Diff: rplidar/RPlidar.cpp

Revision:

0:2b691d200d6f

Child:

2:e27733eaa594

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar/RPlidar.cpp	Tue Apr 09 17:53:31 2019 +0000
@@ -0,0 +1,570 @@
+/*
+ * RoboPeak RPLIDAR Driver for Arduino
+ * RoboPeak.com
+ *
+ * Copyright (c) 2014, RoboPeak
+ * All rights reserved.
+ *
+ * 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.
+ *
+ */
+
+#include "rplidar.h"
+//BufferedSerial _bined_serialdev( PA_11,  PA_12); // tx, rx
+Timer timers;
+
+/*
+    Thread that handles reading the sensor measurements
+    
+    This thread parses the buffered serial bytes into Lidar measurements.
+    If there's space in the mail box it adds a measurement to it. In case there 
+    isn't space, it takes 1 element out of the mail box and then puts the new 
+    measurement. This makes sure recent data is in the mailbox instead of really 
+    old data. Messages are lost anyway but this way the application will read 
+    measurements of the current robot position.
+    if the mail box still has 100 max messages then this means that the oldest
+    measurement was 50ms in a full mail box. 
+    Note that since the thread runs every 20ms then there will be measurements 
+    as old as 20ms.
+*/
+void RPLidar::Thread_readSensor(void)
+{
+
+    //pc->printf("starting thread\n");
+    while(1)
+    {   
+    
+        while (IS_OK(pollPoint()))
+        {              
+          
+            if(!mail_box.full())
+            {            
+                struct RPLidarMeasurement current = getCurrentPoint();
+                struct RPLidarMeasurement *mail = mail_box.alloc();
+                if(mail == NULL)
+                {   
+                    //there was an error allocating space in heap
+                    continue;
+                }
+                mail->distance = current.distance;
+                mail->angle = current.angle;
+                mail->quality = current.quality;
+                mail->startBit = current.startBit;
+                
+                mail_box.put(mail);
+                
+            }
+            else
+            {
+                osEvent evt = mail_box.get();
+                if (evt.status == osEventMail) {
+                    struct RPLidarMeasurement *mail = (struct RPLidarMeasurement*)evt.value.p;
+                    mail_box.free(mail);
+                    
+                    struct RPLidarMeasurement current = getCurrentPoint();
+                    mail = mail_box.alloc();
+                    if(mail == NULL)
+                    {   
+                        //there was an error allocating space in heap
+                        continue;
+                    }
+                    mail->distance = current.distance;
+                    mail->angle = current.angle;
+                    mail->quality = current.quality;
+                    mail->startBit = current.startBit;
+                    
+                    mail_box.put(mail);
+                }
+                
+
+            }
+        }
+        wait(0.02);
+    }   
+
+    
+}
+
+/*
+  Poll for new measurements in the mail box
+  Returns: 0 if found data, -1 if not data available.
+*/
+int32_t RPLidar::pollSensorData(struct RPLidarMeasurement *_data)
+{
+    osEvent evt = mail_box.get();
+    if (evt.status == osEventMail) {
+        
+        struct RPLidarMeasurement *mail = (struct RPLidarMeasurement*)evt.value.p;
+        //struct RPLidarMeasurement data;
+        _data->distance = mail->distance;
+        _data->angle = mail->angle;
+        _data->quality = mail->quality;
+        _data->startBit = mail->startBit;
+        mail_box.free(mail);
+        return 0;
+
+        
+
+    }
+    
+    return -1;
+}
+
+
+RPLidar::RPLidar()
+{
+    
+
+    _currentMeasurement.distance = 0;
+    _currentMeasurement.angle = 0;
+    _currentMeasurement.quality = 0;
+    _currentMeasurement.startBit = 0;
+    
+    useThread = 0;
+    thread.set_priority(osPriorityAboveNormal);
+    //Thread thread(osPriorityAboveNormal, OS_STACK_SIZE, NULL, "RPLidar");
+    //thread_p = &thread;
+}
+
+
+RPLidar::~RPLidar()
+{
+    end();
+}
+
+// open the given serial interface and try to connect to the RPLIDAR
+/*
+bool RPLidar::begin(BufferedSerial &serialobj)
+{
+
+    //Serial.begin(115200);
+
+    if (isOpen()) {
+      end();
+    }
+    _bined_serialdev = &serialobj;
+  //  _bined_serialdev->end();
+    _bined_serialdev->baud(RPLIDAR_SERIAL_BAUDRATE);
+}
+*/
+
+void RPLidar::begin(BufferedSerial &serialobj)
+{
+    _bined_serialdev = &serialobj;
+    timers.start();
