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Miscellaneous build warning fixes #4

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Miscellaneous build warning fixes #4

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1 change: 1 addition & 0 deletions include/pandarGeneral_sdk/pandarGeneral_sdk.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <vector>

#include <boost/function.hpp>
#include <boost/thread.hpp>

#include "pandarGeneral/pandarGeneral.h"
#include "pandarGeneral/point_types.h"
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2 changes: 1 addition & 1 deletion src/PandarGeneralRaw/src/input.cc
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Expand Up @@ -125,7 +125,7 @@ int Input::getPacket(PandarPacket *pkt) {
}

senderAddressLen = sizeof(senderAddress);
ssize_t nbytes;
ssize_t nbytes = 0;
for (int i = 0; i != socketNumber; ++i) {
if (fds[i].revents & POLLIN) {
nbytes = recvfrom(fds[i].fd, &pkt->data[0], ETHERNET_MTU, 0,
Expand Down
6 changes: 4 additions & 2 deletions src/PandarGeneralRaw/src/pandarGeneral_internal.cc
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Expand Up @@ -557,6 +557,8 @@ int PandarGeneral_Internal::Start() {
} else {
pcap_reader_->start(boost::bind(&PandarGeneral_Internal::FillPacket, this, _1, _2));
}

return 0;
}

void PandarGeneral_Internal::Stop() {
Expand Down Expand Up @@ -616,7 +618,6 @@ void PandarGeneral_Internal::FillPacket(const uint8_t *buf, const int len) {

void PandarGeneral_Internal::ProcessLiarPacket() {
// LOG_FUNC();
double lastTimestamp = 0.0f;
struct timespec ts;
int ret = 0;

Expand Down Expand Up @@ -874,7 +875,8 @@ int PandarGeneral_Internal::ParseRawData(Pandar40PPacket *packet,
unit.intensity = (buf[index + 2] & 0xff);

// TODO(Philip.Pi): Filtering wrong data for LiDAR.
if ((unit.distance == 0x010101 && unit.intensity == 0x0101) || \
// unit.intensity is a uint8_t and comparing against 0x0101 always yields false
if (/*(unit.distance == 0x010101 && unit.intensity == 0x0101) || */
unit.distance > (200 * 1000 / 2 /* 200m -> 2mm */)) {
unit.distance = 0;
unit.intensity = 0;
Expand Down
23 changes: 7 additions & 16 deletions src/PandarGeneralRaw/src/pandarGeneral_internal.h
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Expand Up @@ -54,7 +54,7 @@
* Pandar 64
*/
#define HS_LIDAR_TIME_SIZE (6)
// Each Packet have 8 byte
// Each Packet have 8 byte
#define HS_LIDAR_L64_HEAD_SIZE (8)
// Block number 6 or 7
#define HS_LIDAR_L64_BLOCK_NUMBER_6 (6)
Expand Down Expand Up @@ -83,7 +83,7 @@
#define HS_LIDAR_L64_7_BLOCK_PACKET_BODY_SIZE (HS_LIDAR_L64_BLOCK_SIZE * \
HS_LIDAR_L64_BLOCK_NUMBER_7)

// packet tail size
// packet tail size
#define HS_LIDAR_L64_PACKET_TAIL_SIZE (26)
#define HS_LIDAR_L64_PACKET_TAIL_WITHOUT_UDPSEQ_SIZE (22)

