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PktArray issues fix #20

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PktArray issues fix #20

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3416841
Fixed push and calc iterators
dripdripdr0p Mar 11, 2022
367a35e
changed hasEnoughPackets condition
dripdripdr0p Mar 11, 2022
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27 changes: 15 additions & 12 deletions src/PandarGeneralRaw/include/pandarGeneral/pandarGeneral_internal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,8 @@ HS_LIDAR_L64_7_BLOCK_PACKET_BODY_SIZE + HS_LIDAR_L64_PACKET_TAIL_WITHOUT_UDPSEQ_
#define HS_LIDAR_QT_COORDINATE_CORRECTION_D0 (20)
#define COORDINATE_CORRECTION_CHECK (false)

#define PKT_ARRAY_SIZE (36000)

struct Pandar40PUnit_s {
uint8_t intensity;
double distance;
Expand Down Expand Up @@ -335,7 +337,7 @@ typedef struct {
std::vector<HS_Object3D_Object> data; //!< Object data array
} HS_Object3D_Object_List;

typedef std::array<PandarPacket, 36000> PktArray;
typedef std::array<PandarPacket, PKT_ARRAY_SIZE> PktArray;

typedef struct PacketsBuffer_s {
PktArray m_buffers{};
Expand All @@ -352,26 +354,27 @@ typedef struct PacketsBuffer_s {
*m_iterPush = pkt;
m_startFlag = true;
return 1;
}
m_iterPush++;
}

PktArray::iterator nextIter = m_iterPush + 1;
if (nextIter == m_buffers.end())
nextIter = m_buffers.begin();

if (m_iterPush == m_iterCalc) {
printf("buffer don't have space!,%d\n", m_iterPush - m_buffers.begin());
if (nextIter == m_iterCalc) {
printf("Buffer don't have space!, %ld\n", m_iterPush - m_buffers.begin());
return 0;
}

if (m_buffers.end() == m_iterPush) {
m_iterPush = m_buffers.begin();
*m_iterPush = pkt;
}
m_iterPush = nextIter;
*m_iterPush = pkt;

return 1;

}

inline bool hasEnoughPackets() {
return ((m_iterPush - m_iterCalc > 0 ) ||
((m_iterPush - m_iterCalc + 36000 > 0 ) && (m_buffers.end() - m_iterCalc < 1000) && (m_iterPush - m_buffers.begin() < 1000)));
return (m_iterPush != m_iterCalc);
}

inline PktArray::iterator getIterCalc() { return m_iterCalc;}
inline void moveIterCalc() {
m_iterCalc++;
Expand Down