### Connect and Scan with RPLIDAR via Serial

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Example demonstrating how to connect to an RPLIDAR device using a serial port, retrieve device information and health status, start scanning, and process scan data.

```python
import pyrplidarsdk
import time

# Create driver instance for serial connection
driver = pyrplidarsdk.RplidarDriver(port="/dev/ttyUSB0")

# Connect to the device
if not driver.connect():
    print("Failed to connect!")
    exit(1)

# Get device information
info = driver.get_device_info()
if info:
    print(f"Connected to RPLIDAR model {info.model}")
    print(f"Firmware: {info.firmware_version}")
    print(f"Hardware: {info.hardware_version}")
    print(f"Serial: {info.serial_number}")

# Check device health
health = driver.get_health()
if health:
    print(f"Device health: {health.status}")

# Start scanning
if driver.start_scan():
    print("Scanning started...")
    
    try:
        for i in range(10):  # Get 10 scans
            scan_data = driver.get_scan_data()
            if scan_data:
                angles, ranges, qualities = scan_data
                print(f"Scan {i+1}: {len(angles)} points")
            time.sleep(0.1)
    finally:
        driver.stop_scan()
        driver.disconnect()
```

--------------------------------

### Running PyRPLidarSDK Examples

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Execute example scripts to demonstrate advanced scanning, data analysis, quality filtering, and obstacle detection. Examples can be run with different connection types (serial or UDP) and custom parameters.

```bash
# Basic scanning
python examples/simple_scan.py --port /dev/ttyUSB0

# With analysis and obstacle detection
python examples/simple_scan.py --port /dev/ttyUSB0 --analysis --detect-obstacles

# UDP connection with custom parameters
python examples/simple_scan.py --ip 192.168.1.100 --min-quality 50 --max-range 10.0
```

--------------------------------

### Install pyrplidarsdk from Source

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Clone the repository and install the package in development mode or build and install it.

```bash
# Clone the repository with submodules
git clone --recursive https://github.com/dexmate-ai/pyrplidarsdk.git
cd pyrplidarsdk

# Install in development mode
pip install -e .

# Or build and install
pip install .
```

--------------------------------

### Install pyrplidarsdk from PyPI

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Use this command to install the latest version of the pyrplidarsdk package from the Python Package Index.

```bash
pip install pyrplidarsdk
```

--------------------------------

### Connect to RPLIDAR via UDP

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Example demonstrating how to create a driver instance for a UDP connection to an RPLIDAR device. The subsequent connection and scanning logic remains the same as for serial connections.

```python
import pyrplidarsdk

# Create driver instance for UDP connection
driver = pyrplidarsdk.RplidarDriver(ip_address="192.168.1.100")

# Rest of the code is the same...
```

--------------------------------

### PyRPLidarSDK Project Structure

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Overview of the PyRPLidarSDK project directory layout, highlighting the Python package, C++ wrappers, example scripts, and build configuration files.

```text
pyrplidarsdk/
├── pyrplidarsdk/          # Python package
│   ├── __init__.py        # Package initialization and exports
│   └── utils.py           # Vectorized NumPy utilities for data processing
├── src/                   # C++ source files
│   └── rplidar_wrapper.cpp # nanobind wrapper for RPLIDAR SDK
├── rplidar_sdk/           # RPLIDAR SDK submodule
├── examples/              # Example scripts
│   ├── simple_scan.py     # Advanced scanning example
│   └── realtime_plot.py   # Real-time visualization
└── CMakeLists.txt         # Build configuration
```

--------------------------------

### DeviceInfo Structure

Source: https://pypi.org/project/pyrplidarsdk

Structure containing device information.

```APIDOC
## DeviceInfo Structure

### Description
Device information structure.

### Fields
- **model** (int): Device model number
- **firmware_version** (int): Firmware version
- **hardware_version** (int): Hardware version
- **serial_number** (str): Device serial number (hex string)
```

--------------------------------

### DeviceInfo Structure

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Structure for holding RPLIDAR device information.

```APIDOC
## DeviceInfo Structure

### Description
Structure for holding RPLIDAR device information.

### Fields
- **model** (int): Device model number
- **firmware_version** (int): Firmware version
- **hardware_version** (int): Hardware version
- **serial_number** (str): Device serial number (hex string)
```

--------------------------------

### Scan Analysis and Obstacle Detection

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Compute statistical summaries of scan data, detect potential obstacles within defined parameters, and find the closest or farthest points in a scan. These utilities are useful for understanding the environment and identifying specific features.

```python
from pyrplidarsdk.utils import (
    compute_scan_statistics,
    detect_obstacles,
    find_closest_point,
    find_farthest_point
)

# Compute comprehensive statistics
stats = compute_scan_statistics(angles, ranges, qualities)
print(f"Mean range: {stats['mean_range']:.2f}m")
print(f"Valid points: {stats['valid_points']}")

# Detect obstacles within specified parameters
obstacles = detect_obstacles(
    angles, ranges, qualities,
    min_distance=0.2,
    max_distance=2.0,
    min_angle=-45,
    max_angle=45,
    min_quality=30
)

# Find closest and farthest points
closest = find_closest_point(angles, ranges, qualities)
farthest = find_farthest_point(angles, ranges, qualities)
```

