Detailed Description

Definition at line 41 of file rplidar_driver_serial.h.

#include <rplidar/src/rplidar_driver_serial.h>

Inheritance diagram for rp::standalone::rplidar::RPlidarDriverSerialImpl:

Public Types
enum	{ MAX_SCAN_NODES = 2048 }

enum	{ LEGACY_SAMPLE_DURATION = 476 }

enum	{ DEFAULT_TIMEOUT = 2000 }

enum	{ DRIVER_TYPE_SERIALPORT = 0x0 }

Public Member Functions
	RPlidarDriverSerialImpl ()

	~RPlidarDriverSerialImpl () override

u_result	connect (const char *port_path, _u32 baudrate, _u32 flag) override
	Open the specified serial port and connect to a target RPLIDAR device. More...

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

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

u_result	reset (_u32 timeout=DEFAULT_TIMEOUT) override
	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. More...

u_result	getHealth (rplidar_response_device_health_t &, _u32 timeout=DEFAULT_TIMEOUT) override
	Retrieve the health status of the RPLIDAR The host system can use this operation to check whether RPLIDAR is in the self-protection mode. More...

u_result	getDeviceInfo (rplidar_response_device_info_t &, _u32 timeout=DEFAULT_TIMEOUT) override
	Get the device information of the RPLIDAR include the serial number, firmware version, device model etc. More...

u_result	getSampleDuration_uS (rplidar_response_sample_rate_t &rateInfo, _u32 timeout=DEFAULT_TIMEOUT) override
	Get the sample duration information of the RPLIDAR. More...

u_result	setMotorPWM (_u16 pwm) override
	Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only. More...

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

u_result	stopMotor () override
	Stop RPLIDAR's motor when using accessory board. More...

u_result	checkMotorCtrlSupport (bool &support, _u32 timeout=DEFAULT_TIMEOUT) override
	Check whether the device support motor control. More...

u_result	getFrequency (bool inExpressMode, size_t count, float &frequency, bool &is4kmode) override
	Calcuate 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. More...

u_result	startScan (bool force=false, bool autoExpressMode=true) override
	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. More...

u_result	startScanNormal (bool force, _u32 timeout=DEFAULT_TIMEOUT) override

u_result	startScanExpress (bool fixedAngle, _u32 timeout=DEFAULT_TIMEOUT) override

u_result	checkExpressScanSupported (bool &support, _u32 timeout=DEFAULT_TIMEOUT) override
	Check whether the device support express mode. More...

u_result	stop (_u32 timeout=DEFAULT_TIMEOUT) override
	Ask the RPLIDAR core system to stop the current scan operation and enter idle state. More...

u_result	grabScanData (rplidar_response_measurement_node_t *nodebuffer, size_t &count, _u32 timeout=DEFAULT_TIMEOUT) override
	Wait and grab a complete 0-360 degree scan data previously received. More...

u_result	ascendScanData (rplidar_response_measurement_node_t *nodebuffer, size_t count) override
	Ascending the scan data according to the angle value in the scan. More...

Static Public Member Functions
static RPlidarDriver *	CreateDriver (_u32 drivertype=DRIVER_TYPE_SERIALPORT)
	Create an RPLIDAR Driver Instance This interface should be invoked first before any other operations. More...

static void	DisposeDriver (RPlidarDriver *drv)
	Dispose the RPLIDAR Driver Instance specified by the drv parameter Applications should invoke this interface when the driver instance is no longer used in order to free memory. More...

Protected Member Functions
u_result	_waitNode (rplidar_response_measurement_node_t *node, _u32 timeout=DEFAULT_TIMEOUT)

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

u_result	_cacheScanData ()

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

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

u_result	_cacheCapsuledScanData ()

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

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

u_result	_waitSampleRate (rplidar_response_sample_rate_t *res, _u32 timeout=DEFAULT_TIMEOUT)

void	_disableDataGrabbing ()

Protected Attributes
bool	_isConnected {false}

bool	_isScanning {false}

bool	_isSupportingMotorCtrl {false}

rp::hal::Locker	_lock

rp::hal::Event	_dataEvt

rp::hal::serial_rxtx *	_rxtx

rplidar_response_measurement_node_t	_cached_scan_node_buf [2048]

size_t	_cached_scan_node_count

_u16	_cached_sampleduration_std

_u16	_cached_sampleduration_express

rplidar_response_capsule_measurement_nodes_t	_cached_previous_capsuledata

bool	_is_previous_capsuledataRdy

rp::hal::Thread	_cachethread

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

inherited

Enumerator
DEFAULT_TIMEOUT

Definition at line 45 of file rplidar_driver.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
DRIVER_TYPE_SERIALPORT

Definition at line 50 of file rplidar_driver.h.

◆ anonymous enum

anonymous enum

Enumerator
MAX_SCAN_NODES

Definition at line 44 of file rplidar_driver_serial.h.

◆ anonymous enum

anonymous enum

Enumerator
LEGACY_SAMPLE_DURATION

Definition at line 49 of file rplidar_driver_serial.h.

Constructor & Destructor Documentation

◆ RPlidarDriverSerialImpl()

rp::standalone::rplidar::RPlidarDriverSerialImpl::RPlidarDriverSerialImpl ( )

Definition at line 63 of file rplidar_driver.cpp.

References _cached_sampleduration_express, _cached_sampleduration_std, _cached_scan_node_count, _rxtx, rp::hal::serial_rxtx::CreateRxTx(), and LEGACY_SAMPLE_DURATION.

Here is the call graph for this function:

◆ ~RPlidarDriverSerialImpl()

rp::standalone::rplidar::RPlidarDriverSerialImpl::~RPlidarDriverSerialImpl ( )

override

Definition at line 72 of file rplidar_driver.cpp.

References _rxtx, disconnect(), and rp::hal::serial_rxtx::ReleaseRxTx().

Here is the call graph for this function:

Member Function Documentation

◆ _cacheCapsuledScanData()

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

protected

Definition at line 536 of file rplidar_driver.cpp.

References _cached_scan_node_buf, _cached_scan_node_count, _capsuleToNormal(), _countof, _dataEvt, _isScanning, _lock, _waitCapsuledNode(), IS_FAIL, rp::hal::Locker::lock(), MAX_SCAN_NODES, mrpt::system::os::memcpy(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_RESP_MEASUREMENT_SYNCBIT, rp::hal::Event::set(), sync_quality, and rp::hal::Locker::unlock().

Referenced by startScanExpress().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _cacheScanData()

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

protected

Definition at line 406 of file rplidar_driver.cpp.

References _cached_scan_node_buf, _cached_scan_node_count, _countof, _dataEvt, _isScanning, _lock, _waitScanData(), IS_FAIL, rp::hal::Locker::lock(), MAX_SCAN_NODES, mrpt::system::os::memcpy(), RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_RESP_MEASUREMENT_SYNCBIT, rp::hal::Event::set(), sync_quality, and rp::hal::Locker::unlock().

Referenced by startScanNormal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _capsuleToNormal()

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

protected

Definition at line 459 of file rplidar_driver.cpp.

References _cached_previous_capsuledata, _is_previous_capsuledataRdy, and RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT.

Referenced by _cacheCapsuledScanData().

Here is the caller graph for this function:

◆ _disableDataGrabbing()

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

protected

Definition at line 1016 of file rplidar_driver.cpp.

References _cachethread, _isScanning, and rp::hal::Thread::join().

Referenced by checkMotorCtrlSupport(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), and stop().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _sendCommand()

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

protected

Definition at line 914 of file rplidar_driver.cpp.

References _isConnected, _rxtx, mrpt::obs::gnss::header, RESULT_OK, RESULT_OPERATION_FAIL, RPLIDAR_CMD_SYNC_BYTE, RPLIDAR_CMDFLAG_HAS_PAYLOAD, and rp::hal::serial_rxtx::senddata().

Referenced by checkMotorCtrlSupport(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), reset(), setMotorPWM(), startScanExpress(), startScanNormal(), and stop().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _waitCapsuledNode()

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

protected

Definition at line 815 of file rplidar_driver.cpp.

References _is_previous_capsuledataRdy, _rxtx, rp::hal::serial_rxtx::ANS_DEV_ERR, rp::hal::serial_rxtx::ANS_TIMEOUT, getms, offsetof, rp::hal::serial_rxtx::recvdata(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1, RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2, RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT, start_angle_sync_q6, and rp::hal::serial_rxtx::waitfordata().

