Package ev3dev.sensors.slamtec.service

Class RpLidarLowLevelDriver

java.lang.Object

ev3dev.sensors.slamtec.service.RpLidarLowLevelDriver

public class RpLidarLowLevelDriver
extends java.lang.Object

Low level service for RPLidar. Just sends and receives packets. Doesn't attempt to filter bad data or care about timeouts.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	RpLidarLowLevelDriver.ReadSerialThread Thread which reads in coming serial data from the LIDAR

Field Summary

Fields

Modifier and Type	Field and Description
(package private) byte[]	dataOut
(package private) RpLidarDeviceInfo	deviceInfo
static byte	FORCE_SCAN
static byte	GET_HEALTH
static byte	GET_INFO
(package private) RpLidarHeath	health
(package private) java.io.InputStream	in
(package private) int	lastReceived
(package private) RpLidarListener	listener
(package private) RpLidarMeasurement	measurement
(package private) java.io.OutputStream	out
static byte	RCV_HEALTH
static byte	RCV_INFO
static byte	RCV_SCAN
private RpLidarLowLevelDriver.ReadSerialThread	readThread
static byte	RESET
static byte	SCAN
(package private) boolean	scanning
(package private) SerialPort	serialPort
private static byte	START_MOTOR
static byte	STOP
static byte	SYNC_BYTE0
static byte	SYNC_BYTE1
(package private) boolean	verbose

Constructor Summary

Constructors

Constructor and Description
RpLidarLowLevelDriver(java.lang.String portName, RpLidarListener listener) Initializes serial connection

Method Summary

Modifier and Type	Method and Description
protected int	parseData(byte[] data, int length) Searches for and parses all complete packets inside data
protected boolean	parseDeviceInfo(byte[] data, int offset, int length)
protected boolean	parseHealth(byte[] data, int offset, int length)
protected boolean	parsePacket(byte[] data, int offset, int length, byte type)
protected boolean	parseScan(byte[] data, int offset, int length)
void	pause(long milli) Pauses for the specified number of milliseconds
protected boolean	sendBlocking(byte command, byte expected, long timeout) Low level blocking packet send routine
boolean	sendGetHealth(long timeout) Requests that a sensor health packet be sent
boolean	sendGetInfo(long timeout) Requests that a sensor info packet be sent
protected void	sendNoPayLoad(byte command) Sends a command with no data payload
protected void	sendPayLoad(byte command, byte[] payLoad) Sends a command with data payload
protected void	sendPayLoad(byte command, int payLoadInt) Sends a command with data payload - int
void	sendReset() Sends a reset packet which will put it into its initial state
boolean	sendScan(long timeout) Request that it enter scan mode
void	sendStartMotor(int speed) Sends a start motor command
void	sendStop() Sends a STOP packet
void	sendStopMotor() Sends a stop motor command
void	setVerbose(boolean verbose)
void	shutdown() Shuts down the serial connection and threads

Methods inherited from class java.lang.Object

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

Field Detail

SYNC_BYTE0

public static final byte SYNC_BYTE0

See Also:

Constant Field Values

SYNC_BYTE1

public static final byte SYNC_BYTE1

See Also:

Constant Field Values

STOP

public static final byte STOP

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Constant Field Values

RESET

public static final byte RESET

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Constant Field Values

SCAN

public static final byte SCAN

See Also:

Constant Field Values

FORCE_SCAN

public static final byte FORCE_SCAN

See Also:

Constant Field Values

GET_INFO

public static final byte GET_INFO

See Also:

Constant Field Values

GET_HEALTH

public static final byte GET_HEALTH

See Also:

Constant Field Values

RCV_INFO

public static final byte RCV_INFO

See Also:

Constant Field Values

RCV_HEALTH

public static final byte RCV_HEALTH

See Also:

Constant Field Values

RCV_SCAN

public static final byte RCV_SCAN

See Also:

Constant Field Values

START_MOTOR

private static final byte START_MOTOR

See Also:

Constant Field Values

serialPort

SerialPort serialPort

in

java.io.InputStream in

out

java.io.OutputStream out

dataOut

byte[] dataOut

verbose

boolean verbose

readThread

private RpLidarLowLevelDriver.ReadSerialThread readThread

health

RpLidarHeath health

deviceInfo

RpLidarDeviceInfo deviceInfo

measurement

RpLidarMeasurement measurement

listener

RpLidarListener listener

scanning

boolean scanning

lastReceived

volatile int lastReceived

Constructor Detail

RpLidarLowLevelDriver

public RpLidarLowLevelDriver(java.lang.String portName,
                             RpLidarListener listener)
                      throws java.lang.Exception

Initializes serial connection

Parameters:

portName - Path to serial port

listener - Listener for in comming packets

Throws:

java.lang.Exception

Method Detail

pause

public void pause(long milli)

Pauses for the specified number of milliseconds

shutdown

public void shutdown()

Shuts down the serial connection and threads

sendScan

public boolean sendScan(long timeout)

Request that it enter scan mode

Parameters:

timeout - Blocking time. Resends packet periodically. <= 0 means no blocking.

Returns:

true if successful

sendStop

public void sendStop()

Sends a STOP packet

sendReset

public void sendReset()

Sends a reset packet which will put it into its initial state

sendGetInfo

public boolean sendGetInfo(long timeout)

Requests that a sensor info packet be sent

Parameters:

timeout - Blocking time. Resends packet periodically. <= 0 means no blocking.

Returns:

true if successful

sendGetHealth

public boolean sendGetHealth(long timeout)

Requests that a sensor health packet be sent

Parameters:

timeout - Blocking time. Resends packet periodically. <= 0 means no blocking.

Returns:

true if successful

sendBlocking

protected boolean sendBlocking(byte command,
                               byte expected,
                               long timeout)

Low level blocking packet send routine

sendNoPayLoad

protected void sendNoPayLoad(byte command)

Sends a command with no data payload

sendPayLoad

protected void sendPayLoad(byte command,
                           byte[] payLoad)

Sends a command with data payload

sendPayLoad

protected void sendPayLoad(byte command,
                           int payLoadInt)

Sends a command with data payload - int

sendStartMotor

public void sendStartMotor(int speed)

Sends a start motor command

sendStopMotor

public void sendStopMotor()

Sends a stop motor command

parseData

protected int parseData(byte[] data,
                        int length)

Searches for and parses all complete packets inside data

parsePacket

protected boolean parsePacket(byte[] data,
                              int offset,
                              int length,
                              byte type)

parseHealth

protected boolean parseHealth(byte[] data,
                              int offset,
                              int length)

parseDeviceInfo

protected boolean parseDeviceInfo(byte[] data,
                                  int offset,
                                  int length)

parseScan

protected boolean parseScan(byte[] data,
                            int offset,
                            int length)

setVerbose

public void setVerbose(boolean verbose)