rplidar.h

00001 /*
00002  *  RPLIDAR SDK for Mbed
00003  *
00004  *  Copyright (c) 2009 - 2014 RoboPeak Team
00005  *  http://www.robopeak.com
00006  *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
00007  *  http://www.slamtec.com
00008  *
00009  */
00010 /*
00011  * Redistribution and use in source and binary forms, with or without 
00012  * modification, are permitted provided that the following conditions are met:
00013  *
00014  * 1. Redistributions of source code must retain the above copyright notice, 
00015  *    this list of conditions and the following disclaimer.
00016  *
00017  * 2. Redistributions in binary form must reproduce the above copyright notice, 
00018  *    this list of conditions and the following disclaimer in the documentation 
00019  *    and/or other materials provided with the distribution.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
00023  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
00024  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
00025  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00026  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
00027  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
00028  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
00029  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
00030  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
00031  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  */
00034 
00035 #pragma once
00036 #include "mbed.h"
00037 #include "rplidar.h"
00038 #include "inc/rptypes.h"
00039 #include "inc/rplidar_cmd.h"
00040 #include "rplidar_driver.h"
00041 #include <vector>
00042 
00043 struct RPLidarMeasurement
00044 {
00045     float distance;
00046     float angle;
00047     uint8_t quality;
00048     bool  startBit;
00049 };
00050 
00051 class RPLidar
00052 {
00053 public:
00054     enum {
00055         RPLIDAR_SERIAL_BAUDRATE = 115200,
00056         DEFAULT_TIMEOUT = 500,
00057     };
00058 
00059     RPLidar();
00060     ~RPLidar();
00061 
00062     // open the given serial interface and try to connect to the RPLIDAR
00063     //bool begin(BufferedSerial &serialobj);
00064     void begin(RawSerial& serialobj);
00065     // close the currently opened serial interface
00066     void end();
00067 
00068     // check whether the serial interface is opened
00069   //  bool isOpen();
00070     virtual u_result checkSupportConfigCommands(bool& outSupport, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00071     virtual u_result getLidarSampleDuration(float& sampleDurationRes, uint16_t scanModeID, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00072     virtual u_result getMaxDistance(float &maxDistance, uint16_t scanModeID, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00073     virtual u_result getScanModeAnsType(uint8_t &ansType, uint16_t scanModeID, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00074     virtual u_result getScanModeName(char* modeName, uint16_t scanModeID, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00075     virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, uint32_t timeout = DEFAULT_TIMEOUT);
00076     virtual u_result getLidarConf(uint32_t type, std::vector<uint8_t> &outputBuf, const std::vector<uint8_t> &reserve = std::vector<uint8_t>(), uint32_t timeout = DEFAULT_TIMEOUT);
00077     virtual u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00078     virtual u_result getScanModeCount(uint16_t& modeCount, uint32_t timeoutInMs = DEFAULT_TIMEOUT);
00079     virtual u_result checkExpressScanSupported(bool & support, uint32_t timeout = DEFAULT_TIMEOUT);
00080     // ask the RPLIDAR for its health info
00081     u_result getHealth(rplidar_response_device_health_t& healthinfo, uint32_t timeout = DEFAULT_TIMEOUT);
00082 
00083     // ask the RPLIDAR for its device info like the serial number
00084     u_result getDeviceInfo(rplidar_response_device_info_t& info, uint32_t timeout = DEFAULT_TIMEOUT);
00085 
00086     // stop the measurement operation
00087     u_result stop();
00088 
00089     // start the measurement operation
00090     u_result startScanNormal(bool force = true, uint32_t timeout = DEFAULT_TIMEOUT * 2);
00091     u_result startScanExpress(bool force, uint16_t scanMode, uint32_t options = 0, RplidarScanMode* outUsedScanMode = NULL, uint32_t timeout = DEFAULT_TIMEOUT);
00092     /// Start scan in specific mode
00093     ///
00094     /// \param force            Force the core system to output scan data regardless whether the scanning motor is rotating or not.
00095     /// \param scanMode         The scan mode id (use getAllSupportedScanModes to get supported modes)
00096     /// \param options          Scan options (please use 0)
00097     /// \param outUsedScanMode  The scan mode selected by lidar
00098     // u_result startScanExpress(bool force, uint16_t scanMode, uint32_t options = 0,  uint32_t timeout = DEFAULT_TIMEOUT) = 0;//RplidarScanMode* outUsedScanMode = NULL,
00099     
00100     // wait for one sample point to arrive
00101     u_result waitPoint(uint32_t timeout = DEFAULT_TIMEOUT);
00102     u_result _sendCommand(uint8_t cmd, const void* payload, size_t payloadsize);
00103     // retrieve currently received sample point
00104     //float Data[360];
00105     RPLidarMeasurement Data[360];
00106     int ang;
00107     int angMin, angMax;
00108     void setAngle(int min, int max);
00109     void setLidar();
00110     const RPLidarMeasurement& getCurrentPoint()
00111     {
00112         return _currentMeasurement;
00113     }
00114 
00115 protected:
00116     //    u_result _sendCommand(uint8_t cmd, const void * payload, size_t payloadsize);
00117     u_result _waitResponseHeader(rplidar_ans_header_t* header, uint32_t timeout);
00118     bool     _isConnected; 
00119     bool     _isScanning;
00120     bool     _isSupportingMotorCtrl;
00121     void     _disableDataGrabbing();
00122 
00123 
00124     uint16_t                    _cached_sampleduration_std;
00125     uint16_t                    _cached_sampleduration_express;
00126     uint8_t                     _cached_express_flag;
00127 
00128 
00129 protected:
00130     RawSerial* _binded_serialdev;
00131     RPLidarMeasurement _currentMeasurement;
00132 
00133 // <THREAD>
00134 /*private:
00135     //RPLidar* _lidar;
00136     static int count;
00137 public:
00138     void getDataThread(void){
00139         while(1){
00140             this->Data[] getData()
00141         }
00142     }
00143 */
00144 // </THREAD>
00145 
00146 };
00147