Referenced by _cacheCapsuledScanData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _waitNode()

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

protected

Definition at line 715 of file rplidar_driver.cpp.

References _rxtx, rp::hal::serial_rxtx::ANS_DEV_ERR, rp::hal::serial_rxtx::ANS_TIMEOUT, getms, rp::hal::serial_rxtx::recvdata(), RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_RESP_MEASUREMENT_CHECKBIT, and rp::hal::serial_rxtx::waitfordata().

Referenced by _waitScanData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _waitResponseHeader()

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

protected

Definition at line 960 of file rplidar_driver.cpp.

References _rxtx, rp::hal::serial_rxtx::ANS_DEV_ERR, rp::hal::serial_rxtx::ANS_TIMEOUT, getms, mrpt::obs::gnss::header, rp::hal::serial_rxtx::recvdata(), RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_ANS_SYNC_BYTE1, RPLIDAR_ANS_SYNC_BYTE2, and rp::hal::serial_rxtx::waitfordata().

Referenced by checkMotorCtrlSupport(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), startScanExpress(), and startScanNormal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _waitSampleRate()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::_waitSampleRate	(	rplidar_response_sample_rate_t *	res,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

protected

◆ _waitScanData()

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

protected

Definition at line 784 of file rplidar_driver.cpp.

References _isConnected, _waitNode(), getms, IS_FAIL, RESULT_OK, RESULT_OPERATION_FAIL, and RESULT_OPERATION_TIMEOUT.

Referenced by _cacheScanData().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ ascendScanData()

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

overridevirtual

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 629 of file rplidar_driver.cpp.

References angle_q6_checkbit, distance_q2, RESULT_OK, RESULT_OPERATION_FAIL, RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT, and RPLIDAR_RESP_MEASUREMENT_CHECKBIT.

◆ checkExpressScanSupported()

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

overridevirtual

Check whether the device support express mode.

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 291 of file rplidar_driver.cpp.

References _cached_sampleduration_express, _cached_sampleduration_std, getDeviceInfo(), getSampleDuration_uS(), IS_FAIL, and RESULT_OK.

Referenced by startScan().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ checkMotorCtrlSupport()

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

overridevirtual

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 1080 of file rplidar_driver.cpp.

References _disableDataGrabbing(), _lock, _rxtx, _sendCommand(), _waitResponseHeader(), rp::hal::serial_rxtx::ANS_OK, IS_FAIL, isConnected(), rp::hal::serial_rxtx::recvdata(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG, RPLIDAR_CMD_GET_ACC_BOARD_FLAG, RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK, and rp::hal::serial_rxtx::waitfordata().

Referenced by connect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ connect()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::connect	(	const char *	port_path,
		_u32	baudrate,
		_u32	flag
	)

overridevirtual

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 80 of file rplidar_driver.cpp.

References _isConnected, _isSupportingMotorCtrl, _lock, _rxtx, rp::hal::serial_rxtx::bind(), checkMotorCtrlSupport(), rp::hal::serial_rxtx::flush(), isConnected(), rp::hal::serial_rxtx::open(), RESULT_ALREADY_DONE, RESULT_INSUFFICIENT_MEMORY, RESULT_INVALID_DATA, RESULT_OK, and stopMotor().

Here is the call graph for this function:

◆ CreateDriver()

RPlidarDriver * rp::standalone::rplidar::RPlidarDriver::CreateDriver ( _u32 drivertype = DRIVER_TYPE_SERIALPORT )

staticinherited

Create an RPLIDAR Driver Instance This interface should be invoked first before any other operations.

Parameters

drivertype the connection type used by the driver.

Definition at line 49 of file rplidar_driver.cpp.

References rp::standalone::rplidar::RPlidarDriver::DRIVER_TYPE_SERIALPORT.

◆ disconnect()

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

overridevirtual

Disconnect with the RPLIDAR and close the serial port.

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

Definition at line 107 of file rplidar_driver.cpp.

References _isConnected, _rxtx, rp::hal::serial_rxtx::close(), and stop().

Referenced by ~RPlidarDriverSerialImpl().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ DisposeDriver()

void rp::standalone::rplidar::RPlidarDriver::DisposeDriver ( RPlidarDriver * drv )

staticinherited

Dispose the RPLIDAR Driver Instance specified by the drv parameter Applications should invoke this interface when the driver instance is no longer used in order to free memory.

