38 #define PropertyBuilderByName(type, name, access_permission)\ 42 inline void set##name(type v) {\ 45 inline type get##name() {\ 50 #if !defined(_countof) 51 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) 55 #define M_PI 3.1415926 58 #define SUNNOISEINTENSITY 0xff 59 #define GLASSNOISEINTENSITY 0xfe 61 #define LIDAR_CMD_STOP 0x65 62 #define LIDAR_CMD_SCAN 0x60 63 #define LIDAR_CMD_FORCE_SCAN 0x61 64 #define LIDAR_CMD_RESET 0x80 65 #define LIDAR_CMD_FORCE_STOP 0x00 66 #define LIDAR_CMD_GET_EAI 0x55 67 #define LIDAR_CMD_GET_DEVICE_INFO 0x90 68 #define LIDAR_CMD_GET_DEVICE_HEALTH 0x92 69 #define LIDAR_ANS_TYPE_DEVINFO 0x4 70 #define LIDAR_ANS_TYPE_DEVHEALTH 0x6 71 #define LIDAR_CMD_SYNC_BYTE 0xA5 72 #define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80 73 #define LIDAR_ANS_SYNC_BYTE1 0xA5 74 #define LIDAR_ANS_SYNC_BYTE2 0x5A 75 #define LIDAR_ANS_TYPE_MEASUREMENT 0x81 76 #define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) 77 #define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 78 #define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) 79 #define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 80 #define LIDAR_RESP_MEASUREMENT_DISTANCE_SHIFT 2 81 #define LIDAR_RESP_MEASUREMENT_ANGLE_SAMPLE_SHIFT 8 83 #define LIDAR_CMD_RUN_POSITIVE 0x06 84 #define LIDAR_CMD_RUN_INVERSION 0x07 85 #define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09 86 #define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A 87 #define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B 88 #define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C 89 #define LIDAR_CMD_GET_AIMSPEED 0x0D 91 #define LIDAR_CMD_SET_SAMPLING_RATE 0xD0 92 #define LIDAR_CMD_GET_SAMPLING_RATE 0xD1 93 #define LIDAR_STATUS_OK 0x0 94 #define LIDAR_STATUS_WARNING 0x1 95 #define LIDAR_STATUS_ERROR 0x2 97 #define LIDAR_CMD_ENABLE_LOW_POWER 0x01 98 #define LIDAR_CMD_DISABLE_LOW_POWER 0x02 99 #define LIDAR_CMD_STATE_MODEL_MOTOR 0x05 100 #define LIDAR_CMD_ENABLE_CONST_FREQ 0x0E 101 #define LIDAR_CMD_DISABLE_CONST_FREQ 0x0F 103 #define LIDAR_CMD_GET_OFFSET_ANGLE 0x93 104 #define LIDAR_CMD_SAVE_SET_EXPOSURE 0x94 105 #define LIDAR_CMD_SET_LOW_EXPOSURE 0x95 106 #define LIDAR_CMD_ADD_EXPOSURE 0x96 107 #define LIDAR_CMD_DIS_EXPOSURE 0x97 110 #define PackageSampleMaxLngth 0x100 116 #define Node_Default_Quality (10) 118 #define Node_NotSync 2 119 #define PackagePaidBytes 10 121 #define NORMAL_PACKAGE_SIZE 90 122 #define INTENSITY_NORMAL_PACKAGE_SIZE 130 137 uint16_t sync_quality;
144 } __attribute__((packed)) ;
147 uint8_t PakageSampleQuality;
148 uint16_t PakageSampleDistance;
149 } __attribute__((packed));
152 uint16_t package_Head;
154 uint8_t nowPackageNum;
155 uint16_t packageFirstSampleAngle;
156 uint16_t packageLastSampleAngle;
159 } __attribute__((packed)) ;
162 uint16_t package_Head;
164 uint8_t nowPackageNum;
165 uint16_t packageFirstSampleAngle;
166 uint16_t packageLastSampleAngle;
168 uint16_t packageSampleDistance[PackageSampleMaxLngth];
169 } __attribute__((packed)) ;
176 uint8_t serialnum[16];
177 } __attribute__((packed)) ;
182 } __attribute__((packed)) ;
186 } __attribute__((packed)) ;
190 } __attribute__((packed)) ;
194 } __attribute__((packed)) ;
198 } __attribute__((packed)) ;
202 } __attribute__((packed));
206 } __attribute__((packed)) ;
210 } __attribute__((packed)) ;
214 } __attribute__((packed)) ;
221 } __attribute__((packed)) ;
229 } __attribute__((packed));
243 this->angle = data.
