Detailed Description

Definition at line 38 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 ()

virtual	~RPlidarDriverSerialImpl ()

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

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

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

virtual u_result	reset (_u32 timeout=DEFAULT_TIMEOUT)
	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...

virtual u_result	getHealth (rplidar_response_device_health_t &, _u32 timeout=DEFAULT_TIMEOUT)
	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...

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

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

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

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

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

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

virtual u_result	getFrequency (bool inExpressMode, size_t count, float &frequency, bool &is4kmode)
	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...

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

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

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

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

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

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

virtual u_result	ascendScanData (rplidar_response_measurement_node_t *nodebuffer, size_t count)
	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

bool	_isScanning

bool	_isSupportingMotorCtrl

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 41 of file rplidar_driver_serial.h.

◆ anonymous enum

anonymous enum

Enumerator
LEGACY_SAMPLE_DURATION

Definition at line 46 of file rplidar_driver_serial.h.

Constructor & Destructor Documentation

◆ RPlidarDriverSerialImpl()

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

Definition at line 62 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.

◆ ~RPlidarDriverSerialImpl()

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

virtual

Definition at line 71 of file rplidar_driver.cpp.

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

Member Function Documentation

◆ _cacheCapsuledScanData()

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

protected

Definition at line 546 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().

◆ _cacheScanData()

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

protected

Definition at line 405 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().

◆ _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 458 of file rplidar_driver.cpp.

References _cached_previous_capsuledata, _countof, _is_previous_capsuledataRdy, and RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT.

Referenced by _cacheCapsuledScanData().

◆ _disableDataGrabbing()

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

protected

Definition at line 1027 of file rplidar_driver.cpp.

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

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

◆ _sendCommand()

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

protected

Definition at line 924 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().

◆ _waitCapsuledNode()

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

protected

Definition at line 825 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().

◆ _waitNode()

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

protected

Definition at line 725 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().

◆ _waitResponseHeader()

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

protected

Definition at line 971 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().

◆ _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 794 of file rplidar_driver.cpp.

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

Referenced by _cacheScanData().

◆ ascendScanData()

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

virtual

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 639 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`
	)

virtual

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 290 of file rplidar_driver.cpp.

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

Referenced by startScan().

◆ checkMotorCtrlSupport()

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

virtual

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 1091 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().

◆ connect()

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

virtual

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 79 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().

◆ 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 48 of file rplidar_driver.cpp.

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

◆ disconnect()

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

virtual

Disconnect with the RPLIDAR and close the serial port.

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

Definition at line 106 of file rplidar_driver.cpp.

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

Referenced by ~RPlidarDriverSerialImpl().

◆ 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 59 of file rplidar_driver.cpp.

◆ getDeviceInfo()

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

virtual

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 176 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().

◆ getFrequency()

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

virtual

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 223 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`
	)

virtual

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 129 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().

◆ getSampleDuration_uS()

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

virtual

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 1033 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().

◆ grabScanData()

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

virtual

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 607 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().

◆ isConnected()

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

virtual

Returns TRUE when the connection has been established.

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

Definition at line 113 of file rplidar_driver.cpp.

References _isConnected.

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

◆ reset()

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

virtual

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 114 of file rplidar_driver.cpp.

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

◆ setMotorPWM()

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

virtual

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 1151 of file rplidar_driver.cpp.

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

Referenced by startMotor(), and stopMotor().

◆ startMotor()

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

virtual

Start RPLIDAR's motor when using accessory board.

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

Definition at line 1172 of file rplidar_driver.cpp.

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

◆ startScan()

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

virtual

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 368 of file rplidar_driver.cpp.

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

◆ startScanExpress()

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

virtual

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

Definition at line 312 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().

◆ startScanNormal()

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

virtual

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

Definition at line 242 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().

◆ stop()

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

virtual

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 388 of file rplidar_driver.cpp.

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

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

◆ stopMotor()

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

virtual

Stop RPLIDAR's motor when using accessory board.

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

Definition at line 1189 of file rplidar_driver.cpp.

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

Referenced by connect().

Member Data Documentation

◆ _cached_previous_capsuledata

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

protected

Definition at line 129 of file rplidar_driver_serial.h.

Referenced by _capsuleToNormal().

◆ _cached_sampleduration_express

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

protected

Definition at line 127 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 126 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 123 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 124 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 132 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 121 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 130 of file rplidar_driver_serial.h.

Referenced by _capsuleToNormal(), and _waitCapsuledNode().

◆ _isConnected

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isConnected

protected

Definition at line 116 of file rplidar_driver_serial.h.

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

◆ _isScanning

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isScanning

protected

Definition at line 117 of file rplidar_driver_serial.h.

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

◆ _isSupportingMotorCtrl

bool rp::standalone::rplidar::RPlidarDriverSerialImpl::_isSupportingMotorCtrl

protected

Definition at line 118 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 120 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 122 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