Definition at line 60 of file rplidar_driver.cpp.

◆ getDeviceInfo()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getDeviceInfo	(	rplidar_response_device_info_t &	info,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

overridevirtual

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 177 of file rplidar_driver.cpp.

References _disableDataGrabbing(), _lock, _rxtx, _sendCommand(), _waitResponseHeader(), rp::hal::serial_rxtx::ANS_OK, IS_FAIL, isConnected(), rp::hal::serial_rxtx::recvdata(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_DEVINFO, RPLIDAR_CMD_GET_DEVICE_INFO, and rp::hal::serial_rxtx::waitfordata().

Referenced by checkExpressScanSupported(), and getSampleDuration_uS().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getFrequency()

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

overridevirtual

Calcuate 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

inExpressMode	Indicate whether the RPLIDAR is in express mode
count	The number of sample nodes inside the given buffer
frequency	The scanning frequency (in HZ) calcuated by the interface.
is4kmode	Return whether the RPLIDAR is working on 4k sample rate mode.

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

Definition at line 224 of file rplidar_driver.cpp.

References _cached_sampleduration_express, _cached_sampleduration_std, and RESULT_OK.

◆ getHealth()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::getHealth	(	rplidar_response_device_health_t &	health,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

overridevirtual

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 130 of file rplidar_driver.cpp.

References _disableDataGrabbing(), _lock, _rxtx, _sendCommand(), _waitResponseHeader(), rp::hal::serial_rxtx::ANS_OK, IS_FAIL, isConnected(), rp::hal::serial_rxtx::recvdata(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_DEVHEALTH, RPLIDAR_CMD_GET_DEVICE_HEALTH, and rp::hal::serial_rxtx::waitfordata().

Here is the call graph for this function:

◆ getSampleDuration_uS()

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

overridevirtual

Get the sample duration information of the RPLIDAR.

Parameters

rateInfo	The sample duration 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 1022 of file rplidar_driver.cpp.

References _cached_sampleduration_express, _cached_sampleduration_std, _disableDataGrabbing(), _lock, _rxtx, _sendCommand(), _waitResponseHeader(), rp::hal::serial_rxtx::ANS_OK, getDeviceInfo(), IS_FAIL, isConnected(), rp::hal::serial_rxtx::recvdata(), RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_SAMPLE_RATE, RPLIDAR_CMD_GET_SAMPLERATE, and rp::hal::serial_rxtx::waitfordata().

Referenced by checkExpressScanSupported().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ grabScanData()

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

overridevirtual

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 597 of file rplidar_driver.cpp.

References _cached_scan_node_buf, _cached_scan_node_count, _dataEvt, _lock, rp::hal::Event::EVENT_OK, rp::hal::Event::EVENT_TIMEOUT, mrpt::system::os::memcpy(), min, RESULT_OK, RESULT_OPERATION_FAIL, RESULT_OPERATION_TIMEOUT, and rp::hal::Event::wait().

Here is the call graph for this function:

◆ isConnected()

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

overridevirtual

Returns TRUE when the connection has been established.

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

Definition at line 114 of file rplidar_driver.cpp.

References _isConnected.

Referenced by checkMotorCtrlSupport(), connect(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), startScanExpress(), and startScanNormal().

Here is the caller graph for this function:

◆ reset()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::reset ( _u32 timeout = DEFAULT_TIMEOUT )

overridevirtual

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.

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

Definition at line 115 of file rplidar_driver.cpp.

References _lock, _sendCommand(), IS_FAIL, RESULT_OK, and RPLIDAR_CMD_RESET.

Here is the call graph for this function:

◆ setMotorPWM()

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

overridevirtual

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

Parameters

pwm	The motor pwm value would like to set

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

Definition at line 1140 of file rplidar_driver.cpp.

References _lock, _sendCommand(), IS_FAIL, RESULT_OK, and RPLIDAR_CMD_SET_MOTOR_PWM.

Referenced by startMotor(), and stopMotor().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ startMotor()

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

overridevirtual

Start RPLIDAR's motor when using accessory board.

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

Definition at line 1161 of file rplidar_driver.cpp.

