#include <rplidar_driver_impl.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriverImplCommon:

Public Types
enum	{ RPLIDAR_TOF_MINUM_MAJOR_ID = 5 }

Public Types inherited from rp::standalone::rplidar::RPlidarDriver
enum	{ DEFAULT_TIMEOUT = 2000 }

enum	{ MAX_SCAN_NODES = 8192 }

enum	{ LEGACY_SAMPLE_DURATION = 476 }

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

virtual u_result	ascendScanData (rplidar_response_measurement_node_hq_t *nodebuffer, size_t count)

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

virtual u_result	checkIfTofLidar (bool &isTofLidar, _u32 timeout=DEFAULT_TIMEOUT)

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

virtual u_result	checkSupportConfigCommands (bool &outSupport, _u32 timeoutInMs=DEFAULT_TIMEOUT)

virtual u_result	clearNetSerialRxCache ()

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

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

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

virtual u_result	getFrequency (const RplidarScanMode &scanMode, size_t count, float &frequency)

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

virtual u_result	getLidarConf (_u32 type, std::vector< _u8 > &outputBuf, const std::vector< _u8 > &reserve=std::vector< _u8 >(), _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	getLidarSampleDuration (float &sampleDurationRes, _u16 scanModeID, _u32 timeoutInMs=DEFAULT_TIMEOUT)

virtual u_result	getMaxDistance (float &maxDistance, _u16 scanModeID, _u32 timeoutInMs=DEFAULT_TIMEOUT)

virtual u_result	getSampleDuration_uS (rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	getScanDataWithInterval (rplidar_response_measurement_node_t *nodebuffer, size_t &count)

virtual u_result	getScanDataWithIntervalHq (rplidar_response_measurement_node_hq_t *nodebuffer, size_t &count)

virtual u_result	getScanModeAnsType (_u8 &ansType, _u16 scanModeID, _u32 timeoutInMs=DEFAULT_TIMEOUT)

virtual u_result	getScanModeCount (_u16 &modeCount, _u32 timeoutInMs=DEFAULT_TIMEOUT)

virtual u_result	getScanModeName (char *modeName, _u16 scanModeID, _u32 timeoutInMs=DEFAULT_TIMEOUT)

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

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

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

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

virtual u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	setLidarSpinSpeed (_u16 rpm, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	setMotorPWM (_u16 pwm)

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

virtual u_result	startScan (bool force, bool useTypicalScan, _u32 options=0, RplidarScanMode *outUsedScanMode=NULL)

virtual u_result	startScanExpress (bool force, _u16 scanMode, _u32 options=0, RplidarScanMode *outUsedScanMode=NULL, _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. More...

Public Member Functions inherited from rp::standalone::rplidar::RPlidarDriver
virtual u_result	connect (const char *, _u32, _u32 flag=0)=0

	DEPRECATED (virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT))=0

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

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

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

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

	DEPRECATED (virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t *nodebuffer, size_t &count))=0

virtual void	disconnect ()=0
	Disconnect with the RPLIDAR and close the serial port. More...

virtual	~RPlidarDriver ()

Protected Member Functions
virtual u_result	_cacheCapsuledScanData ()

virtual u_result	_cacheHqScanData ()

virtual u_result	_cacheScanData ()

virtual u_result	_cacheUltraCapsuledScanData ()

virtual void	_capsuleToNormal (const rplidar_response_capsule_measurement_nodes_t &capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

virtual void	_dense_capsuleToNormal (const rplidar_response_capsule_measurement_nodes_t &capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

void	_disableDataGrabbing ()

virtual void	_HqToNormal (const rplidar_response_hq_capsule_measurement_nodes_t &node_hq, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

virtual u_result	_sendCommand (_u8 cmd, const void *payload=NULL, size_t payloadsize=0)

virtual void	_ultraCapsuleToNormal (const rplidar_response_ultra_capsule_measurement_nodes_t &capsule, rplidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount)

virtual u_result	_waitCapsuledNode (rplidar_response_capsule_measurement_nodes_t &node, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	_waitHqNode (rplidar_response_hq_capsule_measurement_nodes_t &node, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	_waitNode (rplidar_response_measurement_node_t *node, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	_waitResponseHeader (rplidar_ans_header_t *header, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	_waitScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT)

virtual u_result	_waitUltraCapsuledNode (rplidar_response_ultra_capsule_measurement_nodes_t &node, _u32 timeout=DEFAULT_TIMEOUT)

	RPlidarDriverImplCommon ()

virtual	~RPlidarDriverImplCommon ()

Protected Member Functions inherited from rp::standalone::rplidar::RPlidarDriver
	RPlidarDriver ()

Protected Attributes
_u8	_cached_express_flag

rplidar_response_capsule_measurement_nodes_t	_cached_previous_capsuledata

rplidar_response_dense_capsule_measurement_nodes_t	_cached_previous_dense_capsuledata

rplidar_response_hq_capsule_measurement_nodes_t	_cached_previous_Hqdata

rplidar_response_ultra_capsule_measurement_nodes_t	_cached_previous_ultracapsuledata

