修改适配SCL单通

YDLIDAR · May 29, 2023 · 5bf99a3 · 5bf99a3
1 parent 7a12bc6
commit 5bf99a3
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Showing 6 changed files with 36 additions and 33 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 1)
-set(YDLIDAR_SDK_VERSION_PATCH 12)
+set(YDLIDAR_SDK_VERSION_PATCH 13)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

diff --git a/core/common/ydlidar_def.h b/core/common/ydlidar_def.h
@@ -46,6 +46,7 @@ typedef enum {
   TYPE_TRIANGLE = 1,/**< G4. G6. G2 LiDAR.*/
   TYPE_TOF_NET = 2,/**< T15 LiDAR.*/
   TYPE_GS = 3, //GS系列雷达（目前只有GS2）
+  TYPE_SCL = 4, //SCL雷达
   TYPE_SDM = 5, //SDM单点雷达
   TYPE_Tail,
 } LidarTypeID;

diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
@@ -281,7 +281,7 @@ inline bool isTminiLidar(int model)
 }
 
 //根据雷达码判断是否是SCL雷达
-inline bool isSCLLidar(int model)
+inline bool isSCLLidar2(int model)
 {
   return model == DriverInterface::YDLIDAR_SCL;
 }
@@ -514,7 +514,8 @@ inline bool isNetTOFLidar(int type) {
 inline bool isTriangleLidar(int type) {
   bool ret = false;
 
-  if (type == TYPE_TRIANGLE) {
+  if (type == TYPE_TRIANGLE ||
+    type == TYPE_SCL) {
     ret = true;
   }
 
@@ -532,13 +533,13 @@ inline bool isGSLidar(int type)
 }
 
 /**
- * @brief Whether it is a GS2 type LiDAR
+ * @brief Whether it is a SCL type LiDAR
  * @param type  LiDAR type
- * @return true if it is a Triangle type, otherwise false.
+ * @return true if it is a Triangle SCL type, otherwise false.
  */
-inline bool isGS2Lidar(int type) 
+inline bool isSCLLidar(int type) 
 {
-  return (type == TYPE_GS);
+  return (type == TYPE_SCL);
 }
 
 inline bool isSDMLidar(int type)

diff --git a/samples/tri_test.cpp b/samples/tri_test.cpp
@@ -221,7 +221,7 @@ int main(int argc, char *argv[])
   /// lidar baudrate
   laser.setlidaropt(LidarPropSerialBaudrate, &baudrate, sizeof(int));
   /// tof lidar
-  int optval = TYPE_TRIANGLE;
+  int optval = TYPE_SCL;
   laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
   /// device type
   optval = YDLIDAR_TYPE_SERIAL;
@@ -296,27 +296,27 @@ int main(int argc, char *argv[])
   }
 
   //获取用户版本
-  if (ret && ydlidar::os_isOk())
-  {
-    std::string userVersion;
-    if (laser.getUserVersion(userVersion))
-    {
-      printf("User version %s\n", userVersion.c_str());
-    }
-  }
+  // if (ret && ydlidar::os_isOk())
+  // {
+  //   std::string userVersion;
+  //   if (laser.getUserVersion(userVersion))
+  //   {
+  //     printf("User version %s\n", userVersion.c_str());
+  //   }
+  // }
 
   //获取设备信息
-  if (ret)
-  {
-    device_info di;
-    memset(&di, 0, DEVICEINFOSIZE);
-    if (!laser.getDeviceInfo(di)) {
-      ydlidar::core::common::printfVersionInfo(di, "", 0);
-    }
-    else {
-      printf("Fail to get device info\n");
-    }
-  }
+  // if (ret)
+  // {
+  //   device_info di;
+  //   memset(&di, 0, DEVICEINFOSIZE);
+  //   if (!laser.getDeviceInfo(di)) {
+  //     ydlidar::core::common::printfVersionInfo(di, "", 0);
+  //   }
+  //   else {
+  //     printf("Fail to get device info\n");
+  //   }
+  // }
 
   LaserScan scan;
   while (ydlidar::os_isOk())

diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
@@ -1728,7 +1728,7 @@ bool CYdLidar::checkCOMMs()
     //根据雷达类型创建对应的实例
     if (isNetTOFLidar(m_LidarType))
       lidarPtr = new ydlidar::ETLidarDriver(); //T15
-    else if (isGS2Lidar(m_LidarType)) //GS2
+    else if (isGSLidar(m_LidarType)) //GS
       lidarPtr = new ydlidar::GSLidarDriver(m_DeviceType);
     else if (isSDMLidar(m_LidarType)) //SDM
       lidarPtr = new ydlidar::SDMLidarDriver();

diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
@@ -53,7 +53,7 @@ YDlidarDriver::YDlidarDriver(uint8_t type) :
   trans_delay           = 0;
   scan_frequence        = 0;
   m_sampling_rate       = -1;
-  model                 = YDLIDAR_SCL;
+  model                 = YDLIDAR_S2PRO;
   retryCount            = 0;
   has_device_header     = false;
   m_SingleChannel       = false;
@@ -1387,25 +1387,26 @@ void YDlidarDriver::parseNodeFromeBuffer(node_info *node)
 
         if ((*node).dist != 0)
         {
+            //printf("has angle 2nd parse %d %d\n", m_LidarType, model);
             if (isOctaveLidar(model))
             {
                 correctAngle = (int32_t)(((atan(((21.8 * (155.3 - ((*node).dist / 2.0))) / 155.3) / ((*node).dist / 2.0))) * 180.0 / 3.1415) * 64.0);
             }
-            else if (isSCLLidar(model))
+            else if (isSCLLidar(m_LidarType) || 
+                isSCLLidar2(model))
             {
                 //SCL雷达角度二级解析公式（α = asind（17.8/dist））
                 correctAngle = int32_t(asin(17.8 / node->dist) * 180.0 / M_PI * 64.0);
-                printf("SCL correct angle [%d]\n", correctAngle);
+                // printf("SCL correct angle [%d]\n", correctAngle);
             }
             else if (isTriangleLidar(m_LidarType) &&
                 !isTminiLidar(model)) //去掉Tmini雷达的角度二级解析
             {
-//                printf("has angle 2nd parse\n");
                 correctAngle = (int32_t)(((atan(((21.8 * (155.3 - ((*node).dist / 4.0))) / 155.3) / ((*node).dist / 4.0))) * 180.0 / 3.1415) * 64.0);
             }
             else
             {
-//                printf("no angle 2nd parse\n");
+//              printf("no angle 2nd parse\n");
             }
 
             m_InvalidNodeCount ++;