325 lines
17 KiB
C
325 lines
17 KiB
C
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/*
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* RPLIDAR SDK
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*
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* Copyright (c) 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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* Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#ifndef __cplusplus
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#error "The RPlidar SDK requires a C++ compiler to be built"
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#endif
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#ifndef DEPRECATED
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#ifdef __GNUC__
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#define DEPRECATED(func) func __attribute__ ((deprecated))
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#elif defined(_MSC_VER)
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#define DEPRECATED(func) __declspec(deprecated) func
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#else
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#pragma message("WARNING: You need to implement DEPRECATED for this compiler")
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#define DEPRECATED(func) func
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#endif
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#endif
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namespace rp { namespace standalone{ namespace rplidar {
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struct RplidarScanMode {
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_u16 id;
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float us_per_sample; // microseconds per sample
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float max_distance; // max distance
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_u8 ans_type; // the answer type of the scam mode, its value should be RPLIDAR_ANS_TYPE_MEASUREMENT*
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char scan_mode[64]; // name of scan mode, max 63 characters
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};
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enum {
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DRIVER_TYPE_SERIALPORT = 0x0,
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DRIVER_TYPE_TCP = 0x1,
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};
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class ChannelDevice
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{
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public:
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virtual bool bind(const char*, uint32_t ) = 0;
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virtual bool open() {return true;}
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virtual void close() = 0;
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virtual void flush() {return;}
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virtual bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) = 0;
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virtual int senddata(const _u8 * data, size_t size) = 0;
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virtual int recvdata(unsigned char * data, size_t size) = 0;
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virtual void setDTR() {return;}
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virtual void clearDTR() {return;}
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virtual void ReleaseRxTx() {return;}
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};
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class RPlidarDriver {
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public:
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enum {
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DEFAULT_TIMEOUT = 2000, //2000 ms
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};
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enum {
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MAX_SCAN_NODES = 8192,
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};
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enum {
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LEGACY_SAMPLE_DURATION = 476,
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};
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public:
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/// Create an RPLIDAR Driver Instance
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/// This interface should be invoked first before any other operations
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///
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/// \param drivertype the connection type used by the driver.
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static RPlidarDriver * CreateDriver(_u32 drivertype = DRIVER_TYPE_SERIALPORT);
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/// Dispose the RPLIDAR Driver Instance specified by the drv parameter
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/// Applications should invoke this interface when the driver instance is no longer used in order to free memory
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static void DisposeDriver(RPlidarDriver * drv);
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/// Open the specified serial port and connect to a target RPLIDAR device
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///
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/// \param port_path the device path of the serial port
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/// e.g. on Windows, it may be com3 or \\.\com10
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/// on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
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///
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/// \param baudrate the baudrate used
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/// For most RPLIDAR models, the baudrate should be set to 115200
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///
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/// \param flag other flags
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/// Reserved for future use, always set to Zero
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virtual u_result connect(const char *, _u32, _u32 flag = 0) = 0;
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/// Disconnect with the RPLIDAR and close the serial port
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virtual void disconnect() = 0;
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/// Returns TRUE when the connection has been established
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virtual bool isConnected() = 0;
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/// Ask the RPLIDAR core system to reset it self
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/// The host system can use the Reset operation to help RPLIDAR escape the self-protection mode.
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///
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication
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virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;
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// FW1.24
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/// Get all scan modes that supported by lidar
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virtual u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
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/// Get typical scan mode of lidar
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virtual u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
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/// Start scan
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///
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/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
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/// \param useTypicalScan Use lidar's typical scan mode or use the compatibility mode (2k sps)
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/// \param options Scan options (please use 0)
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/// \param outUsedScanMode The scan mode selected by lidar
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virtual u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL) = 0;
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/// Start scan in specific mode
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///
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/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
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/// \param scanMode The scan mode id (use getAllSupportedScanModes to get supported modes)
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/// \param options Scan options (please use 0)
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/// \param outUsedScanMode The scan mode selected by lidar
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virtual u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Retrieve the health status of the RPLIDAR
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/// The host system can use this operation to check whether RPLIDAR is in the self-protection mode.
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///
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/// \param health The health status info returned from the RPLIDAR
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///
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication
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virtual u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
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///
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/// \param info The device information returned from the RPLIDAR
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication
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virtual u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Get the sample duration information of the RPLIDAR.