+    _bined_serialdev->baud(RPLIDAR_SERIAL_BAUDRATE);
+    recvPos_g = 0;
+}
+// close the currently opened serial interface
+void RPLidar::end()
+{/*
+    if (isOpen()) {
+       _bined_serialdev->end();
+       _bined_serialdev = NULL;
+    }*/
+}
+
+
+// check whether the serial interface is opened
+/*
+bool RPLidar::isOpen()
+{
+    return _bined_serialdev?true:false;
+}
+*/
+// ask the RPLIDAR for its health info
+
+u_result RPLidar::getHealth(rplidar_response_device_health_t & healthinfo, _u32 timeout)
+{
+    _u32 currentTs = timers.read_ms();
+    _u32 remainingtime;
+
+    _u8 *infobuf = (_u8 *)&healthinfo;
+    _u8 recvPos = 0;
+
+    rplidar_ans_header_t response_header;
+    u_result  ans;
+
+
+  //  if (!isOpen()) return RESULT_OPERATION_FAIL;
+
+    {
+        if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_DEVICE_HEALTH, NULL, 0))) {
+            return ans;
+        }
+
+        if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) {
+            return ans;
+        }
+
+        // verify whether we got a correct header
+        if (response_header.type != RPLIDAR_ANS_TYPE_DEVHEALTH) {
+            return RESULT_INVALID_DATA;
+        }
+
+        if ((response_header.size) < sizeof(rplidar_response_device_health_t)) {
+            return RESULT_INVALID_DATA;
+        }
+
+        while ((remainingtime=timers.read_ms() - currentTs) <= timeout) {
+            int currentbyte = _bined_serialdev->getc();
+            if (currentbyte < 0) continue;
+
+            infobuf[recvPos++] = currentbyte;
+
+            if (recvPos == sizeof(rplidar_response_device_health_t)) {
+                return RESULT_OK;
+            }
+        }
+    }
+    return RESULT_OPERATION_TIMEOUT;
+}
+// ask the RPLIDAR for its device info like the serial number
+u_result RPLidar::getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout )
+{
+    _u8  recvPos = 0;
+    _u32 currentTs = timers.read_ms();
+    _u32 remainingtime;
+    _u8 *infobuf = (_u8*)&info;
+    rplidar_ans_header_t response_header;
+    u_result  ans;
+
+  //  if (!isOpen()) return RESULT_OPERATION_FAIL;
+
+    {
+        if (IS_FAIL(ans = _sendCommand(RPLIDAR_CMD_GET_DEVICE_INFO,NULL,0))) {
+            return ans;
+        }
+
+        if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) {
+            return ans;
+        }
+
+        // verify whether we got a correct header
+        if (response_header.type != RPLIDAR_ANS_TYPE_DEVINFO) {
+            return RESULT_INVALID_DATA;
+        }
+
+        if (response_header.size < sizeof(rplidar_response_device_info_t)) {
+            return RESULT_INVALID_DATA;
+        }
+
+        while ((remainingtime=timers.read_ms() - currentTs) <= timeout) {
+            int currentbyte = _bined_serialdev->getc();
+            if (currentbyte<0) continue;
+            infobuf[recvPos++] = currentbyte;
+
+            if (recvPos == sizeof(rplidar_response_device_info_t)) {
+                return RESULT_OK;
+            }
+        }
+    }
+
+    return RESULT_OPERATION_TIMEOUT;
+}
+
+// stop the measurement operation
+u_result RPLidar::stop()
+{
+//    if (!isOpen()) return RESULT_OPERATION_FAIL;
+    u_result ans = _sendCommand(RPLIDAR_CMD_STOP,NULL,0);
+    return ans;
+}
+
+
+
+u_result RPLidar::startThreadScan()
+{
+    startScan();
+    useThread = true;
+    thread.start(callback(this, &RPLidar::Thread_readSensor));
+        
+    return RESULT_OK;
+}
+// start the measurement operation
+/*
+ This was altered to also start the thread that parses measurements in the background
+*/
+u_result RPLidar::startScan(bool force, _u32 timeout)
+{
+    //pc->printf("RPLidar::startScan\n");
+    u_result ans;
+
+//    if (!isOpen()) return RESULT_OPERATION_FAIL;
+
+    stop(); //force the previous operation to stop
+
+
+        ans = _sendCommand(force?RPLIDAR_CMD_FORCE_SCAN:RPLIDAR_CMD_SCAN, NULL, 0);
+        if (IS_FAIL(ans)) return ans;
+
+        // waiting for confirmation
+        rplidar_ans_header_t response_header;
+        if (IS_FAIL(ans = _waitResponseHeader(&response_header, timeout))) {
+            return ans;
+        }
+
+        // verify whether we got a correct header
+        if (response_header.type != RPLIDAR_ANS_TYPE_MEASUREMENT) {
+            return RESULT_INVALID_DATA;
+        }
+
+        if (response_header.size < sizeof(rplidar_response_measurement_node_t)) {
+            return RESULT_INVALID_DATA;
+        }
+        
+
+    return RESULT_OK;
+}
+
+// wait for one sample point to arrive
+/*
+    Do not use if startScan was called with starThread == 1!
