Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'
This commit is contained in:
@@ -0,0 +1,45 @@
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/*
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* RPLIDAR SDK
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*
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* Copyright (c) 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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* Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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||||
*/
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||||
/*
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||||
* 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"
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||||
* 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
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||||
* 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 <vector>
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#include "hal/types.h"
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#include "rplidar_protocol.h"
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#include "rplidar_cmd.h"
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#include "rplidar_driver.h"
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#define RPLIDAR_SDK_VERSION "2.0.0"
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#define SLAMTEC_LIDAR_SDK_VERSION SL_LIDAR_SDK_VERSION
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@@ -0,0 +1,215 @@
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/*
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* RPLIDAR SDK
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*
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||||
* Copyright (c) 2009 - 2014 RoboPeak Team
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||||
* http://www.robopeak.com
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* Copyright (c) 2014-2020 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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||||
* 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.
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*
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*/
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#pragma once
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#include "sl_lidar_cmd.h"
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#include "rplidar_protocol.h"
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// Commands
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//-----------------------------------------
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#define RPLIDAR_AUTOBAUD_MAGICBYTE SL_LIDAR_AUTOBAUD_MAGICBYTE
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// Commands without payload and response
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#define RPLIDAR_CMD_STOP SL_LIDAR_CMD_STOP
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#define RPLIDAR_CMD_SCAN SL_LIDAR_CMD_SCAN
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#define RPLIDAR_CMD_FORCE_SCAN SL_LIDAR_CMD_FORCE_SCAN
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#define RPLIDAR_CMD_RESET SL_LIDAR_CMD_RESET
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// Commands without payload but have response
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#define RPLIDAR_CMD_GET_DEVICE_INFO SL_LIDAR_CMD_GET_DEVICE_INFO
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#define RPLIDAR_CMD_GET_DEVICE_HEALTH SL_LIDAR_CMD_GET_DEVICE_HEALTH
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#define RPLIDAR_CMD_GET_SAMPLERATE SL_LIDAR_CMD_GET_SAMPLERATE //added in fw 1.17
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#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL
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// Commands with payload but no response
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#define RPLIDAR_CMD_NEW_BAUDRATE_CONFIRM SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM //added in fw 1.30
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// Commands with payload and have response
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#define RPLIDAR_CMD_EXPRESS_SCAN SL_LIDAR_CMD_EXPRESS_SCAN //added in fw 1.17
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#define RPLIDAR_CMD_HQ_SCAN SL_LIDAR_CMD_HQ_SCAN //added in fw 1.24
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#define RPLIDAR_CMD_GET_LIDAR_CONF SL_LIDAR_CMD_GET_LIDAR_CONF //added in fw 1.24
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#define RPLIDAR_CMD_SET_LIDAR_CONF SL_LIDAR_CMD_SET_LIDAR_CONF //added in fw 1.24
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//add for A2 to set RPLIDAR motor pwm when using accessory board
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#define RPLIDAR_CMD_SET_MOTOR_PWM SL_LIDAR_CMD_SET_MOTOR_PWM
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#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG SL_LIDAR_CMD_GET_ACC_BOARD_FLAG
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#if defined(_WIN32)
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#pragma pack(1)
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#endif
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// Payloads
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// ------------------------------------------
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#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL
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#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE // won't been supported but keep to prevent build fail
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//for express working flag(extending express scan protocol)
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#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST
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#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION
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//for ultra express working flag
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#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD
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#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY
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#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)
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#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)
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#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)
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typedef sl_lidar_payload_express_scan_t rplidar_payload_express_scan_t;
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typedef sl_lidar_payload_hq_scan_t rplidar_payload_hq_scan_t;
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typedef sl_lidar_payload_get_scan_conf_t rplidar_payload_get_scan_conf_t;
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typedef sl_lidar_payload_motor_pwm_t rplidar_payload_motor_pwm_t;
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typedef sl_lidar_payload_acc_board_flag_t rplidar_payload_acc_board_flag_t;
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typedef sl_lidar_payload_set_scan_conf_t rplidar_payload_set_scan_conf_t;
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typedef sl_lidar_payload_new_bps_confirmation_t rplidar_payload_new_bps_confirmation_t;
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// Response
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// ------------------------------------------
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#define RPLIDAR_ANS_TYPE_DEVINFO SL_LIDAR_ANS_TYPE_DEVINFO
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#define RPLIDAR_ANS_TYPE_DEVHEALTH SL_LIDAR_ANS_TYPE_DEVHEALTH
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#define RPLIDAR_ANS_TYPE_MEASUREMENT SL_LIDAR_ANS_TYPE_MEASUREMENT
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// Added in FW ver 1.17
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ
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// Added in FW ver 1.17
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#define RPLIDAR_ANS_TYPE_SAMPLE_RATE SL_LIDAR_ANS_TYPE_SAMPLE_RATE
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//added in FW ver 1.23alpha
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA
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//added in FW ver 1.24
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#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF
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#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED
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#define RPLIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED
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#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG
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#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK
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typedef sl_lidar_response_acc_board_flag_t rplidar_response_acc_board_flag_t;
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#define RPLIDAR_STATUS_OK SL_LIDAR_STATUS_OK
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#define RPLIDAR_STATUS_WARNING SL_LIDAR_STATUS_WARNING
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#define RPLIDAR_STATUS_ERROR SL_LIDAR_STATUS_ERROR
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#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_SYNCBIT
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#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT
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#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT SL_LIDAR_RESP_HQ_FLAG_SYNCBIT
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#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT SL_LIDAR_RESP_MEASUREMENT_CHECKBIT
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#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT
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typedef sl_lidar_response_sample_rate_t rplidar_response_sample_rate_t;
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typedef sl_lidar_response_measurement_node_t rplidar_response_measurement_node_t;
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//[distance_sync flags]
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK
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#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK
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typedef sl_lidar_response_cabin_nodes_t rplidar_response_cabin_nodes_t;
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2
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#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC
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#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT
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typedef sl_lidar_response_capsule_measurement_nodes_t rplidar_response_capsule_measurement_nodes_t;
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typedef sl_lidar_response_dense_cabin_nodes_t rplidar_response_dense_cabin_nodes_t;
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typedef sl_lidar_response_dense_capsule_measurement_nodes_t rplidar_response_dense_capsule_measurement_nodes_t;
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typedef sl_lidar_response_ultra_dense_capsule_measurement_nodes_t rplidar_response_ultra_dense_capsule_measurement_nodes_t;
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// ext1 : x2 boost mode
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS
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#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS
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typedef sl_lidar_response_ultra_cabin_nodes_t rplidar_response_ultra_cabin_nodes_t;
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typedef sl_lidar_response_ultra_capsule_measurement_nodes_t rplidar_response_ultra_capsule_measurement_nodes_t;
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typedef sl_lidar_response_measurement_node_hq_t rplidar_response_measurement_node_hq_t;
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typedef sl_lidar_response_hq_capsule_measurement_nodes_t rplidar_response_hq_capsule_measurement_nodes_t;
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# define RPLIDAR_CONF_SCAN_COMMAND_STD SL_LIDAR_CONF_SCAN_COMMAND_STD
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# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS
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# define RPLIDAR_CONF_SCAN_COMMAND_HQ SL_LIDAR_CONF_SCAN_COMMAND_HQ
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# define RPLIDAR_CONF_SCAN_COMMAND_BOOST SL_LIDAR_CONF_SCAN_COMMAND_BOOST
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# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY SL_LIDAR_CONF_SCAN_COMMAND_STABILITY
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# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY
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#define RPLIDAR_CONF_ANGLE_RANGE SL_LIDAR_CONF_ANGLE_RANGE
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#define RPLIDAR_CONF_DESIRED_ROT_FREQ SL_LIDAR_CONF_DESIRED_ROT_FREQ
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#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP SL_LIDAR_CONF_SCAN_COMMAND_BITMAP
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#define RPLIDAR_CONF_MIN_ROT_FREQ SL_LIDAR_CONF_MIN_ROT_FREQ
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#define RPLIDAR_CONF_MAX_ROT_FREQ SL_LIDAR_CONF_MAX_ROT_FREQ
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#define RPLIDAR_CONF_MAX_DISTANCE SL_LIDAR_CONF_MAX_DISTANCE
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#define RPLIDAR_CONF_SCAN_MODE_COUNT SL_LIDAR_CONF_SCAN_MODE_COUNT
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#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE
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#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE
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#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE
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#define RPLIDAR_CONF_SCAN_MODE_TYPICAL SL_LIDAR_CONF_SCAN_MODE_TYPICAL
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#define RPLIDAR_CONF_SCAN_MODE_NAME SL_LIDAR_CONF_SCAN_MODE_NAME
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#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP
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#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP
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#define RPLIDAR_CONF_LIDAR_STATIC_IP_ADDR SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR
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#define RPLIDAR_CONF_LIDAR_MAC_ADDR SL_LIDAR_CONF_LIDAR_MAC_ADDR
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#define RPLIDAR_CONF_DETECTED_SERIAL_BPS SL_LIDAR_CONF_DETECTED_SERIAL_BPS
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|
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typedef sl_lidar_response_get_lidar_conf_t rplidar_response_get_lidar_conf_t;
|
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typedef sl_lidar_response_set_lidar_conf_t rplidar_response_set_lidar_conf_t;
|
||||
typedef sl_lidar_response_device_info_t rplidar_response_device_info_t;
|
||||
typedef sl_lidar_response_device_health_t rplidar_response_device_health_t;
|
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typedef sl_lidar_ip_conf_t rplidar_ip_conf_t;
|
||||
typedef sl_lidar_response_device_macaddr_info_t rplidar_response_device_macaddr_info_t;
|
||||
|
||||
// Definition of the variable bit scale encoding mechanism
|
||||
#define RPLIDAR_VARBITSCALE_X2_SRC_BIT SL_LIDAR_VARBITSCALE_X2_SRC_BIT
|
||||
#define RPLIDAR_VARBITSCALE_X4_SRC_BIT SL_LIDAR_VARBITSCALE_X4_SRC_BIT
|
||||
#define RPLIDAR_VARBITSCALE_X8_SRC_BIT SL_LIDAR_VARBITSCALE_X8_SRC_BIT
|
||||
#define RPLIDAR_VARBITSCALE_X16_SRC_BIT SL_LIDAR_VARBITSCALE_X16_SRC_BIT
|
||||
|
||||
#define RPLIDAR_VARBITSCALE_X2_DEST_VAL SL_LIDAR_VARBITSCALE_X2_DEST_VAL
|
||||
#define RPLIDAR_VARBITSCALE_X4_DEST_VAL SL_LIDAR_VARBITSCALE_X4_DEST_VAL
|
||||
#define RPLIDAR_VARBITSCALE_X8_DEST_VAL SL_LIDAR_VARBITSCALE_X8_DEST_VAL
|
||||
#define RPLIDAR_VARBITSCALE_X16_DEST_VAL SL_LIDAR_VARBITSCALE_X16_DEST_VAL
|
||||
|
||||
#define RPLIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_)
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack()
|
||||
#endif
|
||||
@@ -0,0 +1,247 @@
|
||||
/*
|
||||
* RPLIDAR SDK
|
||||
*
|
||||
* Copyright (c) 2009 - 2014 RoboPeak Team
|
||||
* http://www.robopeak.com
|
||||
* Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
|
||||
* http://www.slamtec.com
|
||||
*
|
||||
*/
|
||||
/*
|
||||
* 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 "sl_lidar_driver.h"
|
||||
|
||||
#ifndef __cplusplus
|
||||
#error "The RPlidar SDK requires a C++ compiler to be built"
|
||||
#endif
|
||||
|
||||
|
||||
namespace rp { namespace standalone{ namespace rplidar {
|
||||
using namespace sl;
|
||||
typedef LidarScanMode RplidarScanMode;
|
||||
|
||||
enum {
|
||||
DRIVER_TYPE_SERIALPORT = 0x0,
|
||||
DRIVER_TYPE_TCP = 0x1,
|
||||
DRIVER_TYPE_UDP = 0x2,
|
||||
};
|
||||
|
||||
class RPlidarDriver {
|
||||
public:
|
||||
enum {
|
||||
DEFAULT_TIMEOUT = 2000, //2000 ms
|
||||
};
|
||||
|
||||
enum {
|
||||
MAX_SCAN_NODES = 8192,
|
||||
};
|
||||
|
||||
enum {
|
||||
LEGACY_SAMPLE_DURATION = 476,
|
||||
};
|
||||
|
||||
public:
|
||||
/// Create an RPLIDAR Driver Instance
|
||||
/// This interface should be invoked first before any other operations
|
||||
///
|
||||
/// \param drivertype the connection type used by the driver.
|
||||
static RPlidarDriver * CreateDriver(_u32 drivertype = CHANNEL_TYPE_SERIALPORT);
|
||||
|
||||
|
||||
RPlidarDriver(sl_u32 channelType);
|
||||
|
||||
/// 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
|
||||
static void DisposeDriver(RPlidarDriver * drv);
|
||||
|
||||
/// Open the specified serial port and connect to a target RPLIDAR device
|
||||
///
|
||||
/// \param port_path the device path of the serial port
|
||||
/// e.g. on Windows, it may be com3 or \\.\com10
|
||||
/// on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
|
||||
///
|
||||
/// \param baudrate the baudrate used
|
||||
/// For most RPLIDAR models, the baudrate should be set to 115200
|
||||
///
|
||||
/// \param flag other flags
|
||||
/// Reserved for future use, always set to Zero
|
||||
u_result connect(const char *path, _u32 portOrBaud, _u32 flag = 0);
|
||||
|
||||
/// Disconnect with the RPLIDAR and close the serial port
|
||||
void disconnect();
|
||||
|
||||
/// Returns TRUE when the connection has been established
|
||||
bool isConnected();
|
||||
|
||||
/// 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.
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
u_result reset(_u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
u_result clearNetSerialRxCache() {
|
||||
return RESULT_OK;
|
||||
}
|
||||
// FW1.24
|
||||
/// Get all scan modes that supported by lidar
|
||||
u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Get typical scan mode of lidar
|
||||
u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Start scan
|
||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param useTypicalScan Use lidar's typical scan mode or use the compatibility mode (2k sps)
|
||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL);
|
||||
|
||||
/// Start scan in specific mode
|
||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param scanMode The scan mode id (use getAllSupportedScanModes to get supported modes)
|
||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _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.
|
||||
///
|
||||
/// \param health The health status info returned from the RPLIDAR
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
|
||||
///
|
||||
/// \param info The device information returned from the RPLIDAR
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.
|
||||
///
|
||||
/// \param pwm The motor pwm value would like to set
|
||||
u_result setMotorPWM(_u16 pwm);
|
||||
|
||||
/// Start RPLIDAR's motor when using accessory board
|
||||
u_result startMotor();
|
||||
|
||||
/// Stop RPLIDAR's motor when using accessory board
|
||||
u_result stopMotor();
|
||||
|
||||
/// Check whether the device support motor control.
|
||||
/// Note: this API will disable grab.
|
||||
///
|
||||
/// \param support Return the result.
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
|
||||
u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
///Set LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
u_result setLidarIpConf(const rplidar_ip_conf_t& conf, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
///Get LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
u_result getLidarIpConf(rplidar_ip_conf_t& conf, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
///Get LPX and S2E series lidar's MAC address
|
||||
///
|
||||
/// \param macAddrArray The device MAC information returned from the LPX series lidar
|
||||
u_result getDeviceMacAddr(_u8* macAddrArray, _u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Ask the RPLIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
u_result stop(_u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
/// 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.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param 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.
|
||||
///
|
||||
/// \param 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.
|
||||
///
|
||||
/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
|
||||
u_result grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT);
|
||||
|
||||
/// Ascending the scan data according to the angle value in the scan.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
|
||||
///
|
||||
/// \param 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.
|
||||
u_result ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count);
|
||||
|
||||
/// Return received scan points even if it's not complete scan
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
|
||||
u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count);
|
||||
|
||||
/// Return received scan points even if it's not complete scan
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
|
||||
u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count);
|
||||
|
||||
|
||||
virtual ~RPlidarDriver();
|
||||
protected:
|
||||
RPlidarDriver();
|
||||
|
||||
private:
|
||||
sl_u32 _channelType;
|
||||
IChannel* _channel;
|
||||
ILidarDriver* _lidarDrv;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
}}}
|
||||
@@ -0,0 +1,61 @@
|
||||
/*
|
||||
* RPLIDAR SDK
|
||||
*
|
||||
* Copyright (c) 2009 - 2014 RoboPeak Team
|
||||
* http://www.robopeak.com
|
||||
* Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
|
||||
* http://www.slamtec.com
|
||||
*
|
||||
*/
|
||||
/*
|
||||
* 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 "sl_lidar_protocol.h"
|
||||
// RP-Lidar Input Packets
|
||||
|
||||
#define RPLIDAR_CMD_SYNC_BYTE SL_LIDAR_CMD_SYNC_BYTE
|
||||
#define RPLIDAR_CMDFLAG_HAS_PAYLOAD SL_LIDAR_CMDFLAG_HAS_PAYLOAD
|
||||
|
||||
|
||||
#define RPLIDAR_ANS_SYNC_BYTE1 SL_LIDAR_ANS_SYNC_BYTE1
|
||||
#define RPLIDAR_ANS_SYNC_BYTE2 SL_LIDAR_ANS_SYNC_BYTE2
|
||||
|
||||
#define RPLIDAR_ANS_PKTFLAG_LOOP SL_LIDAR_ANS_PKTFLAG_LOOP
|
||||
|
||||
#define RPLIDAR_ANS_HEADER_SIZE_MASK SL_LIDAR_ANS_HEADER_SIZE_MASK
|
||||
#define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack(1)
|
||||
#endif
|
||||
|
||||
typedef sl_lidar_cmd_packet_t rplidar_cmd_packet_t;
|
||||
typedef sl_lidar_ans_header_t rplidar_ans_header_t;
|
||||
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack()
|
||||
#endif
|
||||
@@ -0,0 +1,116 @@
|
||||
/*
|
||||
* RPLIDAR SDK
|
||||
*
|
||||
* Copyright (c) 2009 - 2014 RoboPeak Team
|
||||
* http://www.robopeak.com
|
||||
* Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
|
||||
* http://www.slamtec.com
|
||||
*
|
||||
*/
|
||||
/*
|
||||
* 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
|
||||
|
||||
|
||||
#ifdef _WIN32
|
||||
|
||||
//fake stdint.h for VC only
|
||||
|
||||
typedef signed char int8_t;
|
||||
typedef unsigned char uint8_t;
|
||||
|
||||
typedef __int16 int16_t;
|
||||
typedef unsigned __int16 uint16_t;
|
||||
|
||||
typedef __int32 int32_t;
|
||||
typedef unsigned __int32 uint32_t;
|
||||
|
||||
typedef __int64 int64_t;
|
||||
typedef unsigned __int64 uint64_t;
|
||||
|
||||
#else
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
//based on stdint.h
|
||||
typedef int8_t _s8;
|
||||
typedef uint8_t _u8;
|
||||
|
||||
typedef int16_t _s16;
|
||||
typedef uint16_t _u16;
|
||||
|
||||
typedef int32_t _s32;
|
||||
typedef uint32_t _u32;
|
||||
|
||||
typedef int64_t _s64;
|
||||
typedef uint64_t _u64;
|
||||
|
||||
#define __small_endian
|
||||
|
||||
#ifndef __GNUC__
|
||||
#define __attribute__(x)
|
||||
#endif
|
||||
|
||||
|
||||
// The _word_size_t uses actual data bus width of the current CPU
|
||||
#ifdef _AVR_
|
||||
typedef _u8 _word_size_t;
|
||||
#define THREAD_PROC
|
||||
#elif defined (WIN64)
|
||||
typedef _u64 _word_size_t;
|
||||
#define THREAD_PROC __stdcall
|
||||
#elif defined (WIN32)
|
||||
typedef _u32 _word_size_t;
|
||||
#define THREAD_PROC __stdcall
|
||||
#elif defined (__GNUC__)
|
||||
typedef unsigned long _word_size_t;
|
||||
#define THREAD_PROC
|
||||
#elif defined (__ICCARM__)
|
||||
typedef _u32 _word_size_t;
|
||||
#define THREAD_PROC
|
||||
#endif
|
||||
|
||||
|
||||
typedef uint32_t u_result;
|
||||
|
||||
#define RESULT_OK 0
|
||||
#define RESULT_FAIL_BIT 0x80000000
|
||||
#define RESULT_ALREADY_DONE 0x20
|
||||
#define RESULT_INVALID_DATA (0x8000 | RESULT_FAIL_BIT)
|
||||
#define RESULT_OPERATION_FAIL (0x8001 | RESULT_FAIL_BIT)
|
||||
#define RESULT_OPERATION_TIMEOUT (0x8002 | RESULT_FAIL_BIT)
|
||||
#define RESULT_OPERATION_STOP (0x8003 | RESULT_FAIL_BIT)
|
||||
#define RESULT_OPERATION_NOT_SUPPORT (0x8004 | RESULT_FAIL_BIT)
|
||||
#define RESULT_FORMAT_NOT_SUPPORT (0x8005 | RESULT_FAIL_BIT)
|
||||
#define RESULT_INSUFFICIENT_MEMORY (0x8006 | RESULT_FAIL_BIT)
|
||||
|
||||
#define IS_OK(x) ( ((x) & RESULT_FAIL_BIT) == 0 )
|
||||
#define IS_FAIL(x) ( ((x) & RESULT_FAIL_BIT) )
|
||||
|
||||
typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * );
|
||||
@@ -0,0 +1,43 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* sl_crc.h
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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 "sl_lidar_cmd.h"
|
||||
|
||||
namespace sl {namespace crc32 {
|
||||
sl_u32 bitrev(sl_u32 input, sl_u16 bw);//reflect
|
||||
void init(sl_u32 poly); // table init
|
||||
sl_u32 cal(sl_u32 crc, void* input, sl_u16 len);
|
||||
sl_result getResult(sl_u8 *ptr, sl_u32 len);
|
||||
}}
|
||||
@@ -0,0 +1,47 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* sl_lidar.h
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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 "sl_lidar_driver.h"
|
||||
|
||||
#define SL_LIDAR_SDK_VERSION_MAJOR 2
|
||||
#define SL_LIDAR_SDK_VERSION_MINOR 1
|
||||
#define SL_LIDAR_SDK_VERSION_PATCH 0
|
||||
#define SL_LIDAR_SDK_VERSION_SEQ ((SL_LIDAR_SDK_VERSION_MAJOR << 16) | (SL_LIDAR_SDK_VERSION_MINOR << 8) | SL_LIDAR_SDK_VERSION_PATCH)
|
||||
|
||||
|
||||
#define SL_LIDAR_SDK_VERSION_MK_STR_INDIR(x) #x
|
||||
#define SL_LIDAR_SDK_VERSION_MK_STR(x) SL_LIDAR_SDK_VERSION_MK_STR_INDIR(x)
|
||||
|
||||
#define SL_LIDAR_SDK_VERSION (SL_LIDAR_SDK_VERSION_MK_STR(SL_LIDAR_SDK_VERSION_MAJOR) "." SL_LIDAR_SDK_VERSION_MK_STR(SL_LIDAR_SDK_VERSION_MINOR) "." SL_LIDAR_SDK_VERSION_MK_STR(SL_LIDAR_SDK_VERSION_PATCH))
|
||||
@@ -0,0 +1,388 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* sl_lidar_cmd.h
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable:4200)
|
||||
#endif
|
||||
|
||||
#include "sl_lidar_protocol.h"
|
||||
|
||||
// Commands
|
||||
//-----------------------------------------
|
||||
|
||||
|
||||
#define SL_LIDAR_AUTOBAUD_MAGICBYTE 0x41
|
||||
|
||||
// Commands without payload and response
|
||||
#define SL_LIDAR_CMD_STOP 0x25
|
||||
#define SL_LIDAR_CMD_SCAN 0x20
|
||||
#define SL_LIDAR_CMD_FORCE_SCAN 0x21
|
||||
#define SL_LIDAR_CMD_RESET 0x40
|
||||
|
||||
// Commands with payload but no response
|
||||
#define SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM 0x90 //added in fw 1.30
|
||||
|
||||
// Commands without payload but have response
|
||||
#define SL_LIDAR_CMD_GET_DEVICE_INFO 0x50
|
||||
#define SL_LIDAR_CMD_GET_DEVICE_HEALTH 0x52
|
||||
|
||||
#define SL_LIDAR_CMD_GET_SAMPLERATE 0x59 //added in fw 1.17
|
||||
|
||||
#define SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL 0xA8
|
||||
|
||||
|
||||
// Commands with payload and have response
|
||||
#define SL_LIDAR_CMD_EXPRESS_SCAN 0x82 //added in fw 1.17
|
||||
#define SL_LIDAR_CMD_HQ_SCAN 0x83 //added in fw 1.24
|
||||
#define SL_LIDAR_CMD_GET_LIDAR_CONF 0x84 //added in fw 1.24
|
||||
#define SL_LIDAR_CMD_SET_LIDAR_CONF 0x85 //added in fw 1.24
|
||||
//add for A2 to set RPLIDAR motor pwm when using accessory board
|
||||
#define SL_LIDAR_CMD_SET_MOTOR_PWM 0xF0
|
||||