_u16	_cached_sampleduration_express

_u16	_cached_sampleduration_std

rplidar_response_measurement_node_hq_t	_cached_scan_node_hq_buf [8192]

rplidar_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

rp::hal::Event	_dataEvt

bool	_is_previous_capsuledataRdy

bool	_is_previous_HqdataRdy

bool	_isConnected

bool	_isScanning

bool	_isSupportingMotorCtrl

bool	_isTofLidar

rp::hal::Locker	_lock

Additional Inherited Members
Static Public Member Functions inherited from rp::standalone::rplidar::RPlidarDriver
static RPlidarDriver *	CreateDriver (_u32 drivertype=DRIVER_TYPE_SERIALPORT)

static void	DisposeDriver (RPlidarDriver *drv)

Public Attributes inherited from rp::standalone::rplidar::RPlidarDriver
ChannelDevice *	_chanDev

Detailed Description

Definition at line 38 of file rplidar_driver_impl.h.

Member Enumeration Documentation

anonymous enum

Enumerator
RPLIDAR_TOF_MINUM_MAJOR_ID

Definition at line 41 of file rplidar_driver_impl.h.

Constructor & Destructor Documentation

rp::standalone::rplidar::RPlidarDriverImplCommon::RPlidarDriverImplCommon ( )

protected

Definition at line 104 of file rplidar_driver.cpp.

virtual rp::standalone::rplidar::RPlidarDriverImplCommon::~RPlidarDriverImplCommon ( )

inlineprotectedvirtual

Definition at line 135 of file rplidar_driver_impl.h.

Member Function Documentation

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_cacheCapsuledScanData ( )

protectedvirtual

Definition at line 667 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_cacheHqScanData ( )

protectedvirtual

Definition at line 900 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_cacheScanData ( )

protectedvirtual

Definition at line 552 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_cacheUltraCapsuledScanData ( )

protectedvirtual

Definition at line 735 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverImplCommon::_capsuleToNormal	(	const rplidar_response_capsule_measurement_nodes_t &	capsule,
		rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

protectedvirtual

Definition at line 793 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverImplCommon::_dense_capsuleToNormal	(	const rplidar_response_capsule_measurement_nodes_t &	capsule,
		rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

protectedvirtual

Definition at line 851 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverImplCommon::_disableDataGrabbing ( )

protected

Definition at line 2212 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverImplCommon::_HqToNormal	(	const rplidar_response_hq_capsule_measurement_nodes_t &	node_hq,
		rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

protectedvirtual

Definition at line 1094 of file rplidar_driver.cpp.

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

protectedvirtual

Definition at line 2002 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverImplCommon::_ultraCapsuleToNormal	(	const rplidar_response_ultra_capsule_measurement_nodes_t &	capsule,
		rplidar_response_measurement_node_hq_t *	nodebuffer,
		size_t &	nodeCount
	)

protectedvirtual

Definition at line 1146 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_waitCapsuledNode	(	rplidar_response_capsule_measurement_nodes_t &	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protectedvirtual

Definition at line 385 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_waitHqNode	(	rplidar_response_hq_capsule_measurement_nodes_t &	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protectedvirtual

Definition at line 1022 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_waitNode	(	rplidar_response_measurement_node_t *	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protectedvirtual

Definition at line 303 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_waitResponseHeader	(	rplidar_ans_header_t *	header,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protectedvirtual

Definition at line 144 of file rplidar_driver.cpp.

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

protectedvirtual

Definition at line 358 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::_waitUltraCapsuledNode	(	rplidar_response_ultra_capsule_measurement_nodes_t &	node,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protectedvirtual

Definition at line 466 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::ascendScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t	count
	)

virtual

Definition at line 1990 of file rplidar_driver.cpp.

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

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

Definition at line 1997 of file rplidar_driver.cpp.

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

virtual

Definition at line 645 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::checkIfTofLidar	(	bool &	isTofLidar,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

virtual

Check if the device is Tof lidar. Note: this API is effective if and only if getDeviceInfo has been called.

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 274 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::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 2096 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::checkSupportConfigCommands	(	bool &	outSupport,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1261 of file rplidar_driver.cpp.

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

virtual

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

Definition at line 135 of file rplidar_driver.cpp.

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

virtual

Get all scan modes that supported by lidar.

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

Definition at line 1453 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::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 231 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getFrequency	(	bool	inExpressMode,
		size_t	count,
		float &	frequency,
		bool &	is4kmode
	)

virtual

Definition at line 280 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getFrequency	(	const RplidarScanMode &	scanMode,
		size_t	count,
		float &	frequency
	)

virtual

Calculate 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

scanMode	Lidar's current scan mode
count	The number of sample nodes inside the given buffer

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

Definition at line 296 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::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 191 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getLidarConf	(	_u32	type,
		std::vector< _u8 > &	outputBuf,
		const std::vector< _u8 > &	reserve = `std::vector<_u8>()`,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1276 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getLidarSampleDuration	(	float &	sampleDurationRes,
		_u16	scanModeID,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1372 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getMaxDistance	(	float &	maxDistance,
		_u16	scanModeID,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1393 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getSampleDuration_uS	(	rplidar_response_sample_rate_t &	rateInfo,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 2044 of file rplidar_driver.cpp.

