improvements: upgrade RPLIDAR SDK to 1.7.0

new feature: support scan points farther than 16.38m

launch/rplidar_a3.launch

@@ -5,6 +5,6 @@
   <param name="frame_id"            type="string" value="laser"/>
   <param name="inverted"            type="bool"   value="false"/>
   <param name="angle_compensate"    type="bool"   value="true"/>
-  <param name="scan_mode"           type="string" value="Stability"/>
+  <param name="scan_mode"           type="string" value="Sensitivity"/>
   </node>
 </launch>

sdk/README.txt

@@ -1,5 +1,5 @@
 Copyright (c) 2009 - 2014 RoboPeak Team
-Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
@@ -29,6 +29,6 @@ This folder contains RPLIDAR SDK source code which is provided by RoboPeak.
 
 RoboPeak Website: http://www.robopeak.com
 SlamTec HomePage: http://www.slamtec.com
-RPLIDAR_SDK_VERSION:	1.6.0
+RPLIDAR_SDK_VERSION:	1.7.0
 Note: The SDK version may not up-to-date.
 rplidar product: http://www.slamtec.com/en/Lidar

sdk/include/rplidar.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.6.0"
+#define RPLIDAR_SDK_VERSION  "1.7.0"

sdk/include/rplidar_cmd.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -181,6 +181,14 @@ typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t {
     _u16                            start_angle_sync_q6;
     rplidar_response_ultra_cabin_nodes_t  ultra_cabins[32];
 } __attribute__((packed)) rplidar_response_ultra_capsule_measurement_nodes_t;
+
+typedef struct rplidar_response_measurement_node_hq_t {
+    _u16   angle_z_q14; 
+    _u32   dist_mm_q2; 
+    _u8    quality;  
+    _u8    flag;
+} __attribute__((packed)) rplidar_response_measurement_node_hq_t;
+
 #   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
 #   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
 #   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
@@ -199,10 +207,12 @@ typedef struct _rplidar_response_ultra_capsule_measurement_nodes_t {
 #define RPLIDAR_CONF_SCAN_MODE_NAME                 0x0000007F
 #define RPLIDAR_EXPRESS_SCAN_STABILITY_BITMAP                 4
 #define RPLIDAR_EXPRESS_SCAN_SENSITIVITY_BITMAP               5
+
 typedef struct _rplidar_response_get_lidar_conf{
     _u32 type;
     _u8  payload[0];
 }__attribute__((packed)) rplidar_response_get_lidar_conf_t;
+
 typedef struct _rplidar_response_set_lidar_conf{
     _u32 result;
 }__attribute__((packed)) rplidar_response_set_lidar_conf_t;

sdk/include/rplidar_driver.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -39,12 +39,23 @@
 #error "The RPlidar SDK requires a C++ compiler to be built"
 #endif
 
+#ifndef DEPRECATED
+    #ifdef __GNUC__
+        #define DEPRECATED(func) func __attribute__ ((deprecated))
+    #elif defined(_MSC_VER)
+        #define DEPRECATED(func) __declspec(deprecated) func
+    #else
+        #pragma message("WARNING: You need to implement DEPRECATED for this compiler")
+        #define DEPRECATED(func) func
+    #endif
+#endif
+
 namespace rp { namespace standalone{ namespace rplidar {
 
 struct RplidarScanMode {
     _u16    id;
-    float    us_per_sample;   // microseconds per sample
-    float    max_distance;    // max distance
+    float   us_per_sample;   // microseconds per sample
+    float   max_distance;    // max distance
     _u8     ans_type;         // the answer type of the scam mode, its value should be RPLIDAR_ANS_TYPE_MEASUREMENT*
     char    scan_mode[64];    // name of scan mode, max 63 characters
 };
@@ -118,26 +129,30 @@ class RPlidarDriver {
     /// 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                     
+    ///  \param timeout       The operation timeout value (in millisecond) for the serial port communication                     
     virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;
 
     // FW1.24
-    /*
-    * @brief Get all scan modes that supported by lidar
-    */
+    /// Get all scan modes that supported by lidar
     virtual u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result checkSupportConfigCommands(bool& outSupport, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-
-    virtual u_result getScanModeCount(_u16& modeCount, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result getLidarSampleDuration(float& sampleDurationRes, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result getMaxDistance(float &maxDistance, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result getScanModeAnsType(_u8 &ansType, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
-    virtual u_result getScanModeName(char* modeName, _u16 scanModeID, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
 