#define SL_LIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack(1)
|
||||
#endif
|
||||
|
||||
|
||||
// Payloads
|
||||
// ------------------------------------------
|
||||
#define SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL 0
|
||||
#define SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE 0 // won't been supported but keep to prevent build fail
|
||||
//for express working flag(extending express scan protocol)
|
||||
#define SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST 0x0001
|
||||
#define SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION 0x0002
|
||||
|
||||
//for ultra express working flag
|
||||
#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD 0x0001
|
||||
#define SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY 0x0002
|
||||
|
||||
typedef struct _sl_lidar_payload_express_scan_t
|
||||
{
|
||||
sl_u8 working_mode;
|
||||
sl_u16 working_flags;
|
||||
sl_u16 param;
|
||||
} __attribute__((packed)) sl_lidar_payload_express_scan_t;
|
||||
|
||||
typedef struct _sl_lidar_payload_hq_scan_t
|
||||
{
|
||||
sl_u8 flag;
|
||||
sl_u8 reserved[32];
|
||||
} __attribute__((packed)) sl_lidar_payload_hq_scan_t;
|
||||
|
||||
typedef struct _sl_lidar_payload_get_scan_conf_t
|
||||
{
|
||||
sl_u32 type;
|
||||
} __attribute__((packed)) sl_lidar_payload_get_scan_conf_t;
|
||||
|
||||
typedef struct _sl_payload_set_scan_conf_t {
|
||||
sl_u32 type;
|
||||
} __attribute__((packed)) sl_lidar_payload_set_scan_conf_t;
|
||||
|
||||
|
||||
#define DEFAULT_MOTOR_SPEED (0xFFFFu)
|
||||
|
||||
typedef struct _sl_lidar_payload_motor_pwm_t
|
||||
{
|
||||
sl_u16 pwm_value;
|
||||
} __attribute__((packed)) sl_lidar_payload_motor_pwm_t;
|
||||
|
||||
typedef struct _sl_lidar_payload_acc_board_flag_t
|
||||
{
|
||||
sl_u32 reserved;
|
||||
} __attribute__((packed)) sl_lidar_payload_acc_board_flag_t;
|
||||
|
||||
typedef struct _sl_lidar_payload_hq_spd_ctrl_t {
|
||||
sl_u16 rpm;
|
||||
} __attribute__((packed))sl_lidar_payload_hq_spd_ctrl_t;
|
||||
|
||||
|
||||
typedef struct _sl_lidar_payload_new_bps_confirmation_t {
|
||||
sl_u16 flag; // reserved, must be 0x5F5F
|
||||
sl_u32 required_bps;
|
||||
sl_u16 param;
|
||||
} __attribute__((packed)) sl_lidar_payload_new_bps_confirmation_t;
|
||||
|
||||
// Response
|
||||
// ------------------------------------------
|
||||
#define SL_LIDAR_ANS_TYPE_DEVINFO 0x4
|
||||
#define SL_LIDAR_ANS_TYPE_DEVHEALTH 0x6
|
||||
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT 0x81
|
||||
// Added in FW ver 1.17
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ 0x83
|
||||
//added in FW ver 1.23alpha
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA 0x84
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED 0x85
|
||||
#define SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED 0x86
|
||||
|
||||
|
||||
// Added in FW ver 1.17
|
||||
#define SL_LIDAR_ANS_TYPE_SAMPLE_RATE 0x15
|
||||
|
||||
//added in FW ver 1.24
|
||||
#define SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF 0x20
|
||||
#define SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF 0x21
|
||||
|
||||
|
||||
#define SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF
|
||||
|
||||
#define SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1)
|
||||
typedef struct _sl_lidar_response_acc_board_flag_t
|
||||
{
|
||||
sl_u32 support_flag;
|
||||
} __attribute__((packed)) sl_lidar_response_acc_board_flag_t;
|
||||
|
||||
|
||||
#define SL_LIDAR_STATUS_OK 0x0
|
||||
#define SL_LIDAR_STATUS_WARNING 0x1
|
||||
#define SL_LIDAR_STATUS_ERROR 0x2
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0)
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2
|
||||
|
||||
#define SL_LIDAR_RESP_HQ_FLAG_SYNCBIT (0x1<<0)
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0)
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1
|
||||
|
||||
typedef struct _sl_lidar_response_sample_rate_t
|
||||
{
|
||||
sl_u16 std_sample_duration_us;
|
||||
sl_u16 express_sample_duration_us;
|
||||
} __attribute__((packed)) sl_lidar_response_sample_rate_t;
|
||||
|
||||
typedef struct _sl_lidar_response_measurement_node_t
|
||||
{
|
||||
sl_u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6;
|
||||
sl_u16 angle_q6_checkbit; // check_bit:1;angle_q6:15;
|
||||
sl_u16 distance_q2;
|
||||
} __attribute__((packed)) sl_lidar_response_measurement_node_t;
|
||||
|
||||
//[distance_sync flags]
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3)
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC)
|
||||
|
||||
typedef struct _sl_lidar_response_cabin_nodes_t
|
||||
{
|
||||
sl_u16 distance_angle_1; // see [distance_sync flags]
|
||||
sl_u16 distance_angle_2; // see [distance_sync flags]
|
||||
sl_u8 offset_angles_q3;
|
||||
} __attribute__((packed)) sl_lidar_response_cabin_nodes_t;
|
||||
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC 0xA5
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15)
|
||||
|
||||
typedef struct _sl_lidar_response_capsule_measurement_nodes_t
|
||||
{
|
||||
sl_u8 s_checksum_1; // see [s_checksum_1]
|
||||
sl_u8 s_checksum_2; // see [s_checksum_1]
|
||||
sl_u16 start_angle_sync_q6;
|
||||
sl_lidar_response_cabin_nodes_t cabins[16];
|
||||
} __attribute__((packed)) sl_lidar_response_capsule_measurement_nodes_t;
|
||||
|
||||
typedef struct _sl_lidar_response_dense_cabin_nodes_t
|
||||
{
|
||||
sl_u16 distance;
|
||||
} __attribute__((packed)) sl_lidar_response_dense_cabin_nodes_t;
|
||||
|
||||
typedef struct _sl_lidar_response_dense_capsule_measurement_nodes_t
|
||||
{
|
||||
sl_u8 s_checksum_1; // see [s_checksum_1]
|
||||
sl_u8 s_checksum_2; // see [s_checksum_1]
|
||||
sl_u16 start_angle_sync_q6;
|
||||
sl_lidar_response_dense_cabin_nodes_t cabins[40];
|
||||
} __attribute__((packed)) sl_lidar_response_dense_capsule_measurement_nodes_t;
|
||||
|
||||
|
||||
typedef struct _sl_lidar_response_ultra_dense_cabin_nodes_t {
|
||||
sl_u16 qualityl_distance_scale[2];
|
||||
sl_u8 qualityh_array;
|
||||
} __attribute__((packed)) sl_lidar_response_ultra_dense_cabin_nodes_t;
|
||||
|
||||
typedef struct _sl_lidar_response_ultra_dense_capsule_measurement_nodes_t {
|
||||
sl_u8 s_checksum_1; // see [s_checksum_1]
|
||||
sl_u8 s_checksum_2; // see [s_checksum_1]
|
||||
sl_u32 time_stamp;
|
||||
sl_u16 dev_status;
|
||||
sl_u16 start_angle_sync_q6;
|
||||
sl_lidar_response_ultra_dense_cabin_nodes_t cabins[32];
|
||||
} __attribute__((packed)) sl_lidar_response_ultra_dense_capsule_measurement_nodes_t;
|
||||
|
||||
|
||||
// ext1 : x2 boost mode
|
||||
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS 12
|
||||
#define SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS 10
|
||||
|
||||
typedef struct _sl_lidar_response_ultra_cabin_nodes_t
|
||||
{
|
||||
// 31 0
|
||||
// | predict2 10bit | predict1 10bit | major 12bit |
|
||||
sl_u32 combined_x3;
|
||||
} __attribute__((packed)) sl_lidar_response_ultra_cabin_nodes_t;
|
||||
|
||||
typedef struct _sl_lidar_response_ultra_capsule_measurement_nodes_t
|
||||
{
|
||||
sl_u8 s_checksum_1; // see [s_checksum_1]
|
||||
sl_u8 s_checksum_2; // see [s_checksum_1]
|
||||
sl_u16 start_angle_sync_q6;
|
||||
sl_lidar_response_ultra_cabin_nodes_t ultra_cabins[32];
|
||||
} __attribute__((packed)) sl_lidar_response_ultra_capsule_measurement_nodes_t;
|
||||
