rpLidar2.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef RPLIDAR2_H
#define RPLIDAR2_H
 
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Semaphore.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/Lidar2DDeviceBase.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/ISerialDevice.h>
#include <yarp/dev/Lidar2DDeviceBase.h>
 
#include <mutex>
#include <string>
#include <vector>
 
#include <rplidar.h>
 
using namespace yarp::os;
using namespace yarp::dev;
 
typedef unsigned char byte;
 
//---------------------------------------------------------------------------------------------------------------
class RpLidar2 : public PeriodicThread, public yarp::dev::Lidar2DDeviceBase, public DeviceDriver
{
    typedef rp::standalone::rplidar::RPlidarDriver rplidardrv;
 
    void                  handleError(u_result error);
    std::string deviceinfo();
protected:
    int                   m_buffer_life;
    bool                  m_inExpressMode;
    int                   m_pwm_val;
    std::string           m_serialPort;
    rplidardrv*           m_drv;
 
public:
    RpLidar2(double period = 0) : PeriodicThread(period), //period=0 allows to run the thead as fast as possibile, but it is not a busy loop since yield() is called internally
        m_buffer_life(0),
        m_inExpressMode(false),
        m_pwm_val(0),
        m_drv(nullptr)
    {}
 
 
    ~RpLidar2()
    {
    }
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
public:
    //IRangefinder2D interface
    yarp::dev::ReturnValue setDistanceRange     (double min, double max) override;
    yarp::dev::ReturnValue setScanLimits        (double min, double max) override;
    yarp::dev::ReturnValue setHorizontalResolution      (double step) override;
    yarp::dev::ReturnValue setScanRate          (double rate) override;
 
public:
    //Lidar2DDeviceBase
    bool acquireDataFromHW() override final;
};
 
#endif