-    virtual u_result getLidarConf(_u32 type, std::vector<_u8> &outputBuf, const std::vector<_u8> &reserve = std::vector<_u8>(), _u32 timeout = DEFAULT_TIMEOUT) = 0;
+    /// Get typical scan mode of lidar
+    virtual u_result getTypicalScanMode(_u16& outMode, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
 
+    /// Start scan
+    ///
+    /// \param force            Force the core system to output scan data regardless whether the scanning motor is rotating or not.
+    /// \param useTypicalScan   Use lidar's typical scan mode or use the compatibility mode (2k sps)
+    /// \param options          Scan options (please use 0)
+    /// \param outUsedScanMode  The scan mode selected by lidar
     virtual u_result startScan(bool force, bool useTypicalScan, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL) = 0;
+
+    /// Start scan in specific mode
+    ///
+    /// \param force            Force the core system to output scan data regardless whether the scanning motor is rotating or not.
+    /// \param scanMode         The scan mode id (use getAllSupportedScanModes to get supported modes)
+    /// \param options          Scan options (please use 0)
+    /// \param outUsedScanMode  The scan mode selected by lidar
     virtual u_result startScanExpress(bool force, _u16 scanMode, _u32 options = 0, RplidarScanMode* outUsedScanMode = NULL, _u32 timeout = DEFAULT_TIMEOUT) = 0;
 
     /// Retrieve the health status of the RPLIDAR
@@ -151,16 +166,15 @@ class RPlidarDriver {
     /// 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;
 
     /// Get the sample duration information of the RPLIDAR.
-    /// 
-    /// \param rateInfo      The sample duration information returned from the RPLIDAR
+    /// DEPRECATED, please use RplidarScanMode::us_per_sample
     ///
+    /// \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;
+    DEPRECATED(virtual u_result getSampleDuration_uS(rplidar_response_sample_rate_t & rateInfo, _u32 timeout = DEFAULT_TIMEOUT)) = 0;
 
     /// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 only.
     /// 
@@ -177,41 +191,43 @@ class RPlidarDriver {
     /// 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;
 
-    /// Calcuate RPLIDAR's current scanning frequency from the given scan data
+    /// Calculate RPLIDAR's current scanning frequency from the given scan data
+    /// DEPRECATED, please use getFrequency(RplidarScanMode, size_t)
+    ///
     /// 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;
+    DEPRECATED(virtual u_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode)) = 0;
+
+    /// Calculate 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 scanMode      Lidar's current scan mode
+    /// \param count         The number of sample nodes inside the given buffer
+    virtual u_result getFrequency(const RplidarScanMode& scanMode, size_t count, float & frequency) = 0;
 
     /// 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.
-
     virtual u_result startScanNormal(bool force, _u32 timeout = DEFAULT_TIMEOUT) = 0;
 
     /// Check whether the device support express mode.
-    /// 
-    /// \param support       Return the result.
+    /// DEPRECATED, please use getAllSupportedScanModes
     ///
+    /// \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;
+    DEPRECATED(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
     ///
@@ -220,6 +236,7 @@ class RPlidarDriver {
 
 
     /// Wait and grab a complete 0-360 degree scan data previously received. 
+    /// NOTE: This method only support distance less than 16.38 meters, for longer distance, please use grabScanDataHq
     /// 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
@@ -238,6 +255,25 @@ class RPlidarDriver {
     /// \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;
 
+    /// 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 grabScanDataHq(rplidar_response_measurement_node_hq_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
@@ -247,15 +283,33 @@ class RPlidarDriver {
     /// 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;
 
+    /// 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_hq_t * nodebuffer, size_t count) = 0;
 
+    /// Return received scan points even if it's not complete scan
+    ///
     /// \param nodebuffer     Buffer provided by the caller application to store the scan data
     ///
     /// \param count          Once the interface returns, this parameter will store the actual received data count.
     ///
     /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
-
     virtual u_result getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count) = 0;
-
+
+    /// Return received scan points even if it's not complete scan
+    ///
+    /// \param nodebuffer     Buffer provided by the caller application to store the scan data
+    ///
+    /// \param count          Once the interface returns, this parameter will store the actual received data count.
+    ///
+    /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
+    virtual u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count) = 0;
+
     virtual ~RPlidarDriver() {}
 protected:
     RPlidarDriver(){}

sdk/include/rplidar_protocol.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

sdk/include/rptypes.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

sdk/src/arch/linux/arch_linux.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

sdk/src/arch/linux/net_serial.cpp

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

sdk/src/arch/linux/net_serial.h

@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */