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RpLidar2 Class Reference

rpLidar2: The device driver for the RP2 lidar More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-rplidar/src/devices/rpLidar2/rpLidar2.h>

+ Inheritance diagram for RpLidar2:

Public Member Functions

 RpLidar2 (double period=0)
 
 ~RpLidar2 ()
 
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< 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
 
DeviceDriveroperator= (const DeviceDriver &other)=delete
 
DeviceDriveroperator= (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 DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others.
 

Protected Attributes

int m_buffer_life
 
bool m_inExpressMode
 
int m_pwm_val
 
std::string m_serialPort
 
rplidardrv * m_drv
 
- 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_tm_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

rpLidar2: The device driver for the RP2 lidar

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
GENERAL serial_port string - - Yes Name of the serial port
GENERAL serial_baudrate int - - Yes Baud rate of the srial 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 motor_pwm int - 0 No Used by internal RPLidar APIs
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)

Definition at line 46 of file rpLidar2.h.

Constructor & Destructor Documentation

◆ RpLidar2()

RpLidar2::RpLidar2 ( double  period = 0)
inline

Definition at line 60 of file rpLidar2.h.

◆ ~RpLidar2()

RpLidar2::~RpLidar2 ( )
inline

Definition at line 68 of file rpLidar2.h.

Member Function Documentation

◆ acquireDataFromHW()

bool RpLidar2::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 216 of file rpLidar2.cpp.

◆ close()

bool RpLidar2::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 159 of file rpLidar2.cpp.

◆ open()

bool RpLidar2::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis 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 37 of file rpLidar2.cpp.

◆ run()

void RpLidar2::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 209 of file rpLidar2.cpp.

◆ setDistanceRange()

bool RpLidar2::setDistanceRange ( double  min,
double  max 
)
overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters
minthe minimum detection distance
maxthe maximum detection distance
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 169 of file rpLidar2.cpp.

◆ setHorizontalResolution()

bool RpLidar2::setHorizontalResolution ( double  step)
overridevirtual

get the angular step between two measurements (if available)

Parameters
stepthe angular step between two measurements
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 185 of file rpLidar2.cpp.

◆ setScanLimits()

bool RpLidar2::setScanLimits ( double  min,
double  max 
)
overridevirtual

set the scan angular range.

Parameters
minstart angle of the scan
maxend angle of the scan
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 177 of file rpLidar2.cpp.

◆ setScanRate()

bool RpLidar2::setScanRate ( double  rate)
overridevirtual

set the scan rate (scans per seconds)

Parameters
ratethe scan rate
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 192 of file rpLidar2.cpp.

◆ threadInit()

bool RpLidar2::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 199 of file rpLidar2.cpp.

◆ threadRelease()

void RpLidar2::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 300 of file rpLidar2.cpp.

Member Data Documentation

◆ m_buffer_life

int RpLidar2::m_buffer_life
protected

Definition at line 53 of file rpLidar2.h.

◆ m_drv

rplidardrv* RpLidar2::m_drv
protected

Definition at line 57 of file rpLidar2.h.

◆ m_inExpressMode

bool RpLidar2::m_inExpressMode
protected

Definition at line 54 of file rpLidar2.h.

◆ m_pwm_val

int RpLidar2::m_pwm_val
protected

Definition at line 55 of file rpLidar2.h.

◆ m_serialPort

std::string RpLidar2::m_serialPort
protected

Definition at line 56 of file rpLidar2.h.


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