Struct rplidar_drv::RplidarDevice

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

Rplidar device driver

Implementations

impl<T: ?Sized> RplidarDevice<T>where
    T: Read + Write,

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

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(stream: Box<T>) -> RplidarDevice<T>

Construct a new RplidarDevice with stream

Example

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

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

get device info of the RPLIDAR

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

get device info of the RPLIDAR with timeout

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

Stop lidar

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

Reset RPLIDAR core

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

Set motor PWM (via accessory board)

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

Stop motor

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

Start motor

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

get typical scan mode of target LIDAR

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

get typical scan mode of target LIDAR with timeout

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

get all supported scan modes supported by the LIDAR

pub 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

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

start scan

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

start scan with timeout

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

start scan with options

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

start scan with options and non-default timeout

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

read scan point

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

read scan point with timeout

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

read scan frame

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

read scan frame

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

Get LIDAR health information

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

Get LIDAR health information

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

Check if the connected LIDAR supports motor control

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

Check if the connected LIDAR supports motor control with timeout

Trait Implementations

impl<T: Debug + ?Sized> Debug for RplidarDevice<T>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.