Expand Down Expand Up @@ -161,8 +161,8 @@ typedef struct HS_LIDAR_L64_Header_s{
unsigned short sob; // 0xFFEE 2bytes
char chLaserNumber; // laser number 1byte
char chBlockNumber; //block number 1byte
char chReturnType; // return mode 1 byte when dual return 0-Single Return
// 1-The first block is the 1 st return.
char chReturnType; // return mode 1 byte when dual return 0-Single Return
// 1-The first block is the 1 st return.
// 2-The first block is the 2 nd return
char chDisUnit; // Distance unit, 6mm/5mm/4mm
public:
Expand Down Expand Up @@ -200,8 +200,8 @@ typedef struct HS_LIDAR_L20_Header_s{
unsigned short sob; // 0xFFEE 2bytes
char chLaserNumber; // laser number 1byte
char chBlockNumber; //block number 1byte
char chReturnType; // return mode 1 byte when dual return 0-Single Return
// 1-The first block is the 1 st return.
char chReturnType; // return mode 1 byte when dual return 0-Single Return
// 1-The first block is the 1 st return.
// 2-The first block is the 2 nd return
char chDisUnit; // Distance unit, 6mm/5mm/4mm
public:
Expand Down Expand Up @@ -263,7 +263,7 @@ class PandarGeneral_Internal {
PandarGeneral_Internal(
std::string device_ip, uint16_t lidar_port, uint16_t gps_port,
boost::function<void(boost::shared_ptr<PPointCloud>, double)>
pcl_callback, boost::function<void(double)> gps_callback,
pcl_callback, boost::function<void(double)> gps_callback,
uint16_t start_angle, int tz, int pcl_type, std::string frame_id);

/**
Expand Down Expand Up @@ -349,15 +349,6 @@ class PandarGeneral_Internal {
float General_elev_angle_map_[MAX_LASER_NUM];
float General_horizatal_azimuth_offset_map_[MAX_LASER_NUM];

float Pandar20_elev_angle_map_[HS_LIDAR_L20_UNIT_NUM];
float Pandar20_horizatal_azimuth_offset_map_[HS_LIDAR_L20_UNIT_NUM];

float PandarQT_elev_angle_map_[HS_LIDAR_QT_UNIT_NUM];
float PandarQT_horizatal_azimuth_offset_map_[HS_LIDAR_QT_UNIT_NUM];

float PandarXT_elev_angle_map_[HS_LIDAR_XT_UNIT_NUM];
float PandarXT_horizatal_azimuth_offset_map_[HS_LIDAR_XT_UNIT_NUM];

Comment on lines -352 to -360
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These are unused private fields. Are they here for a reason?

float block64OffsetSingle_[HS_LIDAR_L64_BLOCK_NUMBER_6];
float block64OffsetDual_[HS_LIDAR_L64_BLOCK_NUMBER_6];
float laser64Offset_[HS_LIDAR_L64_UNIT_NUM];
Expand Down
1 change: 0 additions & 1 deletion src/PandarGeneralRaw/src/pcap_reader.cpp
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Expand Up @@ -18,7 +18,6 @@ PcapReader::PcapReader(std::string path, std::string frame_id) {
if(iter != m_timeIndexMap.end()) {
m_iTsIndex = iter->second.first;
m_iUTCIndex = iter->second.second;

}
else{
m_iTsIndex = 0;
Expand Down
2 changes: 2 additions & 0 deletions src/pandarGeneral_sdk.cc
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Expand Up @@ -98,6 +98,8 @@ int PandarGeneralSDK::Start() {
enable_get_calibration_thr_ = true;
get_calibration_thr_ = new boost::thread(
boost::bind(&PandarGeneralSDK::GetCalibrationFromDevice, this));

return 0;
}

void PandarGeneralSDK::Stop() {
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26 changes: 13 additions & 13 deletions src/tcp_command_client.c
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Expand Up @@ -93,12 +93,12 @@ static int tcpCommandReadCommand(int connfd, TC_Command* cmd) {
return -1;
}

print_mem(buffer, 8);
print_mem((char*)buffer, 8);

tcpCommandHeaderParser(buffer + 2, 6, &cmd->header);

if (cmd->header.len > 0) {
cmd->data = malloc(cmd->header.len);
cmd->data = (unsigned char*)malloc(cmd->header.len);
if (!cmd->data) {
printf("malloc data error\n");
return -1;
Expand All @@ -114,7 +114,7 @@ static int tcpCommandReadCommand(int connfd, TC_Command* cmd) {

