updated to SDK 1.5.4

TangJingfan · Jun 2, 2016 · 3187e5e · 3187e5e
1 parent ae4229c
commit 3187e5e
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Showing 7 changed files with 19 additions and 7 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -4,6 +4,12 @@ Changelog for package rplidar_ros
 
 Forthcoming
 -----------
+1.5.4 (2016-06-02)
+------------------
+* Release 1.5.4.
+* Update RPLIDAR SDK to 1.5.4
+* Support RPLIDAR A2
+* Contributors: kint
 
 1.5.2 (2016-04-29)
 ------------------

diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rplidar_ros</name>
-  <version>1.5.2</version>
+  <version>1.5.4</version>
   <description>The rplidar ros package
           support rplidar and rplidar A2
   </description>

diff --git a/sdk/README.txt b/sdk/README.txt
@@ -29,6 +29,6 @@ This folder contains RPLIDAR SDK source code which is provided by RoboPeak.
 
 RoboPeak Website: http://www.robopeak.com
 SlamTec HomePage: http://www.slamtec.com
-RPLIDAR_SDK_VERSION:	1.5.2
+RPLIDAR_SDK_VERSION:	1.5.4
 Note: The SDK version may not up-to-date.
 rplidar product: http://www.slamtec.com/en/Lidar
diff --git a/sdk/src/arch/linux/net_serial.cpp b/sdk/src/arch/linux/net_serial.cpp
@@ -122,10 +122,11 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
         return false;
     }
 
+    _is_serial_opened = true;
+
     //Clear the DTR bit to let the motor spin
     clearDTR();
 
-    _is_serial_opened = true;
     return true;
 }
 

diff --git a/sdk/src/arch/macOS/net_serial.cpp b/sdk/src/arch/macOS/net_serial.cpp
@@ -123,10 +123,11 @@ bool raw_serial::open(const char * portname, uint32_t baudrate, uint32_t flags)
         return false;
     }
 
+    _is_serial_opened = true;
+
     //Clear the DTR bit to let the motor spin
     clearDTR();
 
-    _is_serial_opened = true;
     return true;
 }
 

diff --git a/sdk/src/arch/win32/net_serial.cpp b/sdk/src/arch/win32/net_serial.cpp
@@ -102,9 +102,6 @@ bool raw_serial::open(const char * portname, _u32 baudrate, _u32 flags)
         return false;
     }
 
-    //Clear the DTR bit to let the motor spin
-    clearDTR();
-
     if (!SetCommTimeouts(_serial_handle, &_co))
     {
         close();
@@ -125,6 +122,10 @@ bool raw_serial::open(const char * portname, _u32 baudrate, _u32 flags)
 
     Sleep(30); 
     _is_serial_opened = true;
+
+    //Clear the DTR bit set DTR=high
+    clearDTR();
+
     return true;
 }
 

diff --git a/sdk/src/rplidar_driver.cpp b/sdk/src/rplidar_driver.cpp
@@ -489,6 +489,9 @@ u_result RPlidarDriverSerialImpl::_cacheCapsuledScanData()
             if (ans != RESULT_OPERATION_TIMEOUT && ans != RESULT_INVALID_DATA) {
                 _isScanning = false;
                 return RESULT_OPERATION_FAIL;
+            } else {
+                // current data is invalid, do not use it.
+                continue;
             }
         }