sl Namespace Reference

Namespaces
	crc32
	internal

Classes
class	IChannel
class	ILidarDriver
class	ISerialPortChannel
struct	LidarMotorInfo
struct	LidarScanMode
class	RawSampleNodeHolder
struct	Result
class	ScanDataHolder
class	SerialPortChannel
class	SL_LidarDriver
class	SlamtecLidarDriver
struct	SlamtecLidarTimingDesc
class	TcpChannel
class	UdpChannel

Enumerations
enum	ChannelType { CHANNEL_TYPE_SERIALPORT = 0x0, CHANNEL_TYPE_TCP = 0x1, CHANNEL_TYPE_UDP = 0x2 }
enum	LIDARInterfaceType {   LIDAR_INTERFACE_UART = 0, LIDAR_INTERFACE_ETHERNET = 1, LIDAR_INTERFACE_USB = 2, LIDAR_INTERFACE_CANBUS = 5,   LIDAR_INTERFACE_UNKNOWN = 0xFFFF }
enum	LIDARMajorType {   LIDAR_MAJOR_TYPE_UNKNOWN = 0, LIDAR_MAJOR_TYPE_A_SERIES = 1, LIDAR_MAJOR_TYPE_S_SERIES = 2, LIDAR_MAJOR_TYPE_T_SERIES = 3,   LIDAR_MAJOR_TYPE_M_SERIES = 4, LIDAR_MAJOR_TYPE_C_SERIES = 6 }
enum	LIDARTechnologyType {   LIDAR_TECHNOLOGY_UNKNOWN = 0, LIDAR_TECHNOLOGY_TRIANGULATION = 1, LIDAR_TECHNOLOGY_DTOF = 2, LIDAR_TECHNOLOGY_ETOF = 3,   LIDAR_TECHNOLOGY_FMCW = 4 }
enum	MotorCtrlSupport { MotorCtrlSupportNone = 0, MotorCtrlSupportPwm = 1, MotorCtrlSupportRpm = 2 }

Functions
template<class TNode >
static bool	angleLessThan (const TNode &a, const TNode &b)
template<class TNode >
static sl_result	ascendScanData_ (TNode *nodebuffer, size_t count)
static void	convert (const sl_lidar_response_measurement_node_hq_t &from, sl_lidar_response_measurement_node_t &to)
static void	convert (const sl_lidar_response_measurement_node_t &from, sl_lidar_response_measurement_node_hq_t &to)
Result< ILidarDriver * >	createLidarDriver ()
Result< IChannel * >	createSerialPortChannel (const std::string &device, int baudrate)
Result< IChannel * >	createTcpChannel (const std::string &ip, int port)
Result< IChannel * >	createUdpChannel (const std::string &ip, int port)
static float	getAngle (const sl_lidar_response_measurement_node_hq_t &node)
static float	getAngle (const sl_lidar_response_measurement_node_t &node)
static sl_u32	getDistanceQ2 (const sl_lidar_response_measurement_node_hq_t &node)
static sl_u16	getDistanceQ2 (const sl_lidar_response_measurement_node_t &node)
static void	printDeprecationWarn (const char *fn, const char *replacement)
static void	setAngle (sl_lidar_response_measurement_node_hq_t &node, float v)
static void	setAngle (sl_lidar_response_measurement_node_t &node, float v)

Variables
struct sl::LidarScanMode	__attribute__

Enumeration Type Documentation

ChannelType

enum sl::ChannelType

Enumerator
CHANNEL_TYPE_SERIALPORT
CHANNEL_TYPE_TCP
CHANNEL_TYPE_UDP

Definition at line 283 of file sl_lidar_driver.h.

LIDARInterfaceType

enum sl::LIDARInterfaceType

Enumerator
LIDAR_INTERFACE_UART
LIDAR_INTERFACE_ETHERNET
LIDAR_INTERFACE_USB
LIDAR_INTERFACE_CANBUS
LIDAR_INTERFACE_UNKNOWN

Definition at line 146 of file sl_lidar_driver.h.

LIDARMajorType

enum sl::LIDARMajorType

Enumerator
LIDAR_MAJOR_TYPE_UNKNOWN
LIDAR_MAJOR_TYPE_A_SERIES
LIDAR_MAJOR_TYPE_S_SERIES
LIDAR_MAJOR_TYPE_T_SERIES
LIDAR_MAJOR_TYPE_M_SERIES
LIDAR_MAJOR_TYPE_C_SERIES

Definition at line 137 of file sl_lidar_driver.h.

