rplidar_driver.h

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/*
 *  RPLIDAR SDK
 *
 *  Copyright (c) 2009 - 2014 RoboPeak Team
 *  http://www.robopeak.com
 *  Copyright (c) 2014 - 2016 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


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

namespace rp { namespace standalone{ namespace rplidar {

class RPlidarDriver {
public:
    enum {
        DEFAULT_TIMEOUT = 2000, //2000 ms
    };

    enum {
        DRIVER_TYPE_SERIALPORT = 0x0,
    };
public:
    static RPlidarDriver * CreateDriver(_u32 drivertype = DRIVER_TYPE_SERIALPORT);

    static void DisposeDriver(RPlidarDriver * drv);


public:
    virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag = 0) = 0;


    virtual void disconnect() = 0;

    virtual bool isConnected() = 0;

    //  \param timeout       The operation timeout value (in millisecond) for the serial port communication                     
    virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT) = 0;
    
    virtual u_result setMotorPWM(_u16 pwm) = 0;

    virtual u_result startMotor() = 0;

    virtual u_result stopMotor() = 0;

    virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode) = 0;

    virtual u_result startScan(bool force = false, bool autoExpressMode = true) = 0;
    virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0;
    virtual u_result startScanExpress(bool fixedAngle, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT) = 0;


        virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count) = 0;

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


}}}