|
||||
typedef struct sl_lidar_response_measurement_node_hq_t
|
||||
{
|
||||
sl_u16 angle_z_q14;
|
||||
sl_u32 dist_mm_q2;
|
||||
sl_u8 quality;
|
||||
sl_u8 flag;
|
||||
} __attribute__((packed)) sl_lidar_response_measurement_node_hq_t;
|
||||
|
||||
typedef struct _sl_lidar_response_hq_capsule_measurement_nodes_t
|
||||
{
|
||||
sl_u8 sync_byte;
|
||||
sl_u64 time_stamp;
|
||||
sl_lidar_response_measurement_node_hq_t node_hq[96];
|
||||
sl_u32 crc32;
|
||||
}__attribute__((packed)) sl_lidar_response_hq_capsule_measurement_nodes_t;
|
||||
|
||||
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_STD 0
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS 1
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_HQ 2
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_BOOST 3
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_STABILITY 4
|
||||
# define SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY 5
|
||||
|
||||
#define SL_LIDAR_CONF_ANGLE_RANGE 0x00000000
|
||||
#define SL_LIDAR_CONF_DESIRED_ROT_FREQ 0x00000001
|
||||
#define SL_LIDAR_CONF_SCAN_COMMAND_BITMAP 0x00000002
|
||||
#define SL_LIDAR_CONF_MIN_ROT_FREQ 0x00000004
|
||||
#define SL_LIDAR_CONF_MAX_ROT_FREQ 0x00000005
|
||||
#define SL_LIDAR_CONF_MAX_DISTANCE 0x00000060
|
||||
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_COUNT 0x00000070
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE 0x00000071
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE 0x00000074
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE 0x00000075
|
||||
#define SL_LIDAR_CONF_LIDAR_MAC_ADDR 0x00000079
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_TYPICAL 0x0000007C
|
||||
#define SL_LIDAR_CONF_SCAN_MODE_NAME 0x0000007F
|
||||
|
||||
|
||||
#define SL_LIDAR_CONF_MODEL_REVISION_ID 0x00000080
|
||||
#define SL_LIDAR_CONF_MODEL_NAME_ALIAS 0x00000081
|
||||
|
||||
#define SL_LIDAR_CONF_DETECTED_SERIAL_BPS 0x000000A1
|
||||
|
||||
#define SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR 0x0001CCC0
|
||||
#define SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP 4
|
||||
#define SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP 5
|
||||
|
||||
typedef struct _sl_lidar_response_get_lidar_conf
|
||||
{
|
||||
sl_u32 type;
|
||||
sl_u8 payload[0];
|
||||
}__attribute__((packed)) sl_lidar_response_get_lidar_conf_t;
|
||||
|
||||
typedef struct _sl_lidar_response_set_lidar_conf
|
||||
{
|
||||
sl_u32 type;
|
||||
sl_u32 result;
|
||||
}__attribute__((packed)) sl_lidar_response_set_lidar_conf_t;
|
||||
|
||||
|
||||
typedef struct _sl_lidar_response_device_info_t
|
||||
{
|
||||
sl_u8 model;
|
||||
sl_u16 firmware_version;
|
||||
sl_u8 hardware_version;
|
||||
sl_u8 serialnum[16];
|
||||
} __attribute__((packed)) sl_lidar_response_device_info_t;
|
||||
|
||||
typedef struct _sl_lidar_response_device_health_t
|
||||
{
|
||||
sl_u8 status;
|
||||
sl_u16 error_code;
|
||||
} __attribute__((packed)) sl_lidar_response_device_health_t;
|
||||
|
||||
typedef struct _sl_lidar_ip_conf_t {
|
||||
sl_u8 ip_addr[4];
|
||||
sl_u8 net_mask[4];
|
||||
sl_u8 gw[4];
|
||||
}__attribute__((packed)) sl_lidar_ip_conf_t;
|
||||
|
||||
typedef struct _sl_lidar_response_device_macaddr_info_t {
|
||||
sl_u8 macaddr[6];
|
||||
} __attribute__((packed)) sl_lidar_response_device_macaddr_info_t;
|
||||
|
||||
typedef struct _sl_lidar_response_desired_rot_speed_t{
|
||||
sl_u16 rpm;
|
||||
sl_u16 pwm_ref;
|
||||
}__attribute__((packed)) sl_lidar_response_desired_rot_speed_t;
|
||||
|
||||
// Definition of the variable bit scale encoding mechanism
|
||||
#define SL_LIDAR_VARBITSCALE_X2_SRC_BIT 9
|
||||
#define SL_LIDAR_VARBITSCALE_X4_SRC_BIT 11
|
||||
#define SL_LIDAR_VARBITSCALE_X8_SRC_BIT 12
|
||||
#define SL_LIDAR_VARBITSCALE_X16_SRC_BIT 14
|
||||
|
||||
#define SL_LIDAR_VARBITSCALE_X2_DEST_VAL 512
|
||||
#define SL_LIDAR_VARBITSCALE_X4_DEST_VAL 1280
|
||||
#define SL_LIDAR_VARBITSCALE_X8_DEST_VAL 1792
|
||||
#define SL_LIDAR_VARBITSCALE_X16_DEST_VAL 3328
|
||||
|
||||
#define SL_LIDAR_VARBITSCALE_GET_SRC_MAX_VAL_BY_BITS(_BITS_) \
|
||||
( (((0x1<<(_BITS_)) - SL_LIDAR_VARBITSCALE_X16_DEST_VAL)<<4) + \
|
||||
((SL_LIDAR_VARBITSCALE_X16_DEST_VAL - SL_LIDAR_VARBITSCALE_X8_DEST_VAL)<<3) + \
|
||||
((SL_LIDAR_VARBITSCALE_X8_DEST_VAL - SL_LIDAR_VARBITSCALE_X4_DEST_VAL)<<2) + \
|
||||
((SL_LIDAR_VARBITSCALE_X4_DEST_VAL - SL_LIDAR_VARBITSCALE_X2_DEST_VAL)<<1) + \
|
||||
SL_LIDAR_VARBITSCALE_X2_DEST_VAL - 1)
|
||||
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack()
|
||||
#endif
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
@@ -0,0 +1,569 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
* http://www.slamtec.com
|
||||
*/
|
||||
/*
|
||||
* 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
|
||||
|
||||
#ifndef __cplusplus
|
||||
#error "The Slamtec LIDAR SDK requires a C++ compiler to be built"
|
||||
#endif
|
||||
|
||||
#include <vector>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
#ifndef DEPRECATED
|
||||
#ifdef __GNUC__
|
||||
#define DEPRECATED(func) func __attribute__ ((deprecated))
|
||||
#elif defined(_MSC_VER)
|
||||
#define DEPRECATED(func) __declspec(deprecated) func
|
||||
#else
|
||||
#pragma message("WARNING: You need to implement DEPRECATED for this compiler")
|
||||
#define DEPRECATED(func) func
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
#include "sl_lidar_cmd.h"
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace sl {
|
||||
|
||||
#ifdef DEPRECATED
|
||||
#define DEPRECATED_WARN(fn, replacement) do { \
|
||||
static bool __shown__ = false; \
|
||||
if (!__shown__) { \
|
||||
printDeprecationWarn(fn, replacement); \
|
||||
__shown__ = true; \
|
||||
} \
|
||||
} while (0)
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Lidar scan mode
|
||||
*/
|
||||
struct LidarScanMode
|
||||
{
|
||||
// Mode id
|
||||
sl_u16 id;
|
||||
|
||||
// Time cost for one measurement (in microseconds)
|
||||
float us_per_sample;
|
||||
|
||||
// Max distance in this scan mode (in meters)
|
||||
float max_distance;
|
||||
|
||||
// The answer command code for this scan mode
|
||||
sl_u8 ans_type;
|
||||
|
||||
// The name of scan mode (padding with 0 if less than 64 characters)
|
||||
char scan_mode[64];
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
struct Result
|
||||
{
|
||||
sl_result err;
|
||||
T value;
|
||||
Result(const T& value)
|
||||
: err(SL_RESULT_OK)
|
||||
, value(value)
|
||||
{
|
||||
}
|
||||
|
||||
Result(sl_result err)
|
||||
: err(err)
|
||||
, value()
|
||||
{
|
||||
}
|
||||
|
||||
operator sl_result() const
|
||||
{
|
||||
return err;
|
||||
}
|
||||
|
||||
operator bool() const
|
||||
{
|
||||
return SL_IS_OK(err);
|
||||
}
|
||||
|
||||
T& operator* ()
|
||||
{
|
||||
return value;
|
||||
}
|
||||
|
||||
T* operator-> ()
|
||||
{
|
||||
return &value;
|
||||
}
|
||||
};
|
||||
|
||||
enum LIDARTechnologyType {
|
||||
LIDAR_TECHNOLOGY_UNKNOWN = 0,
|
||||
LIDAR_TECHNOLOGY_TRIANGULATION = 1,
|
||||
LIDAR_TECHNOLOGY_DTOF = 2,
|
||||
LIDAR_TECHNOLOGY_ETOF = 3,
|
||||
LIDAR_TECHNOLOGY_FMCW = 4,
|
||||
};
|
||||
|
||||
enum LIDARMajorType {
|
||||
LIDAR_MAJOR_TYPE_UNKNOWN = 0,
|
||||
LIDAR_MAJOR_TYPE_A_SERIES = 1,
|
||||
LIDAR_MAJOR_TYPE_S_SERIES = 2,
|
||||
LIDAR_MAJOR_TYPE_T_SERIES = 3,
|
||||
LIDAR_MAJOR_TYPE_M_SERIES = 4,
