Struct rplidar_driver::RplidarDevice

pub struct RplidarDevice<T: SerialPort> { /* private fields */ }

Rplidar device driver

Implementations

impl RplidarDevice<TTYPort>

pub fn open_native_port(port_name: &str) -> Result<Self>

Construct a new RplidarDevice from a serial port address

You should use the open_port method if you want this boxed

pub fn open_port(port_name: &str) -> Result<Box<dyn RplidarDriver>>

Construct a new RplidarDriver from a serial port address

impl<T> RplidarDevice<T> where
    T: SerialPort, 

pub fn new(channel: Channel<RplidarHostProtocol, T>) -> Self

Construct a new RplidarDevice with channel

Example

let mut serial_port = serialport::open(serial_port_name)?;
let channel = Channel::new(RplidarHostProtocol::new(), serial_port);
let rplidar_device = RplidarDevice::new(channel);

pub fn with_stream(port: T) -> Self

Construct a new RplidarDevice with stream

Example

let mut serial_port = serialport::open(serial_port_name)?;
let rplidar_device = RplidarDevice::with_stream(serial_port);

Trait Implementations

impl<T: SerialPort> Drop for RplidarDevice<T>

fn drop(&mut self)

Executes the destructor for this type.

impl<T> RplidarDriver for RplidarDevice<T> where
    T: SerialPort, 

fn get_device_info(&mut self) -> Result<RplidarResponseDeviceInfo>

get device info of the RPLIDAR

fn get_device_info_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<RplidarResponseDeviceInfo>

get device info of the RPLIDAR with timeout

fn stop(&mut self) -> Result<()>

Stop lidar

fn core_reset(&mut self) -> Result<()>

Reset RPLIDAR core

fn set_motor_pwm(&mut self, pwm: u16) -> Result<()>

Set motor PWM (via accessory board)

fn stop_motor(&mut self) -> Result<()>

Stop motor

fn start_motor(&mut self) -> Result<()>

Start motor

fn get_typical_scan_mode(&mut self) -> Result<u16>

get typical scan mode of target LIDAR

fn get_typical_scan_mode_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<u16>

get typical scan mode of target LIDAR with timeout

fn get_all_supported_scan_modes(&mut self) -> Result<Vec<ScanMode>>

get all supported scan modes supported by the LIDAR

fn get_all_supported_scan_modes_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<Vec<ScanMode>>

get all supported scan modes supported by the LIDAR with timeout

fn start_scan(&mut self) -> Result<ScanMode>

start scan

fn start_scan_with_timeout(&mut self, timeout: Duration) -> Result<ScanMode>

start scan with timeout

fn start_scan_with_options(&mut self, options: &ScanOptions) -> Result<ScanMode>

start scan with options

fn start_scan_with_options_and_timeout(
    &mut self,
    options: &ScanOptions,
    timeout: Duration
) -> Result<ScanMode>

start scan with options and non-default timeout

fn grab_scan_point(&mut self) -> Result<ScanPoint>

read scan point

fn grab_scan_point_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<ScanPoint>

read scan point with timeout

fn grab_scan(&mut self) -> Result<Vec<ScanPoint>>

read scan frame

fn grab_scan_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<Vec<ScanPoint>>

read scan frame

fn get_device_health(&mut self) -> Result<Health>

Get LIDAR health information

fn get_device_health_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<Health>

Get LIDAR health information

fn check_motor_ctrl_support(&mut self) -> Result<bool>

Check if the connected LIDAR supports motor control

fn check_motor_ctrl_support_with_timeout(
    &mut self,
    timeout: Duration
) -> Result<bool>

Check if the connected LIDAR supports motor control with timeout