Rplidar学习（二）—— SDK库文件学习

SDK头文件介绍

1、头文件简介：

rplidar.h             //一般情况下开发的项目中仅需要引入该头文件即可使用 RPLIDAR SDK 的所有功能。
rplidar_driver.h      //定义了 SDK 核心驱动接口: RPlidarDriver 的类声明。 rplidar_protocol.h //定义了 RPLIDAR 通讯协议文档中描述的底层相关数据结构和常量定义。 rplidar_cmd.h //定义了 RPLIDAR 通讯协议文档中描述的各类请求/应答相关的数据结构和常量定义。 rptypes.h //平台无关的结构和常量定义

 

 

2、头文件解析

（1）rplidar_protocol.h

#pragma once

// RP-Lidar Input Packets

#define RPLIDAR_CMD_SYNC_BYTE        0xA5       //请求报文开始字节 #define RPLIDAR_CMDFLAG_HAS_PAYLOAD 0x80 //情报报文负载 #define RPLIDAR_ANS_SYNC_BYTE1 0xA5 //应答报文起始标志1 #define RPLIDAR_ANS_SYNC_BYTE2 0x5A //应答报文起始标志2 #define RPLIDAR_ANS_PKTFLAG_LOOP 0x1 //多次应答模式 #define RPLIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF #define RPLIDAR_ANS_HEADER_SUBTYPE_SHIFT (30) #if defined(_WIN32) #pragma pack(1) #endif //请求报文格式 typedef struct _rplidar_cmd_packet_t { _u8 syncByte; //must be RPLIDAR_CMD_SYNC_BYTE //起始标志 _u8 cmd_flag; //请求命令 _u8 size; //负载长度 _u8 data[0]; //请求负载数据 } __attribute__((packed)) rplidar_cmd_packet_t; //__attribute__ ((packed)) 的作用就是告诉编译器取消结构在编译过程中的优化对齐,按照实际占用字节数进行对齐 //使用之后才会是几字节就是几字节，否则就每个变量的字节长度都跟结构体中变量字节长度最长相同 //应答报文格式 typedef struct _rplidar_ans_header_t { _u8 syncByte1; // must be RPLIDAR_ANS_SYNC_BYTE1 //起始标志1 _u8 syncByte2; // must be RPLIDAR_ANS_SYNC_BYTE2 //起始标志2 _u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2; //应答报文长度 _u8 type; //应答模式 } __attribute__((packed)) rplidar_ans_header_t; #if defined(_WIN32) #pragma pack() #endif

 

 

（2）rplidar_cmd.h

#pragma once

#include "rplidar_protocol.h"

