Package ev3dev.sensors.slamtec.service

Class RpLidarHighLevelDriver

java.lang.Object

ev3dev.sensors.slamtec.service.RpLidarHighLevelDriver

All Implemented Interfaces:

RpLidarListener

public class RpLidarHighLevelDriver
extends java.lang.Object
implements RpLidarListener

High level task which performs intelligent filtering to remove bad data and correctly starts up the sensor

Field Summary

Fields

Modifier and Type	Field and Description
(package private) RpLidarScan	complete
(package private) RpLidarLowLevelDriver	driver
(package private) int	expectedCount
(package private) boolean	initialized
(package private) boolean	ready
(package private) RpLidarScan	work

Constructor Summary

Constructors

Constructor and Description
RpLidarHighLevelDriver()

Method Summary

Modifier and Type	Method and Description
private boolean	autoSetCollectionToScan() Determine the number of measurements it needs to collect to approximately read in an entire scan using
boolean	blockCollectScan(RpLidarScan scan, long timeout) Returns the most recent complete scan which has been returned by this function.
void	handleDeviceHealth(RpLidarHeath health)
void	handleDeviceInfo(RpLidarDeviceInfo info)
void	handleMeasurement(RpLidarMeasurement measurement)
boolean	initialize(java.lang.String device, int totalCollect) Connects to the LIDAR
boolean	isInitialized()
void	stop() Disconnects and shuts down the connection to the LIDAR

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

work

final RpLidarScan work

complete

final RpLidarScan complete

ready

volatile boolean ready

driver

RpLidarLowLevelDriver driver

expectedCount

int expectedCount

initialized

volatile boolean initialized

Constructor Detail

RpLidarHighLevelDriver

public RpLidarHighLevelDriver()

Method Detail

initialize

public boolean initialize(java.lang.String device,
                          int totalCollect)

Connects to the LIDAR

Parameters:

device - Which device the lidar is connected to

totalCollect - How many measurements should it collect in a single scan. If <= 0 it will automatically determine the number in a complete scan and use that.

Returns:

true if successful or false if not

autoSetCollectionToScan

private boolean autoSetCollectionToScan()

Determine the number of measurements it needs to collect to approximately read in an entire scan using

Returns:

true if no errors

stop

public void stop()

Disconnects and shuts down the connection to the LIDAR

blockCollectScan

public boolean blockCollectScan(RpLidarScan scan,
                                long timeout)

Returns the most recent complete scan which has been returned by this function.

Parameters:

scan - (output) Where the complete scan is written to

timeout - If > 0 then it will wait at most that amount of time for a complete scan

Returns:

true if it has a complete scan or false if it timed out.

handleMeasurement

public void handleMeasurement(RpLidarMeasurement measurement)

Specified by:

handleMeasurement in interface RpLidarListener

handleDeviceHealth

public void handleDeviceHealth(RpLidarHeath health)

Specified by:

handleDeviceHealth in interface RpLidarListener

handleDeviceInfo

public void handleDeviceInfo(RpLidarDeviceInfo info)

Specified by:

handleDeviceInfo in interface RpLidarListener

isInitialized

public boolean isInitialized()