memset(descbuf, 0, sizeof(descbuf)) // Alocate memory if ( ReadAllRS232Port(&pRPLIDAR-> RS232Port, descbuf, sizeof(descbuf)) != EXIT_SUCCESS) Printf( 'Error writing data to a RPLIDAR. Printf( 'A RPLIDAR is not responding correctly. Not enough, wait a little mSleep(checkingperiod) #SLAMTEC ROBOTSTUDIO SAVE DATA FULL#Ĭheck if there is enough to get a full payload read if (count >= sizeof(pRPLIDAR-> esdata_prev)) Success - Something is there // If anything is on the input buffer, wait until there is enough Wait for something to show up on the input buffer on port if (! WaitForRS232Port(&pRPLIDAR-> RS232Port, timeout, checkingperiod)) RS232PORT* pRS232Port = &pRPLIDAR-> RS232Port #SLAMTEC ROBOTSTUDIO SAVE DATA SERIAL#Ĭheck it every 5 ms // Note on Checking Period Value: // Waiting on 82 bytes in lidar payload // 10 bits per byte for the serial communication // 820 bits / 256000 baud = 0.0032s = 3.2ms int checkingperiod = 5 Keep anticipating a port read buffer for 1 second int timeout = 1500 if ((descbuf != 0x54) || (descbuf != 0x40) || (descbuf != MEASUREMENT_CAPSULED_RESPONSE_RPLIDAR)) Quick check of the response descriptor. Failure - After waiting for an input buffer, it wasn't there printf( ' : Failed to detect response on the input FIFO buffer. If ( ReadAllRS232Port(&pRPLIDAR-> RS232Port, pRPLIDAR-> esdata_prev, sizeof(pRPLIDAR-> esdata_prev)) != EXIT_SUCCESS) memset(pRPLIDAR-> esdata_prev, 0, sizeof(pRPLIDAR-> esdata_prev)) Receive the first data response (2 data responses needed for angles computation.). sync = (pRPLIDAR-> esdata_prev & 0xF0)|(pRPLIDAR-> esdata_prev> 4) Failure printf( 'A RPLIDAR is not responding correctly. ') ĬhkSum = (pRPLIDAR-> esdata_prev esdata_prev & 0x0F) Printf( 'A RPLIDAR is not responding correctly : Bad sync1 or sync2.

Slamtec robotstudio lidar save data