// Commands //----------------------------------------- // Commands without payload and response #define RPLIDAR_CMD_STOP 0x25 //离开扫描模式，进入空闲状态 #define RPLIDAR_CMD_SCAN 0x20 //请求进入扫描采样状态 #define RPLIDAR_CMD_FORCE_SCAN 0x21 //请求进入扫描采样状态，强制数据输出 #define RPLIDAR_CMD_RESET 0x40 //测距核心软重启 // Commands without payload but have response #define RPLIDAR_CMD_GET_DEVICE_INFO 0x50 //获取设备序列号等信息 #define RPLIDAR_CMD_GET_DEVICE_HEALTH 0x52 //获取设备健康状态 #define RPLIDAR_CMD_GET_SAMPLERATE 0x59 //added in fw 1.17 获取单词激光测距的用时 // Commands with payload and have response #define RPLIDAR_CMD_EXPRESS_SCAN 0x82 //added in fw 1.17 请求进入扫描状态，幷工作在最高采样频率下 //add for A2 to set RPLIDAR motor pwm when using accessory board #define RPLIDAR_CMD_SET_MOTOR_PWM 0xF0 #define RPLIDAR_CMD_GET_ACC_BOARD_FLAG 0xFF #if defined(_WIN32) //如果是win32下编译则执行 #pragma pack(1) //结构体边界设置为1字节，也就是说储存在内存中是连续的 #endif // Payloads // ------------------------------------------ #define RPLIDAR_EXPRESS_SCAN_MODE_NORMAL 0 #define RPLIDAR_EXPRESS_SCAN_MODE_FIXANGLE 1 typedef struct _rplidar_payload_express_scan_t { //带有负载的数据包  _u8 working_mode; _u32 reserved; } __attribute__((packed)) rplidar_payload_express_scan_t; #define MAX_MOTOR_PWM 1023 //电机PWM最大值 #define DEFAULT_MOTOR_PWM 660 //电机PWM默认值 //电机PWM结构 typedef struct _rplidar_payload_motor_pwm_t { _u16 pwm_value; } __attribute__((packed)) rplidar_payload_motor_pwm_t; // ??????????? typedef struct _rplidar_payload_acc_board_flag_t { _u32 reserved; } __attribute__((packed)) rplidar_payload_acc_board_flag_t; // Response // ------------------------------------------ #define RPLIDAR_ANS_TYPE_DEVINFO 0x4 //设备信心获取 起始应答结尾 #define RPLIDAR_ANS_TYPE_DEVHEALTH 0x6 //设备健康状态获取 起始应答结尾 #define RPLIDAR_ANS_TYPE_MEASUREMENT 0x81 //普通采集 // Added in FW ver 1.17 #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED 0x82 //高速采集 // Added in FW ver 1.17 #define RPLIDAR_ANS_TYPE_SAMPLE_RATE 0x15 // #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG 0xFF #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK (0x1) typedef struct _rplidar_response_acc_board_flag_t { _u32 support_flag; } __attribute__((packed)) rplidar_response_acc_board_flag_t; //设备状态 #define RPLIDAR_STATUS_OK 0x0 #define RPLIDAR_STATUS_WARNING 0x1 #define RPLIDAR_STATUS_ERROR 0x2 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 //激光测距勇士获取数据包 typedef struct _rplidar_response_sample_rate_t { _u16 std_sample_duration_us; //在标准扫描模式下，设备测距核心进行单次激光测距的耗时 单位：微秒 _u16 express_sample_duration_us; //在高速采样模式下，设备测距核心进行单次激光测距的耗时 单位：微妙 } __attribute__((packed)) rplidar_response_sample_rate_t; typedef struct _rplidar_response_measurement_node_t { _u8 sync_quality; // syncbit:1;syncbit_inverse:1;quality:6; //信号质量 _u16 angle_q6_checkbit; // check_bit:1;angle_q6:15; //测距点相对于RPLIDAR朝向夹角 实际角度 = angle_q6 / 64.0 Deg _u16 distance_q2; //测距点相对于RPLIDAR的距离 实际距离 = distance_q2 / 4.0 mm } __attribute__((packed)) rplidar_response_measurement_node_t; //[distance_sync flags] #define RPLIDAR_RESP_MEASUREMENT_EXP_ANGLE_MASK (0x3) #define RPLIDAR_RESP_MEASUREMENT_EXP_DISTANCE_MASK (0xFC) typedef struct _rplidar_response_cabin_nodes_t { _u16 distance_angle_1; // see [distance_sync flags] _u16 distance_angle_2; // see [distance_sync flags]  _u8 offset_angles_q3; } __attribute__((packed)) rplidar_response_cabin_nodes_t; #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1 0xA #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2 0x5 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT (0x1<<15) typedef struct _rplidar_response_capsule_measurement_nodes_t { _u8 s_checksum_1; // see [s_checksum_1] _u8 s_checksum_2; // see [s_checksum_1]  _u16 start_angle_sync_q6; rplidar_response_cabin_nodes_t cabins[16]; } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t; //设备信息数据报文 typedef struct _rplidar_response_device_info_t { _u8 model; _u16 firmware_version; _u8 hardware_version; _u8 serialnum[16]; } __attribute__((packed)) rplidar_response_device_info_t; //设备健康信息数据报文 typedef struct _rplidar_response_device_health_t { _u8 status; _u16 error_code; } __attribute__((packed)) rplidar_response_device_health_t; #if defined(_WIN32) #pragma pack() #endif

 

 

 （3）rplidar_driver.h

#pragma once


#ifndef __cplusplus
#error "The RPlidar SDK requires a C++ compiler to be built"
#endif