|
||||
LIDAR_MAJOR_TYPE_C_SERIES = 6,
|
||||
};
|
||||
|
||||
enum LIDARInterfaceType {
|
||||
LIDAR_INTERFACE_UART = 0,
|
||||
LIDAR_INTERFACE_ETHERNET = 1,
|
||||
LIDAR_INTERFACE_USB = 2,
|
||||
LIDAR_INTERFACE_CANBUS = 5,
|
||||
|
||||
|
||||
LIDAR_INTERFACE_UNKNOWN = 0xFFFF,
|
||||
};
|
||||
|
||||
struct SlamtecLidarTimingDesc {
|
||||
|
||||
sl_u32 sample_duration_uS;
|
||||
sl_u32 native_baudrate;
|
||||
|
||||
sl_u32 linkage_delay_uS;
|
||||
|
||||
LIDARInterfaceType native_interface_type;
|
||||
|
||||
bool native_timestamp_support;
|
||||
};
|
||||
|
||||
/**
|
||||
* Abstract interface of communication channel
|
||||
*/
|
||||
class IChannel
|
||||
{
|
||||
public:
|
||||
virtual ~IChannel() {}
|
||||
|
||||
public:
|
||||
/**
|
||||
* Open communication channel (return true if succeed)
|
||||
*/
|
||||
virtual bool open() = 0;
|
||||
|
||||
/**
|
||||
* Close communication channel
|
||||
*/
|
||||
virtual void close() = 0;
|
||||
|
||||
/**
|
||||
* Flush all written data to remote endpoint
|
||||
*/
|
||||
virtual void flush() = 0;
|
||||
|
||||
/**
|
||||
* Wait for some data
|
||||
* \param size Bytes to wait
|
||||
* \param timeoutInMs Wait timeout (in microseconds, -1 for forever)
|
||||
* \param actualReady [out] actual ready bytes
|
||||
* \return true for data ready
|
||||
*/
|
||||
virtual bool waitForData(size_t size, sl_u32 timeoutInMs = -1, size_t* actualReady = nullptr) = 0;
|
||||
|
||||
|
||||
/**
|
||||
* Wait for some data
|
||||
* \param size_hint Byte count may available to retrieve without beening blocked
|
||||
* \param timeoutInMs Wait timeout (in microseconds, -1 for forever)
|
||||
* \return RESULT_OK if there is data available for receiving
|
||||
* RESULT_OPERATION_TIMEOUT if the given timeout duration is exceed
|
||||
* RESULT_OPERATION_FAIL if there is something wrong with the channel
|
||||
*/
|
||||
virtual sl_result waitForDataExt(size_t& size_hint, sl_u32 timeoutInMs = 1000) = 0;
|
||||
|
||||
|
||||
/**
|
||||
* Send data to remote endpoint
|
||||
* \param data The data buffer
|
||||
* \param size The size of data buffer (in bytes)
|
||||
* \return Bytes written (negative for write failure)
|
||||
*/
|
||||
virtual int write(const void* data, size_t size) = 0;
|
||||
|
||||
/**
|
||||
* Read data from the chanel
|
||||
* \param buffer The buffer to receive data
|
||||
* \param size The size of the read buffer
|
||||
* \return Bytes read (negative for read failure)
|
||||
*/
|
||||
virtual int read(void* buffer, size_t size) = 0;
|
||||
|
||||
/**
|
||||
* Clear read cache
|
||||
*/
|
||||
virtual void clearReadCache() = 0;
|
||||
|
||||
virtual int getChannelType() = 0;
|
||||
|
||||
private:
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Abstract interface of serial port channel
|
||||
*/
|
||||
class ISerialPortChannel : public IChannel
|
||||
{
|
||||
public:
|
||||
virtual ~ISerialPortChannel() {}
|
||||
|
||||
public:
|
||||
virtual void setDTR(bool dtr) = 0;
|
||||
};
|
||||
|
||||
/**
|
||||
* Create a serial channel
|
||||
* \param device Serial port device
|
||||
* e.g. on Windows, it may be com3 or \\.\com10
|
||||
* on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
|
||||
* \param baudrate Baudrate
|
||||
* Please refer to the datasheet for the baudrate (maybe 115200 or 256000)
|
||||
*/
|
||||
Result<IChannel*> createSerialPortChannel(const std::string& device, int baudrate);
|
||||
|
||||
/**
|
||||
* Create a TCP channel
|
||||
* \param ip IP address of the device
|
||||
* \param port TCP port
|
||||
*/
|
||||
Result<IChannel*> createTcpChannel(const std::string& ip, int port);
|
||||
|
||||
/**
|
||||
* Create a UDP channel
|
||||
* \param ip IP address of the device
|
||||
* \param port UDP port
|
||||
*/
|
||||
Result<IChannel*> createUdpChannel(const std::string& ip, int port);
|
||||
|
||||
enum MotorCtrlSupport
|
||||
{
|
||||
MotorCtrlSupportNone = 0,
|
||||
MotorCtrlSupportPwm = 1,
|
||||
MotorCtrlSupportRpm = 2,
|
||||
};
|
||||
|
||||
enum ChannelType{
|
||||
CHANNEL_TYPE_SERIALPORT = 0x0,
|
||||
CHANNEL_TYPE_TCP = 0x1,
|
||||
CHANNEL_TYPE_UDP = 0x2,
|
||||
};
|
||||
|
||||
/**
|
||||
* Lidar motor info
|
||||
*/
|
||||
struct LidarMotorInfo
|
||||
{
|
||||
MotorCtrlSupport motorCtrlSupport;
|
||||
|
||||
// Desire speed
|
||||
sl_u16 desired_speed;
|
||||
|
||||
// Max speed
|
||||
sl_u16 max_speed;
|
||||
|
||||
// Min speed
|
||||
sl_u16 min_speed;
|
||||
};
|
||||
|
||||
class ILidarDriver
|
||||
{
|
||||
public:
|
||||
virtual ~ILidarDriver() {}
|
||||
|
||||
public:
|
||||
/**
|
||||
* Connect to LIDAR via channel
|
||||
* \param channel The communication channel
|
||||
* Note: you should manage the lifecycle of the channel object, make sure it is alive during lidar driver's lifecycle
|
||||
*/
|
||||
virtual sl_result connect(IChannel* channel) = 0;
|
||||
|
||||
/**
|
||||
* Disconnect from the LIDAR
|
||||
*/
|
||||
virtual void disconnect() = 0;
|
||||
|
||||
/**
|
||||
* Check if the connection is established
|
||||
*/
|
||||
virtual bool isConnected() = 0;
|
||||
|
||||
public:
|
||||
enum
|
||||
{
|
||||
DEFAULT_TIMEOUT = 2000
|
||||
};
|
||||
|
||||
public:
|
||||
/// Ask the LIDAR core system to reset it self
|
||||
/// The host system can use the Reset operation to help LIDAR escape the self-protection mode.
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond)
|
||||
virtual sl_result reset(sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Get all scan modes that supported by lidar
|
||||
virtual sl_result getAllSupportedScanModes(std::vector<LidarScanMode>& outModes, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Get typical scan mode of lidar
|
||||
virtual sl_result getTypicalScanMode(sl_u16& outMode, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Start scan
|
||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param useTypicalScan Use lidar's typical scan mode or use the compatibility mode (2k sps)
|
||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
virtual sl_result startScan(bool force, bool useTypicalScan, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr) = 0;
|
||||
|
||||
/// Start scan in specific mode
|
||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param scanMode The scan mode id (use getAllSupportedScanModes to get supported modes)
|
||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
virtual sl_result startScanExpress(bool force, sl_u16 scanMode, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Retrieve the health status of the RPLIDAR
|
||||
/// The host system can use this operation to check whether RPLIDAR is in the self-protection mode.
|
||||
///
|
||||
/// \param health The health status info returned from the RPLIDAR
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result getHealth(sl_lidar_response_device_health_t& health, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
|
||||
///
|
||||
/// \param info The device information returned from the RPLIDAR
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result getDeviceInfo(sl_lidar_response_device_info_t& info, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Check whether the device support motor control
|
||||
/// Note: this API will disable grab.
|
||||
///
|
||||
/// \param motorCtrlSupport Return the result.
