Update SDK to Version 0.12.0 (Slamtec#14)

* Register the rclcpp component

Signed-off-by: Hunter L. Allen <[email protected]>

* Update RPLIDAR SDK to version 1.12.0

Signed-off-by: Hunter L. Allen <[email protected]>

CMakeLists.txt

@@ -41,6 +41,7 @@ add_library(rplidar_composition_node SHARED
   ${RPLIDAR_SDK_SRC}
 )
 ament_target_dependencies(rplidar_composition_node ${req_deps})
+rclcpp_components_register_nodes(rplidar_composition_node "rplidar_ros::rplidar_node")
 
 # build direct ROS 1 port
 ament_auto_add_executable(rplidarNode src/node.cpp ${RPLIDAR_SDK_SRC})

sdk/README.txt

@@ -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:	1.10.0
+RPLIDAR_SDK_VERSION:	1.12.0
 Note: The SDK version may not up-to-date.
 rplidar product: http://www.slamtec.com/en/Lidar

sdk/include/rplidar.h

@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.10.0"
+#define RPLIDAR_SDK_VERSION  "1.12.0"

sdk/include/rplidar_cmd.h

@@ -109,6 +109,10 @@ typedef struct _rplidar_payload_acc_board_flag_t {
     _u32 reserved;
 } __attribute__((packed)) rplidar_payload_acc_board_flag_t;
 
+typedef struct _rplidar_payload_hq_spd_ctrl_t {
+    _u16  rpm;
+} __attribute__((packed)) rplidar_payload_hq_spd_ctrl_t;
+
 // Response
 // ------------------------------------------
 #define RPLIDAR_ANS_TYPE_DEVINFO          0x4

sdk/include/rplidar_driver.h

@@ -177,11 +177,16 @@ class RPlidarDriver {
     /// \param timeout       The operation timeout value (in millisecond) for the serial port communication
     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.
+    /// Set the RPLIDAR's motor pwm when using accessory board, currently valid for A2 and A3 only.
     /// 
     /// \param pwm           The motor pwm value would like to set 
     virtual u_result setMotorPWM(_u16 pwm) = 0;
 
+    /// Set the RPLIDAR's motor rpm, currently valid for tof lidar only.
+    /// 
+    /// \param rpm           The motor rpm value would like to set 
+    virtual u_result setLidarSpinSpeed(_u16 rpm, _u32 timeout = DEFAULT_TIMEOUT) = 0;
+
     /// Start RPLIDAR's motor when using accessory board
     virtual u_result startMotor() = 0;
 
@@ -195,6 +200,13 @@ class RPlidarDriver {
     /// \param timeout       The operation timeout value (in millisecond) for the serial port communication. 
     virtual u_result checkMotorCtrlSupport(bool & support, _u32 timeout = DEFAULT_TIMEOUT) = 0;
 
+    /// Check if the device is Tof lidar.
+    /// Note: this API is effective if and only if getDeviceInfo has been called.
+    /// 
+    /// \param support       Return the result.
+    /// \param timeout       The operation timeout value (in millisecond) for the serial port communication. 
+    virtual u_result checkIfTofLidar(bool & isTofLidar, _u32 timeout = DEFAULT_TIMEOUT) = 0;
+
     /// Calculate RPLIDAR's current scanning frequency from the given scan data
     /// DEPRECATED, please use getFrequency(RplidarScanMode, size_t)
     ///
@@ -302,13 +314,16 @@ class RPlidarDriver {
     /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
     DEPRECATED(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
+    /// 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 nodebuffer     Buffer provided by the caller application to store the scan data. This buffer must be initialized by
+    ///                       the caller.
     ///
-    /// \param count          Once the interface returns, this parameter will store the actual received data count.
+    /// \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_TIMEOUT to indicate that not even a single node can be retrieved since last call. 
+    /// The interface will return RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
+    /// The interface will return RESULT_REMAINING_DATA to indicate that the given buffer is full, but that there remains data to be read.
     virtual u_result getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count) = 0;
 
     virtual ~RPlidarDriver() {}

sdk/src/arch/macOS/net_serial.cpp

@@ -36,6 +36,7 @@
 #include "arch/macOS/net_serial.h"
 #include <termios.h>
 #include <sys/select.h>
+#include <IOKit/serial/ioss.h>
 
 namespace rp{ namespace arch{ namespace net{
 
@@ -79,16 +80,8 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
     tcgetattr(serial_fd, &oldopt);
 	bzero(&options,sizeof(struct termios));
 
-    _u32 termbaud = getTermBaudBitmap(baudrate);
+    cfsetspeed(&options, B19200);
 
-    if (termbaud == (_u32)-1) {
-        fprintf(stderr, "Baudrate %d is not supported on macOS\r\n", baudrate);
-        close();
-        return false;
-    }
-    cfsetispeed(&options, termbaud);
-    cfsetospeed(&options, termbaud);
-
 	// enable rx and tx
 	options.c_cflag |= (CLOCAL | CREAD);
 
@@ -111,19 +104,23 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
     options.c_oflag &= ~OPOST;
 
     tcflush(serial_fd,TCIFLUSH); 
-/*
-    if (fcntl(serial_fd, F_SETFL, FNDELAY))
+
+    if (tcsetattr(serial_fd, TCSANOW, &options))
     {
         close();
         return false;
     }
-*/
-    if (tcsetattr(serial_fd, TCSANOW, &options))
-    {
+
+    printf("Setting serial port baudrate...\n");
+
+    speed_t speed = (speed_t)baudrate;
+    if (ioctl(serial_fd, IOSSIOSPEED, &speed)== -1) {
+        printf("Error calling ioctl(..., IOSSIOSPEED, ...) %s - %s(%d).\n",
+               portname, strerror(errno), errno);
         close();
         return false;
     }
-    
+
     _is_serial_opened = true;
 
     //Clear the DTR bit to let the motor spin

sdk/src/hal/types.h

@@ -88,6 +88,7 @@ typedef uint32_t u_result;
 #define RESULT_OK                       0
 #define RESULT_FAIL_BIT                 0x80000000
 #define RESULT_ALREADY_DONE             0x20
+#define RESULT_REMAINING_DATA           0x21
 #define RESULT_INVALID_DATA             (0x8000 | RESULT_FAIL_BIT)
 #define RESULT_OPERATION_FAIL           (0x8001 | RESULT_FAIL_BIT)
 #define RESULT_OPERATION_TIMEOUT        (0x8002 | RESULT_FAIL_BIT)