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/// DEPRECATED, please use RplidarScanMode::us_per_sample
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///
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/// \param rateInfo The sample duration information returned from the RPLIDAR
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication
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DEPRECATED(virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT)) = 0;
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/// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.
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///
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/// \param pwm The motor pwm value would like to set
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virtual u_result setMotorPWM(_u16 pwm) = 0;
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/// Start RPLIDAR's motor when using accessory board
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virtual u_result startMotor() = 0;
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/// Stop RPLIDAR's motor when using accessory board
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virtual u_result stopMotor() = 0;
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/// Check whether the device support motor control.
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/// Note: this API will disable grab.
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///
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/// \param support Return the result.
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
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virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Calculate RPLIDAR's current scanning frequency from the given scan data
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/// DEPRECATED, please use getFrequency(RplidarScanMode, size_t)
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///
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/// Please refer to the application note doc for details
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/// Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data
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///
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/// \param inExpressMode Indicate whether the RPLIDAR is in express mode
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/// \param count The number of sample nodes inside the given buffer
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/// \param frequency The scanning frequency (in HZ) calcuated by the interface.
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/// \param is4kmode Return whether the RPLIDAR is working on 4k sample rate mode.
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DEPRECATED(virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode)) = 0;
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/// Calculate RPLIDAR's current scanning frequency from the given scan data
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/// Please refer to the application note doc for details
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/// Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data
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///
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/// \param scanMode Lidar's current scan mode
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/// \param count The number of sample nodes inside the given buffer
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virtual u_result getFrequency(const RplidarScanMode& scanMode, size_t count, float & frequency) = 0;
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/// Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode)
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/// A background thread will be created by the RPLIDAR driver to fetch the scan data continuously.
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/// User Application can use the grabScanData() interface to retrieved the scan data cached previous by this background thread.
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///
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/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
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virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Check whether the device support express mode.
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/// DEPRECATED, please use getAllSupportedScanModes
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///
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/// \param support Return the result.
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
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DEPRECATED(virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT)) = 0;
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/// Ask the RPLIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated
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///
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/// \param timeout The operation timeout value (in millisecond) for the serial port communication
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virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Wait and grab a complete 0-360 degree scan data previously received.
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/// NOTE: This method only support distance less than 16.38 meters, for longer distance, please use grabScanDataHq
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/// The grabbed scan data returned by this interface always has the following charactistics:
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///
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/// 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
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/// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan
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/// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer.
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///
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/// \param nodebuffer Buffer provided by the caller application to store the scan data
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///
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/// \param 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).
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/// Once the interface returns, this parameter will store the actual received data count.
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///
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/// \param 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.
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///
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/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
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///
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/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
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DEPRECATED(virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT)) = 0;
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/// Wait and grab a complete 0-360 degree scan data previously received.
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/// The grabbed scan data returned by this interface always has the following charactistics:
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///
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/// 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
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/// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan
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/// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer.
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///
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/// \param nodebuffer Buffer provided by the caller application to store the scan data
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///
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/// \param 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).
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/// Once the interface returns, this parameter will store the actual received data count.
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///
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/// \param 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.
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///
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/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
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///
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/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
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virtual u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT) = 0;
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/// Ascending the scan data according to the angle value in the scan.
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///
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/// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
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///
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/// \param 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).
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/// Once the interface returns, this parameter will store the actual received data count.
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/// The interface will return RESULT_OPERATION_FAIL when all the scan data is invalid.
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DEPRECATED(virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count)) = 0;
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/// Ascending the scan data according to the angle value in the scan.
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///
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/// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
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///
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/// \param 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).
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/// Once the interface returns, this parameter will store the actual received data count.
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/// The interface will return RESULT_OPERATION_FAIL when all the scan data is invalid.
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virtual u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count) = 0;
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/// Return received scan points even if it's not complete scan
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///
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/// \param nodebuffer Buffer provided by the caller application to store the scan data
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///
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/// \param count Once the interface returns, this parameter will store the actual received data count.
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///
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/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
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DEPRECATED(virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count)) = 0;
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/// Return received scan points even if it's not complete scan
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///
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/// \param nodebuffer Buffer provided by the caller application to store the scan data
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///
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/// \param count Once the interface returns, this parameter will store the actual received data count.
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///
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/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
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virtual u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count) = 0;
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virtual ~RPlidarDriver() {}
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protected:
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RPlidarDriver(){}
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public:
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ChannelDevice* _chanDev;
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};
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||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
}}}
|