94 lines
3 KiB
C++
94 lines
3 KiB
C++
/*
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* RoboPeak RPLIDAR Driver for Arduino
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* RoboPeak.com
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*
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* Copyright (c) 2014, RoboPeak
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
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* SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
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* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include "Arduino.h"
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#include "rptypes.h"
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#include "rplidar_cmd.h"
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struct RPLidarMeasurement
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{
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float distance;
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float angle;
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uint8_t quality;
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bool startBit;
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};
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class RPLidar
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{
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public:
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enum {
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RPLIDAR_SERIAL_BAUDRATE = 115200,
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RPLIDAR_DEFAULT_TIMEOUT = 500,
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};
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RPLidar();
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~RPLidar();
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// open the given serial interface and try to connect to the RPLIDAR
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bool begin(HardwareSerial &serialobj);
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// close the currently opened serial interface
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void end();
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// check whether the serial interface is opened
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bool isOpen();
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// ask the RPLIDAR for its health info
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u_result getHealth(rplidar_response_device_health_t & healthinfo, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
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// ask the RPLIDAR for its device info like the serial number
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u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
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// stop the measurement operation
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u_result stop();
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// start the measurement operation
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u_result startScan(bool force = false, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT*2);
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// wait for one sample point to arrive
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u_result waitPoint(_u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
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// retrieve currently received sample point
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const RPLidarMeasurement & getCurrentPoint()
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{
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return _currentMeasurement;
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}
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protected:
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u_result _sendCommand(_u8 cmd, const void * payload, size_t payloadsize);
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u_result _waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout);
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protected:
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HardwareSerial * _bined_serialdev;
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RPLidarMeasurement _currentMeasurement;
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};
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