rpLidar4.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef RPLIDAR4_H
#define RPLIDAR4_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 RpLidar4 : public PeriodicThread, public yarp::dev::Lidar2DDeviceBase, public DeviceDriver
{
    typedef rp::standalone::rplidar::RPlidarDriver rplidardrv;
 
    void                  handleError(u_result error);
 
protected:
    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;
 
public:
    RpLidar4(double period = 0) : PeriodicThread(period) //period=0 allows to run the thread as fast as possible, but it is not a busy loop since yield() is called internally
    {
        m_nodes = new rplidar_response_measurement_node_hq_t[m_nodes_num];
    }
 
    ~RpLidar4()
    {
        delete [] m_nodes;
    }
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
private:
    bool startMotor();
    bool startScan();
    bool deviceinfo();
 
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