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
|
||||
virtual sl_result checkMotorCtrlSupport(MotorCtrlSupport& motorCtrlSupport, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Calculate LIDAR'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
|
||||
///
|
||||
/// \param scanMode Lidar's current scan mode
|
||||
/// \param nodes Current scan's measurements
|
||||
/// \param count The number of sample nodes inside the given buffer
|
||||
virtual sl_result getFrequency(const LidarScanMode& scanMode, const sl_lidar_response_measurement_node_hq_t* nodes, size_t count, float& frequency) = 0;
|
||||
|
||||
///Set LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
virtual sl_result setLidarIpConf(const sl_lidar_ip_conf_t& conf, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
///Get LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
virtual sl_result getLidarIpConf( sl_lidar_ip_conf_t& conf, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
//
|
||||
/////Get LPX series lidar's MAC address
|
||||
///
|
||||
/// \param macAddrArray The device MAC information returned from the LPX series lidar
|
||||
/// Notice: the macAddrArray must point to a valid buffer with at least 6 bytes length
|
||||
/// Otherwise, buffer overwrite will occur
|
||||
virtual sl_result getDeviceMacAddr(sl_u8* macAddrArray, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Ask the LIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result stop(sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// 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.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param 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.
|
||||
///
|
||||
/// \param 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 SL_RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
|
||||
///
|
||||
/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
|
||||
virtual sl_result grabScanDataHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
|
||||
/// Wait and grab a complete 0-360 degree scan data previously received with timestamp support.
|
||||
///
|
||||
/// The returned timestamp belongs to the first data point of the scan data (begining of the scan).
|
||||
/// Its value is represented based on the current machine's time domain with the unit of microseconds (uS).
|
||||
///
|
||||
/// If the currently connected LIDAR supports hardware timestamp mechanism, this timestamp will use
|
||||
/// the actual data emitted by the LIDAR device and remap it to the current machine's time domain.
|
||||
///
|
||||
/// For other models that do not support hardware timestamps, this data will be deducted through estimation,
|
||||
/// and there may be a slight deviation from the actual situation.
|
||||
///
|
||||
/// 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.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param 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.
|
||||
///
|
||||
/// \param timestamp_uS The reference used to store the timestamp value.
|
||||
/// \param 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 SL_RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
|
||||
///
|
||||
/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
|
||||
virtual sl_result grabScanDataHqWithTimeStamp(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u64 & timestamp_uS, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
/// Ascending the scan data according to the angle value in the scan.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
|
||||
///
|
||||
/// \param 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 SL_RESULT_OPERATION_FAIL when all the scan data is invalid.
|
||||
virtual sl_result ascendScanData(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t count) = 0;
|
||||
|
||||
/// Return received scan points even if it's not complete scan
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// The interface will return SL_RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
|
||||
virtual sl_result getScanDataWithIntervalHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count) = 0;
|
||||
/// Set lidar motor speed
|
||||
/// The host system can use this operation to set lidar motor speed.
|
||||
///
|
||||
/// \param speed The speed value set to lidar
|
||||
///
|
||||
///Note: The function will stop scan if speed is DEFAULT_MOTOR_SPEED.
|
||||
virtual sl_result setMotorSpeed(sl_u16 speed = DEFAULT_MOTOR_SPEED) = 0;
|
||||
|
||||
/// Get the motor information of the RPLIDAR include the max speed, min speed, desired speed.
|
||||
///
|
||||
/// \param motorInfo The motor information returned from the RPLIDAR
|
||||
virtual sl_result getMotorInfo(LidarMotorInfo &motorInfo, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
/// Ask the LIDAR to use a new baudrate for serial communication
|
||||
/// The target LIDAR system must support such feature to work.
|
||||
/// This function does NOT check whether the target LIDAR works with the requiredBaudRate or not.
|
||||
/// In order to verifiy the result, use getDeviceInfo or other getXXXX functions instead.
|
||||
///
|
||||
/// \param requiredBaudRate The new baudrate required to be used. It MUST matches with the baudrate of the binded channel.
|
||||
/// \param baudRateDetected The actual baudrate detected by the LIDAR system
|
||||
virtual sl_result negotiateSerialBaudRate(sl_u32 requiredBaudRate, sl_u32* baudRateDetected = NULL) = 0;
|
||||
|
||||
|
||||
|
||||
/// Get the technology of the LIDAR's measurement system
|
||||
///
|
||||
///
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
virtual LIDARTechnologyType getLIDARTechnologyType(const sl_lidar_response_device_info_t* devInfo = nullptr) = 0;
|
||||
|
||||
|
||||
/// Get the Major Type (Series Info) of the LIDAR
|
||||
///
|
||||
///
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
virtual LIDARMajorType getLIDARMajorType(const sl_lidar_response_device_info_t* devInfo = nullptr) = 0;
|
||||
|
||||
|
||||
/// Get the Model Name of the LIDAR
|
||||
/// The result will be somthing like: "A1M8" or "S1M1" or "A3M1-R1"
|
||||
///
|
||||
/// \param out_description The output string that contains the generated model name
|
||||
///
|
||||
/// \param fetchAliasName If set to true, a communication will be taken to ask if there is any Alias name availabe
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
/// \param timeout The timeout value used by potential data communication
|
||||
virtual sl_result getModelNameDescriptionString(std::string& out_description, bool fetchAliasName = true, const sl_lidar_response_device_info_t* devInfo = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Create a LIDAR driver instance
|
||||
*
|
||||
* Example
|
||||
* Result<ISerialChannel*> channel = createSerialPortChannel("/dev/ttyUSB0", 115200);
|
||||
* assert((bool)channel);
|
||||
* assert(*channel);
|
||||
*
|
||||
* auto lidar = createLidarDriver();
|
||||
* assert((bool)lidar);
|
||||
* assert(*lidar);
|
||||
*
|
||||
* auto res = (*lidar)->connect(*channel);
|
||||
* assert(SL_IS_OK(res));
|
||||
*
|
||||
* sl_lidar_response_device_info_t deviceInfo;
|
||||
* res = (*lidar)->getDeviceInfo(deviceInfo);
|
||||
* assert(SL_IS_OK(res));
|
||||
*
|
||||
* printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n",
|
||||
* deviceInfo.model,
|
||||
* deviceInfo.firmware_version >> 8, deviceInfo.firmware_version & 0xffu,
|
||||
* deviceInfo.hardware_version);
|
||||
*
|
||||
* delete *lidar;
|
||||
* delete *channel;
|
||||
*/
|
||||
Result<ILidarDriver*> createLidarDriver();
|
||||
}
|
||||
@@ -0,0 +1,157 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
* http://www.slamtec.com
|
||||
*/
|
||||
/*
|
||||
* 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 "sl_lidar_driver.h"
|
||||
|
||||
namespace sl {
|
||||
class SL_LidarDriver :public ILidarDriver
|
||||
{
|
||||
public:
|
||||
enum {
|
||||
LEGACY_SAMPLE_DURATION = 476,
|
||||
};
|
||||
|
||||
enum
|
||||
{
|
||||
NORMAL_CAPSULE = 0,
|
||||
DENSE_CAPSULE = 1,
|
||||
};
|
||||
|
||||
enum {
|
||||
A2A3_LIDAR_MINUM_MAJOR_ID = 2,
|
||||
TOF_LIDAR_MINUM_MAJOR_ID = 6,
|
||||
};
|
||||
public:
|
||||
SL_LidarDriver()
|
||||
:_channel(NULL)
|
||||
, _isConnected(false)
|
||||
, _isScanning(false)
|
||||
, _isSupportingMotorCtrl(MotorCtrlSupportNone)
|
||||
, _cached_sampleduration_std(LEGACY_SAMPLE_DURATION)
|
||||
,_cached_sampleduration_express(LEGACY_SAMPLE_DURATION)
|
||||
, _cached_scan_node_hq_count(0)
|
||||
, _cached_scan_node_hq_count_for_interval_retrieve(0)
|
||||
{}
|
||||
|
||||
sl_result connect(IChannel* channel);
|
||||
void disconnect();
|
||||
bool isConnected();
|
||||
sl_result reset(sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getAllSupportedScanModes(std::vector<LidarScanMode>& outModes, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getTypicalScanMode(sl_u16& outMode, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result startScan(bool force, bool useTypicalScan, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr);
|
||||
sl_result startScanNormal(bool force, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result startScanExpress(bool force, sl_u16 scanMode, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result stop(sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
