修改GS2自动重连异常的问题

CMakeLists.txt

@@ -5,7 +5,7 @@ project(ydlidar_sdk C CXX)
 # version
 set(YDLIDAR_SDK_VERSION_MAJOR 1)
 set(YDLIDAR_SDK_VERSION_MINOR 1)
-set(YDLIDAR_SDK_VERSION_PATCH 4)
+set(YDLIDAR_SDK_VERSION_PATCH 5)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

core/base/thread.h

@@ -83,12 +83,11 @@ class Thread {
     return _param;
   }
   int join(unsigned long timeout = -1) {
-    if (!this->_handle) {
+    if (!_handle) {
       return 0;
     }
 
 #if defined(_WIN32)
-
     switch (WaitForSingleObject(reinterpret_cast<HANDLE>(this->_handle), timeout)) {
       case WAIT_OBJECT_0:
         CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
@@ -101,24 +100,22 @@ class Thread {
       case WAIT_TIMEOUT:
         return -1;
     }
-
 #else
     UNUSED(timeout);
     void *res;
     int s = -1;
-    s = pthread_cancel((pthread_t)(this->_handle));
+    s = pthread_cancel((pthread_t)(_handle));
     if (s != 0) {
     }
-
-    s = pthread_join((pthread_t)(this->_handle), &res);
+    s = pthread_join((pthread_t)(_handle), &res);
     if (s != 0) {
     }
-
     if (res == PTHREAD_CANCELED) {
-      printf("0x%X thread has been canceled\n", this->_handle);
+      printf("[YDLIDAR] Thread 0x%X has been canceled\n", _handle);
+      _handle = 0; //强制置空线程句柄，以免再次调用该函数时出现异常
+    } else {
+      fprintf(stderr, "[YDLIDAR] An error occurred while thread[0x%X] cancelled!\n", _handle);
     }
-    this->_handle = 0; //强制置空线程句柄，以免再次调用该函数时出现异常
-
 #endif
     return 0;
   }

core/common/DriverInterface.h

@@ -547,13 +547,13 @@ class DriverInterface {
   bool            m_isConnected = false;
   /// Scan Data Event
   Event           _dataEvent;
-  /// Data Locker
+  /// Data Locker（不支持嵌套）
   Locker          _lock;
   /// Parse Data thread
   Thread          _thread;
-  /// command locker
+  /// command locker（不支持嵌套）
   Locker          _cmd_lock;
-  /// driver error locker
+  /// driver error locker（不支持嵌套）
   Locker          _error_lock;
 
   /// LiDAR com port or IP Address

samples/gs_test.cpp

@@ -116,7 +116,7 @@ int main(int argc, char *argv[])
   printf("Baudrate:\n");
   for (std::map<int, int>::iterator it = baudrateList.begin();
        it != baudrateList.end(); it++) {
-    printf("%d. %d\n", it->first, it->second);
+    printf("[%d] %d\n", it->first, it->second);
   }
 
   while (ydlidar::os_isOk()) 
@@ -153,7 +153,7 @@ int main(int argc, char *argv[])
   /// lidar baudrate
   laser.setlidaropt(LidarPropSerialBaudrate, &baudrate, sizeof(int));
   /// gs lidar
-  int optval = TYPE_GS1;
+  int optval = TYPE_GS;
   laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
   /// device type
   optval = YDLIDAR_TYPE_SERIAL;

samples/tri_test.cpp

@@ -86,7 +86,7 @@ int main(int argc, char *argv[])
 
     for (it = ports.begin(); it != ports.end(); it++)
     {
-      printf("%d. %s\n", id, it->first.c_str());
+      printf("[%d] %s\n", id, it->first.c_str());
       id++;
     }
 
@@ -138,7 +138,7 @@ int main(int argc, char *argv[])
   for (std::map<int, int>::iterator it = baudrateList.begin();
        it != baudrateList.end(); it++)
   {
-    printf("%d. %d\n", it->first, it->second);
+    printf("[%d] %d\n", it->first, it->second);
   }
 
   while (ydlidar::os_isOk())
@@ -163,7 +163,7 @@ int main(int argc, char *argv[])
 
   bool isSingleChannel = false;
   std::string input_channel;
-  printf("Whether the Lidar is one-way communication[yes/no]:");
+  printf("Whether the Lidar is one-way communication [yes/no]:");
   std::cin >> input_channel;
   std::transform(input_channel.begin(), input_channel.end(),
                  input_channel.begin(),
@@ -197,8 +197,8 @@ int main(int argc, char *argv[])
       break;
     }
 
-    fprintf(stderr,
-            "Invalid scan frequency,The scanning frequency range is 5 to 12 HZ, Please re-enter.\n");
+    fprintf(stderr, "Invalid scan frequency,"
+      "The scanning frequency range is 5 to 12 HZ, Please re-enter.\n");
   }
 
   if (!ydlidar::os_isOk())