[update]版本号v3.0.3,更新SDK层(ldlidar_driver)。

1. 修复32位系统下日志打印时间戳uint64_t数据格式不对问题 2. 更改获取激光雷达扫描频率接口命名
ldrobotSensorTeam · Oct 26, 2022 · 964afad · 964afad
1 parent d275bf4
commit 964afad
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Showing 5 changed files with 29 additions and 16 deletions.
diff --git a/ldlidar_driver/include/core/ldlidar_driver.h b/ldlidar_driver/include/core/ldlidar_driver.h
@@ -116,7 +116,7 @@ class LDLidarDriver {
    * @retval value is true, get lidar laser scan frequence is success;
    *   value is false, get lidar laser scan ferquence is fail.
   */
-  bool GetLidarSpinFreq(double& spin_hz);
+  bool GetLidarScanFreq(double& spin_hz);
 
   /**
    * @brief register get timestamp handle functional.

diff --git a/ldlidar_driver/include/logger/log_module.h b/ldlidar_driver/include/logger/log_module.h
@@ -145,12 +145,12 @@ class LogModule {
 
   std::string GetCurrentTime();
 
-  inline int64_t GetCurrentLocalTimeStamp() {
+  inline uint64_t GetCurrentLocalTimeStamp() {
     //// 获取系统时间戳
     std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> tp = 
       std::chrono::time_point_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now());
     auto tmp = std::chrono::duration_cast<std::chrono::nanoseconds>(tp.time_since_epoch());
-    return tmp.count();
+    return (uint64_t)tmp.count();
   }
 
   std::string GetFormatValue(std::string str_value);

diff --git a/ldlidar_driver/src/core/ldlidar_driver.cpp b/ldlidar_driver/src/core/ldlidar_driver.cpp
@@ -25,7 +25,7 @@ namespace ldlidar {
 bool LDLidarDriver::is_ok_ = false;
 
 LDLidarDriver::LDLidarDriver() 
-  : sdk_version_number_("v3.0.2"),
+  : sdk_version_number_("v3.0.3"),
     is_start_flag_(false),
     register_get_timestamp_handle_(nullptr),
     comm_pkg_(new LiPkg()),
@@ -286,7 +286,7 @@ LidarStatus LDLidarDriver::GetLaserScanData(LaserScan& dst, int64_t timeout) {
   }
 }
 
-bool  LDLidarDriver::GetLidarSpinFreq(double& spin_hz) {
+bool  LDLidarDriver::GetLidarScanFreq(double& spin_hz) {
   if (!is_start_flag_) {
     return false;
   }

diff --git a/ldlidar_driver/src/logger/log_module.cpp b/ldlidar_driver/src/logger/log_module.cpp
@@ -90,8 +90,16 @@ void LogModule::LogPrintInf(const char* format,...) {
 			case DEBUG_LEVEL: {
 				//时间戳 uint is seconds
 				char s_stamp[100] = {0};
-				int64_t timestamp = GetCurrentLocalTimeStamp();
-				snprintf(s_stamp, 100, "[%ld.%ld]", (timestamp/1000000000), (timestamp%1000000000));
+				uint64_t timestamp = GetCurrentLocalTimeStamp();
+#ifdef __LP64__
+        snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000));
+#else
+#ifdef _WIN64
+        snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000));
+#else
+        snprintf(s_stamp, 100, "[%llu.%llu]", (timestamp/1000000000), (timestamp%1000000000));
+#endif
+#endif
 				str_temp.append(s_stamp);
 			}
 				break;
@@ -132,8 +140,16 @@ void LogModule::LogPrintNoLocationInf(const char* format,...) {
 
 		//时间戳 uint is seconds
 		char s_stamp[100] = {0};
-		int64_t timestamp = GetCurrentLocalTimeStamp();
-		snprintf(s_stamp, 100, "[%ld.%ld]", (timestamp/1000000000), (timestamp%1000000000));
+		uint64_t timestamp = GetCurrentLocalTimeStamp();
+#ifdef __LP64__
+		snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000));
+#else
+#ifdef _WIN64
+    snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000));
+#else
+    snprintf(s_stamp, 100, "[%llu.%llu]", (timestamp/1000000000), (timestamp%1000000000));
+#endif
+#endif
 		str_temp.append(s_stamp);
 
 		va_list ptr;

diff --git a/src/publish_node/main.cpp b/src/publish_node/main.cpp
@@ -75,7 +75,7 @@ int main(int argc, char **argv) {
   ldlidarnode->EnableFilterAlgorithnmProcess(true);
 
   if (ldlidarnode->Start(type_name, port_name, serial_port_baudrate, ldlidar::COMM_SERIAL_MODE)) {
-    ROS_INFO("ldldiar node start is success");
+    ROS_INFO("ldlidar node start is success");
   } else {
     ROS_ERROR("ldlidar node start is fail");
     exit(EXIT_FAILURE);
@@ -94,18 +94,15 @@ int main(int argc, char **argv) {
 
   ros::Rate r(10); //10hz
   ldlidar::Points2D laser_scan_points;
-  double lidar_spin_freq;
+  double lidar_scan_freq;
   ROS_INFO("Publish topic message:ldlidar scan data .");
 
   while (ros::ok()) {
 
     switch (ldlidarnode->GetLaserScanData(laser_scan_points, 1500)){
       case ldlidar::LidarStatus::NORMAL: 
-        ldlidarnode->GetLidarSpinFreq(lidar_spin_freq);
-        ToLaserscanMessagePublish(laser_scan_points, lidar_spin_freq, setting, lidar_pub);
-        break;
-      case ldlidar::LidarStatus::ERROR:
-        ROS_ERROR("ldlidar driver error.");
+        ldlidarnode->GetLidarScanFreq(lidar_scan_freq);
+        ToLaserscanMessagePublish(laser_scan_points, lidar_scan_freq, setting, lidar_pub);
         break;
       case ldlidar::LidarStatus::DATA_TIME_OUT:
         ROS_ERROR("get ldlidar data is time out, please check your lidar device.");