增加适配GS系列TCP通讯方式

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 11)
+set(YDLIDAR_SDK_VERSION_PATCH 12)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################

core/common/DriverInterface.h

@@ -54,6 +54,8 @@ class DriverInterface {
   * @see DriverInterface::setLidarType and DriverInterface::getLidarType
   */
   PropertyBuilderByName(int, LidarType, protected);
+  //设备类型（串口或网络）
+  PropertyBuilderByName(uint8_t, DeviceType, protected);
   /**
   * @brief Set and Get Sampling interval.
   * @note Negative correlation between sampling interval and lidar sampling rate.\n
@@ -82,25 +84,11 @@ class DriverInterface {
   */
   PropertyBuilderByName(bool, SupportMotorDtrCtrl, protected);
 
-  /**
-  * @brief Set and Get LiDAR HeartBeat function.
-  * @note The current paramter settings are only valid
-  * if the LiDAR is BigScreen.\n
-  * Set the LiDAR HeartBeat to match the LiDAR.
-  * @remarks
-   <table>
-        <tr><th>G4/G4PRO                               <td>false
-    </table>
-  * @see DriverInterface::setHeartBeat and DriverInterface::getHeartBeat
-  */
   PropertyBuilderByName(bool, HeartBeat, protected);
-
   //是否开启调试
   PropertyBuilderByName(bool, Debug, protected);
-
   //扫描频率
   PropertyBuilderByName(float, ScanFreq, protected);
-
   //是否底板优先
   PropertyBuilderByName(bool, Bottom, protected);
   //是否已获取到设备信息
@@ -110,7 +98,8 @@ class DriverInterface {
    * @par Constructor
    *
    */
-  DriverInterface() :  serial_port(""),
+  DriverInterface() :  
+    serial_port(""),
     m_baudrate(8000),
     m_intensities(false),
     m_intensityBit(10),
@@ -122,6 +111,7 @@ class DriverInterface {
     isAutoconnting(false) {
     m_SingleChannel = false;
     m_LidarType = TYPE_TRIANGLE;
+    m_DeviceType = YDLIDAR_TYPE_SERIAL;
     m_PointTime = 0;
     m_SupportMotorDtrCtrl = true;
     m_HeartBeat  = false;

samples/gs_test.cpp

@@ -75,6 +75,8 @@ int main(int argc, char *argv[])
   std::map<std::string, std::string> ports = ydlidar::lidarPortList();
   std::map<std::string, std::string>::iterator it;
 
+  ports["IP1"] = "192.168.1.200";
+
   if (ports.size() == 1) {
     port = ports.begin()->second;
   } else {
@@ -115,6 +117,7 @@ int main(int argc, char *argv[])
   int baudrate = 921600;
   std::map<int, int> baudrateList;
   baudrateList[0] = 921600;
+  baudrateList[1] = 8000; //网络端口
   printf("Baudrate:\n");
   for (std::map<int, int>::iterator it = baudrateList.begin();
        it != baudrateList.end(); it++) {
@@ -158,7 +161,7 @@ int main(int argc, char *argv[])
   int optval = TYPE_GS;
   laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int));
   /// device type
-  optval = YDLIDAR_TYPE_SERIAL;
+  optval = YDLIDAR_TYPE_TCP; //YDLIDAR_TYPE_TCP YDLIDAR_TYPE_SERIAL
   laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int));
   /// sample rate
   optval = isSingleChannel ? 3 : 4;

src/CYdLidar.cpp

@@ -1729,7 +1729,7 @@ bool CYdLidar::checkCOMMs()
     if (isNetTOFLidar(m_LidarType))
       lidarPtr = new ydlidar::ETLidarDriver(); //T15
     else if (isGS2Lidar(m_LidarType)) //GS2
-      lidarPtr = new ydlidar::GSLidarDriver();
+      lidarPtr = new ydlidar::GSLidarDriver(m_DeviceType);
     else if (isSDMLidar(m_LidarType)) //SDM
       lidarPtr = new ydlidar::SDMLidarDriver();
     else //通用雷达