Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'
This commit is contained in:
@@ -0,0 +1,215 @@
|
||||
/*
|
||||
* 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_cmd.h"
|
||||
#include "rplidar_protocol.h"
|
||||
|
||||
// Commands
|
||||
//-----------------------------------------
|
||||
|
||||
#define RPLIDAR_AUTOBAUD_MAGICBYTE SL_LIDAR_AUTOBAUD_MAGICBYTE
|
||||
|
||||
// Commands without payload and response
|
||||
#define RPLIDAR_CMD_STOP SL_LIDAR_CMD_STOP
|
||||
#define RPLIDAR_CMD_SCAN SL_LIDAR_CMD_SCAN
|
||||
#define RPLIDAR_CMD_FORCE_SCAN SL_LIDAR_CMD_FORCE_SCAN
|
||||
#define RPLIDAR_CMD_RESET SL_LIDAR_CMD_RESET
|
||||
|
||||
|
||||
// Commands without payload but have response
|
||||
#define RPLIDAR_CMD_GET_DEVICE_INFO SL_LIDAR_CMD_GET_DEVICE_INFO
|
||||
#define RPLIDAR_CMD_GET_DEVICE_HEALTH SL_LIDAR_CMD_GET_DEVICE_HEALTH
|
||||
|
||||
#define RPLIDAR_CMD_GET_SAMPLERATE SL_LIDAR_CMD_GET_SAMPLERATE //added in fw 1.17
|
||||
|
||||
#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL SL_LIDAR_CMD_HQ_MOTOR_SPEED_CTRL
|
||||
|
||||
// Commands with payload but no response
|
||||
#define RPLIDAR_CMD_NEW_BAUDRATE_CONFIRM SL_LIDAR_CMD_NEW_BAUDRATE_CONFIRM //added in fw 1.30
|
||||
|
||||
// Commands with payload and have response
|
||||
#define RPLIDAR_CMD_EXPRESS_SCAN SL_LIDAR_CMD_EXPRESS_SCAN //added in fw 1.17
|
||||
#define RPLIDAR_CMD_HQ_SCAN SL_LIDAR_CMD_HQ_SCAN //added in fw 1.24
|
||||
#define RPLIDAR_CMD_GET_LIDAR_CONF SL_LIDAR_CMD_GET_LIDAR_CONF //added in fw 1.24
|
||||
#define RPLIDAR_CMD_SET_LIDAR_CONF SL_LIDAR_CMD_SET_LIDAR_CONF //added in fw 1.24
|
||||
//add for A2 to set RPLIDAR motor pwm when using accessory board
|
||||
#define RPLIDAR_CMD_SET_MOTOR_PWM SL_LIDAR_CMD_SET_MOTOR_PWM
|
||||
#define RPLIDAR_CMD_GET_ACC_BOARD_FLAG SL_LIDAR_CMD_GET_ACC_BOARD_FLAG
|
||||
|
||||
#if defined(_WIN32)
|
||||
#pragma pack(1)
|
||||
#endif
|
||||
|
||||
|
||||
// Payloads
|
||||
// ------------------------------------------
|
||||
#define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL SL_LIDAR_EXPRESS_SCAN_MODE_NORMAL
|
||||
#define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE SL_LIDAR_EXPRESS_SCAN_MODE_FIXANGLE // won't been supported but keep to prevent build fail
|
||||
//for express working flag(extending express scan protocol)
|
||||
#define RPLIDAR_EXPRESS_SCAN_FLAG_BOOST SL_LIDAR_EXPRESS_SCAN_FLAG_BOOST
|
||||
#define RPLIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION SL_LIDAR_EXPRESS_SCAN_FLAG_SUNLIGHT_REJECTION
|
||||
|
||||
//for ultra express working flag
|
||||
#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_STD
|
||||
#define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY SL_LIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY
|
||||
|
||||
#define RPLIDAR_HQ_SCAN_FLAG_CCW (0x1<<0)
|
||||
#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER (0x1<<1)
|
||||
#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE (0x1<<2)
|
||||
|
||||
typedef sl_lidar_payload_express_scan_t rplidar_payload_express_scan_t;
|
||||
typedef sl_lidar_payload_hq_scan_t rplidar_payload_hq_scan_t;
|
||||
typedef sl_lidar_payload_get_scan_conf_t rplidar_payload_get_scan_conf_t;
|
||||
typedef sl_lidar_payload_motor_pwm_t rplidar_payload_motor_pwm_t;
