DeviceLidar::GetScanWaitComplete

Getting the last scan data (blocking call).

C++

M32 GetScanWaitComplete(xkode::lib::Array<MU8> & Scan, M32 * pDeviceResponse);

Parameters

Parameters	Description
xkode::lib::Array<MU8> & Scan	[in/out] Array of BYTES to be filled by the device. In return the array contains scan header and scan values. If an error occured, the array is empty.
M32 * pDeviceResponse	(see Message)

Returns

MODA_EOK if a valid scan was received,

MODA_ENULLRESULT if no data was available.

Description

GetScanWaitComplete gets the latest scan values. The MODA device instance ask for a scan that is newer (time) than the one obtained by a previous call to GetScanWaitComplete: that's mean that the call is blocked until the sensor updates its values.

User have to use a LidarScan structure pointer for getting access to scan values:

xkode::lib::Array<MU8> _Scan;
M32 DeviceResponse;
M32 SystemResponse=pLidar->GetScanWaitComplete(_Scan,&DeviceResponse);
if(_Scan.Count()!=0)
    {
    //Data is valid if array the is not empty
    Moda::Commons::LidarScan *pScan=(Moda::Commons::LidarScan *)_Scan.GetData();
    DisplayScan(pScan);
    }
else
    {
    _cprintf("error while getting scan data (system:%d device:%d)\r\n",SystemResponse,DeviceResponse);
    }