/* * 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