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From 1b52a41c429136006ef38ffc1685ada75ad84c81 Mon Sep 17 00:00:00 2001 From: hofmaseSICKAG Date: Thu, 22 Jun 2023 12:55:16 +0000 Subject: [PATCH 2/4] Fix verbosity output levels --- include/sick_lidar_localization/udp_receiver_thread.h | 3 ++- src/sick_lidar_localization.cpp | 2 +- src/sick_services.cpp | 4 +++- src/udp_receiver_thread.cpp | 8 +++++--- 4 files changed, 11 insertions(+), 6 deletions(-) diff --git a/include/sick_lidar_localization/udp_receiver_thread.h b/include/sick_lidar_localization/udp_receiver_thread.h index c1ad762..17c8654 100644 --- a/include/sick_lidar_localization/udp_receiver_thread.h +++ b/include/sick_lidar_localization/udp_receiver_thread.h @@ -77,7 +77,7 @@ namespace sick_lidar_localization ** @param[in] udp_port_lls_output UDP port of output messages, default: 5010 ** @param[in] udp_lls_output_logfile Optional logfile for human readable UDP output messages, default: "" (no outputlogfile) */ - UDPReceiverThread(sick_lidar_localization::SickServices* services = 0, const std::string& udp_ip_lls_output = "", int udp_port_lls_output = 5010, const std::string& udp_lls_output_logfile = ""); + UDPReceiverThread(sick_lidar_localization::SickServices* services = 0, const std::string& udp_ip_lls_output = "", int udp_port_lls_output = 5010, const std::string& udp_lls_output_logfile = "", int verbose = 0); /* ** @brief Default destructor, exits running threads @@ -133,6 +133,7 @@ namespace sick_lidar_localization bool m_run_receiver_thread; // Flag to start and stop m_receiver_thread std::thread* m_receiver_thread; // Background thread to receive udp data, parsing, conversion and publishing std::list m_udp_message_listener; + int m_verbose; }; // class UDPReceiverThread diff --git a/src/sick_lidar_localization.cpp b/src/sick_lidar_localization.cpp index 1d0c4b4..d27c070 100644 --- a/src/sick_lidar_localization.cpp +++ b/src/sick_lidar_localization.cpp @@ -183,7 +183,7 @@ bool sick_lidar_localization::API::init(rosNodePtr node, sick_lidar_localization m_services = new sick_lidar_localization::SickServices(node, m_config.hostname, m_config.serverpath, m_config.software_pll_fifo_length, m_config.verbose); // Start UDP receiver thread for UDP output messages - m_udp_receiver_thread = new sick_lidar_localization::UDPReceiverThread(m_services, m_config.udp_ip_lls_output, m_config.udp_port_lls_output, m_config.udp_lls_output_logfile); + m_udp_receiver_thread = new sick_lidar_localization::UDPReceiverThread(m_services, m_config.udp_ip_lls_output, m_config.udp_port_lls_output, m_config.udp_lls_output_logfile, m_config.verbose); m_udp_receiver_listener = new sick_lidar_localization::UDPMessage::InfoListener(); if (m_config.verbose) m_udp_receiver_thread->registerListener(m_udp_receiver_listener); diff --git a/src/sick_services.cpp b/src/sick_services.cpp index 28106ac..e1d0ca8 100644 --- a/src/sick_services.cpp +++ b/src/sick_services.cpp @@ -279,7 +279,9 @@ sick_lidar_localization::LocRequestTimestampResponse sick_lidar_localization::Si software_pll_send_time.UpdatePLL(service_response.send_time_vehicle_sec, service_response.send_time_vehicle_nsec, service_response.timestamp_lidar_microsec); software_pll_receive_time.UpdatePLL(service_response.receive_time_vehicle_sec, service_response.receive_time_vehicle_nsec, service_response.timestamp_lidar_microsec); - ROS_INFO_STREAM("SickServices::requestTimestamp(\"" << command << "\", \"" << method << "\", \"" << json_data << "\"): timestamp=" << std::to_string(lidar_timestamp)); + if(m_verbose > 0) { + ROS_INFO_STREAM("SickServices::requestTimestamp(\"" << command << "\", \"" << method << "\", \"" << json_data << "\"): timestamp=" << std::to_string(lidar_timestamp)); + } return service_response; } diff --git a/src/udp_receiver_thread.cpp b/src/udp_receiver_thread.cpp index 38825bc..3557a26 100644 --- a/src/udp_receiver_thread.cpp +++ b/src/udp_receiver_thread.cpp @@ -90,8 +90,8 @@ static std::string getErrorMessage(void) { return