angle;
244 this->range = data.
range;
251 uint8_t W3F4CusMajor_W4F0CusMinor;
252 uint8_t W4F3Model_W3F0DebugInfTranVer;
253 uint8_t W3F4HardwareVer_W4F0FirewareMajor;
254 uint8_t W3F4BoradHardVer_W4F0Moth;
255 uint8_t W2F5Output2K4K5K_W5F0Date;
256 uint8_t W1F6GNoise_W1F5SNoise_W1F4MotorCtl_W4F0SnYear;
259 uint8_t MaxDebugIndex;
317 this->points = data.
points;
318 this->stamp = data.
stamp;
319 this->config = data.
config;
uint8_t rate
采样频率
Definition: ydlidar_protocol.h:185
uint8_t scan_frequence
时间戳
Definition: ydlidar_protocol.h:141
float min_angle
Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDL...
Definition: ydlidar_protocol.h:265
uint8_t status
健康状体
Definition: ydlidar_protocol.h:180
Definition: ydlidar_protocol.h:216
Definition: ydlidar_protocol.h:179
uint16_t error_code
错误代码
Definition: ydlidar_protocol.h:181
uint8_t debug_info[12]
特定版本此值才有效,无效值是0
Definition: ydlidar_protocol.h:142
Definition: ydlidar_protocol.h:235
A struct for returning configuration from the YDLIDAR.
Definition: ydlidar_protocol.h:263
Definition: ydlidar_protocol.h:309
Definition: ydlidar_protocol.h:151
Definition: ydlidar_protocol.h:200
uint8_t enable
掉电保护状态
Definition: ydlidar_protocol.h:201
Definition: ydlidar_protocol.h:250
uint64_t stamp
当前测距点距离
Definition: ydlidar_protocol.h:140
uint8_t exposure
低光功率模式
Definition: ydlidar_protocol.h:197
float range
lidar range
Definition: ydlidar_protocol.h:239
float intensity
lidar intensity
Definition: ydlidar_protocol.h:241
Definition: ydlidar_protocol.h:172
Definition: ydlidar_protocol.h:184
float time_increment
Scan resoltuion [s].
Definition: ydlidar_protocol.h:271
float scan_time
Time between scans.
Definition: ydlidar_protocol.h:273
Definition: ydlidar_protocol.h:212
float max_angle
Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLI...
Definition: ydlidar_protocol.h:267
float max_range
Maximum range [m].
Definition: ydlidar_protocol.h:277
std::vector< LaserPoint > points
Array of lidar points.
Definition: ydlidar_protocol.h:313
uint16_t firmware_version
固件版本号
Definition: ydlidar_protocol.h:174
uint16_t distance_q2
测距点角度
Definition: ydlidar_protocol.h:139
uint16_t angle_q6_checkbit
信号质量
Definition: ydlidar_protocol.h:138
Definition: ydlidar_protocol.h:196
uint8_t model
雷达型号
Definition: ydlidar_protocol.h:173
uint8_t hardware_version
硬件版本号
Definition: ydlidar_protocol.h:175
Definition: ydlidar_protocol.h:204
float min_range
Minimum range [m].
Definition: ydlidar_protocol.h:275
float angle
lidar angle
Definition: ydlidar_protocol.h:237
Definition: ydlidar_protocol.h:192
uint64_t stamp
System time when first range was measured in nanoseconds.
Definition: ydlidar_protocol.h:311
uint32_t frequency
扫描频率
Definition: ydlidar_protocol.h:189
LaserConfig config
Configuration of scan.
Definition: ydlidar_protocol.h:315
float angle_increment
angle resoltuion [rad]
Definition: ydlidar_protocol.h:269
Definition: ydlidar_protocol.h:135
Definition: ydlidar_protocol.h:188
Definition: ydlidar_protocol.h:146
Definition: ydlidar_protocol.h:208
Definition: ydlidar_protocol.h:161