LIDARTechnologyType

enum sl::LIDARTechnologyType

Enumerator
LIDAR_TECHNOLOGY_UNKNOWN
LIDAR_TECHNOLOGY_TRIANGULATION
LIDAR_TECHNOLOGY_DTOF
LIDAR_TECHNOLOGY_ETOF
LIDAR_TECHNOLOGY_FMCW

Definition at line 129 of file sl_lidar_driver.h.

MotorCtrlSupport

enum sl::MotorCtrlSupport

Enumerator
MotorCtrlSupportNone
MotorCtrlSupportPwm
MotorCtrlSupportRpm

Definition at line 276 of file sl_lidar_driver.h.

Function Documentation

angleLessThan()

template<class TNode >

static bool sl::angleLessThan ( const TNode &  a, const TNode &  b  )

static

Definition at line 123 of file sl_lidar_driver.cpp.

ascendScanData_()

template<class TNode >

static sl_result sl::ascendScanData_ ( TNode *  nodebuffer, size_t  count  )

static

Definition at line 129 of file sl_lidar_driver.cpp.

convert() [1/2]

static void sl::convert ( const sl_lidar_response_measurement_node_hq_t &  from, sl_lidar_response_measurement_node_t &  to  )

static

Definition at line 83 of file sl_lidar_driver.cpp.

convert() [2/2]

static void sl::convert ( const sl_lidar_response_measurement_node_t &  from, sl_lidar_response_measurement_node_hq_t &  to  )

static

Definition at line 75 of file sl_lidar_driver.cpp.

createLidarDriver()

Result< ILidarDriver * > sl::createLidarDriver

(

)

Create a LIDAR driver instance

Example Result<ISerialChannel*> channel = createSerialPortChannel("/dev/ttyUSB0", 115200); assert((bool)channel); assert(*channel);

auto lidar = createLidarDriver(); assert((bool)lidar); assert(*lidar);

auto res = (*lidar)->connect(*channel); assert(SL_IS_OK(res));

sl_lidar_response_device_info_t deviceInfo; res = (*lidar)->getDeviceInfo(deviceInfo); assert(SL_IS_OK(res));

printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n", deviceInfo.model, deviceInfo.firmware_version >> 8, deviceInfo.firmware_version & 0xffu, deviceInfo.hardware_version);

delete *lidar; delete *channel;

Definition at line 1698 of file sl_lidar_driver.cpp.

createSerialPortChannel()

Result< IChannel * > sl::createSerialPortChannel	(	const std::string &	device,
		int	baudrate
	)

Create a serial channel

Parameters

device	Serial port device e.g. on Windows, it may be com3 or \.\com10 on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
baudrate	Baudrate Please refer to the datasheet for the baudrate (maybe 115200 or 256000)

Definition at line 141 of file sl_serial_channel.cpp.

createTcpChannel()

Result< IChannel * > sl::createTcpChannel	(	const std::string &	ip,
		int	port
	)

Create a TCP channel

Parameters

ip	IP address of the device
port	TCP port

Definition at line 120 of file sl_tcp_channel.cpp.

createUdpChannel()

Result< IChannel * > sl::createUdpChannel	(	const std::string &	ip,
		int	port
	)

Create a UDP channel

Parameters

ip	IP address of the device
port	UDP port

Definition at line 125 of file sl_udp_channel.cpp.

getAngle() [1/2]

static float sl::getAngle ( const sl_lidar_response_measurement_node_hq_t &  node )

inlinestatic

Definition at line 102 of file sl_lidar_driver.cpp.

getAngle() [2/2]

static float sl::getAngle ( const sl_lidar_response_measurement_node_t &  node )

inlinestatic

Definition at line 91 of file sl_lidar_driver.cpp.

getDistanceQ2() [1/2]

static sl_u32 sl::getDistanceQ2 ( const sl_lidar_response_measurement_node_hq_t &  node )

inlinestatic

Definition at line 117 of file sl_lidar_driver.cpp.

getDistanceQ2() [2/2]

static sl_u16 sl::getDistanceQ2 ( const sl_lidar_response_measurement_node_t &  node )

inlinestatic

Definition at line 112 of file sl_lidar_driver.cpp.

printDeprecationWarn()

static void sl::printDeprecationWarn ( const char *  fn, const char *  replacement  )

static

Definition at line 70 of file sl_lidar_driver.cpp.

setAngle() [1/2]

static void sl::setAngle ( sl_lidar_response_measurement_node_hq_t &  node, float  v  )

inlinestatic

Definition at line 107 of file sl_lidar_driver.cpp.

setAngle() [2/2]

static void sl::setAngle ( sl_lidar_response_measurement_node_t &  node, float  v  )

inlinestatic

Definition at line 96 of file sl_lidar_driver.cpp.

Variable Documentation

__attribute__

struct sl::LidarScanMode sl::__attribute__