#include <rplidar_driver_serial.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriverSerial:

Public Member Functions
virtual u_result	connect (const char *port_path, _u32 baudrate, _u32 flag=0)

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

	RPlidarDriverSerial ()

virtual	~RPlidarDriverSerial ()

Public Member Functions inherited from rp::standalone::rplidar::RPlidarDriverImplCommon
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
	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	~RPlidarDriver ()

Additional Inherited Members
Public Types inherited from rp::standalone::rplidar::RPlidarDriverImplCommon
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 }

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

Protected Member Functions inherited from rp::standalone::rplidar::RPlidarDriverImplCommon
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 inherited from rp::standalone::rplidar::RPlidarDriverImplCommon
_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

Detailed Description

Definition at line 95 of file rplidar_driver_serial.h.

Constructor & Destructor Documentation

rp::standalone::rplidar::RPlidarDriverSerial::RPlidarDriverSerial ( )

Definition at line 2220 of file rplidar_driver.cpp.

rp::standalone::rplidar::RPlidarDriverSerial::~RPlidarDriverSerial ( )

virtual

Definition at line 2225 of file rplidar_driver.cpp.

Member Function Documentation

u_result rp::standalone::rplidar::RPlidarDriverSerial::connect	(	const char *	,
		_u32	,
		_u32	flag = `0`
	)

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 2240 of file rplidar_driver.cpp.

void rp::standalone::rplidar::RPlidarDriverSerial::disconnect ( )

virtual

Disconnect with the RPLIDAR and close the serial port.

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

Definition at line 2234 of file rplidar_driver.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation