rpLidar4: The device driver for the RP lidar S2 More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-rplidar/src/devices/rpLidar4/rpLidar4.h>

Inheritance diagram for RpLidar4:

Public Member Functions
	RpLidar4 (double period=0)

	~RpLidar4 ()

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

bool	setDistanceRange (double min, double max) override
	set the device detection range.

bool	setScanLimits (double min, double max) override
	set the scan angular range.

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds)

bool	acquireDataFromHW () override final
	This method should be implemented by the user, and contain the logic to grab data from the hardware.

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

Public Member Functions inherited from yarp::dev::Lidar2DDeviceBase
bool	parseConfiguration (yarp::os::Searchable &config)

	Lidar2DDeviceBase ()

bool	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements.

bool	getDeviceStatus (Device_status &status) override
	get the device status

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

bool	getDistanceRange (double &min, double &max) override
	get the device detection range

bool	getScanLimits (double &min, double &max) override
	get the scan angular range.

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual	~IRangefinder2D ()

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Protected Attributes
int	m_buffer_life = 0

bool	m_inExpressMode = false

bool	m_force_scan = false

std::string	m_scan_mode ="Boost"

int	m_pwm_val = 600

std::string	m_serialPort

rplidardrv *	m_drv = nullptr

const size_t	m_nodes_num = 8192

rplidar_response_measurement_node_hq_t *	m_nodes = nullptr

Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector	m_laser_data

yarp::os::Stamp	m_timestamp

yarp::dev::IRangefinder2D::Device_status	m_device_status

std::mutex	m_mutex

std::string	m_info

double	m_scan_rate

size_t	m_sensorsNum

double	m_min_angle

double	m_max_angle

double	m_min_distance

double	m_max_distance

double	m_resolution

bool	m_clip_max_enable

bool	m_clip_min_enable

bool	m_do_not_clip_and_allow_infinity_enable

std::vector< Range_t >	m_range_skip_vector

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
virtual bool	updateLidarData ()
	This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData().

virtual bool	updateTimestamp ()
	By default, it automatically updates the internal timestamp with the yarp time.

virtual bool	applyLimitsOnLaserData ()
	Apply the limits on the internally stored lidar measurements.

Detailed Description

rpLidar4: The device driver for the RP lidar S2

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
GENERAL	serial_port	string	-	-	Yes	Name of the serial port
GENERAL	serial_baudrate	int	-	-	Yes	Baud rate of the serial port
GENERAL	sample_buffer_life	int	-	-	Yes	Keeps data in memory for some iterations, in order to complete the scan with the missing values (the scan is not always complete)
GENERAL	thread_period	int	ms	0	No	Acquisition thread period. The default value = 0 means maximum speed (measured duration ~75ms). It is useful to change it only if you need to slow down the device (e.g. 100ms)
RPLIDAR	motor_pwm	int	-	0	No	Used by internal RPLidar APIs
RPLIDAR	express_mode	bool		false	No	Check sensor datasheet
RPLIDAR	force_scan	bool		false	No	Check sensor datasheet
RPLIDAR	scan_mode	string		Boost	No	Check sensor datasheet

Definition at line 49 of file rpLidar4.h.

Constructor & Destructor Documentation

◆ RpLidar4()

RpLidar4::RpLidar4 ( double period = 0 )

inline

Definition at line 67 of file rpLidar4.h.

◆ ~RpLidar4()

RpLidar4::~RpLidar4 ( )

inline

Definition at line 72 of file rpLidar4.h.

Member Function Documentation

◆ acquireDataFromHW()

bool RpLidar4::acquireDataFromHW ( )

finaloverridevirtual

This method should be implemented by the user, and contain the logic to grab data from the hardware.

Returns: true/false if the method is successful.

Implements yarp::dev::Lidar2DDeviceBase.

Definition at line 275 of file rpLidar4.cpp.

◆ close()

bool RpLidar4::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 209 of file rpLidar4.cpp.

◆ open()

bool RpLidar4::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 121 of file rpLidar4.cpp.

◆ run()

void RpLidar4::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 261 of file rpLidar4.cpp.

◆ setDistanceRange()

bool RpLidar4::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 221 of file rpLidar4.cpp.

◆ setHorizontalResolution()

bool RpLidar4::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 237 of file rpLidar4.cpp.

◆ setScanLimits()

bool RpLidar4::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 229 of file rpLidar4.cpp.

◆ setScanRate()

bool RpLidar4::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 244 of file rpLidar4.cpp.

◆ threadInit()

bool RpLidar4::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 251 of file rpLidar4.cpp.

◆ threadRelease()

void RpLidar4::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 349 of file rpLidar4.cpp.

Member Data Documentation

◆ m_buffer_life

int RpLidar4::m_buffer_life = 0

protected

Definition at line 56 of file rpLidar4.h.

◆ m_drv

rplidardrv* RpLidar4::m_drv = nullptr

protected

Definition at line 62 of file rpLidar4.h.

◆ m_force_scan

bool RpLidar4::m_force_scan = false

protected

Definition at line 58 of file rpLidar4.h.

◆ m_inExpressMode

bool RpLidar4::m_inExpressMode = false

protected

Definition at line 57 of file rpLidar4.h.

◆ m_nodes

rplidar_response_measurement_node_hq_t* RpLidar4::m_nodes = nullptr

protected

Definition at line 64 of file rpLidar4.h.

◆ m_nodes_num

const size_t RpLidar4::m_nodes_num = 8192

protected

Definition at line 63 of file rpLidar4.h.

◆ m_pwm_val

int RpLidar4::m_pwm_val = 600

protected

Definition at line 60 of file rpLidar4.h.

◆ m_scan_mode

std::string RpLidar4::m_scan_mode ="Boost"

protected

Definition at line 59 of file rpLidar4.h.

◆ m_serialPort

std::string RpLidar4::m_serialPort

protected

Definition at line 61 of file rpLidar4.h.

The documentation for this class was generated from the following files:

opt-modules/yarp-device-rplidar/src/devices/rpLidar4/rpLidar4.h
opt-modules/yarp-device-rplidar/src/devices/rpLidar4/rpLidar4.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RpLidar4()

◆ ~RpLidar4()

Member Function Documentation

◆ acquireDataFromHW()

◆ close()

◆ open()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_buffer_life

◆ m_drv

◆ m_force_scan

◆ m_inExpressMode

◆ m_nodes

◆ m_nodes_num

◆ m_pwm_val

◆ m_scan_mode

◆ m_serialPort