDriver::_lastAnsPkt

private

Definition at line 1691 of file sl_lidar_driver.cpp.

_op_locker

rp::hal::Locker sl::SlamtecLidarDriver::_op_locker

private

Definition at line 1684 of file sl_lidar_driver.cpp.

_protocolHandler

std::shared_ptr<internal::RPLidarProtocolCodec> sl::SlamtecLidarDriver::_protocolHandler

private

Definition at line 1675 of file sl_lidar_driver.cpp.

_rawSampleNodeHolder

RawSampleNodeHolder<sl_lidar_response_measurement_node_hq_t> sl::SlamtecLidarDriver::_rawSampleNodeHolder

private

Definition at line 1689 of file sl_lidar_driver.cpp.

_response_waiter

rp::hal::Waiter<_u32> sl::SlamtecLidarDriver::_response_waiter

private

Definition at line 1686 of file sl_lidar_driver.cpp.

_scanHolder

ScanDataHolder<sl_lidar_response_measurement_node_hq_t> sl::SlamtecLidarDriver::_scanHolder

private

Definition at line 1688 of file sl_lidar_driver.cpp.

_timing_desc

SlamtecLidarTimingDesc sl::SlamtecLidarDriver::_timing_desc

private

Definition at line 1694 of file sl_lidar_driver.cpp.

_transeiver

std::shared_ptr<internal::AsyncTransceiver> sl::SlamtecLidarDriver::_transeiver

private

Definition at line 1676 of file sl_lidar_driver.cpp.

_waiting_packet_type

_u32 sl::SlamtecLidarDriver::_waiting_packet_type

private

Definition at line 1690 of file sl_lidar_driver.cpp.

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

• sl_lidar_driver.cpp