rplidar_read :: Quanser C Functions

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rplidar_read

Returns information about the RPLidar.

Description

The rplidar_read function returns information about the RPLidar ranging sensor, such as the hardware and firmware version numbers and the model number.

Prototype

t_error
rplidar_get_device_information(t_ranging_sensor sensor, t_ranging_sensor_information* information);

Parameters

t_ranging_sensor sensor

A handle to the sensor, as returned by rplidar_open.

t_ranging_sensor_information * information

A pointer to a variable to receive the sensor device information. The returned structure has the following fields:

Data Type	Field	Description
t_version	hardware_version	The hardware version.
t_version	firmware_version	The firmware version.
t_uint16	model	The model number of the device.

Return value

Returns zero on success. Otherwise a negative error code is returned. Error codes are defined in quanser_errors.h. A suitable error message may be retrieved using msg_get_error_message.

Error codes

QERR_INVALID_ARGUMENT

One of the arguments is invalid.

Requirements

Include Files	Libraries
quanser_ranging_sensor.h	quanser_devices.lib;quanser_communications.lib;quanser_runtime.lib;quanser_common.lib

Examples

t_ranging_sensor lidar;
t_error result = 
    rplidar_open("serial-cpu://localhost:1?baud='256000',word='8',parity='none',stop='1',flow='none',dsr='on'", RANGING_DISTANCE_LONG, &lidar);
if (result == 0) {
    t_ranging_sensor_information information;
    
    result = rplidar_get_device_information(lidar, &information);
    ...
    rplidar_close(lidar);
} else {
    TCHAR message[512];
    msg_get_error_message(NULL, result, message, sizeof(message));
    _tprintf(_T("Failed to open RPLidar. %s (error %d)\n"), message, -result);
}