|
||||
typedef sl_lidar_payload_acc_board_flag_t rplidar_payload_acc_board_flag_t;
|
||||
typedef sl_lidar_payload_set_scan_conf_t rplidar_payload_set_scan_conf_t;
|
||||
typedef sl_lidar_payload_new_bps_confirmation_t rplidar_payload_new_bps_confirmation_t;
|
||||
|
||||
// Response
|
||||
// ------------------------------------------
|
||||
#define RPLIDAR_ANS_TYPE_DEVINFO SL_LIDAR_ANS_TYPE_DEVINFO
|
||||
#define RPLIDAR_ANS_TYPE_DEVHEALTH SL_LIDAR_ANS_TYPE_DEVHEALTH
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT SL_LIDAR_ANS_TYPE_MEASUREMENT
|
||||
// Added in FW ver 1.17
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ SL_LIDAR_ANS_TYPE_MEASUREMENT_HQ
|
||||
// Added in FW ver 1.17
|
||||
#define RPLIDAR_ANS_TYPE_SAMPLE_RATE SL_LIDAR_ANS_TYPE_SAMPLE_RATE
|
||||
//added in FW ver 1.23alpha
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA SL_LIDAR_ANS_TYPE_MEASUREMENT_CAPSULED_ULTRA
|
||||
//added in FW ver 1.24
|
||||
#define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF SL_LIDAR_ANS_TYPE_GET_LIDAR_CONF
|
||||
#define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF SL_LIDAR_ANS_TYPE_SET_LIDAR_CONF
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED
|
||||
#define RPLIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED SL_LIDAR_ANS_TYPE_MEASUREMENT_ULTRA_DENSE_CAPSULED
|
||||
|
||||
#define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG SL_LIDAR_ANS_TYPE_ACC_BOARD_FLAG
|
||||
|
||||
#define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK SL_LIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK
|
||||
|
||||
typedef sl_lidar_response_acc_board_flag_t rplidar_response_acc_board_flag_t;
|
||||
|
||||
|
||||
#define RPLIDAR_STATUS_OK SL_LIDAR_STATUS_OK
|
||||
#define RPLIDAR_STATUS_WARNING SL_LIDAR_STATUS_WARNING
|
||||
#define RPLIDAR_STATUS_ERROR SL_LIDAR_STATUS_ERROR
|
||||
|
||||
#define RPLIDAR_RESP_MEASUREMENT_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_SYNCBIT
|
||||
#define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT
|
||||
#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT SL_LIDAR_RESP_HQ_FLAG_SYNCBIT
|
||||
#define RPLIDAR_RESP_MEASUREMENT_CHECKBIT SL_LIDAR_RESP_MEASUREMENT_CHECKBIT
|
||||
#define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT SL_LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT
|
||||
|
||||
typedef sl_lidar_response_sample_rate_t rplidar_response_sample_rate_t;
|
||||
typedef sl_lidar_response_measurement_node_t rplidar_response_measurement_node_t;
|
||||
|
||||
//[distance_sync flags]
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK SL_LIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK
|
||||
|
||||
typedef sl_lidar_response_cabin_nodes_t rplidar_response_cabin_nodes_t;
|
||||
|
||||
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_1
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 SL_LIDAR_RESP_MEASUREMENT_EXP_SYNC_2
|
||||
#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC SL_LIDAR_RESP_MEASUREMENT_HQ_SYNC
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT SL_LIDAR_RESP_MEASUREMENT_EXP_SYNCBIT
|
||||
|
||||
|
||||
typedef sl_lidar_response_capsule_measurement_nodes_t rplidar_response_capsule_measurement_nodes_t;
|
||||
