From 4b5899f9516141a84b731a213769456db52310a8 Mon Sep 17 00:00:00 2001
From: "Ilia O." <Ilia O.>
Date: Fri, 16 Aug 2024 23:03:52 -0700
Subject: [PATCH] YDLIDAR SCL stub

---
 src/LDS_YDLIDAR_SCL.cpp | 63 +++++++++++++++++++++++++++++++++++++++++
 src/LDS_YDLIDAR_SCL.h   | 32 +++++++++++++++++++++
 src/lds_all_models.h    |  1 +
 3 files changed, 96 insertions(+)
 create mode 100644 src/LDS_YDLIDAR_SCL.cpp
 create mode 100644 src/LDS_YDLIDAR_SCL.h

diff --git a/src/LDS_YDLIDAR_SCL.cpp b/src/LDS_YDLIDAR_SCL.cpp
new file mode 100644
index 0000000..0678fe3
--- /dev/null
+++ b/src/LDS_YDLIDAR_SCL.cpp
@@ -0,0 +1,63 @@
+// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Based on https://github.com/YDLIDAR/lidarCar/
+
+#include "LDS_YDLIDAR_SCL.h"
+
+const char* LDS_YDLIDAR_SCL::getModelName() { return "YDLIDAR SCL"; }
+
+LDS::result_t LDS_YDLIDAR_SCL::start() {
+  enableMotor(true);
+  postInfo(INFO_MODEL, getModelName());
+  return LDS::RESULT_OK;
+}
+
+uint32_t LDS_YDLIDAR_SCL::getSerialBaudRate() {
+  return 115200;
+}
+
+float LDS_YDLIDAR_SCL::getTargetScanFreqHz() {
+  return DEFAULT_VALUE;
+}
+
+int LDS_YDLIDAR_SCL::getSamplingRateHz() {
+  return 3000;
+}
+
+float LDS_YDLIDAR_SCL::getCurrentScanFreqHz() {
+  return LDS_YDLIDAR_X4::getCurrentScanFreqHz();
+}
+
+LDS::result_t LDS_YDLIDAR_SCL::stop() {
+  enableMotor(false);
+  return RESULT_OK;
+}
+
+void LDS_YDLIDAR_SCL::enableMotor(bool enable) {
+  motor_enabled = enable;
+
+  if (enable) {
+    // Drive PWM
+    //setMotorPin(DIR_INPUT, LDS_MOTOR_PWM_PIN);
+    setMotorPin(DIR_OUTPUT_CONST, LDS_MOTOR_PWM_PIN);
+    setMotorPin(VALUE_HIGH, LDS_MOTOR_PWM_PIN);
+  } else {
+    setMotorPin(DIR_OUTPUT_CONST, LDS_MOTOR_PWM_PIN);
+    setMotorPin(VALUE_LOW, LDS_MOTOR_PWM_PIN);
+  }
+
+  // Entire LDS on/off
+  //setMotorPin(enable ? VALUE_HIGH : VALUE_LOW, LDS_MOTOR_PWM_PIN);
+}
\ No newline at end of file
diff --git a/src/LDS_YDLIDAR_SCL.h b/src/LDS_YDLIDAR_SCL.h
new file mode 100644
index 0000000..dbf1e14
--- /dev/null
+++ b/src/LDS_YDLIDAR_SCL.h
@@ -0,0 +1,32 @@
+// Copyright 2023-2024 REMAKE.AI, KAIA.AI, MAKERSPET.COM
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Based on https://github.com/YDLIDAR/lidarCar/
+
+#pragma once
+#include "LDS_YDLIDAR_X4.h"
+
+class LDS_YDLIDAR_SCL : public LDS_YDLIDAR_X4 {
+  public:
+    virtual result_t start() override;
+    virtual result_t stop() override;
+    virtual const char* getModelName() override;
+
+    virtual float getCurrentScanFreqHz() override;
+    virtual uint32_t getSerialBaudRate() override;
+    virtual float getTargetScanFreqHz() override;
+    virtual int getSamplingRateHz() override;
+  protected:
+    virtual void enableMotor(bool enable) override;
+};
diff --git a/src/lds_all_models.h b/src/lds_all_models.h
index a371b00..8de6388 100644
--- a/src/lds_all_models.h
+++ b/src/lds_all_models.h
@@ -18,6 +18,7 @@
 #include "LDS_YDLIDAR_X3_PRO.h"
 #include "LDS_YDLIDAR_X3.h"
 #include "LDS_YDLIDAR_X2_X2L.h"
+#include "LDS_YDLIDAR_SCL.h"
 #include "LDS_NEATO_XV11.h"
 #include "LDS_LDS02RR.h"
 #include "LDS_RPLIDAR_A1.h"