+*/
+u_result RPLidar::waitPoint(_u32 timeout)
+{
+   
+   if(useThread)
+        return RESULT_OPERATION_NOT_SUPPORT;
+        
+   _u32 currentTs = timers.read_ms();
+   _u32 remainingtime;
+   rplidar_response_measurement_node_t node;
+   _u8 *nodebuf = (_u8*)&node;
+
+   _u8 recvPos = 0;
+
+   while ((remainingtime = timers.read_ms() - currentTs) <= timeout) {
+        int currentbyte = _bined_serialdev->getc();
+        if (currentbyte<0) continue;
+//Serial.println(currentbyte);
+        switch (recvPos) {
+            case 0: // expect the sync bit and its reverse in this byte          {
+                {
+                    _u8 tmp = (currentbyte>>1);
+                    if ( (tmp ^ currentbyte) & 0x1 ) {
+                        // pass
+                    } else {
+                        continue;
+                    }
+
+                }
+                break;
+            case 1: // expect the highest bit to be 1
+                {
+                    if (currentbyte & RPLIDAR_RESP_MEASUREMENT_CHECKBIT) {
+                        // pass
+                    } else {
+                        recvPos = 0;
+                        continue;
+                    }
+                }
+                break;
+          }
+          nodebuf[recvPos++] = currentbyte;
+          if (recvPos == sizeof(rplidar_response_measurement_node_t)) {
+              // store the data ...
+              _currentMeasurement.distance = node.distance_q2/4.0f;
+              _currentMeasurement.angle = (node.angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f;
+              _currentMeasurement.quality = (node.sync_quality>>RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
+              _currentMeasurement.startBit = (node.sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT);
+              ang = _currentMeasurement.angle;
+              dis = _currentMeasurement.distance;
+
+
+              if(ang>=angMin&&ang<=angMax)Data[ang] = dis;
+
+              return RESULT_OK;
+          }
+
+
+   }
+
+   return RESULT_OPERATION_TIMEOUT;
+}
+
+
+/*
+    This is very similar to waitPoint and it's only to be used by the thread, 
+    hence why it private.
+    
+    It checks for data in the buffered serial until it finds a message or there
+    are no more bytes. 
+    If it finds a message it returns RESULT_OK
+    If there are no more bytes it returns RESULT_OPERATION_TIMEOUT.
+    
+    The state of the parsing is saved so it can continue parsing a measurement
+    midway. (Note that does not mean it's re-entrant and should only be used
+    in the same context)
+*/
+u_result RPLidar::pollPoint()
+{
+   
+   //_u32 currentTs = timers.read_ms();
+   _u32 remainingtime;
+   //rplidar_response_measurement_node_t node;
+   _u8 *nodebuf = (_u8*)&(node_g);
+
+
+   int currentbyte;
+   while(_bined_serialdev->readable() > 0)
+   {
+   //while ((remainingtime = timers.read_ms() - currentTs) <= timeout) {
+        currentbyte = _bined_serialdev->getc();
+        //if (_bined_serialdev->readable() == 0) continue; 
+        //Serial.println(currentbyte);
+        switch (recvPos_g) {
+            case 0: // expect the sync bit and its reverse in this byte          {
+                {
+                    _u8 tmp = (currentbyte>>1);
+                    if ( (tmp ^ currentbyte) & 0x1 ) {
+                        // pass
+                        
+                    } else {
+                        continue;
+                    }
+
+                }
+                break;
+            case 1: // expect the highest bit to be 1
+                {
+                    if (currentbyte & RPLIDAR_RESP_MEASUREMENT_CHECKBIT) {
+                        // pass
+                    } else {
+                        recvPos_g = 0;
+                        continue;
+                    }
+                }
+                break;
+          }
+          nodebuf[recvPos_g++] = currentbyte;
+          if (recvPos_g == sizeof(rplidar_response_measurement_node_t)) {
+              recvPos_g = 0;
+              // store the data ...