typedef sl_lidar_response_dense_cabin_nodes_t rplidar_response_dense_cabin_nodes_t;
|
||||
typedef sl_lidar_response_dense_capsule_measurement_nodes_t rplidar_response_dense_capsule_measurement_nodes_t;
|
||||
typedef sl_lidar_response_ultra_dense_capsule_measurement_nodes_t rplidar_response_ultra_dense_capsule_measurement_nodes_t;
|
||||
// ext1 : x2 boost mode
|
||||
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS
|
||||
#define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS SL_LIDAR_RESP_MEASUREMENT_EXP_ULTRA_PREDICT_BITS
|
||||
|
||||
typedef sl_lidar_response_ultra_cabin_nodes_t rplidar_response_ultra_cabin_nodes_t;
|
||||
typedef sl_lidar_response_ultra_capsule_measurement_nodes_t rplidar_response_ultra_capsule_measurement_nodes_t;
|
||||
typedef sl_lidar_response_measurement_node_hq_t rplidar_response_measurement_node_hq_t;
|
||||
typedef sl_lidar_response_hq_capsule_measurement_nodes_t rplidar_response_hq_capsule_measurement_nodes_t;
|
||||
|
||||
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_STD SL_LIDAR_CONF_SCAN_COMMAND_STD
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS SL_LIDAR_CONF_SCAN_COMMAND_EXPRESS
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_HQ SL_LIDAR_CONF_SCAN_COMMAND_HQ
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_BOOST SL_LIDAR_CONF_SCAN_COMMAND_BOOST
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_STABILITY SL_LIDAR_CONF_SCAN_COMMAND_STABILITY
|
||||
# define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY SL_LIDAR_CONF_SCAN_COMMAND_SENSITIVITY
|
||||
|
||||
#define RPLIDAR_CONF_ANGLE_RANGE SL_LIDAR_CONF_ANGLE_RANGE
|
||||
#define RPLIDAR_CONF_DESIRED_ROT_FREQ SL_LIDAR_CONF_DESIRED_ROT_FREQ
|
||||
#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP SL_LIDAR_CONF_SCAN_COMMAND_BITMAP
|
||||
#define RPLIDAR_CONF_MIN_ROT_FREQ SL_LIDAR_CONF_MIN_ROT_FREQ
|
||||
#define RPLIDAR_CONF_MAX_ROT_FREQ SL_LIDAR_CONF_MAX_ROT_FREQ
|
||||
#define RPLIDAR_CONF_MAX_DISTANCE SL_LIDAR_CONF_MAX_DISTANCE
|
||||
|
||||
#define RPLIDAR_CONF_SCAN_MODE_COUNT SL_LIDAR_CONF_SCAN_MODE_COUNT
|
||||
#define RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE SL_LIDAR_CONF_SCAN_MODE_US_PER_SAMPLE
|
||||
#define RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE SL_LIDAR_CONF_SCAN_MODE_MAX_DISTANCE
|
||||
#define RPLIDAR_CONF_SCAN_MODE_ANS_TYPE SL_LIDAR_CONF_SCAN_MODE_ANS_TYPE
|
||||
#define RPLIDAR_CONF_SCAN_MODE_TYPICAL SL_LIDAR_CONF_SCAN_MODE_TYPICAL
|
||||
#define RPLIDAR_CONF_SCAN_MODE_NAME SL_LIDAR_CONF_SCAN_MODE_NAME
|
||||
#define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP SL_LIDAR_EXPRESS_SCAN_STABILITY_BITMAP
|
||||
#define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP SL_LIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP
|
||||
#define RPLIDAR_CONF_LIDAR_STATIC_IP_ADDR SL_LIDAR_CONF_LIDAR_STATIC_IP_ADDR
|
||||
#define RPLIDAR_CONF_LIDAR_MAC_ADDR SL_LIDAR_CONF_LIDAR_MAC_ADDR
|
||||
|
||||
#define RPLIDAR_CONF_DETECTED_SERIAL_BPS SL_LIDAR_CONF_DETECTED_SERIAL_BPS
|
||||
|
||||
typedef sl_lidar_response_get_lidar_conf_t rplidar_response_get_lidar_conf_t;
|
||||
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;
|
||||
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
|
||||
Reference in New Issue
Block a user