修改三角雷达零位包前多1个0xAA数据造成解析失败的问题

YDLIDAR · Mar 6, 2023 · a99d815 · a99d815
1 parent e77e2c7
commit a99d815
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Showing 5 changed files with 19 additions and 10 deletions.
diff --git a/core/common/ydlidar_help.h b/core/common/ydlidar_help.h
@@ -942,7 +942,7 @@ inline bool printfVersionInfo(const device_info &info,
 
   uint8_t Major = (uint8_t)(info.firmware_version >> 8);
   uint8_t Minjor = (uint8_t)(info.firmware_version & 0xff);
-  printf("[YDLIDAR] Connection established in [%s][%d]:\n"
+  printf("[YDLIDAR] Connection established in [%s][%d]\n"
          "Firmware version: %u.%u\n"
          "Hardware version: %u\n"
          "Model: %s\n"

diff --git a/samples/tmini_test.cpp b/samples/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\n", id, it->first.c_str());
+      printf("%d. %s %s\n", id, it->first.c_str(), it->second.c_str());
       id++;
     }
 

diff --git a/samples/tri_test.cpp b/samples/tri_test.cpp
@@ -36,6 +36,8 @@
 #include <string>
 #include <algorithm>
 #include <cctype>
+#include <core/base/timer.h>
+
 using namespace std;
 using namespace ydlidar;
 
@@ -246,7 +248,7 @@ int main(int argc, char *argv[])
   /// one-way communication
   laser.setlidaropt(LidarPropSingleChannel, &isSingleChannel, sizeof(bool));
   /// intensity
-  b_optvalue = true;
+  b_optvalue = false;
   laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool));
   /// Motor DTR
   b_optvalue = false;

diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
@@ -461,13 +461,11 @@ bool CYdLidar::turnOn()
   }
 
   uint32_t t = getms();
-  // start scan...
+  //启动扫描
   result_t op_result = lidarPtr->startScan();
-
   if (!IS_OK(op_result))
   {
     op_result = lidarPtr->startScan();
-
     if (!IS_OK(op_result))
     {
       lidarPtr->stop();
@@ -476,15 +474,12 @@ bool CYdLidar::turnOn()
       return false;
     }
   }
-
   printf("[YDLIDAR] Successed to start scan mode, Elapsed time %u ms\n", getms() - t);
   fflush(stdout);
 
   m_PointTime = lidarPtr->getPointTime();
 
-  // //获取强度标识
-  // lidarPtr->getIntensityFlag();
-
+  t = getms();
   //计算采样率
   if (checkLidarAbnormal())
   {
@@ -495,6 +490,8 @@ bool CYdLidar::turnOn()
     isScanning = false;
     return false;
   }
+  printf("[YDLIDAR] Successed to check the lidar, Elapsed time %u ms\n", getms() - t);
+  fflush(stdout);
 
   if (m_SingleChannel && !isNetTOFLidar(m_LidarType))
   {

diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
@@ -1003,6 +1003,11 @@ result_t YDlidarDriver::parseResponseHeader(
             setDriverError(NoError);
           }
         }
+        else if (currentByte == PH1) //防止出现连续0xAA
+        {
+          recvPos = 1;
+          continue;
+        }
         else if (currentByte == PH3)
         {
           recvPos = 0;
@@ -2571,6 +2576,11 @@ result_t YDlidarDriver::parseHeader(
           recvPos = 0;
           continue;
         }
+        else if (c == PH1)
+        {
+          recvPos = 1;
+          continue;
+        }
         break;
 
       case 2: