#include <rplidar_driver_serial.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriverSerialImpl:

Public Types
enum	{ MAX_SCAN_NODES = 2048 }
enum	{ LEGACY_SAMPLE_DURATION = 476 }
Public Member Functions
virtual u_result	ascendScanData (rplidar_response_measurement_node_t *nodebuffer, size_t count)
virtual u_result	checkExpressScanSupported (bool &support, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	checkMotorCtrlSupport (bool &support, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	connect (const char *port_path, _u32 baudrate, _u32 flag)
virtual void	disconnect ()
	Disconnect with the RPLIDAR and close the serial port.
virtual u_result	getDeviceInfo (rplidar_response_device_info_t &, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	getFrequency (bool inExpressMode, size_t count, float &frequency, bool &is4kmode)
virtual u_result	getHealth (rplidar_response_device_health_t &, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	getSampleDuration_uS (rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	grabScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)
virtual bool	isConnected ()
	Returns TRUE when the connection has been established.
virtual u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)
	RPlidarDriverSerialImpl ()
virtual u_result	setMotorPWM (_u16 pwm)
virtual u_result	startMotor ()
	Start RPLIDAR's motor when using accessory board.
virtual u_result	startScan (bool force=false, bool autoExpressMode=true)
virtual u_result	startScanExpress (bool fixedAngle, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	startScanNormal (bool force, _u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	stop (_u32 timeout=DEFAULT_TIMEOUT)
virtual u_result	stopMotor ()
	Stop RPLIDAR's motor when using accessory board.
virtual	~RPlidarDriverSerialImpl ()
Protected Member Functions
u_result	_cacheCapsuledScanData ()
u_result	_cacheScanData ()
void	_capsuleToNormal (const rplidar_response_capsule_measurement_nodes_t &capsule, rplidar_response_measurement_node_t *nodebuffer, size_t &nodeCount)
void	_disableDataGrabbing ()
u_result	_sendCommand (_u8 cmd, const void *payload=NULL, size_t payloadsize=0)
u_result	_waitCapsuledNode (rplidar_response_capsule_measurement_nodes_t &node, _u32 timeout=DEFAULT_TIMEOUT)
u_result	_waitNode (rplidar_response_measurement_node_t *node, _u32 timeout=DEFAULT_TIMEOUT)
u_result	_waitResponseHeader (rplidar_ans_header_t *header, _u32 timeout=DEFAULT_TIMEOUT)
u_result	_waitSampleRate (rplidar_response_sample_rate_t *res, _u32 timeout=DEFAULT_TIMEOUT)
u_result	_waitScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)
Protected Attributes
rplidar_response_capsule_measurement_nodes_t	_cached_previous_capsuledata
_u16	_cached_sampleduration_express
_u16	_cached_sampleduration_std
rplidar_response_measurement_node_t	_cached_scan_node_buf [2048]
size_t	_cached_scan_node_count
rp::hal::Thread	_cachethread
rp::hal::Event	_dataEvt
bool	_is_previous_capsuledataRdy
bool	_isConnected
bool	_isScanning
bool	_isSupportingMotorCtrl
rp::hal::Locker	_lock
rp::hal::serial_rxtx *	_rxtx

Detailed Description

Definition at line 39 of file rplidar_driver_serial.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

MAX_SCAN_NODES

Definition at line 43 of file rplidar_driver_serial.h.

anonymous enum

Enumerator:

LEGACY_SAMPLE_DURATION

Definition at line 47 of file rplidar_driver_serial.h.

Constructor & Destructor Documentation

rp::standalone::rplidar::RPlidarDriverSerialImpl::RPlidarDriverSerialImpl ( )

Definition at line 70 of file rplidar_driver.cpp.

rp::standalone::rplidar::RPlidarDriverSerialImpl::~RPlidarDriverSerialImpl ( ) [virtual]

Definition at line 81 of file rplidar_driver.cpp.