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

virtual

Definition at line 1847 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getScanDataWithIntervalHq	(	rplidar_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. This buffer must be initialized by the caller.
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_TIMEOUT to indicate that not even a single node can be retrieved since last call. The interface will return RESULT_REMAINING_DATA to indicate that the given buffer is full, but that there remains data to be read.

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

Definition at line 1871 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getScanModeAnsType	(	_u8 &	ansType,
		_u16	scanModeID,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1414 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getScanModeCount	(	_u16 &	modeCount,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1531 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::getScanModeName	(	char *	modeName,
		_u16	scanModeID,
		_u32	timeoutInMs = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1435 of file rplidar_driver.cpp.

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

virtual

Get typical scan mode of lidar.

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

Definition at line 1341 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::grabScanData	(	rplidar_response_measurement_node_t *	nodebuffer,
		size_t &	count,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

virtual

Definition at line 1789 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::grabScanDataHq	(	rplidar_response_measurement_node_hq_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 1820 of file rplidar_driver.cpp.

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

virtual

Returns TRUE when the connection has been established.

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

Definition at line 115 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::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.

Parameters

timeout The operation timeout value (in millisecond) for the serial port communication

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

Definition at line 121 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::setLidarSpinSpeed	(	_u16	rpm,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

virtual

Set the RPLIDAR's motor rpm, currently valid for tof lidar only.

Parameters

rpm	The motor rpm value would like to set

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

Definition at line 2162 of file rplidar_driver.cpp.

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

virtual

Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 and A3 only.

Parameters

pwm	The motor pwm value would like to set

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

Definition at line 2143 of file rplidar_driver.cpp.

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

virtual

Start RPLIDAR's motor when using accessory board.

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

Definition at line 2175 of file rplidar_driver.cpp.

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

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 rp::standalone::rplidar::RPlidarDriver.

Definition at line 1550 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::startScanExpress	(	bool	force,
		_u16	scanMode,
		_u32	options = `0`,
		RplidarScanMode *	outUsedScanMode = `NULL`,
		_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 rp::standalone::rplidar::RPlidarDriver.

Definition at line 1634 of file rplidar_driver.cpp.

u_result rp::standalone::rplidar::RPlidarDriverImplCommon::startScanNormal	(	bool	force,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

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

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

Definition at line 605 of file rplidar_driver.cpp.

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

virtual

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

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

Definition at line 1774 of file rplidar_driver.cpp.

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

virtual

Stop RPLIDAR's motor when using accessory board.

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

Definition at line 2197 of file rplidar_driver.cpp.

Member Data Documentation

_u8 rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_express_flag

protected

Definition at line 118 of file rplidar_driver_impl.h.

rplidar_response_capsule_measurement_nodes_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_previous_capsuledata

protected

Definition at line 120 of file rplidar_driver_impl.h.

rplidar_response_dense_capsule_measurement_nodes_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_previous_dense_capsuledata

protected

Definition at line 121 of file rplidar_driver_impl.h.

rplidar_response_hq_capsule_measurement_nodes_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_previous_Hqdata

protected

Definition at line 123 of file rplidar_driver_impl.h.

rplidar_response_ultra_capsule_measurement_nodes_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_previous_ultracapsuledata

protected

Definition at line 122 of file rplidar_driver_impl.h.

_u16 rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_sampleduration_express

protected

Definition at line 117 of file rplidar_driver_impl.h.

_u16 rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_sampleduration_std

protected

Definition at line 116 of file rplidar_driver_impl.h.

rplidar_response_measurement_node_hq_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_scan_node_hq_buf[8192]

protected

Definition at line 110 of file rplidar_driver_impl.h.

rplidar_response_measurement_node_hq_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_scan_node_hq_buf_for_interval_retrieve[8192]

protected

Definition at line 113 of file rplidar_driver_impl.h.

size_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_scan_node_hq_count

protected

Definition at line 111 of file rplidar_driver_impl.h.

size_t rp::standalone::rplidar::RPlidarDriverImplCommon::_cached_scan_node_hq_count_for_interval_retrieve

protected

Definition at line 114 of file rplidar_driver_impl.h.

rp::hal::Thread rp::standalone::rplidar::RPlidarDriverImplCommon::_cachethread

protected

Definition at line 131 of file rplidar_driver_impl.h.

rp::hal::Event rp::standalone::rplidar::RPlidarDriverImplCommon::_dataEvt

protected

Definition at line 130 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_is_previous_capsuledataRdy

protected

Definition at line 124 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_is_previous_HqdataRdy

protected

Definition at line 125 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_isConnected

protected

Definition at line 106 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_isScanning

protected

Definition at line 107 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_isSupportingMotorCtrl

protected

Definition at line 108 of file rplidar_driver_impl.h.

bool rp::standalone::rplidar::RPlidarDriverImplCommon::_isTofLidar

protected

Definition at line 109 of file rplidar_driver_impl.h.

rp::hal::Locker rp::standalone::rplidar::RPlidarDriverImplCommon::_lock

protected

Definition at line 129 of file rplidar_driver_impl.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation