Skip to content

Commit 156a94d

Browse files
joregjoreg
committed
tested to work with the C1
1 parent cb96d35 commit 156a94d

7 files changed

Lines changed: 73 additions & 75 deletions

File tree

‎README.md‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2,10 +2,13 @@
22

33
For using RPLIDAR devices by [Slamtec](http://slamtec.com).
44
- List of potentially [supported devices](https://github.com/slamtec/rplidar_sdk?tab=readme-ov-file#supported-platforms)
5-
- Tested to work with [RPLidar A1](https://www.slamtec.com/en/Lidar/A1) and [RPLidar A2](https://www.slamtec.com/en/Lidar/A2) model A2M12
5+
- Tested to work with the following models:
6+
- [RPLidar A1](https://www.slamtec.com/en/lidar/a1)
7+
- [RPLidar A2](https://www.slamtec.com/en/lidar/a2) model A2M12
8+
- [RPLidar C1](https://www.slamtec.com/en/c1)
69
- As of now defaults to the "standard" scan mode and does not support any of the "express" scan modes
710

8-
For use with vvvv, the visual live-programming environment for .NET: http://visualprogramming.net
11+
For use with vvvv, the visual live-programming environment for .NET: http://vvvv.org
912

1013
## Getting started
1114
- When connecting via USB, install [CP210x USB to UART Bridge](https://www.silabs.com/documents/public/software/CP210x_Universal_Windows_Driver.zip)
@@ -25,4 +28,4 @@ Based on [RPLidar4Net.IO](https://www.nuget.org/packages/RPLidar4Net.IO)
2528

2629
## Sponsoring
2730
Development of this library was partially sponsored by:
28-
* [GLULAB](http://www.glulab.com/)
31+
* [GLULAB](http://www.glulab.com/)

‎VL.Devices.RPLidar.vl‎

Lines changed: 42 additions & 57 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<?xml version="1.0" encoding="utf-8"?>
2-
<Document xmlns:p="property" xmlns:r="reflection" Id="QlGYkrVTqJhMvGS6OjrGrD" LanguageVersion="2024.6.6" Version="0.128">
3-
<NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2024.6.6" />
2+
<Document xmlns:p="property" xmlns:r="reflection" Id="QlGYkrVTqJhMvGS6OjrGrD" LanguageVersion="2025.7.1" Version="0.128">
3+
<NugetDependency Id="V5Y6NXxV8SxNelSJIhFmES" Location="VL.CoreLib" Version="2025.7.1" />
44
<Patch Id="EhiLWYqksx4PA1STtVIn1q">
55
<Canvas Id="DRE9090862PLSlgQz8tGYb" DefaultCategory="Devices.RPLidar" CanvasType="FullCategory">
66
<!--
@@ -223,7 +223,7 @@
223223
<Pin Id="H3vRfRe1IHhLZEMHgZPxDZ" Name="Result" Kind="OutputPin" />
224224
<Pin Id="A5kcdegmiOQL1NSI9hIZLY" Name="Not Assigned" Kind="OutputPin" />
225225
</Node>
226-
<Node Bounds="398,925,606,439" Id="FZEMJu4hMdgQPYerpmcLnd">
226+
<Node Bounds="398,925,635,439" Id="FZEMJu4hMdgQPYerpmcLnd">
227227
<p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
228228
<Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
229229
<CategoryReference Kind="Category" Name="Primitive" />
@@ -270,19 +270,35 @@
270270
<Pin Id="VlBGS9f4kG0LFRJ92I07xi" Name="Input 2" Kind="InputPin" />
271271
<Pin Id="KjQcAe6nPaQNxepoqGRchi" Name="Output" Kind="StateOutputPin" />
272272
</Node>
273-
<Node Bounds="703,1028,289,266" Id="VSBHlidp2zUQFYvEjlMyKX">
274-
<p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
273+
<Node Bounds="412,1072,86,26" Id="DKMBmkbMHaQMO9z89Bxkka">
274+
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
275+
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
276+
<Choice Kind="OperationCallFlag" Name="StartScan" />
277+
</p:NodeReference>
278+
<Pin Id="R6HyFsGaMoSLlfIL8c8Adh" Name="Input" Kind="StateInputPin" />
279+
<Pin Id="SimPyAZHjaQMrfzG3xqnTy" Name="Output" Kind="StateOutputPin" />
280+
<Pin Id="VHyxfY3kYV9Ntpk9llH257" Name="Apply" Kind="InputPin" />
281+
</Node>
282+
<Node Bounds="412,1308,86,26" Id="ICfeajMKqtuNQglBngyLff">
283+
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
284+
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
285+
<Choice Kind="OperationCallFlag" Name="IsConnected" />
286+
</p:NodeReference>
287+
<Pin Id="HoByTTXHamaNVaOh7w71on" Name="Input" Kind="StateInputPin" />
288+
<Pin Id="E8PLOVISSj5QOoAbZdFtKX" Name="Output" Kind="StateOutputPin" />
289+
<Pin Id="LY3AFiPMcRrO1FqOmUG5Vj" Name="Is Connected" Kind="OutputPin" />
290+
</Node>
291+
<Node Bounds="732,1028,289,241" Id="IDnmxm2apCZMw048Y10jbm">
292+
<p:NodeReference LastCategoryFullName="Control" LastDependency="VL.CoreLib.vl">
275293
<Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
276-
<CategoryReference Kind="Category" Name="Primitive" />
277-
<Choice Kind="ProcessStatefulRegion" Name="Cache" />
294+
<CategoryReference Kind="Category" Name="Control" />
295+
<Choice Kind="ProcessAppFlag" Name="Comment" />
278296
</p:NodeReference>
279-
<Pin Id="NSeYFcqARK6L91ZxqUgDyp" Name="Force" Kind="InputPin" />
280-
