rplidar_driver.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
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   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
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   +------------------------------------------------------------------------+ */
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#pragma once

#ifndef __cplusplus
#error "The RPlidar SDK requires a C++ compiler to be built"
#endif

namespace rp::standalone::rplidar
{
class RPlidarDriver
{
   public:
    enum
    {
        DEFAULT_TIMEOUT = 2000,  // 2000 ms
    };

    enum
    {
        DRIVER_TYPE_SERIALPORT = 0x0,
    };

   public:
    /// Create an RPLIDAR Driver Instance
    /// This interface should be invoked first before any other operations
    ///
    /// \param drivertype the connection type used by the driver.
    static RPlidarDriver* CreateDriver(
        _u32 drivertype = DRIVER_TYPE_SERIALPORT);

    /// 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
    static void DisposeDriver(RPlidarDriver* drv);

   public:
    /// Open the specified serial port and connect to a target RPLIDAR device
    ///
    /// \param port_path     the device path of the serial port
    ///        e.g. on Windows, it may be com3 or \\.\com10
    ///             on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
    ///
    /// \param baudrate      the baudrate used
    ///        For most RPLIDAR models, the baudrate should be set to 115200
    ///
    /// \param flag          other flags
    ///        Reserved for future use, always set to Zero
    virtual u_result connect(
        const char* port_path, _u32 baudrate, _u32 flag = 0) = 0;

    /// Disconnect with the RPLIDAR and close the serial port
    virtual void disconnect() = 0;

    /// Returns TRUE when the connection has been established
    virtual bool isConnected() = 0;

    /// 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.
    ///
    //  \param timeout       The operation timeout value (in millisecond) for
    //  the serial port communication
    virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Retrieve the health status of the RPLIDAR
    /// The host system can use this operation to check whether RPLIDAR is in
    /// the self-protection mode.
    ///
    /// \param health        The health status info returned from the RPLIDAR
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication
    virtual u_result getHealth(
        rplidar_response_device_health_t& health,
        _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Get the device information of the RPLIDAR include the serial number,
    /// firmware version, device model etc.
    ///
    /// \param info          The device information returned from the RPLIDAR
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication
    virtual u_result getDeviceInfo(
        rplidar_response_device_info_t& info,
        _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Get the sample duration information of the RPLIDAR.
    ///
    /// \param rateInfo      The sample duration information returned from the
    /// RPLIDAR
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication
    virtual u_result getSampleDuration_uS(
        rplidar_response_sample_rate_t& rateInfo,
        _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Set the RPLIDAR's motor pwm when using accessory board, currently valid
    /// for A2 only.
    ///
    /// \param pwm           The motor pwm value would like to set
    virtual u_result setMotorPWM(_u16 pwm) = 0;

    /// Start RPLIDAR's motor when using accessory board
    virtual u_result startMotor() = 0;

    /// Stop RPLIDAR's motor when using accessory board
    virtual u_result stopMotor() = 0;

    /// Check whether the device support motor control.
    /// Note: this API will disable grab.
    ///
    /// \param support       Return the result.
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication.
    virtual u_result checkMotorCtrlSupport(
        bool& support, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// 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
    ///
    /// \param inExpressMode Indicate whether the RPLIDAR is in express mode
    ///
    /// \param count         The number of sample nodes inside the given buffer
    ///
    /// \param frequency     The scanning frequency (in HZ) calcuated by the
    /// interface.
    ///
    /// \param is4kmode      Return whether the RPLIDAR is working on 4k sample
    /// rate mode.
    virtual u_result getFrequency(
        bool inExpressMode, size_t count, float& frequency, bool& is4kmode) = 0;

    /// 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.
    ///
    /// \param force         Force the core system to output scan data
    /// regardless whether the scanning motor is rotating or not.
    ///
    /// \param autoExpressMode Force the core system to trying express mode
    /// first, if the system does not support express mode, it will use normal
    /// mode.
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication.
    virtual u_result startScan(
        bool force = false, bool autoExpressMode = true) = 0;
    virtual u_result startScanNormal(
        bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0;
    virtual u_result startScanExpress(
        bool fixedAngle, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Check whether the device support express mode.
    ///
    /// \param support       Return the result.
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication.
    virtual u_result checkExpressScanSupported(
        bool& support, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Ask the RPLIDAR core system to stop the current scan operation and enter
    /// idle state. The background thread will be terminated
    ///
    /// \param timeout       The operation timeout value (in millisecond) for
    /// the serial port communication
    virtual u_result stop(_u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// 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.
    ///
    /// \param nodebuffer     Buffer provided by the caller application to store
    /// the scan data
    ///
    /// \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).
    ///                       Once the interface returns, this parameter will
    ///                       store the actual received data count.
    ///
    /// \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.
    ///
    /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that no
    /// complete 360-degrees' scan can be retrieved withing the given timeout
    /// duration.
    ///
    /// \The caller application can set the timeout value to Zero(0) to make
    /// this interface always returns immediately to achieve non-block
    /// operation.
    virtual u_result grabScanData(
        rplidar_response_measurement_node_t* nodebuffer, size_t& count,
        _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Ascending the scan data according to the angle value in the scan.
    ///
    /// \param nodebuffer     Buffer provided by the caller application to do
    /// the reorder. Should be retrived from the grabScanData
    ///
    /// \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).
    ///                       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.
    virtual u_result ascendScanData(
        rplidar_response_measurement_node_t* nodebuffer, size_t count) = 0;

   protected:
    RPlidarDriver() = default;
    virtual ~RPlidarDriver() = default;
};
}  // namespace rp::standalone::rplidar