/* * 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 #include #include #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 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 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 createSerialPortChannel(const std::string& device, int baudrate); /** * Create a TCP channel * \param ip IP address of the device * \param port TCP port */ Result createTcpChannel(const std::string& ip, int port); /** * Create a UDP channel * \param ip IP address of the device * \param port UDP port */ Result 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& 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 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 createLidarDriver(); }