<Pin Id="JXfSTVEoBVHLomxKix6htM" Name="Dispose Cached Outputs" Kind="InputPin" />
281-
<Pin Id="EjCnjPGyijXMudRfIRs892" Name="Has Changed" Kind="OutputPin" />
282-
<Patch Id="H3G7MGMToHSN2Lu6ix1YwL" ManuallySortedPins="true">
283-
<Patch Id="C6kPBLKA33TLiOgfhRisCb" Name="Create" ManuallySortedPins="true" />
284-
<Patch Id="GUoCEjQjdJYMovAk4aCDqa" Name="Then" ManuallySortedPins="true" />
285-
<Node Bounds="715,1057,110,26" Id="TwLUksS9tHxORb0ds2mv8U">
297+
<Patch Id="LQOSENojHitP0alPGYhvbi" ManuallySortedPins="true">
298+
<Patch Id="UyZHt3G9Q8iPHnkMyiokoD" Name="Create" ManuallySortedPins="true" />
299+
<Patch Id="N5nDtKoy7UOLav4F6dFndn" Name="Update" ManuallySortedPins="true" />
300+
<Patch Id="CopZUCAn3qxNxsbM8wedUv" Name="Dispose" ManuallySortedPins="true" />
301+
<Node Bounds="744,1058,110,26" Id="TwLUksS9tHxORb0ds2mv8U">
286302
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
287303
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
288304
<Choice Kind="OperationCallFlag" Name="GetTypicalScanMode" />
@@ -291,16 +307,7 @@
291307
<Pin Id="NHUhDabD7weMTeE7gSxvtN" Name="Output" Kind="StateOutputPin" />
292308
<Pin Id="Ar5Pc0BGaUuOOEMVkO1b05" Name="Result" Kind="OutputPin" />
293309
</Node>
294-
<Node Bounds="717,1229,93,26" Id="LtswudjdF57QSicXfKriQj">
295-
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
296-
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
297-
<Choice Kind="OperationCallFlag" Name="StartExpressScan" />
298-
</p:NodeReference>
299-
<Pin Id="RdfDVRw50v9MGcrzaXTO9f" Name="Input" Kind="StateInputPin" />
300-
<Pin Id="BfZG4ANjcVMMICx8x0oLUs" Name="Scan Mode" Kind="InputPin" DefaultValue="0" />
301-
<Pin Id="RCG16w2FgjbOc3KzBbyS4G" Name="Output" Kind="StateOutputPin" />
302-
</Node>
303-
<Node Bounds="715,1119,103,26" Id="OOOggZGxJWfMQZOVZzhaWJ">
310+
<Node Bounds="744,1120,103,26" Id="OOOggZGxJWfMQZOVZzhaWJ">
304311
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
305312
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
306313
<Choice Kind="OperationCallFlag" Name="GetScanModeName" />
@@ -310,7 +317,7 @@
310317
<Pin Id="C9PmftSgOwrPDhHdVCgy1v" Name="Output" Kind="StateOutputPin" />
311318
<Pin Id="BvIkTe8hMmzPxAeN45RL20" Name="Result" Kind="OutputPin" />
312319
</Node>
313-
<Node Bounds="715,1179,133,26" Id="RbyW21BVlOHPs9Uqlty4Rs">
320+
<Node Bounds="744,1180,133,26" Id="RbyW21BVlOHPs9Uqlty4Rs">
314321
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
315322
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
316323
<Choice Kind="OperationCallFlag" Name="GetScanModeAnswerType" />
@@ -320,12 +327,12 @@
320327
<Pin Id="OiawVRyWC0ULLMYxOAEJkL" Name="Output" Kind="StateOutputPin" />
321328
<Pin Id="HyvJ44Tz3iePMrw7LzP8eP" Name="Result" Kind="OutputPin" />
322329
</Node>
323-
<Pad Id="OQZdnh2L1RrP9NoooTYwRk" Comment="Scan Mode" Bounds="821,1102,35,15" ShowValueBox="true" isIOBox="true" Value="4">
330+
<Pad Id="OQZdnh2L1RrP9NoooTYwRk" Comment="Scan Mode" Bounds="850,1103,35,15" ShowValueBox="true" isIOBox="true" Value="4">
324331
<p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
325332
<Choice Kind="TypeFlag" Name="Byte" />