namespace rp { namespace standalone{ namespace rplidar { class RPlidarDriver { public: enum { DEFAULT_TIMEOUT = 2000, //2000 ms  }; enum { DRIVER_TYPE_SERIALPORT = 0x0, }; public: /// Create an RPLIDAR Driver Instance /// This interface should be invoked first before any other operations /// /// \param drivertype the connection type used by the driver. static RPlidarDriver * CreateDriver(_u32 drivertype = DRIVER_TYPE_SERIALPORT); //静态创建对象接口 /// Dispose the RPLIDAR Driver Instance specified by the drv parameter /// Applications should invoke this interface when the driver instance is no longer used in order to free memory static void DisposeDriver(RPlidarDriver * drv); //静态接口函数析构RPlidar实例 public: /// Open the specified serial port and connect to a target RPLIDAR device /// /// \param port_path the device path of the serial port /// e.g. on Windows, it may be com3 or \\.\com10 /// on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc /// /// \param baudrate the baudrate used /// For most RPLIDAR models, the baudrate should be set to 115200 /// /// \param flag other flags /// Reserved for future use, always set to Zero virtual u_result connect(const char * port_path, _u32 baudrate, _u32 flag = 0) = 0; //设备连接函数,调用时会默认停止电机旋转，测试时需要使用startMotor启动电机旋转 /// Disconnect with the RPLIDAR and close the serial port virtual void disconnect() = 0; //断开链接 /// Returns TRUE when the connection has been established virtual bool isConnected() = 0; /// Ask the RPLIDAR core system to reset it self /// The host system can use the Reset operation to help RPLIDAR escape the self-protection mode. /// // \param timeout The operation timeout value (in millisecond) for the serial port communication virtual u_result reset(_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 u_result getHealth(rplidar_response_device_health_t & health, _u32 timeout = DEFAULT_TIMEOUT) = 0; //获取 RPLIDAR 设备的健康状态 /// 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 u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = DEFAULT_TIMEOUT) = 0; //获取 RPLIDAR 设备序列号、固件版本等信息 /// Get the sample duration information of the RPLIDAR. /// /// \param rateInfo The sample duration information returned from the RPLIDAR /// /// \param timeout The operation timeout value (in millisecond) for the serial port communication virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT) = 0; //获取 RPLIDAR 分别在标准 Scan 以及 ExpressScan 模 //式下单次激光采样的用时。 单位为微秒(uS) /// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only. /// /// \param pwm The motor pwm value would like to set virtual u_result setMotorPWM(_u16 pwm) = 0; //向开发套件的 USB 附件板发送特定的 PWM 占空比,控制RPLIDAR 扫描电机转速。 /// Start RPLIDAR's motor when using accessory board virtual u_result startMotor() = 0; //启动电机 /// Stop RPLIDAR's motor when using accessory board virtual u_result stopMotor() = 0; //停止电机 /// Check whether the device support motor control. /// Note: this API will disable grab. /// /// \param support Return the result. /// /// \param timeout The operation timeout value (in millisecond) for the serial port communication. virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0; //检测附件板是否支持电机 PWM 控制。 /// Calcuate RPLIDAR'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 inExpressMode Indicate whether the RPLIDAR is in express mode /// /// \param count The number of sample nodes inside the given buffer /// /// \param frequency The scanning frequency (in HZ) calcuated by the interface. /// /// \param is4kmode Return whether the RPLIDAR is working on 4k sample rate mode. virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode) = 0; //从实现抓取的一圈扫描数据序列计算 RPLIDAR 的转速 /// Ask the RPLIDAR core system to enter the scan mode(Normal/Express, Express mode is 4k mode) /// A background thread will be created by the RPLIDAR driver to fetch the scan data continuously. /// User Application can use the grabScanData() interface to retrieved the scan data cached previous by this background thread. /// /// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not. /// /// \param autoExpressMode Force the core system to trying express mode first, if the system does not support express mode, it will use normal mode. 
    ///
    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication.
    
 //开始扫描，（正常模式，还有一个特别模式2.0能用）
 virtual u_result startScan(bool force = false, bool autoExpressMode = true) = 0;
    virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0;
    virtual u_result startScanExpress(bool fixedAngle, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Check whether the device support express mode.
    ///
    /// \param support       Return the result.
    ///
    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication.

 //检测是否能用这个模式
    virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0;

    /// Ask the RPLIDAR 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

 //停止
    virtual u_result stop(_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 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.
    
 //得到扫描数据
 virtual u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _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 RESULT_OPERATION_FAIL when all the scan data is invalid.
    
 //根据角度值传输扫描数据
 virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count) = 0;

protected:
    RPlidarDriver() {}
    virtual ~RPlidarDriver() {}
};


}}}
 \param timeout The operation timeout value (in millisecond) for the serial port communication. virtual u_result startScan(bool force = false, bool autoExpressMode = true) = 0; //请求 RPLIDAR 核心开始进行测距扫描,开始输出数据 //如 RPLIDAR 支持 ExpressScan 模式,且程序使用默认参数调用 //startScan()时,SDK 将自动使用 ExpressScan 模式 virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0; //强制以标准 Scan 模式进行测距扫描 virtual u_result startScanExpress(bool fixedAngle, _u32 timeout = DEFAULT_TIMEOUT) = 0; //强制进行高速扫描测距(ExpressScan)模式 //如果 RPLIDAR 固件不支持 ExpressScan 模式,该函数将执行失败。 /// Check whether the device support express mode. /// /// \param support Return the result. /// /// \param timeout The operation timeout value (in millisecond) for the serial port communication. virtual u_result checkExpressScanSupported(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0; //检查 RPLIDAR 是否支持 ExpressScan 模式 /// Ask the RPLIDAR 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 u_result stop(_u32 timeout = DEFAULT_TIMEOUT) = 0; //请求 RPLIDAR 核心停止测距扫描 /// 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 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 u_result grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT) = 0; //抓取一圈扫描测距数据序列 /// 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 RESULT_OPERATION_FAIL when all the scan data is invalid. virtual u_result ascendScanData(rplidar_response_measurement_node_t * nodebuffer, size_t count) = 0; //对通过 grabScanData()获取的扫描数据按照角度递增排序。 protected: RPlidarDriver() {} virtual ~RPlidarDriver() {} }; }}}

 

3、ultra_simlpe