增加GS雷达OTA功能

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 17)
+set(YDLIDAR_SDK_VERSION_PATCH 18)
 set(YDLIDAR_SDK_VERSION ${YDLIDAR_SDK_VERSION_MAJOR}.${YDLIDAR_SDK_VERSION_MINOR}.${YDLIDAR_SDK_VERSION_PATCH})
 
 ##########################################################
@@ -62,7 +62,7 @@ endif()
 option( BUILD_SHARED_LIBS "Build shared libraries." OFF)
 option( BUILD_EXAMPLES "Build Example." ON)
 option( BUILD_CSHARP "Build CSharp." OFF)
-option( BUILD_TEST "Build Test." ON)
+option( BUILD_TEST "Build Test." OFF)
 
 ############################################################################
 # find package

core/common/DriverInterface.h

@@ -48,6 +48,10 @@ namespace ydlidar
         PropertyBuilderByName(device_info, BaseDevInfo, protected);
         //模组设备信息
         PropertyBuilderByName(device_info, ModuleDevInfo, protected);
+        //OTA文件
+        PropertyBuilderByName(std::string, OtaName, protected);
+        //OTA文件加密
+        PropertyBuilderByName(bool, OtaEncode, protected);
 
         /**
          * @par Constructor
@@ -462,13 +466,22 @@ namespace ydlidar
          * @param[in] addr 雷达地址
          * @return 成功返回RESULT_OK，否则返回非RESULT_OK
          */
-        virtual result_t setWorkMode(int mode = 0, uint8_t addr = 0x00) { return RESULT_FAIL; }
+        virtual result_t setWorkMode(int mode = 0, uint8_t addr = 0x00) { 
+          return RESULT_FAIL; 
+        }
 
         /**
          * @brief 解析点云数据并判断带不带强度信息（目前只针对三角雷达）
          * @return 成功返回RESULT_OK，否则返回非RESULT_OK
          */
-        virtual result_t getIntensityFlag() { return RESULT_OK; }
+        virtual result_t getIntensityFlag() { 
+          return RESULT_OK; 
+        }
+
+        // 开始OTA升级
+        virtual bool ota() {
+          return false;
+        }
 
       public:
         enum YDLIDAR_MODLES

core/common/ydlidar_protocol.h

@@ -134,6 +134,13 @@
 #define GS_LIDAR_CMD_SET_BIAS                  0xD9
 #define GS_LIDAR_CMD_SET_DEBUG_MODE            0xF0
 
+//模组地址
+#define LIDAR_MODULE_1 0x01
+#define LIDAR_MODULE_2 0x02
+#define LIDAR_MODULE_3 0x04
+#define LIDAR_MODULE_ALL 0x00
+#define LIDAR_MAXCOUNT 3 //最大模组数
+
 /** @} LIDAR CMD Protocol */
 
 //GS
@@ -152,13 +159,6 @@
 
 #define SDK_SNLEN 16 //序列号长度
 
-/// CT Package Type
-typedef enum {
-  CT_Normal = 0,///< Normal package
-  CT_RingStart  = 1,///< Starting package
-  CT_Tail,
-} CT;
-
 /// Default Node Quality
 #define Node_Default_Quality (10)
 /// Starting Node
@@ -182,6 +182,20 @@ typedef enum {
 #define USERVERSIONNDEX 1
 #define HEALTHINDEX 3
 
+//超时定义
+#define TIMEOUT_100 100
+#define TIMEOUT_300 300
+#define TIMEOUT_500 500 //500ms
+#define TIMEOUT_1S 1000
+#define TIMEOUT_2S 2000
+
+/// CT Package Type
+typedef enum {
+  CT_Normal = 0,///< Normal package
+  CT_RingStart  = 1,///< Starting package
+  CT_Tail,
+} CT;
+
 //雷达协议类型
 typedef enum {
   Protocol_V1 = 0, //V1 version
@@ -401,6 +415,7 @@ struct gs_package_head {
     uint8_t type;
     uint16_t size;
 } __attribute__((packed));
+#define GSPACKEGEHEADSIZE sizeof(gs_package_head)
 //GS系列设备信息
 struct gs_device_info {
     uint8_t hwVersion; //硬件版本号

src/CYdLidar.cpp

@@ -947,6 +947,13 @@ bool CYdLidar::getDeviceInfo(std::vector<device_info_ex>& dis)
   return false;
 }
 
+bool CYdLidar::ota()
+{
+  if (lidarPtr)
+    return lidarPtr->ota();
+  return false;
+}
+
 /*-------------------------------------------------------------
                     isRangeValid
 -------------------------------------------------------------*/
@@ -1789,6 +1796,8 @@ bool CYdLidar::checkCOMMs()
   lidarPtr->setScanFreq(m_ScanFrequency);
   lidarPtr->setSupportMotorDtrCtrl(m_SupportMotorDtrCtrl);
   lidarPtr->setBottom(m_Bottom);
+  lidarPtr->setOtaName(otaName);
+  lidarPtr->setOtaEncode(otaEncode);
 
   printf("[YDLIDAR] Lidar successfully connected [%s:%d]\n", 
     m_SerialPort.c_str(), m_SerialBaudrate);

src/CYdLidar.h

@@ -177,6 +177,18 @@ class YDLIDAR_API CYdLidar {
   //获取级联设备信息
   bool getDeviceInfo(std::vector<device_info_ex>& dis);
 
+  //OTA功能相关
+  //设置OTA文件路径
+  void setOtaFile(const std::string& name) {
+    otaName = name;
+  }
+  //设置OTA文件加密
+  void setOtaEncode(bool e) {
+    otaEncode = e;
+  }
+  //开始OTA升级
+  bool ota();
+
  private:
   /**
    * @brief check LiDAR instance and connect to LiDAR,
@@ -352,6 +364,8 @@ class YDLIDAR_API CYdLidar {
 
   bool m_SunNoise = false; //阳光噪点过滤标识
   bool m_GlassNoise = false; //玻璃噪点过滤标识
+  std::string otaName; //OTA文件路径
+  bool otaEncode = true; //OTA是否加密
 };	// End of class
 #endif // CYDLIDAR_H