std::to_string(errno) + " (" + ** @param[in] udp_port_lls_output UDP port of output messages, default: 5010 ** @param[in] udp_lls_output_logfile Optional logfile for human readable output messages, default: "" (no outputlogfile) */ -sick_lidar_localization::UDPReceiverThread::UDPReceiverThread(sick_lidar_localization::SickServices* services, const std::string& udp_ip_lls_output, int udp_port_lls_output, const std::string& udp_lls_output_logfile) - : m_services(services), m_udp_ip_lls_output(udp_ip_lls_output), m_udp_port_lls_output(udp_port_lls_output), m_udp_lls_output_logfile(udp_lls_output_logfile), m_run_receiver_thread(false), m_receiver_thread(0) +sick_lidar_localization::UDPReceiverThread::UDPReceiverThread(sick_lidar_localization::SickServices* services, const std::string& udp_ip_lls_output, int udp_port_lls_output, const std::string& udp_lls_output_logfile, int verbose) + : m_services(services), m_udp_ip_lls_output(udp_ip_lls_output), m_udp_port_lls_output(udp_port_lls_output), m_udp_lls_output_logfile(udp_lls_output_logfile), m_run_receiver_thread(false), m_receiver_thread(0), m_verbose(verbose) { } @@ -280,7 +280,9 @@ bool sick_lidar_localization::UDPReceiverThread::runReceiver(void) payload->setSyncTimestamp(sync_time_stamp.sec, sync_time_stamp.nsec); } } - ROS_INFO_STREAM("sick_lidar_localization::UDPReceiverThread: udp message received: " << payload->toString(true)); + if (m_verbose > 0) { + ROS_INFO_STREAM("sick_lidar_localization::UDPReceiverThread: udp message received: " << payload->toString(true)); + } // Notify listener (and publish UDP output messages on ROS-1 or ROS-2) payload->notifyListener(m_udp_message_listener); // Log output messages From 7034ec2fec86810f355198a50cdcac6e4aa6ea3a Mon Sep 17 00:00:00 2001 From: hofmaseSICKAG Date: Mon, 13 Nov 2023 17:12:22 +0100 Subject: [PATCH 3/4] Fix issue #18, type conversion of REST response corrected. --- src/sick_services.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/sick_services.cpp b/src/sick_services.cpp index e1d0ca8..52373dd 100644 --- a/src/sick_services.cpp +++ b/src/sick_services.cpp @@ -260,7 +260,7 @@ sick_lidar_localization::LocRequestTimestampResponse sick_lidar_localization::Si // Set timestamps in service_response, https://github.com/SICKAG/sick_lidar_localization/blob/1ce55facdb48eb13ac5ef6813b273ee1eaf00ba4/src/time_sync_service.cpp#L208 LocRequestTimestampResponse service_response; int64_t lidar_timestamp = response_data["/data/timestamp"].toInt(); - service_response.timestamp_lidar_microsec = (uint32_t)lidar_timestamp; // Lidar timestamp in microseconds from LocRequestTimestamp response + service_response.timestamp_lidar_microsec = (uint64_t)lidar_timestamp; // Lidar timestamp in microseconds from LocRequestTimestamp response (converted to unsigned uint64) service_response.send_time_vehicle_sec = sec(send_timestamp); // Vehicle timestamp when sending LocRequestTimestamp (seconds part of ros timestamp immediately before tcp send) service_response.send_time_vehicle_nsec = nsec(send_timestamp); // Vehicle timestamp when sending LocRequestTimestamp (nano seconds part of ros timestamp immediately before tcp send) service_response.receive_time_vehicle_sec = sec(recv_timestamp); // Vehicle timestamp when receiving the LocRequestTimestamp response (seconds part of ros timestamp immediately after first response byte received) From 83ae180fce2ca0971cd75b8daae3590d738c3f51 Mon Sep 17 00:00:00 2001 From: hofmaseSICKAG Date: Fri, 17 Nov 2023 10:37:48 +0100 Subject: [PATCH 4/4] Fix issue #16, defines removed --- include/sick_lidar_localization/sick_ros_wrapper.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/include/sick_lidar_localization/sick_ros_wrapper.h b/include/sick_lidar_localization/sick_ros_wrapper.h index b90150c..17df8a8 100644 --- a/include/sick_lidar_localization/sick_ros_wrapper.h +++ b/include/sick_lidar_localization/sick_ros_wrapper.h @@ -77,8 +77,6 @@ # undef max # endif #endif -#define MAX std::max -#define MIN std::min #ifdef __linux__ #endif