Add code which works on raspberry pi

libraries/RPLidar/test/linux_read.cpp

@@ -0,0 +1,133 @@
+// https://blog.mbedded.ninja/programming/operating-systems/linux/linux-serial-ports-using-c-cpp/
+
+// C library headers
+#include <stdio.h>
+#include <string.h>
+#include <iostream>
+#include <stdint.h>
+#include <thread>
+#include <iomanip>
+#include <vector>
+#include <sstream>
+
+// Linux headers
+#include <fcntl.h>   // Contains file controls like O_RDWR
+#include <errno.h>   // Error integer and strerror() function
+#include <termios.h> // Contains POSIX terminal control definitions
+#include <unistd.h>  // write(), read(), close()
+#include <sys/ioctl.h>
+
+std::string convertToHexString(uint8_t value)
+{
+    // Convert a uint8_t to a hexadecimal string
+    std::stringstream stream;
+    stream << std::hex << std::uppercase << std::setw(2) << std::setfill('0') << static_cast<int>(value);
+    return stream.str();
+}
+
+int main()
+{
+    // Open the serial port. Change device path as needed (currently set to an standard FTDI USB-UART cable type device)
+    int serial_port = open("/dev/ttyUSB0", O_RDWR);
+
+    // Create new termios struct, we call it 'tty' for convention
+    struct termios tty;
+
+    // Read in existing settings, and handle any error
+    if (tcgetattr(serial_port, &tty) != 0)
+    {
+        printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
+        return 1;
+    }
+
+    tty.c_cflag &= ~PARENB;        // Clear parity bit, disabling parity (most common)
+    tty.c_cflag &= ~CSTOPB;        // Clear stop field, only one stop bit used in communication (most common)
+    tty.c_cflag &= ~CSIZE;         // Clear all bits that set the data size
+    tty.c_cflag |= CS8;            // 8 bits per byte (most common)
+    tty.c_cflag &= ~CRTSCTS;       // Disable RTS/CTS hardware flow control (most common)
+    tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
+
+    tty.c_lflag &= ~ICANON;
+    tty.c_lflag &= ~ECHO;                                                        // Disable echo
+    tty.c_lflag &= ~ECHOE;                                                       // Disable erasure
+    tty.c_lflag &= ~ECHONL;                                                      // Disable new-line echo
+    tty.c_lflag &= ~ISIG;                                                        // Disable interpretation of INTR, QUIT and SUSP
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY);                                      // Turn off s/w flow ctrl
+    tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL); // Disable any special handling of received bytes
+
+    tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
+    tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
+    // tty.c_oflag &= ~OXTABS; // Prevent conversion of tabs to spaces (NOT PRESENT ON LINUX)
+    // tty.c_oflag &= ~ONOEOT; // Prevent removal of C-d chars (0x004) in output (NOT PRESENT ON LINUX)
+
+    tty.c_cc[VTIME] = 10; // Wait for up to 1s (10 deciseconds), returning as soon as any data is received.
+    tty.c_cc[VMIN] = 0;
+
+    // Set in/out baud rate to be 9600
+    cfsetispeed(&tty, B115200);
+    cfsetospeed(&tty, B115200);
+
+    // Save tty settings, also checking for error
+    if (tcsetattr(serial_port, TCSANOW, &tty) != 0)
+    {
+        printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
+        return 1;
+    }
+
+    // Write to serial port
+    unsigned char msg[] = {'\xA5', '\x50'};
+    write(serial_port, msg, sizeof(msg));
+
+    // Allocate memory for read buffer, set size according to your needs
+    char descriptor[7];
+
+    // Normally you wouldn't do this memset() call, but since we will just receive
+    // ASCII data for this example, we'll set everything to 0 so we can
+    // call printf() easily.
+    memset(&descriptor, '\0', sizeof(descriptor));
+
+    // Read bytes. The behaviour of read() (e.g. does it block?,
+    // how long does it block for?) depends on the configuration
+    // settings above, specifically VMIN and VTIME
+    int num_bytes = read(serial_port, &descriptor, sizeof(descriptor));
+
+    uint8_t dsize = descriptor[2];
+    bool isSingle = descriptor[5] == 0;
+    uint8_t dtype = descriptor[6];
+
+    int nread;
+    while (true)
+    {
+        ioctl(serial_port, FIONREAD, &nread);
+        if (nread >= dsize)
+        {
+            break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+    std::cout << "nread: " << nread << std::endl;
+
+    std::vector<uint8_t> data(dsize);
+    int num_bytes_2 = read(serial_port, data.data(), sizeof(data));
+
+    std::string serialNumber;
+    for (size_t i = 4; i < data.size(); ++i)
+    {
+        serialNumber += convertToHexString(data[i]);
+    }
+
+    std::cout << serialNumber << std::endl;
+
+    //   // n is the number of bytes read. n may be 0 if no bytes were received, and can also be -1 to signal an error.
+    //   if (num_bytes < 0) {
+    //       printf("Error reading: %s", strerror(errno));
+    //       return 1;
+    //   }
+
+    //   // Here we assume we received ASCII data, but you might be sending raw bytes (in that case, don't try and
+    //   // print it to the screen like this!)
+    //   printf("Read %i bytes. Received message: %s", num_bytes, read_buf);
+
+    close(serial_port);
+    return 0; // success
+};

libraries/RPLidar/xmake.lua

@@ -1,23 +1,19 @@
 add_requires("serial", "spdlog")
 add_requires("tl_expected")
 
-add_requires("pybind11", "python", {configs = {headeronly = true}})
-
--- target("RPLidar")
---     set_kind("static")
---     add_files("src/*.cpp")
---     add_headerfiles("include/(**.h)")
---     add_headerfiles("include/(**.hpp)")
---     add_includedirs("include")
---     add_packages("serial", "spdlog")
---     add_packages("tl_expected")
+target("RPLidar")
+    set_kind("static")
+    add_files("src/*.cpp")
+    add_headerfiles("include/(**.h)")
+    add_headerfiles("include/(**.hpp)")
+    add_includedirs("include")
+    add_packages("serial", "spdlog")
+    add_packages("tl_expected")
 
 target("test")
     set_kind("binary")
     add_files("test/*.cpp")
     add_includedirs("include")
     add_packages("serial", "spdlog")
     add_packages("tl_expected")
-    -- add_deps("RPLidar")
-    add_packages("pybind11", "python")
-
+    add_deps("RPLidar")