修改C接口获取GS2固件版本问题

YDLIDAR · Aug 8, 2023 · 1c1feab · 1c1feab
1 parent 270f033
commit 1c1feab
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Showing 3 changed files with 40 additions and 30 deletions.
diff --git a/samples/gs_test.cpp b/samples/gs_test.cpp
@@ -231,20 +231,20 @@ int main(int argc, char *argv[])
   //   return -1;
   // }
   //获取级联雷达设备信息
-  std::vector<device_info_ex> dis;
-  ret = laser.getDeviceInfo(dis);
-  if (!ret)
-  {
-    fprintf(stderr, "Fail to get Device infomations %s\n", laser.DescribeError());
-    fflush(stderr);
-    return -1;
-  }
-  for (int i=0; i<dis.size(); ++i)
-  {
-    const device_info_ex& di = dis.at(i);
-    printf("Device [%u]\n", di.id);
-    ydlidar::core::common::printfDeviceInfo(di.di, EPT_Module);
-  }
+  // std::vector<device_info_ex> dis;
+  // ret = laser.getDeviceInfo(dis);
+  // if (!ret)
+  // {
+  //   fprintf(stderr, "Fail to get Device infomations %s\n", laser.DescribeError());
+  //   fflush(stderr);
+  //   return -1;
+  // }
+  // for (int i=0; i<dis.size(); ++i)
+  // {
+  //   const device_info_ex& di = dis.at(i);
+  //   printf("Device [%u]\n", di.id);
+  //   ydlidar::core::common::printfDeviceInfo(di.di, EPT_Module);
+  // }
 
   //启动扫描
   ret = laser.turnOn();
@@ -256,23 +256,23 @@ int main(int argc, char *argv[])
   }
 
   LaserScan scan;
-  std::map<int, uint32_t> ts;
-  ts[0] = getms();
-  ts[1] = getms();
-  ts[2] = getms();
+  //打印帧间隔
+  // std::map<int, uint32_t> ts;
+  // ts[0] = getms();
+  // ts[1] = getms();
+  // ts[2] = getms();
 
   while (ret && ydlidar::os_isOk())
   {
     if (laser.doProcessSimple(scan))
     {
-      // printf("[%lu] points in [0x%016lX] module num [%d] env flag [0x%04X]\n",
-      //        scan.points.size(),
-      //        scan.stamp,
-      //        scan.moduleNum,
-      //        scan.envFlag);
-      uint32_t t = getms();
-      printf("module[%d] time[%lld]\n", scan.moduleNum, t - ts[scan.moduleNum]);
-      ts[scan.moduleNum] = t;
+      printf("[%llu] points in module num [%d] env flag [0x%04X]\n",
+             scan.points.size(),
+             scan.moduleNum,
+             scan.envFlag);
+      // uint32_t t = getms();
+      // printf("module[%d] time[%lld]\n", scan.moduleNum, t - ts[scan.moduleNum]);
+      // ts[scan.moduleNum] = t;
 
       // for (size_t i = 0; i < scan.points.size(); ++i)
       // {

diff --git a/src/CYdLidar.cpp b/src/CYdLidar.cpp
@@ -1405,11 +1405,19 @@ bool CYdLidar::getDeviceInfo()
     Minjor = (uint8_t)(di.firmware_version & 0xff);
     m_LidarVersion.hardware = di.hardware_version;
     m_LidarVersion.soft_major = Major;
-    m_LidarVersion.soft_minor = Minjor / 10;
-    m_LidarVersion.soft_patch = Minjor % 10;
-    memcpy(&m_LidarVersion.sn[0], &di.serialnum[0], 16);
+    if (isGSLidar(m_LidarType))
+    {
+      m_LidarVersion.soft_minor = Minjor;
+      m_LidarVersion.soft_patch = 0;
+    }
+    else
+    {
+      m_LidarVersion.soft_minor = Minjor / 10;
+      m_LidarVersion.soft_patch = Minjor % 10;
+    }
+    memcpy(&m_LidarVersion.sn[0], &di.serialnum[0], SDK_SNLEN);
 
-    for (int i = 0; i < 16; i++)
+    for (int i = 0; i < SDK_SNLEN; i++)
     {
       serial_number += std::to_string(di.serialnum[i] & 0xff);
     }

diff --git a/src/GSLidarDriver.cpp b/src/GSLidarDriver.cpp
@@ -1619,6 +1619,7 @@ result_t GSLidarDriver::getDeviceInfo(device_info &info, uint32_t timeout)
             uint16_t(di.fwVersion >> 8);
         memcpy(info.serialnum, di.sn, SDK_SNLEN);
         // head.address; //雷达序号
+        m_HasDeviceInfo |= EPT_Module | EPT_Base;
     }
 
     return RESULT_OK;
@@ -1733,6 +1734,7 @@ result_t GSLidarDriver::getDeviceInfo2(device_info &info, uint32_t timeout)
     info.firmware_version = uint16_t((di.fwVersion & 0xFF) << 8) +
         uint16_t(di.fwVersion >> 8);
     memcpy(info.serialnum, di.sn, SDK_SNLEN);
+    m_HasDeviceInfo |= EPT_Module | EPT_Base;
 
     return ret;
 }