References _isSupportingMotorCtrl, _lock, _rxtx, rp::hal::serial_rxtx::clearDTR(), DEFAULT_MOTOR_PWM, delay, RESULT_OK, and setMotorPWM().

Here is the call graph for this function:

◆ startScan()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startScan	(	bool	force = `false`,
		bool	autoExpressMode = `true`
	)

overridevirtual

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.
autoExpressMode	Force the core system to trying express mode first, if the system does not support express mode, it will use normal mode.
timeout	The operation timeout value (in millisecond) for the serial port communication.

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

Definition at line 369 of file rplidar_driver.cpp.

References checkExpressScanSupported(), IS_FAIL, startScanExpress(), and startScanNormal().

Here is the call graph for this function:

◆ startScanExpress()

u_result rp::standalone::rplidar::RPlidarDriverSerialImpl::startScanExpress	(	bool	fixedAngle,
		_u32	timeout = `DEFAULT_TIMEOUT`
	)

overridevirtual

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

Definition at line 313 of file rplidar_driver.cpp.

References _cacheCapsuledScanData(), _cachethread, _isScanning, _lock, _sendCommand(), _waitResponseHeader(), CLASS_THREAD, rp::hal::Thread::getHandle(), IS_FAIL, isConnected(), RESULT_ALREADY_DONE, RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED, RPLIDAR_CMD_EXPRESS_SCAN, RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE, RPLIDAR_EXPRESS_SCAN_MODE_NORMAL, and stop().

Referenced by startScan().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ startScanNormal()

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

overridevirtual

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

Definition at line 243 of file rplidar_driver.cpp.

References _cacheScanData(), _cachethread, _isScanning, _lock, _sendCommand(), _waitResponseHeader(), CLASS_THREAD, rp::hal::Thread::getHandle(), IS_FAIL, isConnected(), RESULT_ALREADY_DONE, RESULT_INVALID_DATA, RESULT_OK, RESULT_OPERATION_FAIL, RPLIDAR_ANS_HEADER_SIZE_MASK, RPLIDAR_ANS_TYPE_MEASUREMENT, RPLIDAR_CMD_FORCE_SCAN, RPLIDAR_CMD_SCAN, and stop().

Referenced by startScan().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stop()

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

overridevirtual

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 389 of file rplidar_driver.cpp.

References _disableDataGrabbing(), _lock, _sendCommand(), IS_FAIL, RESULT_OK, and RPLIDAR_CMD_STOP.

Referenced by disconnect(), startScanExpress(), and startScanNormal().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ stopMotor()

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

overridevirtual

Stop RPLIDAR's motor when using accessory board.

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

Definition at line 1178 of file rplidar_driver.cpp.

References _isSupportingMotorCtrl, _lock, _rxtx, delay, RESULT_OK, rp::hal::serial_rxtx::setDTR(), and setMotorPWM().

Referenced by connect().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ _cached_previous_capsuledata

rplidar_response_capsule_measurement_nodes_t rp::standalone::rplidar::RPlidarDriverSerialImpl::_cached_previous_capsuledata

protected

Definition at line 136 of file rplidar_driver_serial.h.

Referenced by _capsuleToNormal().

◆ _cached_sampleduration_express

_u16 rp::standalone::rplidar::RPlidarDriverSerialImpl::_cached_sampleduration_express

protected

Definition at line 134 of file rplidar_driver_serial.h.

Referenced by checkExpressScanSupported(), getFrequency(), getSampleDuration_uS(), and RPlidarDriverSerialImpl().

◆ _cached_sampleduration_std

_u16 rp::standalone::rplidar::RPlidarDriverSerialImpl::_cached_sampleduration_std

protected

Definition at line 133 of file rplidar_driver_serial.h.

Referenced by checkExpressScanSupported(), getFrequency(), getSampleDuration_uS(), and RPlidarDriverSerialImpl().

◆ _cached_scan_node_buf

rplidar_response_measurement_node_t rp::standalone::rplidar::RPlidarDriverSerialImpl::_cached_scan_node_buf[2048]

protected

Definition at line 130 of file rplidar_driver_serial.h.

Referenced by _cacheCapsuledScanData(), _cacheScanData(), and grabScanData().