Member Function Documentation

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_cacheCapsuledScanData ( ) [protected]

Definition at line 474 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_cacheScanData ( ) [protected]

Definition at line 371 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerialImpl::_capsuleToNormal	(	const rplidar_response_capsule_measurement_nodes_t &	capsule,
		rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	nodeCount
	)		`[protected]`

Definition at line 414 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerialImpl::_disableDataGrabbing ( ) [protected]

Definition at line 878 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_sendCommand	(	_u8	cmd,
		const void *	payload = `NULL`,
		size_t	payloadsize = `0`
	)		`[protected]`

Definition at line 784 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitCapsuledNode	(	rplidar_response_capsule_measurement_nodes_t &	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

Definition at line 702 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitNode	(	rplidar_response_measurement_node_t *	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

Definition at line 616 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitResponseHeader	(	rplidar_ans_header_t *	header,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

Definition at line 827 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitSampleRate	(	rplidar_response_sample_rate_t *	res,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[protected]`

Definition at line 675 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::ascendScanData	(	rplidar_response_measurement_node_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 RESULT_OPERATION_FAIL when all the scan data is invalid.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 551 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::checkExpressScanSupported	(	bool &	support,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[virtual]`

Check whether the device support express mode.

Parameters:

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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 272 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::checkMotorCtrlSupport	(	bool &	support,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[virtual]`

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.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 934 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::connect	(	const char *	port_path,
		_u32	baudrate,
		_u32	flag
	)		`[virtual]`

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 \. 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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 89 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerialImpl::disconnect ( ) [virtual]

Disconnect with the RPLIDAR and close the serial port.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 114 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getDeviceInfo	(	rplidar_response_device_info_t &	info,
		_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 rp::standalone::rplidar::RPlidarDriver.

Definition at line 179 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getFrequency	(	bool	inExpressMode,
		size_t	count,
		float &	frequency,
		bool &	is4kmode
	)		`[virtual]`

Calcuate RPLIDAR'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:

inExpressMode	Indicate whether the RPLIDAR is in express mode
count	The number of sample nodes inside the given buffer
frequency	The scanning frequency (in HZ) calcuated by the interface.
is4kmode	Return whether the RPLIDAR is working on 4k sample rate mode.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 218 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getHealth	(	rplidar_response_device_health_t &	health,
		_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 rp::standalone::rplidar::RPlidarDriver.

Definition at line 141 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getSampleDuration_uS	(	rplidar_response_sample_rate_t &	rateInfo,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)		`[virtual]`

Get the sample duration information of the RPLIDAR.

Parameters:

rateInfo	The sample duration information returned from the RPLIDAR
timeout	The operation timeout value (in millisecond) for the serial port communication

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 884 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::grabScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		_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 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 rp::standalone::rplidar::RPlidarDriver.

Definition at line 524 of file rplidar_driver.cpp.

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::isConnected ( ) [virtual]

Returns TRUE when the connection has been established.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 121 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::reset ( _u32 timeout = DEFAULT_TIMEOUT ) [virtual]

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.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 127 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::setMotorPWM ( _u16 pwm ) [virtual]

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

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 981 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startMotor ( ) [virtual]

Start RPLIDAR's motor when using accessory board.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 998 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startScan	(	bool	force = `false`,
		bool	autoExpressMode = `true`
	)		`[virtual]`

Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) A background thread will be created by the RPLIDAR driver to fetch the scan data continuously. User Application can use the grabScanData() interface to retrieved the scan data cached previous by this background thread.

Parameters:

force	Force the core system to output scan data regardless whether the scanning motor is rotating or not.
autoExpressMode	Force the core system to trying express mode first, if the system does not support express mode, it will use normal mode.
timeout	The operation timeout value (in millisecond) for the serial port communication.

Implements rp::standalone::rplidar::RPlidarDriver.

Definition at line 337 of file rplidar_driver.cpp.