326333
</p:TypeAnnotation>
327334
</Pad>
328-
<Pad Id="SBTQBpsDT6sLKo7NWOevQP" Bounds="835,1055,138,39" ShowValueBox="true" isIOBox="true" Value="todo: implement ExpressScan receiver">
335+
<Pad Id="SBTQBpsDT6sLKo7NWOevQP" Bounds="864,1056,138,39" ShowValueBox="true" isIOBox="true" Value="todo: implement ExpressScan receiver">
329336
<p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
330337
<Choice Kind="TypeFlag" Name="String" />
331338
</p:TypeAnnotation>
@@ -335,26 +342,7 @@
335342
</p:ValueBoxSettings>
336343
</Pad>
337344
</Patch>
338-
<ControlPoint Id="CxTOBY9xK4OQXGntu7C5F8" Bounds="832,1288" Alignment="Bottom" />
339-
<ControlPoint Id="R398XrdHv8HLx5Nyfni1CZ" Bounds="857,1288" Alignment="Bottom" />
340-
</Node>
341-
<Node Bounds="412,1072,86,26" Id="DKMBmkbMHaQMO9z89Bxkka">
342-
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
343-
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
344-
<Choice Kind="OperationCallFlag" Name="StartScan" />
345-
</p:NodeReference>
346-
<Pin Id="R6HyFsGaMoSLlfIL8c8Adh" Name="Input" Kind="StateInputPin" />
347-
<Pin Id="SimPyAZHjaQMrfzG3xqnTy" Name="Output" Kind="StateOutputPin" />
348-
<Pin Id="VHyxfY3kYV9Ntpk9llH257" Name="Apply" Kind="InputPin" />
349-
</Node>
350-
<Node Bounds="412,1308,86,26" Id="ICfeajMKqtuNQglBngyLff">
351-
<p:NodeReference LastCategoryFullName="RPLidar4Net.IO.RPLidarSerialDevice" LastDependency="RPLidar4Net.IO.dll">
352-
<Choice Kind="NodeFlag" Name="Node" Fixed="true" />
353-
<Choice Kind="OperationCallFlag" Name="IsConnected" />
354-
</p:NodeReference>
355-
<Pin Id="HoByTTXHamaNVaOh7w71on" Name="Input" Kind="StateInputPin" />
356-
<Pin Id="E8PLOVISSj5QOoAbZdFtKX" Name="Output" Kind="StateOutputPin" />
357-
<Pin Id="LY3AFiPMcRrO1FqOmUG5Vj" Name="Is Connected" Kind="OutputPin" />
345+
<Pin Id="TXPnsfQfNevPstScPsXnpG" Name="Node Context" Kind="InputPin" IsHidden="true" />
358346
</Node>
359347
</Patch>
360348
<ControlPoint Id="GA3QZLin3wHNtMb3mL5XvF" Bounds="412,931" Alignment="Top" />
@@ -391,6 +379,7 @@
391379
<Pin Id="DfyHhMzoyaHPVNSyIsdHX4" Name="Node Context" Kind="InputPin" IsHidden="true" />
392380
<Pin Id="ShgvoGpIIEaLShoXnW2lx0" Name="Messages" Kind="InputPin" />
393381
<Pin Id="IbRylwsMCO1PbeQGPvW3nR" Name="Reset" Kind="InputPin" />
382+
<Pin Id="UVjRiW290PhNFKUpKKXtNl" Name="Output" Kind="OutputPin" IsHidden="true" />
394383
<Pin Id="LQVqDKZDgcGP8JnGzXZBSh" Name="Result" Kind="OutputPin" />
395384
<Patch Id="LOycvtq21WPQNmVuKkQit7" ManuallySortedPins="true">
396385
<Patch Id="UyDlT4sruYZOPf2pqENubR" Name="Create" ManuallySortedPins="true" />
@@ -650,7 +639,7 @@
650639
</p:TypeAnnotation>
651640
</Pin>
652641
<Pin Id="FIpJzZBwnctMkNNVE2KlZz" Name="Baud Rate" Kind="InputPin" DefaultValue="115200" />
653-
<Pin Id="OoO6Bqt44NxPH2qm6oRb3n" Name="Timeout" Kind="InputPin" DefaultValue="2000" />
642+
<Pin Id="OoO6Bqt44NxPH2qm6oRb3n" Name="Timeout" Kind="InputPin" DefaultValue="3000" />
654643
<Pin Id="B4VKiw53vAxL5KwKQzw796" Name="Scaling" Kind="InputPin" DefaultValue="1" />
655644
<Pin Id="PCeRtwEz0U3P74sBD2oys9" Name="Scan" Kind="InputPin" DefaultValue="True" />
