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LidaRx driver for Pepperl+Fuchs OMDxxx-R2000 devices

NuGet NuGet

This device driver adds support for Pepperl+Fuchs OMDxxx-R2000 family 2D scanners.

Features

  • Support for firmware 0.97+ (PFSDP protocol v1.00 to v1.02) (automatic handling of protocol differences)
  • Support both HD and UHD models
  • TCP wire protocol for data stream
  • Discards invalid data points
  • Driver periodically fetches device status
  • Automatic data stream watchdog reset (driver selects optimal reset method based on firmware version)
  • Strongly typed settings API for motor speed and sample rate (includes validation of supplied parameters)

Roadmap

  • Implement UDP connector
  • Complete API
    • HMI configuration
    • Network configuration
    • Device control (reboot and factory reset)
    • Read/Write user notes and user tag
    • Measuring configuration
      • Set transmitter mode
      • Change scan direction
  • Implement ZeroConf / Bonjour device discovery

Example

// note: R2000 is set to query DHCP for its IP configuration in this example
var address = IPAddress.Parse("192.168.1.214");

using (var r2000 = new R2000Scanner(address, R2000ConnectionType.TCPConnection))
{
    r2000.Connect();
    r2000.SetScanFrequency(10);
    r2000.SetSamplingRate(R2000SamplingRate._252kHz);	// this is a UHD device

	// write the periodic (every 10s) status response to the console
	r2000.OfType<R2000Status>().Subscribe(_ =>
	{
		Console.WriteLine($"R2000 status:");
		Console.WriteLine($"\tScan Frequency {_.CurrentScanFrequency} Hz");
		Console.WriteLine($"\tUptime {_.Uptime} min");
		Console.WriteLine($"\tTemperature {_.CurrentTemperature} °C");
		Console.WriteLine($"\tSystem load {_.SystemLoad}%");
		Console.WriteLine("--------------------------------------------");
	});

	r2000.OnlyLidarPoints()
		.BufferByScan()
		.Subscribe(x =>
		{		
			Console.WriteLine($"Got {x.Count} points for scan {x.Scan}");
		});

	r2000.StartScan();

	Console.ReadLine();      // wait here 'till user hits the enter key
	sweep.StopScan();
}

Note: the driver published R2000Status ILidarEvents periodically. You can register them in the observable stream as you would with LidarPoints or LidarEvents:

Performance considerations

Please consider that the R2000 devices can generate a considerable data throughput (252000 points per scan at 10Hz scan frequency). This can lead to congestion especially on lower-power devices (ex. a Raspberry Pi) when not carefully tuning the data processing chain.

The data deserialization generates following load figures (252kHz sampling @ 10Hz):

System System load (%) Note
Dell XPS13 9350 (Core i7-6500U / 16Gb / SSD / HT enabled / Windows 10 Pro / .net 4.7) <2%
Gigabyte BRIX-BACE-3150 (Intel Celeron N3150 / quad-core @2GHz / 4Gb / SSD / Ubuntu 16.10 / .net core 2.0.0-preview2-25407-01) ~31%

Following code was used for this test:

using (var r2000 = new R2000Scanner(address, R2000ConnectionType.TCPConnection))
{
    r2000.Connect();
    r2000.SetScanFrequency(10);
    r2000.SetSamplingRate(R2000SamplingRate._252kHz);
	
	r2000.StartScan();

	Console.ReadLine();      // wait here 'till user hits the enter key
	sweep.StopScan();
}

API

Constructor

Constructor
R2000Scanner(IPAddress address, R2000ConnectionType connectionType, int fetchStatusInterval)
Parameter Description Default
address The IP Address of the R2000 scanner
conntectionType Type of connector to use for the scan data streaming. Note: R2000ConnectionType.UDPConnection is not implemented
fetchStatusInterval How often the driver should retrieve the device status, in ms. Set to 0 to disable. 10000ms

Device specific API

Motor speed adjustement

Method
void SetScanFrequency(double frequencyHz)
async Task SetScanFrequencyAsync(double frequencyHz)
Parameter Description Default
frequencyHz The target scan frequency

Note: R2000 devices can change the scan frequency during data streaming but will set the UnstableRotation flag in the transfered frames as long as the target speed is not reached.

Note: The datasheet states that the parameter is a double however the firmware seems to Round() the parameter.

Note: The driver checks if the supplied value is in the supported range on devices with protocol versions >= 1.01

Sample rate adjustement

Method
void SetSamplingRate(R2000SamplingRate targetSamplingRate))
async Task SetSamplingRateAsync(R2000SamplingRate targetSamplingRate))
Parameter Description Default
targetSamplingRate A value from R2000SamplingRate enum

Note: the driver uses a configuration table to check if the selected value is supported given the scanner's scan frequency see table 2.1 in the datascheet for valid values. Please consider that R2000 HD devices do not support sampling rates above 84kHz.

Note: The driver checks if the supplied value is in the supported range on devices with protocol versions >= 1.01

By setting R2000SamplingRate.AutomaticMaximum the driver will select the highest possible sampling rate for the connected scanner given the configured scan frequency.

Helpers & device status

Method
R2000Status FetchScannerStatus()
async Task<R2000Status> FetchScannerStatusAsync()

Retrieves the devices status and returns a R2000Status object.

Property Type Description
CurrentScanFrequency double Measured scan frequency in Hz
SystemLoad uint Scanner SoC load in %
CurrentTemperature int Device temperature in °C
Uptime uint Scanner uptime in minutes