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@wayneparrott/rplidar-driver

Index

Enumerations

Classes

Type aliases

Variables

Functions

Object literals

Type aliases

DeviceHealth

DeviceHealth: object

device health status

Type declaration

  • errorCode: number

    errorCode is populated when status==error

  • status: number

    general status code: 0=good, 1=warning, 2=error

  • statusMessage: string

    English description of status

DeviceInfo

DeviceInfo: object

RPLidar device details

Type declaration

  • firmware_major: number
  • firmware_minor: number
  • hardware: number
  • model: number
  • serial_number: string

LIDAR_CONF_CMD

LIDAR_CONF_CMD: object

Type declaration

  • code: number
  • payloadSize: number

SampleRates

SampleRates: object

Range sampling rates for the device's standard and express scanning modes.

Type declaration

  • express: number
  • standard: number

ScanMode

ScanMode: object

Scan mode info supported by the lidar device.

Type declaration

  • id: number
  • isDefault: boolean
  • maxDistance: number
  • name: string
  • sampleTime: number

ScanSample

ScanSample: object

A single scan data element, i.e., a sample.

Type declaration

  • angle: number
  • distance: number
  • quality: number
  • start: boolean

Variables

Const COMMANDS

COMMANDS: object = _.mapValues({STOP: 0x25,RESET: 0x40,SCAN: 0x20,EXPRESS_SCAN: 0x82,FORCE_SCAN: 0x21,GET_INFO: 0x50,GET_HEALTH: 0x52,GET_SAMPLERATE: 0x59,GET_LIDAR_CONF: 0x84,GET_ACC_BOARD_FLAG: 0xFF,SET_MOTOR_PWM: 0xF0,}, command => Buffer.from([START_FLAG, command]))

Type declaration

Const DEFAULT_BAUD_RATE

DEFAULT_BAUD_RATE: 115200 = 115200

Const DEFAULT_MOTOR_PWM

DEFAULT_MOTOR_PWM: 660 = 660

Const DEFAULT_SERIALPORT_PATH

DEFAULT_SERIALPORT_PATH: "COM3" | "/dev/cu.SLAB_USBtoUART" | "/dev/ttyUSB0" = (() => {switch (process.platform) {case "win32": return 'COM3';case "darwin": return '/dev/cu.SLAB_USBtoUART';default: return "/dev/ttyUSB0";}})()

Const HEALTH_STATUSES

HEALTH_STATUSES: Map<any, any> = new Map()

Const MAX_MOTOR_PWM

MAX_MOTOR_PWM: 1023 = 1023

Const RESPONSE_HEADER_LENGTH

RESPONSE_HEADER_LENGTH: 7 = 7

Const SCAN_MODES

SCAN_MODES: ScanMode[] = []

Scan modes supported by the lidar device.

Const START_FLAG

START_FLAG: 165 = 165

1st byte of all requests and responses to rplidar device

Functions

block

  • block(time: any): void

isBootUpMessage

  • isBootUpMessage(buffer: Buffer): boolean

isHealthCheckResponse

  • isHealthCheckResponse(buffer: Buffer): boolean

isInfoCheckResponse

  • isInfoCheckResponse(buffer: Buffer): boolean

isLidarConfMessage

  • isLidarConfMessage(buffer: Buffer): boolean

isSampleRatesResponse

  • isSampleRatesResponse(buffer: Buffer): boolean

isScanStart

  • isScanStart(buffer: Buffer): boolean

parseInfo

  • parseInfo(buffer: any): object

  • Parameters

    • buffer: any

    Returns object

    • firmware_major: any
    • firmware_minor: any
    • hardware: any
    • model: any
    • serial_number: string

parseLidarConfig

  • parseLidarConfig(data: Buffer): any

parseSampleRates

parseScan

wait

  • wait(time: any): Promise<void>

Object literals

Const LIDAR_CONF_CMDS

LIDAR_CONF_CMDS: object

RPLIDAR_CONF_SCAN_MODE_COUNT

RPLIDAR_CONF_SCAN_MODE_COUNT: object

code

code: number = 112

payloadSize

payloadSize: number = 0

RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE

RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE: object

code

code: number = 116

payloadSize

payloadSize: number = 2

RPLIDAR_CONF_SCAN_MODE_NAME

RPLIDAR_CONF_SCAN_MODE_NAME: object

code

code: number = 127

payloadSize

payloadSize: number = 2

RPLIDAR_CONF_SCAN_MODE_TYPICAL

RPLIDAR_CONF_SCAN_MODE_TYPICAL: object

code

code: number = 124

payloadSize

payloadSize: number = 0

RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE

RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE: object

code

code: number = 113

payloadSize

payloadSize: number = 4

Const MOTOR_STATES

MOTOR_STATES: object

OFF

OFF: number = 0

ON

ON: number = 1

Const RPLIDAR_STATES

RPLIDAR_STATES: object

IDLE

IDLE: number = 1

PROCESSING

PROCESSING: number = 2

SCANNING

SCANNING: number = 3

STOP

STOP: number = 4

UNKNOWN

UNKNOWN: number = 0

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