RPLIDAR SDK 분석

RPLIDAR 프로젝트들

RPLIDAR 프로토콜

http://bucket.download.slamtec.com/ccb3c2fc1e66bb00bd4370e208b670217c8b55fa/LR001_SLAMTEC_rplidar_protocol_v2.1_en.pdf

SCAN OPERATION

SendRequest RPLIDAR_CMD_GET_ACC_BOARD_FLAG
[16:36:20 INF] SendRequest -- command : RPLIDAR_CMD_GET_ACC_BOARD_FLAG
[16:36:20 INF] SendRequest -- packetBytes : A5 FF
[16:36:20 INF] SendRequest -- packetBytes : 02 00 00 58
[16:36:20 INF] Read -- data : A5 5A 04 00 00 00 FF
[16:36:20 INF] ReadResponseDescriptor -- bytes : A5 5A 04 00 00 00 FF
[16:36:20 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 4, "SendMode": "SingleRequestSingleResponse", "DataType": "255", "$type": "ResponseDescriptor"}
[16:36:20 INF] Read -- data : 01 00 00 00
[16:36:20 INF] checkMotorCtrlSupport bMotorControl=True
SendRequest RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:20 INF] SendRequest -- command : RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:20 INF] SendRequest -- packetBytes : A5 F0
[16:36:20 INF] SendRequest -- packetBytes : 02 00 00 57
[16:36:21 INF] ReadResponseDescriptor -- bytes : 00 00 00 00 00 00 00
RESULT_INVALID_ANS_TYPE
[16:36:21 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 0, "SendMode": "SingleRequestSingleResponse", "DataType": "0", "$type": "ResponseDescriptor"}
[16:36:21 INF] Read -- data : 
0x61e0 스레드가 종료되었습니다(코드: 0 (0x0)).
SendRequest GetInfo
[16:36:22 INF] SendRequest -- command : GetInfo
[16:36:22 INF] SendRequest -- packetBytes : A5 50
[16:36:22 INF] Read -- data : A5 5A 14 00 00 00 04
[16:36:22 INF] ReadResponseDescriptor -- bytes : A5 5A 14 00 00 00 04
[16:36:22 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 20, "SendMode": "SingleRequestSingleResponse", "DataType": "GetInfo", "$type": "ResponseDescriptor"}
[16:36:22 INF] Read -- data : 28 19 01 05 F1 95 9A 87 C5 E3 92 D3 A5 E4 9E F0 61 40 3D 65
SendRequest GetHealth
[16:36:22 INF] SendRequest -- command : GetHealth
[16:36:22 INF] SendRequest -- packetBytes : A5 52
[16:36:22 INF] Read -- data : A5 5A 03 00 00 00 06
[16:36:22 INF] ReadResponseDescriptor -- bytes : A5 5A 03 00 00 00 06
[16:36:22 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 3, "SendMode": "SingleRequestSingleResponse", "DataType": "GetHealth", "$type": "ResponseDescriptor"}
[16:36:22 INF] Read -- data : 00 00 00
SendRequest RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:22 INF] SendRequest -- command : RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:22 INF] SendRequest -- packetBytes : A5 F0
[16:36:22 INF] SendRequest -- packetBytes : 02 94 02 C1
[16:36:23 INF] ReadResponseDescriptor -- bytes : 00 00 00 00 00 00 00
RESULT_INVALID_ANS_TYPE
[16:36:23 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 0, "SendMode": "SingleRequestSingleResponse", "DataType": "0", "$type": "ResponseDescriptor"}
[16:36:23 INF] Read -- data : 
0xb14 스레드가 종료되었습니다(코드: 0 (0x0)).
SendRequest Scan
[16:36:24 INF] SendRequest -- command : Scan
[16:36:24 INF] SendRequest -- packetBytes : A5 20
[16:36:24 INF] Read -- data : A5 5A 05 00 00 40 81
[16:36:24 INF] ReadResponseDescriptor -- bytes : A5 5A 05 00 00 40 81
[16:36:24 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 5, "SendMode": "SingleRequestMultipleResponse", "DataType": "Scan", "$type": "ResponseDescriptor"}
0x553c 스레드가 종료되었습니다(코드: 0 (0x0)).
SendRequest Stop
[16:36:28 INF] SendRequest -- command : Stop
[16:36:28 INF] SendRequest -- packetBytes : A5 25
0x36f4 스레드가 종료되었습니다(코드: 0 (0x0)).
SendRequest RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:28 INF] SendRequest -- command : RPLIDAR_CMD_SET_MOTOR_PWM
[16:36:28 INF] SendRequest -- packetBytes : A5 F0
[16:36:28 INF] SendRequest -- packetBytes : 02 00 00 57
[16:36:29 INF] ReadResponseDescriptor -- bytes : 00 00 00 00 00 00 00
RESULT_INVALID_ANS_TYPE
[16:36:29 INF] ReadResponseDescriptor -- responseDescriptor : {"DataResponseLength": 0, "SendMode": "SingleRequestSingleResponse", "DataType": "0", "$type": "ResponseDescriptor"}
[16:36:29 INF] Read -- data : 
0x7a8c 스레드가 종료되었습니다(코드: 0 (0x0)).
'[34844] RPLidar4Net.WpfApp.exe' 프로그램이 종료되었습니다(코드: -1 (0xffffffff)).

 

 

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