Diff: rplidar/rplidar.h

Revision:

0:2b691d200d6f

Child:

2:e27733eaa594

diff -r 000000000000 -r 2b691d200d6f rplidar/rplidar.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rplidar/rplidar.h	Tue Apr 09 17:53:31 2019 +0000
@@ -0,0 +1,114 @@
+/*
+ * 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.
+ *
+ */
+
+#pragma once
+#include "mbed.h"
+#include "inc/rptypes.h"
+#include "inc/rplidar_cmd.h"
+#include <BufferedSerial.h>
+//#include "../BufferedSerial/BufferedSerial.h"
+struct RPLidarMeasurement
+{
+    float distance;
+    float angle;
+    uint8_t quality;
+    bool  startBit;
+};
+
+class RPLidar
+{
+public:
+    enum {
+        RPLIDAR_SERIAL_BAUDRATE = 115200,
+        RPLIDAR_DEFAULT_TIMEOUT = 500,
+    };
+
+    void Thread_readSensor(void);
+    int32_t pollSensorData(struct RPLidarMeasurement *_data);
+    RPLidar(Serial *_pc);
+    RPLidar();
+    ~RPLidar();
+
+    // open the given serial interface and try to connect to the RPLIDAR
+    //bool begin(BufferedSerial &serialobj);
+    void begin(BufferedSerial &serialobj);
+    // close the currently opened serial interface
+    void end();
+
+    // check whether the serial interface is opened
+  //  bool isOpen();
+
+    // ask the RPLIDAR for its health info
+    u_result getHealth(rplidar_response_device_health_t & healthinfo, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
+
+    // ask the RPLIDAR for its device info like the serial number
+    u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
+
+    // stop the measurement operation
+    u_result stop();
+
+    // start the measurement operation
+    u_result startThreadScan();
+    u_result startScan(bool force = true, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT*2);
+
+
+    // wait for one sample point to arrive
+    u_result waitPoint(_u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
+
+    u_result _sendCommand(_u8 cmd, const void * payload, size_t payloadsize);
+    // retrieve currently received sample point
+    int Data[360];
+    int ang,dis;
+    int angMin,angMax;
+    void setAngle(int min,int max);
+    void get_lidar();
+    const RPLidarMeasurement & getCurrentPoint()
+    {
+        return _currentMeasurement;
+    }
+
+private:
+    _u8 recvPos_g;
+    rplidar_response_measurement_node_t node_g;
+    
+     //Thread *thread_p;
+    Thread thread;
+    Mail<struct RPLidarMeasurement, 100> mail_box; //
+    bool useThread;
+    
+    u_result pollPoint();
+    //Serial *pc;
+protected:
+//    u_result _sendCommand(_u8 cmd, const void * payload, size_t payloadsize);
+    u_result _waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout);
+
+protected:
+    BufferedSerial * _bined_serialdev;
+    RPLidarMeasurement _currentMeasurement;
+};