◆ _cached_scan_node_count

size_t rp::standalone::rplidar::RPlidarDriverSerialImpl::_cached_scan_node_count

protected

Definition at line 131 of file rplidar_driver_serial.h.

Referenced by _cacheCapsuledScanData(), _cacheScanData(), grabScanData(), and RPlidarDriverSerialImpl().

◆ _cachethread

rp::hal::Thread rp::standalone::rplidar::RPlidarDriverSerialImpl::_cachethread

protected

Definition at line 139 of file rplidar_driver_serial.h.

Referenced by _disableDataGrabbing(), startScanExpress(), and startScanNormal().

◆ _dataEvt

rp::hal::Event rp::standalone::rplidar::RPlidarDriverSerialImpl::_dataEvt

protected

Definition at line 128 of file rplidar_driver_serial.h.

Referenced by _cacheCapsuledScanData(), _cacheScanData(), and grabScanData().

◆ _is_previous_capsuledataRdy

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_is_previous_capsuledataRdy

protected

Definition at line 137 of file rplidar_driver_serial.h.

Referenced by _capsuleToNormal(), and _waitCapsuledNode().

◆ _isConnected

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isConnected {false}

protected

Definition at line 123 of file rplidar_driver_serial.h.

Referenced by _sendCommand(), _waitScanData(), connect(), disconnect(), and isConnected().

◆ _isScanning

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isScanning {false}

protected

Definition at line 124 of file rplidar_driver_serial.h.

Referenced by _cacheCapsuledScanData(), _cacheScanData(), _disableDataGrabbing(), startScanExpress(), and startScanNormal().

◆ _isSupportingMotorCtrl

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isSupportingMotorCtrl {false}

protected

Definition at line 125 of file rplidar_driver_serial.h.

Referenced by connect(), startMotor(), and stopMotor().

◆ _lock

rp::hal::Locker rp::standalone::rplidar::RPlidarDriverSerialImpl::_lock

protected

Definition at line 127 of file rplidar_driver_serial.h.

Referenced by _cacheCapsuledScanData(), _cacheScanData(), checkMotorCtrlSupport(), connect(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), grabScanData(), reset(), setMotorPWM(), startMotor(), startScanExpress(), startScanNormal(), stop(), and stopMotor().

◆ _rxtx

rp::hal::serial_rxtx* rp::standalone::rplidar::RPlidarDriverSerialImpl::_rxtx

protected

Definition at line 129 of file rplidar_driver_serial.h.

Referenced by _sendCommand(), _waitCapsuledNode(), _waitNode(), _waitResponseHeader(), checkMotorCtrlSupport(), connect(), disconnect(), getDeviceInfo(), getHealth(), getSampleDuration_uS(), RPlidarDriverSerialImpl(), startMotor(), stopMotor(), and ~RPlidarDriverSerialImpl().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ RPlidarDriverSerialImpl()

◆ ~RPlidarDriverSerialImpl()

Member Function Documentation

◆ _cacheCapsuledScanData()

◆ _cacheScanData()

◆ _capsuleToNormal()

◆ _disableDataGrabbing()

◆ _sendCommand()

◆ _waitCapsuledNode()

◆ _waitNode()

◆ _waitResponseHeader()

◆ _waitSampleRate()

◆ _waitScanData()

◆ ascendScanData()

◆ checkExpressScanSupported()

◆ checkMotorCtrlSupport()

◆ connect()

◆ CreateDriver()

◆ disconnect()

◆ DisposeDriver()

◆ getDeviceInfo()

◆ getFrequency()

◆ getHealth()

◆ getSampleDuration_uS()

◆ grabScanData()

◆ isConnected()

◆ reset()

◆ setMotorPWM()

◆ startMotor()

◆ startScan()

◆ startScanExpress()

◆ startScanNormal()

◆ stop()

◆ stopMotor()

Member Data Documentation

◆ _cached_previous_capsuledata

◆ _cached_sampleduration_express

◆ _cached_sampleduration_std

◆ _cached_scan_node_buf

◆ _cached_scan_node_count

◆ _cachethread

◆ _dataEvt

◆ _is_previous_capsuledataRdy

◆ _isConnected

◆ _isScanning

◆ _isSupportingMotorCtrl

◆ _lock

◆ _rxtx