DEPRECATED(sl_result grabScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT));
|
||||
sl_result grabScanDataHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result getDeviceInfo(sl_lidar_response_device_info_t& info, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result checkMotorCtrlSupport(MotorCtrlSupport & support, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result getFrequency(const LidarScanMode& scanMode, const sl_lidar_response_measurement_node_hq_t* nodes, size_t count, float& frequency);
|
||||
sl_result setLidarIpConf(const sl_lidar_ip_conf_t& conf, sl_u32 timeout);
|
||||
sl_result getLidarIpConf(sl_lidar_ip_conf_t& conf, sl_u32 timeout);
|
||||
sl_result getHealth(sl_lidar_response_device_health_t& health, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result getDeviceMacAddr(sl_u8* macAddrArray, sl_u32 timeoutInMs);
|
||||
sl_result ascendScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t count);
|
||||
sl_result ascendScanData(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t count);
|
||||
sl_result getScanDataWithIntervalHq(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t & count);
|
||||
sl_result setMotorSpeed(sl_u16 speed = DEFAULT_MOTOR_PWM);//
|
||||
sl_result negotiateSerialBaudRate(sl_u32 requiredBaudRate, sl_u32* baudRateDetected = NULL);
|
||||
|
||||
protected:
|
||||
sl_result startMotor();
|
||||
sl_result checkSupportConfigCommands(bool& outSupport, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getScanModeCount(sl_u16& modeCount, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result setLidarConf(sl_u32 type, const void* payload, size_t payloadSize, sl_u32 timeout);
|
||||
sl_result getLidarConf(sl_u32 type, std::vector<sl_u8> &outputBuf, const std::vector<sl_u8> &reserve = std::vector<sl_u8>(), sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result getLidarSampleDuration(float& sampleDurationRes, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getMaxDistance(float &maxDistance, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getScanModeAnsType(sl_u8 &ansType, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
sl_result getScanModeName(char* modeName, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
|
||||
//DEPRECATED(sl_result getSampleDuration_uS(sl_lidar_response_sample_rate_t & rateInfo, sl_u32 timeout = DEFAULT_TIMEOUT));
|
||||
//DEPRECATED (sl_result checkExpressScanSupported(bool & support, sl_u32 timeout = DEFAULT_TIMEOUT));
|
||||
//DEPRECATED(sl_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode));
|
||||
private:
|
||||
sl_result _sendCommand(sl_u16 cmd, const void * payload = NULL, size_t payloadsize = 0 );
|
||||
sl_result _waitResponseHeader(sl_lidar_ans_header_t * header, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
template <typename T>
|
||||
sl_result _waitResponse(T &payload ,sl_u8 ansType, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
void _disableDataGrabbing();
|
||||
sl_result _waitNode(sl_lidar_response_measurement_node_t * node, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result _waitScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t & count, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result _cacheScanData();
|
||||
void _ultraCapsuleToNormal(const sl_lidar_response_ultra_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
|
||||
sl_result _waitCapsuledNode(sl_lidar_response_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
void _capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
|
||||
void _dense_capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
|
||||
sl_result _cacheCapsuledScanData();
|
||||
|
||||
void _ultra_dense_capsuleToNormal(const sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& capslue, sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& nodeCount);
|
||||
sl_result _waitUltraDenseCapsuledNode(sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& node, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result _cacheUltraDenseCapsuledScanData();
|
||||
|
||||
|
||||
sl_result _waitHqNode(sl_lidar_response_hq_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
void _HqToNormal(const sl_lidar_response_hq_capsule_measurement_nodes_t & node_hq, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
|
||||
sl_result _cacheHqScanData();
|
||||
sl_result _waitUltraCapsuledNode(sl_lidar_response_ultra_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
|
||||
sl_result _cacheUltraCapsuledScanData();
|
||||
sl_result _clearRxDataCache();
|
||||
|
||||
private:
|
||||
IChannel *_channel;
|
||||
bool _isConnected;
|
||||
bool _isScanning;
|
||||
MotorCtrlSupport _isSupportingMotorCtrl;
|
||||
|
||||
rp::hal::Locker _lock;
|
||||
rp::hal::Event _dataEvt;
|
||||
rp::hal::Thread _cachethread;
|
||||
sl_u16 _cached_sampleduration_std;
|
||||
sl_u16 _cached_sampleduration_express;
|
||||
|
||||
sl_lidar_response_measurement_node_hq_t _cached_scan_node_hq_buf[8192];
|
||||
size_t _cached_scan_node_hq_count;
|
||||
sl_u8 _cached_capsule_flag;
|
||||
|
||||
sl_lidar_response_measurement_node_hq_t _cached_scan_node_hq_buf_for_interval_retrieve[8192];
|
||||
size_t _cached_scan_node_hq_count_for_interval_retrieve;
|
||||
|
||||
sl_lidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata;
|
||||
sl_lidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata;
|
||||
sl_lidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata;
|
||||
sl_lidar_response_hq_capsule_measurement_nodes_t _cached_previous_Hqdata;
|
||||
bool _is_previous_capsuledataRdy;
|
||||
bool _is_previous_HqdataRdy;
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,85 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* sl_lidar_protocol.h
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable:4200)
|
||||
#endif
|
||||
|
||||
#include "sl_types.h"
|
||||
|
||||
#define SL_LIDAR_CMD_SYNC_BYTE 0xA5
|
||||
#define SL_LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
|
||||
|
||||
#define SL_LIDAR_ANS_SYNC_BYTE1 0xA5
|
||||
#define SL_LIDAR_ANS_SYNC_BYTE2 0x5A
|
||||
|
||||
#define SL_LIDAR_ANS_PKTFLAG_LOOP 0x1
|
||||
|
||||
#define SL_LIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
|
||||
#define SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack(1)
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
typedef struct sl_lidar_cmd_packet_t
|
||||
{
|
||||
sl_u8 syncByte; //must be SL_LIDAR_CMD_SYNC_BYTE
|
||||
sl_u8 cmd_flag;
|
||||
sl_u8 size;
|
||||
sl_u8 data[0];
|
||||
} __attribute__((packed)) sl_lidar_cmd_packet_t;
|
||||
|
||||
|
||||
typedef struct sl_lidar_ans_header_t
|
||||
{
|
||||
sl_u8 syncByte1; // must be SL_LIDAR_ANS_SYNC_BYTE1
|
||||
sl_u8 syncByte2; // must be SL_LIDAR_ANS_SYNC_BYTE2
|
||||
sl_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
|
||||
sl_u8 type;
|
||||
} __attribute__((packed)) sl_lidar_ans_header_t;
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack()
|
||||
#endif
|
||||
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
@@ -0,0 +1,83 @@
|
||||
/*
|
||||
* Slamtec LIDAR SDK
|
||||
*
|
||||
* sl_types.h
|
||||
*
|
||||
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
#ifdef __cplusplus
|
||||
#include <cstdint>
|
||||
|
||||
#define SL_DEFINE_TYPE(IntType, NewType) typedef std::IntType NewType
|
||||
#else
|
||||
#include <stdint.h>
|
||||
|
||||
#define SL_DEFINE_TYPE(IntType, NewType) typedef IntType NewType
|
||||
#endif
|
||||
|
||||
#define SL_DEFINE_INT_TYPE(Bits) \
|
||||
SL_DEFINE_TYPE(int ## Bits ## _t, sl_s ## Bits); \
|
||||
SL_DEFINE_TYPE(uint ## Bits ## _t, sl_u ## Bits); \
|
||||
|
||||
SL_DEFINE_INT_TYPE(8)
|
||||
SL_DEFINE_INT_TYPE(16)
|
||||
SL_DEFINE_INT_TYPE(32)
|
||||
SL_DEFINE_INT_TYPE(64)
|
||||
|
||||
#if !defined(__GNUC__) && !defined(__attribute__)
|
||||
# define __attribute__(x)
|
||||
#endif
|
||||
|
||||
#ifdef WIN64
|
||||
typedef sl_u64 sl_word_size_t;
|
||||
#elif defined(WIN32)
|
||||
typedef sl_u32 sl_word_size_t;
|
||||
#elif defined(__GNUC__)
|
||||
typedef unsigned long sl_word_size_t;
|
||||
#elif defined(__ICCARM__)
|
||||
typedef sl_u32 sl_word_size_t;
|
||||
#endif
|
||||
|
||||
typedef uint32_t sl_result;
|
||||
|
||||
#define SL_RESULT_OK (sl_result)0
|
||||
#define SL_RESULT_FAIL_BIT (sl_result)0x80000000
|
||||
#define SL_RESULT_ALREADY_DONE (sl_result)0x20
|
||||
#define SL_RESULT_INVALID_DATA (sl_result)(0x8000 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_OPERATION_FAIL (sl_result)(0x8001 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_OPERATION_TIMEOUT (sl_result)(0x8002 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_OPERATION_STOP (sl_result)(0x8003 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_OPERATION_NOT_SUPPORT (sl_result)(0x8004 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_FORMAT_NOT_SUPPORT (sl_result)(0x8005 | SL_RESULT_FAIL_BIT)
|
||||
#define SL_RESULT_INSUFFICIENT_MEMORY (sl_result)(0x8006 | SL_RESULT_FAIL_BIT)
|
||||
|
||||
#define SL_IS_OK(x) ( ((x) & SL_RESULT_FAIL_BIT) == 0 )
|
||||
#define SL_IS_FAIL(x) ( ((x) & SL_RESULT_FAIL_BIT) )
|
||||
Reference in New Issue
Block a user