--------------------------------

### RplidarDriver Constructor

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Initializes the RplidarDriver for connecting to RPLIDAR devices via serial or UDP.

```APIDOC
## RplidarDriver Constructor

### Description
Initializes the RplidarDriver for connecting to RPLIDAR devices via serial or UDP.

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Method
Constructor

### Endpoint
N/A

### Parameters
- **port** (str, optional): Serial port path (e.g., "/dev/ttyUSB0", "COM3")
- **ip_address** (str, optional): IP address for UDP connection
- **baudrate** (int): Serial baudrate (default: 1000000)
- **udp_port** (int): UDP port (default: 8089)

### Request Example
```python
# Serial connection
driver = pyrplidarsdk.RplidarDriver(port="/dev/ttyUSB0")

# UDP connection
driver = pyrplidarsdk.RplidarDriver(ip_address="192.168.1.100")
```

### Response
#### Success Response (200)
N/A (Constructor)

#### Response Example
N/A
```

--------------------------------

### RplidarDriver Methods

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Methods for controlling RPLIDAR devices and retrieving data.

```APIDOC
## RplidarDriver Methods

### connect()

#### Description
Connects to the RPLIDAR device.

#### Method
`connect`

#### Parameters
None

#### Return Value
- `bool`: True if connection is successful, False otherwise.

### disconnect()

#### Description
Disconnects from the RPLIDAR device.

#### Method
`disconnect`

#### Parameters
None

#### Return Value
None

### get_device_info()

#### Description
Retrieves information about the connected RPLIDAR device.

#### Method
`get_device_info`

#### Parameters
None

#### Return Value
- `DeviceInfo | None`: An object containing device information if successful, otherwise None.

### get_health()

#### Description
Retrieves the health status of the RPLIDAR device.

#### Method
`get_health`

#### Parameters
None

#### Return Value
- `DeviceHealth | None`: An object containing device health status if successful, otherwise None.

### start_scan()

#### Description
Starts the laser scanning process on the RPLIDAR device.

#### Method
`start_scan`

#### Parameters
None

#### Return Value
- `bool`: True if scanning started successfully, False otherwise.

### stop_scan()

#### Description
Stops the laser scanning process on the RPLIDAR device.

#### Method
`stop_scan`

#### Parameters
None

#### Return Value
None

### get_scan_data()

#### Description
Retrieves the latest scan data from the RPLIDAR device.

#### Method
`get_scan_data`

#### Parameters
None

#### Return Value
- `tuple[list[float], list[float], list[int]] | None`: A tuple containing lists of angles, ranges, and qualities if data is available, otherwise None.
```

--------------------------------

### Data Conversion and Processing Utilities

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Utilize these functions for converting between coordinate systems (polar to Cartesian and vice-versa), changing angle units, converting data to NumPy arrays, smoothing noisy range data, and downsampling scans. Ensure necessary data (angles, ranges, qualities) is available.

```python
from pyrplidarsdk.utils import (
    polar_to_cartesian,
    cartesian_to_polar,
    angles_to_degrees,
    angles_to_radians,
    to_numpy_arrays,
    smooth_ranges,
    downsample_scan
)

# Convert between coordinate systems
x_coords, y_coords = polar_to_cartesian(angles, ranges)
angles_polar, ranges_polar = cartesian_to_polar(x_coords, y_coords)

# Convert angle units
angles_deg = angles_to_degrees(angles)
angles_rad = angles_to_radians(angles_deg)

# Convert to NumPy arrays for efficient processing
angles_np, ranges_np, qualities_np = to_numpy_arrays(angles, ranges, qualities)

# Smooth noisy range data
smoothed_ranges = smooth_ranges(ranges, window_size=5)

# Downsample for reduced data size
downsampled = downsample_scan(angles, ranges, qualities, factor=2)
```

--------------------------------

### DeviceHealth Structure

Source: https://pypi.org/project/pyrplidarsdk

Structure containing device health information.

```APIDOC
## DeviceHealth Structure

### Description
Device health information.

### Fields
- **status** (int): Health status code
- **error_code** (int): Error code if any
```

--------------------------------

### Filtering and Quality Control Utilities

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Apply these filters to refine LIDAR data based on distance range, signal quality, or angular sector. These functions help in isolating relevant data points for further analysis.

```python
from pyrplidarsdk.utils import (
    filter_by_range,
    filter_by_quality,
    filter_by_angle
)

# Filter by distance range
filtered = filter_by_range(angles, ranges, qualities, min_range=0.1, max_range=12.0)

# Filter by quality threshold
high_quality = filter_by_quality(angles, ranges, qualities, min_quality=50)

# Filter by angular sector
sector_data = filter_by_angle(angles, ranges, qualities, min_angle=0, max_angle=180)
```

--------------------------------

### DeviceHealth Structure

Source: https://pypi.org/project/pyrplidarsdk/0.1.2

Structure for holding RPLIDAR device health information.

```APIDOC
## DeviceHealth Structure

### Description
Structure for holding RPLIDAR device health information.

### Fields
- **status** (int): Health status code
- **error_code** (int): Error code if any
```

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