upgrade sdk 1.9.0

[new feature] support baudrate 57600 and 1382400, support HQ scan response
[bugfix] TCP channel doesn't work
[improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package rplidar_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.9.0 (2018-08-24)
+------------------
+* Update RPLIDAR SDK to 1.9.0
+* [new feature] support baudrate 57600 and 1382400, support HQ scan response
+* [bugfix] TCP channel doesn't work
+* [improvement] Print warning messages when deprecated APIs are called; imporve angular accuracy for ultra capsuled scan points
+* Contributors: tony,kint
+
 1.7.0 (2018-07-19)
 ------------------
 * Update RPLIDAR SDK to 1.7.0

README.md

@@ -9,6 +9,8 @@ rplidar roswiki: http://wiki.ros.org/rplidar
 
 rplidar HomePage:   http://www.slamtec.com/en/Lidar
 
+rplidar SDK: https://github.com/Slamtec/rplidar_sdk
+
 rplidar Tutorial:  https://github.com/robopeak/rplidar_ros/wiki
 
 How to build rplidar ros package

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rplidar_ros</name>
-  <version>1.7.0</version>
+  <version>1.9.0</version>
   <description>The rplidar ros package, support rplidar A2/A1 and A3</description>
 
   <maintainer email="[email protected]">Slamtec ROS Maintainer</maintainer>

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:	1.7.0
+RPLIDAR_SDK_VERSION:	1.9.0
 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  "1.7.0"
+#define RPLIDAR_SDK_VERSION  "1.9.0"

sdk/include/rplidar_cmd.h

@@ -52,9 +52,11 @@
 
 #define RPLIDAR_CMD_GET_SAMPLERATE     0x59 //added in fw 1.17
 
+#define RPLIDAR_CMD_HQ_MOTOR_SPEED_CTRL      0xA8
+
 // Commands with payload and have response
 #define RPLIDAR_CMD_EXPRESS_SCAN       0x82 //added in fw 1.17
-
+#define RPLIDAR_CMD_HQ_SCAN                  0x83 //added in fw 1.24
 #define RPLIDAR_CMD_GET_LIDAR_CONF           0x84 //added in fw 1.24
 #define RPLIDAR_CMD_SET_LIDAR_CONF           0x85 //added in fw 1.24
 //add for A2 to set RPLIDAR motor pwm when using accessory board
@@ -77,12 +79,22 @@
 //for ultra express working flag
 #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_STD                 0x0001 
 #define RPLIDAR_ULTRAEXPRESS_SCAN_FLAG_HIGH_SENSITIVITY    0x0002
+
+#define RPLIDAR_HQ_SCAN_FLAG_CCW            (0x1<<0)
+#define RPLIDAR_HQ_SCAN_FLAG_RAW_ENCODER    (0x1<<1)
+#define RPLIDAR_HQ_SCAN_FLAG_RAW_DISTANCE   (0x1<<2)
+
 typedef struct _rplidar_payload_express_scan_t {
     _u8   working_mode;
     _u16  working_flags;
     _u16  param;
 } __attribute__((packed)) rplidar_payload_express_scan_t;
 
+typedef struct _rplidar_payload_hq_scan_t {
+    _u8  flag;
+    _u8   reserved[32];
+} __attribute__((packed)) rplidar_payload_hq_scan_t;
+
 typedef struct _rplidar_payload_get_scan_conf_t {
     _u32  type;
     _u8   reserved[32];
@@ -105,6 +117,8 @@ typedef struct _rplidar_payload_acc_board_flag_t {
 #define RPLIDAR_ANS_TYPE_MEASUREMENT                0x81
 // Added in FW ver 1.17
 #define RPLIDAR_ANS_TYPE_MEASUREMENT_CAPSULED       0x82
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_HQ            0x83
+
 
 // Added in FW ver 1.17
 #define RPLIDAR_ANS_TYPE_SAMPLE_RATE      0x15
@@ -128,6 +142,9 @@ typedef struct _rplidar_response_acc_board_flag_t {
 
 #define RPLIDAR_RESP_MEASUREMENT_SYNCBIT        (0x1<<0)
 #define RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT  2
+
+#define RPLIDAR_RESP_HQ_FLAG_SYNCBIT               (0x1<<0)
+
 #define RPLIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1<<0)
 #define RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1
 
@@ -156,6 +173,8 @@ typedef struct _rplidar_response_cabin_nodes_t {
 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_1               0xA
 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNC_2               0x5
 
+#define RPLIDAR_RESP_MEASUREMENT_HQ_SYNC                  0xA5
+
 #define RPLIDAR_RESP_MEASUREMENT_EXP_SYNCBIT              (0x1<<15)
 
 typedef struct _rplidar_response_capsule_measurement_nodes_t {
@@ -189,12 +208,24 @@ typedef struct rplidar_response_measurement_node_hq_t {
     _u8    flag;
 } __attribute__((packed)) rplidar_response_measurement_node_hq_t;
 
+typedef struct _rplidar_response_hq_capsule_measurement_nodes_t{
+    _u8 sync_byte;
+    _u64 time_stamp;
+    rplidar_response_measurement_node_hq_t node_hq[16];
+    _u32  crc32;
+}__attribute__((packed)) rplidar_response_hq_capsule_measurement_nodes_t;
+
+
 #   define RPLIDAR_CONF_SCAN_COMMAND_STD            0
 #   define RPLIDAR_CONF_SCAN_COMMAND_EXPRESS        1
 #   define RPLIDAR_CONF_SCAN_COMMAND_HQ             2
 #   define RPLIDAR_CONF_SCAN_COMMAND_BOOST          3
 #   define RPLIDAR_CONF_SCAN_COMMAND_STABILITY      4
 #   define RPLIDAR_CONF_SCAN_COMMAND_SENSITIVITY    5
+
+#define RPLIDAR_CONF_ANGLE_RANGE                    0x00000000
+#define RPLIDAR_CONF_DESIRED_ROT_FREQ               0x00000001
+#define RPLIDAR_CONF_SCAN_COMMAND_BITMAP            0x00000002
 #define RPLIDAR_CONF_MIN_ROT_FREQ                   0x00000004
 #define RPLIDAR_CONF_MAX_ROT_FREQ                   0x00000005
 #define RPLIDAR_CONF_MAX_DISTANCE                   0x00000060

sdk/include/rplidar_driver.h

@@ -253,7 +253,7 @@ class RPlidarDriver {
     /// 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 grabScanData(rplidar_response_measurement_node_t * nodebuffer, size_t & count, _u32 timeout = DEFAULT_TIMEOUT) = 0;
+    DEPRECATED(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:
@@ -281,7 +281,7 @@ class RPlidarDriver {
     /// \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_t * nodebuffer, size_t count) = 0;
+    DEPRECATED(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.
     ///
@@ -299,7 +299,7 @@ class RPlidarDriver {
     /// \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;
+    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
     ///