rplidar_driver_serial.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
/*
 * 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.
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 */

#pragma once

#include "rplidar_cmd.h"
#include "rplidar_driver.h"

namespace rp::standalone::rplidar
{
class RPlidarDriverSerialImpl : public RPlidarDriver
{
   public:
    enum
    {
        MAX_SCAN_NODES = 2048,
    };

    enum
    {
        LEGACY_SAMPLE_DURATION = 476,
    };

    RPlidarDriverSerialImpl();
    ~RPlidarDriverSerialImpl() override;

   public:
    u_result connect(const char* port_path, _u32 baudrate, _u32 flag) override;
    void disconnect() override;
    bool isConnected() override;

    u_result reset(_u32 timeout = DEFAULT_TIMEOUT) override;

    u_result getHealth(
        rplidar_response_device_health_t&,
        _u32 timeout = DEFAULT_TIMEOUT) override;
    u_result getDeviceInfo(
        rplidar_response_device_info_t&,
        _u32 timeout = DEFAULT_TIMEOUT) override;
    u_result getSampleDuration_uS(
        rplidar_response_sample_rate_t& rateInfo,
        _u32 timeout = DEFAULT_TIMEOUT) override;

    u_result setMotorPWM(_u16 pwm) override;
    u_result startMotor() override;
    u_result stopMotor() override;
    u_result checkMotorCtrlSupport(
        bool& support, _u32 timeout = DEFAULT_TIMEOUT) override;
    u_result getFrequency(
        bool inExpressMode, size_t count, float& frequency,
        bool& is4kmode) override;

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

    u_result stop(_u32 timeout = DEFAULT_TIMEOUT) override;
    u_result grabScanData(
        rplidar_response_measurement_node_t* nodebuffer, size_t& count,
        _u32 timeout = DEFAULT_TIMEOUT) override;
    u_result ascendScanData(
        rplidar_response_measurement_node_t* nodebuffer, size_t count) override;

   protected:
    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();

    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;
};
}  // namespace rp::standalone::rplidar