修改雷达对象释放的时机以免多次释放导致异常

YDLIDAR · Mar 5, 2024 · 4e77c79 · 4e77c79
1 parent b73fe49
commit 4e77c79
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Showing 4 changed files with 17 additions and 9 deletions.
diff --git a/CMakeLists.txt b/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 0)
+set(YDLIDAR_SDK_VERSION_PATCH 1)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

diff --git a/examples/tmini_test.cpp b/examples/tmini_test.cpp
@@ -79,7 +79,7 @@ int main(int argc, char *argv[]) {
     int id = 0;
 
     for (it = ports.begin(); it != ports.end(); it++) {
-      printf("%d. %s %s\n", id, it->first.c_str(), it->second.c_str());
+      printf("[%d] %s %s\n", id, it->first.c_str(), it->second.c_str());
       id++;
     }
 
@@ -163,7 +163,7 @@ int main(int argc, char *argv[]) {
 
   std::string input_frequency;
 
-  float frequency = 10.0;
+  float frequency = 6.0;
 
   // while (ydlidar::os_isOk() && !isSingleChannel) {
   //   printf("Please enter the lidar scan frequency[5-12]:");
@@ -211,7 +211,7 @@ int main(int argc, char *argv[]) {
 
   //////////////////////bool property/////////////////
   /// fixed angle resolution
-  bool b_optvalue = true;
+  bool b_optvalue = false;
   laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool));
   b_optvalue = false;
   /// rotate 180

diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
@@ -848,8 +848,6 @@ void CYdLidar::disconnecting()
   if (lidarPtr)
   {
     lidarPtr->disconnect();
-    delete lidarPtr;
-    lidarPtr = nullptr;
   }
 
   scanning = false;
@@ -1735,6 +1733,14 @@ bool CYdLidar::checkCalibrationAngle(const std::string &serialNumber)
 -------------------------------------------------------------*/
 bool CYdLidar::checkCOMMs()
 {
+  //如果雷达类型有变化则需要先删除旧对象
+  if (lidarPtr && 
+    lidarPtr->getLidarType() != m_LidarType)
+  {
+    delete lidarPtr;
+    lidarPtr = nullptr;
+  }
+  //如果未创建对象
   if (!lidarPtr)
   {
     printf("[YDLIDAR] SDK initializing\n");

diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
@@ -2037,9 +2037,11 @@ result_t YDlidarDriver::stopMotor() {
 /************************************************************************/
 /* get the current scan frequency of lidar                              */
 /************************************************************************/
-result_t YDlidarDriver::getScanFrequency(scan_frequency &frequency,
-    uint32_t timeout) {
-  result_t  ans;
+result_t YDlidarDriver::getScanFrequency(
+  scan_frequency &frequency,
+  uint32_t timeout) 
+{
+  result_t ans;
 
   if (!m_isConnected) {
     return RESULT_FAIL;