// cmd->ret_size = cmd->header.len;

print_mem(cmd->data, cmd->header.len);
print_mem((char*)cmd->data, cmd->header.len);

return 0;
}
Expand Down Expand Up @@ -158,9 +158,9 @@ static PTC_ErrCode tcpCommandClient_SendCmd(TcpCommandClient* client,
}

unsigned char buffer[128];
int size = TcpCommand_buildHeader(buffer, cmd);
int size = TcpCommand_buildHeader((char*)buffer, cmd);

print_mem(buffer, size);
print_mem((char*)buffer, size);
int ret = write(fd, buffer, size);
if (ret != size) {
close(fd);
Expand All @@ -170,7 +170,7 @@ static PTC_ErrCode tcpCommandClient_SendCmd(TcpCommandClient* client,
}

if (cmd->header.len > 0 && cmd->data) {
print_mem(cmd->data, cmd->header.len);
print_mem((char*)cmd->data, cmd->header.len);
ret = write(fd, cmd->data, cmd->header.len);
if (ret != cmd->header.len) {
printf("Write Payload error\n");
Expand Down Expand Up @@ -238,7 +238,7 @@ PTC_ErrCode TcpCommandSetCalibration(const void* handle, const char* buffer,
memset(&cmd, 0, sizeof(TC_Command));
cmd.header.cmd = PTC_COMMAND_SET_CALIBRATION;
cmd.header.len = len;
cmd.data = strdup(buffer);
cmd.data = (unsigned char*)strdup(buffer);

PTC_ErrCode errorCode = tcpCommandClient_SendCmd(client, &cmd);
if (errorCode != PTC_ERROR_NO_ERROR) {
Expand All @@ -252,12 +252,12 @@ PTC_ErrCode TcpCommandSetCalibration(const void* handle, const char* buffer,
free(cmd.ret_data);
}

return cmd.header.ret_code;
return (PTC_ErrCode)cmd.header.ret_code;
}

PTC_ErrCode TcpCommandGetCalibration(const void* handle, char** buffer,
unsigned int* len) {
printf("buffer is: %s,len is: %d\n",buffer,len);
printf("buffer is: %s,len is: %u\n",*buffer,*len);
if (!handle || !buffer || !len) {
printf("Bad Parameter!!!\n");
return PTC_ERROR_BAD_PARAMETER;
Expand All @@ -284,11 +284,11 @@ PTC_ErrCode TcpCommandGetCalibration(const void* handle, char** buffer,
*buffer = ret_str;
*len = cmd.ret_size + 1;

return cmd.header.ret_code;
return (PTC_ErrCode)cmd.header.ret_code;
}
PTC_ErrCode TcpCommandGetLidarCalibration(const void* handle, char** buffer,
unsigned int* len) {
printf("buffer is: %s,len is: %d\n",buffer,len);
printf("buffer is: %s,len is: %u\n",*buffer,*len);
if (!handle || !buffer || !len) {
printf("Bad Parameter!!!\n");
return PTC_ERROR_BAD_PARAMETER;
Expand All @@ -315,7 +315,7 @@ PTC_ErrCode TcpCommandGetLidarCalibration(const void* handle, char** buffer,
*buffer = ret_str;
*len = cmd.ret_size + 1;

return cmd.header.ret_code;
return (PTC_ErrCode)cmd.header.ret_code;
}

PTC_ErrCode TcpCommandResetCalibration(const void* handle) {
Expand All @@ -342,7 +342,7 @@ PTC_ErrCode TcpCommandResetCalibration(const void* handle) {
free(cmd.ret_data);
}

return cmd.header.ret_code;
return (PTC_ErrCode)cmd.header.ret_code;
}

void TcpCommandClientDestroy(const void* handle) {}
2 changes: 1 addition & 1 deletion src/util.c
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Expand Up @@ -42,7 +42,7 @@ int sys_readn(int fd, void* vptr, int n) {
int nleft, nread;
char* ptr;

ptr = vptr;
ptr = (char*)vptr;
nleft = n;
while (nleft > 0) {
// printf("start read\n");
Expand Down