针对G4修改单包最大点数导致的崩溃问题

YDLIDAR · Feb 5, 2025 · 16ca1f4 · 16ca1f4
1 parent 1140e64
commit 16ca1f4
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/core/common/ydlidar_protocol.h b/core/common/ydlidar_protocol.h
@@ -141,7 +141,7 @@
 
 //Package
 #define TRI_PACKHEADSIZE 10
-#define TRI_PACKMAXNODES 40 //单包最大点数
+#define TRI_PACKMAXNODES 80 //单包最大点数（G4最大点数为80，其它三角等最大均为40）
 #define TIA_PACKWIDTH 12 //TIA单包行数
 #define TIA_PACKHEIGHT 16 //TIA单包行数
 #define TIA_PACKMAXBUFFS (TIA_PACKWIDTH * (4 + TIA_PACKHEIGHT * 4) + 4 + 4) //TIA-H单包最大字节数

diff --git a/src/YDlidarDriver.cpp b/src/YDlidarDriver.cpp
@@ -612,8 +612,8 @@ namespace ydlidar
   // 解析扫描数据线程主函数
   int YDlidarDriver::cacheScanData()
   {
-    node_info local_buf[128];
-    size_t count = 128;
+    node_info local_buf[TRI_PACKMAXNODES];
+    size_t count = TRI_PACKMAXNODES;
     node_info local_scan[MAX_SCAN_NODES];
     size_t scan_count = 0;
     result_t ans = RESULT_FAIL;
@@ -629,7 +629,7 @@ namespace ydlidar
 
     while (m_isScanning)
     {
-      count = 128;
+      count = TRI_PACKMAXNODES;
       ans = waitScanData(local_buf, count, DEFAULT_TIMEOUT / 2);
       if (!IS_OK(ans))
       {