107 lines
3.2 KiB
C++
107 lines
3.2 KiB
C++
/*
|
|
* RPLIDAR SDK
|
|
*
|
|
* Copyright (c) 2009 - 2014 RoboPeak Team
|
|
* http://www.robopeak.com
|
|
* Copyright (c) 2014 - 2018 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
|
|
|
|
namespace rp { namespace standalone{ namespace rplidar {
|
|
|
|
class SerialChannelDevice :public ChannelDevice
|
|
{
|
|
public:
|
|
rp::hal::serial_rxtx * _rxtxSerial;
|
|
bool _closePending;
|
|
|
|
SerialChannelDevice():_rxtxSerial(rp::hal::serial_rxtx::CreateRxTx()){}
|
|
|
|
bool bind(const char * portname, uint32_t baudrate)
|
|
{
|
|
_closePending = false;
|
|
return _rxtxSerial->bind(portname, baudrate);
|
|
}
|
|
bool open()
|
|
{
|
|
return _rxtxSerial->open();
|
|
}
|
|
void close()
|
|
{
|
|
_closePending = true;
|
|
_rxtxSerial->cancelOperation();
|
|
_rxtxSerial->close();
|
|
}
|
|
void flush()
|
|
{
|
|
_rxtxSerial->flush(0);
|
|
}
|
|
bool waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL)
|
|
{
|
|
if (_closePending) return false;
|
|
return (_rxtxSerial->waitfordata(data_count, timeout, returned_size) == rp::hal::serial_rxtx::ANS_OK);
|
|
}
|
|
int senddata(const _u8 * data, size_t size)
|
|
{
|
|
return _rxtxSerial->senddata(data, size) ;
|
|
}
|
|
int recvdata(unsigned char * data, size_t size)
|
|
{
|
|
size_t lenRec = 0;
|
|
lenRec = _rxtxSerial->recvdata(data, size);
|
|
return lenRec;
|
|
}
|
|
void setDTR()
|
|
{
|
|
_rxtxSerial->setDTR();
|
|
}
|
|
void clearDTR()
|
|
{
|
|
_rxtxSerial->clearDTR();
|
|
}
|
|
void ReleaseRxTx()
|
|
{
|
|
rp::hal::serial_rxtx::ReleaseRxTx(_rxtxSerial);
|
|
}
|
|
};
|
|
|
|
class RPlidarDriverSerial : public RPlidarDriverImplCommon
|
|
{
|
|
public:
|
|
|
|
RPlidarDriverSerial();
|
|
virtual ~RPlidarDriverSerial();
|
|
virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag = 0);
|
|
virtual void disconnect();
|
|
|
|
};
|
|
|
|
}}}
|