+              _currentMeasurement.distance = node_g.distance_q2/4.0f;
+              _currentMeasurement.angle = (node_g.angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f;
+              _currentMeasurement.quality = (node_g.sync_quality>>RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
+              _currentMeasurement.startBit = (node_g.sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT);
+              ang = _currentMeasurement.angle;
+              dis = _currentMeasurement.distance;
+
+
+              if(ang>=angMin&&ang<=angMax)Data[ang] = dis;
+
+              return RESULT_OK;
+          }
+
+
+   }//while(_bined_serialdev->readable() > 0);
+
+   return RESULT_OPERATION_TIMEOUT;
+}
+
+
+void RPLidar::setAngle(int min,int max){
+  angMin = min;
+  angMax = max;
+}
+void RPLidar::get_lidar(){
+  if (!IS_OK(waitPoint())) startScan();
+}
+u_result RPLidar::_sendCommand(_u8 cmd, const void * payload, size_t payloadsize)
+{
+
+    rplidar_cmd_packet_t pkt_header;
+    rplidar_cmd_packet_t * header = &pkt_header;
+    _u8 checksum = 0;
+
+    if (payloadsize && payload) {
+        cmd |= RPLIDAR_CMDFLAG_HAS_PAYLOAD;
+    }
+
+    header->syncByte = RPLIDAR_CMD_SYNC_BYTE;
+    header->cmd_flag = cmd;
+
+    // send header first
+    _bined_serialdev->putc(header->syncByte );
+    _bined_serialdev->putc(header->cmd_flag );
+
+  //  _bined_serialdev->write( (uint8_t *)header, 2);
+
+    if (cmd & RPLIDAR_CMDFLAG_HAS_PAYLOAD) {
+        checksum ^= RPLIDAR_CMD_SYNC_BYTE;
+        checksum ^= cmd;
+        checksum ^= (payloadsize & 0xFF);
+
+        // calc checksum
+        for (size_t pos = 0; pos < payloadsize; ++pos) {
+            checksum ^= ((_u8 *)payload)[pos];
+        }
+
+        // send size
+        _u8 sizebyte = payloadsize;
+        _bined_serialdev->putc(sizebyte);
+      //  _bined_serialdev->write((uint8_t *)&sizebyte, 1);
+
+        // send payload
+    //    _bined_serialdev.putc((uint8_t )payload);
+    //    _bined_serialdev->write((uint8_t *)&payload, sizebyte);
+
+        // send checksum
+        _bined_serialdev->putc(checksum);
+      //  _bined_serialdev->write((uint8_t *)&checksum, 1);
+
+    }
+
+    return RESULT_OK;
+}
+
+u_result RPLidar::_waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout)
+{
+    _u8  recvPos = 0;
+    _u32 currentTs = timers.read_ms();
+    _u32 remainingtime;
+    _u8 *headerbuf = (_u8*)header;
+    while ((remainingtime = timers.read_ms() - currentTs) <= timeout) {
+
+        int currentbyte = _bined_serialdev->getc();
+        if (currentbyte<0) continue;
+        switch (recvPos) {
+        case 0:
+            if (currentbyte != RPLIDAR_ANS_SYNC_BYTE1) {
+                continue;
+            }
+            break;
+        case 1:
+            if (currentbyte != RPLIDAR_ANS_SYNC_BYTE2) {
+                recvPos = 0;
+                continue;
+            }
+            break;
+        }
+        headerbuf[recvPos++] = currentbyte;
+
+        if (recvPos == sizeof(rplidar_ans_header_t)) {
+            return RESULT_OK;
+        }
+
+
+    }
+
+    return RESULT_OPERATION_TIMEOUT;
+}