656645
<Pin Id="S21RHmnd6aQQUAVG2zpikN" Name="Enabled" Kind="InputPin" />
@@ -734,16 +723,7 @@
734723
<Link Id="JTDbNegQuY5OrzkCfujOgR" Ids="FFyx36WRZxxLsu3c2u9l8A,KI1PV8eVyUpL4CmM0dcXDO" IsHidden="true" />
735724
<Link Id="Px6659Sb5KJOjRYclD9V95" Ids="BoQ2ESvIrp5PPqBoFtYCs8,CPkuMJ0VB9GMOnEMAlxeFB" IsHidden="true" />
736725
<Link Id="SsKtN6BfzUTQDvkyjKYHD1" Ids="QimtJrYLp6JM6OPS2vLpVw,NY9uKDbYqz0MNgyWR7t7JW" />
737-
<Link Id="AIKoaUc4ANlQAtDiKfKqoW" Ids="NHUhDabD7weMTeE7gSxvtN,PSz79GXVR62P56QyXxULn7" />
738-
<Link Id="U1B27ruo1zTPZMWZlkZA3P" Ids="C9PmftSgOwrPDhHdVCgy1v,NKK8ebB87AKL5uHfZAMDf3" />
739-
<Link Id="KOJgBn82GgHNCsAUytP6hA" Ids="OiawVRyWC0ULLMYxOAEJkL,RdfDVRw50v9MGcrzaXTO9f" />
740726
<Link Id="MJpPzZ8NQCOLlnYz6xTFuk" Ids="GA3QZLin3wHNtMb3mL5XvF,JYGnkH26fKrNhJJqPwRVv9" />
741-
<Link Id="SbtX4siP1DXPfuP7xBruF5" Ids="BvIkTe8hMmzPxAeN45RL20,CxTOBY9xK4OQXGntu7C5F8" />
742-
<Link Id="KBpsWf9PIh2PCgo9or4NiZ" Ids="HyvJ44Tz3iePMrw7LzP8eP,R398XrdHv8HLx5Nyfni1CZ" />
743-
<Link Id="SODuKkNzMHyN0nYbjHPodW" Ids="OQZdnh2L1RrP9NoooTYwRk,AYZJixMuYXeLhT5e8s4RYb" />
744-
<Link Id="GuWwnz4r8gNLvQHwRYgNDC" Ids="OQZdnh2L1RrP9NoooTYwRk,TaWeP5yKt6eQJ7T0g9TCxH" />
745-
<Link Id="HhtjwIOCnWGNJ5psXrdlRY" Ids="OQZdnh2L1RrP9NoooTYwRk,BfZG4ANjcVMMICx8x0oLUs" />
746-
<Link Id="CtEsANCQo0JPMTElVz0FP0" Ids="Ar5Pc0BGaUuOOEMVkO1b05,OQZdnh2L1RrP9NoooTYwRk" />
747727
<Link Id="R2x8Wa1vJlcMR3rI98q6NU" Ids="KjQcAe6nPaQNxepoqGRchi,VHyxfY3kYV9Ntpk9llH257" />
748728
<Link Id="I8PtCan2TB4MN67XOkkHYd" Ids="GA3QZLin3wHNtMb3mL5XvF,R6HyFsGaMoSLlfIL8c8Adh" />
749729
<Link Id="N555hTHIgJCPc6WZLPG37m" Ids="SimPyAZHjaQMrfzG3xqnTy,VCSoJAhJ3zLMrHhZ2Ar4bS" />
@@ -768,6 +748,11 @@
768748
<Link Id="E50opAm7gYoNwBbnql6l8D" Ids="AWD6jh9GI1WQXxksY7DNfs,Aaub7cF1SXJMAzApqomCXn" />
769749
<Link Id="HzanIdSYTPdLXKpVDj2V4P" Ids="AFYE88Y7wFuOr5H3fdl6UQ,DFBnhyWxizVOi0BN4fICsB" />
770750
<Link Id="LKxQVi2dLnrLHXyKITNCtr" Ids="D7jZxP07yVbLWTgvqXWIHN,KmWoRWGEAbCOPiYe9NuMKP" />
751+
<Link Id="AIKoaUc4ANlQAtDiKfKqoW" Ids="NHUhDabD7weMTeE7gSxvtN,PSz79GXVR62P56QyXxULn7" />
752+
<Link Id="U1B27ruo1zTPZMWZlkZA3P" Ids="C9PmftSgOwrPDhHdVCgy1v,NKK8ebB87AKL5uHfZAMDf3" />
753+
<Link Id="SODuKkNzMHyN0nYbjHPodW" Ids="OQZdnh2L1RrP9NoooTYwRk,AYZJixMuYXeLhT5e8s4RYb" />
754+
<Link Id="GuWwnz4r8gNLvQHwRYgNDC" Ids="OQZdnh2L1RrP9NoooTYwRk,TaWeP5yKt6eQJ7T0g9TCxH" />
755+
<Link Id="CtEsANCQo0JPMTElVz0FP0" Ids="Ar5Pc0BGaUuOOEMVkO1b05,OQZdnh2L1RrP9NoooTYwRk" />
771756
</Patch>
772757
</Node>
773758
<Pad Id="ACl9BMApSY6Ovuis8JQP8H" Bounds="451,123,238,19" ShowValueBox="true" isIOBox="true" Value="https://bucket-download.slamtec.com/6957283725b66750890024d1f0d12940fa079e06/LR002_SLAMTEC_rplidar_sdk_v2.0_en.pdf">

‎deployment/VL.Devices.RPLidar.nuspec‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
<package xmlns="http://schemas.microsoft.com/packaging/2011/10/nuspec.xsd">
44
<metadata>
55
<id>VL.Devices.RPLidar</id>
6-
<version>1.0.2</version>
6+
<version>1.0.3</version>
77
<title>VL.Devices.RPLidar</title>
88
<authors>vvvv</authors>
99
<projectUrl>http://vvvv.org</projectUrl>

0 commit comments

Comments
 (0)