针对GS5修改型号识别

YDLIDAR · Jan 19, 2024 · 3c40008 · 3c40008
1 parent 3eb329a
commit 3c40008
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
@@ -140,6 +140,9 @@ inline std::string lidarModelToString(int model)
   case DriverInterface::YDLIDAR_GS2:
     name = "GS2";
     break;
+  case DriverInterface::YDLIDAR_GS5:
+    name = "GS5";
+    break;
   case DriverInterface::YDLIDAR_TG15:
     name = "TG15";
     break;
@@ -368,7 +371,8 @@ inline bool hasScanFrequencyCtrl(int model)
       model == DriverInterface::YDLIDAR_S2 ||
       model == DriverInterface::YDLIDAR_X4 ||
       model == DriverInterface::YDLIDAR_GS1 ||
-      model == DriverInterface::YDLIDAR_GS2) 
+      model == DriverInterface::YDLIDAR_GS2 ||
+      model == DriverInterface::YDLIDAR_GS5) 
   {
     ret = false;
   }

diff --git a/examples/gs_test.cpp b/examples/gs_test.cpp
@@ -268,10 +268,9 @@ int main(int argc, char *argv[])
   {
     if (laser.doProcessSimple(scan))
     {
-      // printf("[%llu] points in module num [%d] env flag [%f]\n",
-      //        scan.points.size(),
-      //        scan.moduleNum,
-      //        scan.config.time_increment);
+      printf("Module [%d] [%d] points\n",
+        scan.moduleNum,
+        int(scan.points.size()));
       // uint32_t t = getms();
       // printf("module[%d] time[%lld]\n", scan.moduleNum, t - ts[scan.moduleNum]);
       // ts[scan.moduleNum] = t;

diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
@@ -1570,9 +1570,6 @@ void CYdLidar::checkSampleRate()
   }
 }
 
-/*-------------------------------------------------------------
-                        checkScanFrequency
--------------------------------------------------------------*/
 bool CYdLidar::checkScanFrequency()
 {
   float frequency = 7.4f;