RPLIDAR SDK v1.11.0

- [new feature] support 256000 baudrate on macOS - [improvement] better support for S1 in framegrabber - [improvement] default tty device is set to /dev/tty.SLAB_USBtoUART instead of /dev/ttyUSB0
Slamtec · May 5, 2019 · e240433 · e240433
1 parent dd82dee
commit e240433
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diff --git a/README.md b/README.md
@@ -21,6 +21,7 @@ The demo applications are licensed under GPLv3 license.
 Release Notes
 -------------
 
+* [v1.11.0](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.10.0.md)
 * [v1.10.0](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.10.0.md)
 * [v1.9.1](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.9.1.md)
 * [v1.9.0](https://github.com/slamtec/rplidar_sdk/blob/master/docs/ReleaseNote.v1.9.0.md)
@@ -36,7 +37,7 @@ RPLIDAR SDK supports Windows, macOS and Linux by using Visual Studio 2010 projec
 | ---------------------- | ------- | ----- | ------|
 | A1                     | Yes     | Yes   | Yes   |
 | A2                     | Yes     | Yes   | Yes   |
-| A3                     | Yes     | No    | Yes   |
+| A3                     | Yes     | Yes   | Yes   |
 
 Quick Start
 -----------
@@ -47,8 +48,6 @@ If you have Microsoft Visual Studio 2010 installed, just open sdk/workspaces/vc1
 
 ### On macOS and Linux
 
-> Note: RPLIDAR A3 is not supported on macOS yet, because macOS doens't support the baudrate used by RPLIDAR A3, which is 256000
-
 Please make sure you have make and g++ installed, and then just invoke make in the root directory, you can get the compiled result at `output/$PLATFORM/$SCHEME`, such as `output/Linux/Release`.
 
     make

diff --git a/docs/ReleaseNote.v1.10.0.md b/docs/ReleaseNote.v1.10.0.md
@@ -1,3 +1,4 @@
 RPLIDAR Public SDK v1.10.0 Release Note
 ======================================
+
 - [new feature] support Rplidar S1
diff --git a/docs/ReleaseNote.v1.11.0.md b/docs/ReleaseNote.v1.11.0.md
@@ -0,0 +1,6 @@
+RPLIDAR Public SDK v1.11.0 Release Note
+======================================
+
+- [new feature] support 256000 baudrate on macOS
+- [improvement] better support for S1 in framegrabber
+- [improvement] default tty device is set to /dev/tty.SLAB_USBtoUART instead of /dev/ttyUSB0
diff --git a/sdk/app/Makefile b/sdk/app/Makefile
@@ -1,6 +1,6 @@
 #/*
 # * Copyright (C) 2014  RoboPeak
-# * Copyright (C) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+# * Copyright (C) 2014 - 2019 Shanghai Slamtec Co., Ltd.
 # *
 # * This program is free software: you can redistribute it and/or modify
 # * it under the terms of the GNU General Public License as published by

diff --git a/sdk/app/frame_grabber/MainFrm.cpp b/sdk/app/frame_grabber/MainFrm.cpp
@@ -303,6 +303,7 @@ void    CMainFrame::onUpdateTitle()
 {
     char titleMsg[200];
     const char * workingmodeDesc;
+    char deviceDesc[10];
     switch (workingMode) {
     case WORKING_MODE_IDLE:
         workingmodeDesc = "IDLE";
@@ -314,8 +315,17 @@ void    CMainFrame::onUpdateTitle()
         assert(!"should not come here");
     }
 
-    sprintf(titleMsg, "[%s] Model: %d FW: %d.%02d HW: %d Serial: "
+    if((devInfo.model>>4)>RPLIDAR_T_SERIES_MINUM_MAJOR_ID){
+       sprintf(deviceDesc,"T%d",(devInfo.model>>4)-RPLIDAR_T_SERIES_MINUM_MAJOR_ID) ;
+    }else if((devInfo.model>>4)>RPLIDAR_S_SERIES_MINUM_MAJOR_ID){
+       sprintf(deviceDesc,"S%d",(devInfo.model>>4)-RPLIDAR_S_SERIES_MINUM_MAJOR_ID) ;
+    }else{
+       sprintf(deviceDesc,"A%d",devInfo.model>>4) ;
+    }
+    sprintf(titleMsg, "[%s] Model: %sM%d(%d) FW: %d.%02d HW: %d Serial: "
         , workingmodeDesc
+        , deviceDesc
+        , devInfo.model&0xf
         , devInfo.model
         , devInfo.firmware_version>>8
         , devInfo.firmware_version & 0xFF, devInfo.hardware_version);
@@ -343,12 +353,12 @@ void    CMainFrame::onSwitchMode(int newMode)
             // stop the previous operation
             LidarMgr::GetInstance().lidar_drv->stop();
             LidarMgr::GetInstance().lidar_drv->stopMotor();
-
             UISetCheck(ID_CMD_STOP, 1);
             UISetCheck(ID_CMD_GRAB_PEAK, 0);
             UISetCheck(ID_CMD_GRAB_FRAME, 0);
             UISetCheck(ID_CMD_SCAN, 0);
             UISetCheck(ID_CMD_GRABFRAMENONEDIFF, 0);
+            LidarMgr::GetInstance().lidar_drv->clearNetSerialRxCache();
         }
         break;
     case WORKING_MODE_SCAN:

