修改TIA雷达自动重连问题

CMakeLists.txt

@@ -5,7 +5,7 @@ project(ydlidar_sdk C CXX)
 # version
 set(YDLIDAR_SDK_VERSION_MAJOR 1)
 set(YDLIDAR_SDK_VERSION_MINOR 2)
-set(YDLIDAR_SDK_VERSION_PATCH 9)
+set(YDLIDAR_SDK_VERSION_PATCH 10)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

README.md

@@ -21,12 +21,12 @@ YDLidar SDK consists of YDLidar SDK communication protocol, YDLidar SDK core, YD
 
 ### Prerequisites
 * Linux
-* Windows 7/10, Visual Studio 2015/2017(UTF-8 encoding)
+* Windows 7/10, Visual Studio 2015 latest version or higher(UTF-8 encoding)
 * C++11 compiler
 
 ### Supported Languages
 * C / C++
-* Python
+* Python2 32-bit
 * C#
 
 ## YDLidar SDK Communication Protocol

examples/sdm18_test.cpp

@@ -121,7 +121,7 @@ int main(int argc, char *argv[])
   //   }
   // }
 
-  int baudrate = 921600; //默认串口号
+  int baudrate = 921600; //默认波特率
 
   bool isSingleChannel = false;
 

python/examples/tea_test.py

@@ -27,7 +27,7 @@
         while ret and ydlidar.os_isOk() :
             r = laser.doProcessSimple(scan);
             if r:
-                print("Scan received[",scan.stamp,"]:",scan.points.size(),"ranges is [",1.0/scan.config.scan_time,"]Hz");
+                print("Scan received [", scan.points.size(), "] points");
             else :
                 print("Failed to get Lidar Data.")
             time.sleep(0.05);

src/ETLidarDriver.cpp

@@ -28,18 +28,18 @@
 #define NOMINMAX
 #endif
 
-#include <core/network/PassiveSocket.h>
-#include "ETLidarDriver.h"
 #include <stdio.h>
 /*Socket Specific headers */
 #include <errno.h>
-#include <core/serial/common.h>
-#include <core/math/angles.h>
 #include <math.h>
 #include <algorithm>
-#include <ydlidar_config.h>
-using namespace impl;
+#include "ETLidarDriver.h"
+#include "core/network/PassiveSocket.h"
+#include "core/serial/common.h"
+#include "core/math/angles.h"
+#include "ydlidar_config.h"
 
+using namespace impl;
 using namespace ydlidar;
 using namespace ydlidar::core;
 using namespace ydlidar::core::network;

src/TiaLidarDriver.cpp

@@ -318,6 +318,24 @@ result_t TiaLidarDriver::stopScan(uint32_t timeout)
     return ret ? RESULT_OK : RESULT_FAIL;
 }
 
+result_t TiaLidarDriver::startAutoScan(bool force, uint32_t timeout)
+{
+    UNUSED(force);
+    UNUSED(timeout);
+
+    bool ret = setParam(P_TIA_SCANTYPE, 0);
+    return ret ? RESULT_OK : RESULT_FAIL;
+}
+
+result_t TiaLidarDriver::stopAutoScan(uint32_t timeout)
+{
+    UNUSED(timeout);
+
+    //停止扫描
+    bool ret = setParam(P_TIA_SCANTYPE, -1);
+    return ret ? RESULT_OK : RESULT_FAIL;
+}
+
 bool TiaLidarDriver::dataConnect(const char *ip, int port)
 {
     UNUSED(ip);
@@ -463,7 +481,7 @@ result_t TiaLidarDriver::checkAutoConnecting()
         }
         //重新连接
         while (isAutoconnting &&
-            !IS_OK(connect(m_port.c_str(), m_baudrate)))
+            !IS_OK(connect(m_port.c_str(), m_port2)))
         {
             setDriverError(NotOpenError);
             delay(300); //延时
@@ -477,7 +495,8 @@ result_t TiaLidarDriver::checkAutoConnecting()
         if (isconnected() &&
             isAutoconnting)
         {
-            ans = startScan();
+            stopAutoScan(); //尝试停止扫描
+            ans = startAutoScan();
             if (IS_OK(ans))
             {
                 if (getDriverError() == DeviceNotFoundError)

src/TiaLidarDriver.h

@@ -203,6 +203,13 @@ class TiaLidarDriver : public DriverInterface
     bool createThread();
     //销毁线程
     void deleteThread();
+    //启动扫描
+    result_t startAutoScan(
+            bool force = false,
+            uint32_t timeout = SDK_TIMEOUT);
+    //停止扫描
+    result_t stopAutoScan(
+            uint32_t timeout = SDK_TIMEOUT);
 
     result_t getScanData(node_info* nodes, size_t& count);
     //检查自动连接