m5p3nc3r/ros-raspbot-v2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Squashed 'lidar/sllidar_ros2/' content from commit 3430009

Browse Source 
git-subtree-dir: lidar/sllidar_ros2
git-subtree-split: 34300099fadfc772965962dec837bf436706188f
This commit is contained in:
Matt Spencer
2026-04-22 11:51:45 +00:00
commit 457f054053
104 changed files with 16895 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sdk/include/sl_lidar_driver.h
+569
View File
@@ -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();
}