diff --git a/sdk/app/frame_grabber/MainFrm.h b/sdk/app/frame_grabber/MainFrm.h
@@ -44,7 +44,11 @@ class CMainFrame :
         WORKING_MODE_IDLE       = 0,
         WORKING_MODE_SCAN       = 3,
     };
-
+    enum {
+        RPLIDAR_A_SERIES_MINUM_MAJOR_ID       = 0,
+        RPLIDAR_S_SERIES_MINUM_MAJOR_ID       = 5,
+        RPLIDAR_T_SERIES_MINUM_MAJOR_ID       = 8,
+    };
 
     DECLARE_FRAME_WND_CLASS(NULL, IDR_MAINFRAME)
     CScanView         m_scanview;

diff --git a/sdk/app/frame_grabber/SerialSelDlg.cpp b/sdk/app/frame_grabber/SerialSelDlg.cpp
@@ -33,10 +33,9 @@
 #include "SerialSelDlg.h"
 
 static const int baudRateLists[] = {
-    115200,
-    256000,
     57600,
-    1382400
+    115200,
+    256000
 };
 
 CSerialSelDlg::CSerialSelDlg()

diff --git a/sdk/app/ultra_simple/main.cpp b/sdk/app/ultra_simple/main.cpp
@@ -106,6 +106,8 @@ int main(int argc, const char * argv[]) {
 #ifdef _WIN32
         // use default com port
         opt_com_path = "\\\\.\\com3";
+#elif __APPLE__
+        opt_com_path = "/dev/tty.SLAB_USBtoUART";
 #else
         opt_com_path = "/dev/ttyUSB0";
 #endif

diff --git a/sdk/sdk/include/rplidar.h b/sdk/sdk/include/rplidar.h
@@ -41,4 +41,4 @@
 
 #include "rplidar_driver.h"
 
-#define RPLIDAR_SDK_VERSION  "1.10.0"
+#define RPLIDAR_SDK_VERSION  "1.11.0"
diff --git a/sdk/sdk/src/arch/macOS/net_serial.cpp b/sdk/sdk/src/arch/macOS/net_serial.cpp
@@ -36,6 +36,7 @@
 #include "arch/macOS/net_serial.h"
 #include <termios.h>
 #include <sys/select.h>
+#include <IOKit/serial/ioss.h>
 
 namespace rp{ namespace arch{ namespace net{
 
@@ -79,16 +80,8 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
     tcgetattr(serial_fd, &oldopt);
 	bzero(&options,sizeof(struct termios));
 
-    _u32 termbaud = getTermBaudBitmap(baudrate);
+    cfsetspeed(&options, B19200);
 
-    if (termbaud == (_u32)-1) {
-        fprintf(stderr, "Baudrate %d is not supported on macOS\r\n", baudrate);
-        close();
-        return false;
-    }
-    cfsetispeed(&options, termbaud);
-    cfsetospeed(&options, termbaud);
-
 	// enable rx and tx
 	options.c_cflag |= (CLOCAL | CREAD);
 
@@ -111,19 +104,23 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
     options.c_oflag &= ~OPOST;
 
     tcflush(serial_fd,TCIFLUSH); 
-/*
-    if (fcntl(serial_fd, F_SETFL, FNDELAY))
+
+    if (tcsetattr(serial_fd, TCSANOW, &options))
     {
         close();
         return false;
     }
-*/
-    if (tcsetattr(serial_fd, TCSANOW, &options))
-    {
+
+    printf("Setting serial port baudrate...\n");
+
+    speed_t speed = (speed_t)baudrate;
+    if (ioctl(serial_fd, IOSSIOSPEED, &speed)== -1) {
+        printf("Error calling ioctl(..., IOSSIOSPEED, ...) %s - %s(%d).\n",
+               portname, strerror(errno), errno);
         close();
         return false;
     }
-    
+
     _is_serial_opened = true;
 
     //Clear the DTR bit to let the motor spin