RPLIDAR SDK v1.10.0

Slamtec · Feb 21, 2019 · dd82dee · dd82dee
1 parent 9004634
commit dd82dee
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diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,4 @@
 .vs
 *.sdf
+sdk/obj
+**/ipch
diff --git a/README.md b/README.md
@@ -21,6 +21,7 @@ The demo applications are licensed under GPLv3 license.
 Release Notes
 -------------
 
+* [v1.10.0](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.10.0.md)
 * [v1.9.1](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.9.1.md)
 * [v1.9.0](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.9.0.md)
 * [v1.8.1](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.8.1.md)

diff --git a/docs/ReleaseNote.v1.10.0.md b/docs/ReleaseNote.v1.10.0.md
@@ -0,0 +1,3 @@
+RPLIDAR Public SDK v1.10.0 Release Note
+======================================
+- [new feature] support Rplidar S1
diff --git a/sdk/app/frame_grabber/AboutDlg.cpp b/sdk/app/frame_grabber/AboutDlg.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/AboutDlg.h b/sdk/app/frame_grabber/AboutDlg.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/MainFrm.cpp b/sdk/app/frame_grabber/MainFrm.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/MainFrm.h b/sdk/app/frame_grabber/MainFrm.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/SerialSelDlg.cpp b/sdk/app/frame_grabber/SerialSelDlg.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/SerialSelDlg.h b/sdk/app/frame_grabber/SerialSelDlg.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/drvlogic/common.h b/sdk/app/frame_grabber/drvlogic/common.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/drvlogic/lidarmgr.cpp b/sdk/app/frame_grabber/drvlogic/lidarmgr.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/drvlogic/lidarmgr.h b/sdk/app/frame_grabber/drvlogic/lidarmgr.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/framegrabber.cpp b/sdk/app/frame_grabber/framegrabber.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/framegrabber.rc b/sdk/app/frame_grabber/framegrabber.rc
@@ -131,7 +131,7 @@ CAPTION "About"
 FONT 8, "MS Shell Dlg", 0, 0, 0x0
 BEGIN
     DEFPUSHBUTTON   "OK",IDOK,176,73,50,14
-    LTEXT           "RPLIDAR(R) System Win32 Demo Application\n\nVersion: 1.9.0\n\nCopyright(C) 2009 - 2013 RoboPeak Team\nCopyright(C) 2013 - 2018 Shanghai Slamtec Co. Ltd.\nhttp://www.slamtec.com",IDC_STATIC,45,14,172,57
+    LTEXT           "RPLIDAR(R) System Win32 Demo Application\n\nVersion: 1.10.0\n\nCopyright(C) 2009 - 2013 RoboPeak Team\nCopyright(C) 2013 - 2019 Shanghai Slamtec Co. Ltd.\nhttp://www.slamtec.com",IDC_STATIC,45,14,172,57
     ICON            IDR_MAINFRAME,IDC_STATIC,17,15,20,20
 END
 
@@ -284,8 +284,8 @@ END
 //
 
 VS_VERSION_INFO VERSIONINFO
- FILEVERSION 1,9,0,0
- PRODUCTVERSION 1,9,0,0
+ FILEVERSION 1,10,0,0
+ PRODUCTVERSION 1,10,0,0
  FILEFLAGSMASK 0x3fL
 #ifdef _DEBUG
  FILEFLAGS 0x1L
@@ -301,12 +301,12 @@ BEGIN
         BLOCK "040904b0"
         BEGIN
             VALUE "FileDescription", "framegrabber Module"
-            VALUE "FileVersion", "1.9.0.0"
+            VALUE "FileVersion", "1.10.0.0"
             VALUE "InternalName", "framegrabber"
             VALUE "LegalCopyright", "Copyright 2012"
             VALUE "OriginalFilename", "framegrabber.exe"
             VALUE "ProductName", "framegrabber Module"
-            VALUE "ProductVersion", "1.9.0.0"
+            VALUE "ProductVersion", "1.10.0.0"
         END
     END
     BLOCK "VarFileInfo"

diff --git a/sdk/app/frame_grabber/scanView.cpp b/sdk/app/frame_grabber/scanView.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/scanView.h b/sdk/app/frame_grabber/scanView.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/stdafx.cpp b/sdk/app/frame_grabber/stdafx.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/frame_grabber/stdafx.h b/sdk/app/frame_grabber/stdafx.h
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/simple_grabber/main.cpp b/sdk/app/simple_grabber/main.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/app/ultra_simple/main.cpp b/sdk/app/ultra_simple/main.cpp
@@ -4,7 +4,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/sdk/Makefile b/sdk/sdk/Makefile
@@ -1,19 +1,34 @@
 #/*
-# * Copyright (C) 2014  RoboPeak
-# * Copyright (C) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+# *  RPLIDAR SDK
 # *
-# * This program is free software: you can redistribute it and/or modify
-# * it under the terms of the GNU General Public License as published by
-# * the Free Software Foundation, either version 3 of the License, or
-# * (at your option) any later version.
+# *  Copyright (c) 2009 - 2014 RoboPeak Team
+# *  http://www.robopeak.com
+# *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+# *  http://www.slamtec.com
 # *
-# * This program is distributed in the hope that it will be useful,
-# * but WITHOUT ANY WARRANTY; without even the implied warranty of
-# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# * GNU General Public License for more details.
+# */
+#/*
+# * Redistribution and use in source and binary forms, with or without
+# * modification, are permitted provided that the following conditions are met:
+# *
+# * 1. Redistributions of source code must retain the above copyright notice,
+# *    this list of conditions and the following disclaimer.
+# *
+# * 2. Redistributions in binary form must reproduce the above copyright notice,
+# *    this list of conditions and the following disclaimer in the documentation
+# *    and/or other materials provided with the distribution.
 # *
-# * You should have received a copy of the GNU General Public License
-# * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+# * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 # *
 # */
 #

diff --git a/sdk/sdk/include/rplidar.h b/sdk/sdk/include/rplidar.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.9.0"
+#define RPLIDAR_SDK_VERSION  "1.10.0"
diff --git a/sdk/sdk/include/rplidar_cmd.h b/sdk/sdk/include/rplidar_cmd.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -127,7 +127,7 @@ typedef struct _rplidar_payload_acc_board_flag_t {
 //added in FW ver 1.24
 #define RPLIDAR_ANS_TYPE_GET_LIDAR_CONF     0x20
 #define RPLIDAR_ANS_TYPE_SET_LIDAR_CONF     0x21
-
+#define RPLIDAR_ANS_TYPE_MEASUREMENT_DENSE_CAPSULED        0x85
 #define RPLIDAR_ANS_TYPE_ACC_BOARD_FLAG   0xFF
 
 #define RPLIDAR_RESP_ACC_BOARD_FLAG_MOTOR_CTRL_SUPPORT_MASK      (0x1)
@@ -183,6 +183,18 @@ typedef struct _rplidar_response_capsule_measurement_nodes_t {
     _u16                            start_angle_sync_q6;
     rplidar_response_cabin_nodes_t  cabins[16];
 } __attribute__((packed)) rplidar_response_capsule_measurement_nodes_t;
+
+typedef struct _rplidar_response_dense_cabin_nodes_t {
+    _u16   distance; 
+} __attribute__((packed)) rplidar_response_dense_cabin_nodes_t;
+
+typedef struct _rplidar_response_dense_capsule_measurement_nodes_t {
+    _u8                             s_checksum_1; // see [s_checksum_1]
+    _u8                             s_checksum_2; // see [s_checksum_1]
+    _u16                            start_angle_sync_q6;
+    rplidar_response_dense_cabin_nodes_t  cabins[40];
+} __attribute__((packed)) rplidar_response_dense_capsule_measurement_nodes_t;
+
 // ext1 : x2 boost mode
 
 #define RPLIDAR_RESP_MEASUREMENT_EXP_ULTRA_MAJOR_BITS     12

diff --git a/sdk/sdk/include/rplidar_driver.h b/sdk/sdk/include/rplidar_driver.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */
@@ -132,6 +132,7 @@ class RPlidarDriver {
     ///  \param timeout       The operation timeout value (in millisecond) for the serial port communication                     
     virtual u_result reset(_u32 timeout = DEFAULT_TIMEOUT) = 0;
 
+    virtual u_result clearNetSerialRxCache() = 0;
     // FW1.24
     /// Get all scan modes that supported by lidar
     virtual u_result getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;

diff --git a/sdk/sdk/include/rplidar_protocol.h b/sdk/sdk/include/rplidar_protocol.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/sdk/include/rptypes.h b/sdk/sdk/include/rptypes.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/sdk/src/arch/linux/net_socket.cpp b/sdk/sdk/src/arch/linux/net_socket.cpp
@@ -1,35 +1,9 @@
 /*
- *  RPLIDAR SDK
- *
- *  Copyright (c) 2009 - 2014 RoboPeak Team
- *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
- *  http://www.slamtec.com
- *
- */
-/*
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- *    this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
- * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
- * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
- * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
- * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
- * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
- * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
- * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
- * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *  RoboPeak Project
+ *  HAL Layer - Socket Interface
+ *  Copyright 2009 - 2013 RoboPeak Project
  *
+ *  POXIS Implementation
  */
 
 

diff --git a/sdk/sdk/src/arch/win32/arch_win32.h b/sdk/sdk/src/arch/win32/arch_win32.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/sdk/src/arch/win32/net_serial.cpp b/sdk/sdk/src/arch/win32/net_serial.cpp
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */

diff --git a/sdk/sdk/src/arch/win32/net_serial.h b/sdk/sdk/src/arch/win32/net_serial.h
@@ -3,7 +3,7 @@
  *
  *  Copyright (c) 2009 - 2014 RoboPeak Team
  *  http://www.robopeak.com
- *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
  *  http://www.slamtec.com
  *
  */