From 224fefa83ef0f2a6d678372d6b9f787994038f08 Mon Sep 17 00:00:00 2001 From: DavidHu Date: Tue, 25 Oct 2022 13:40:22 +0800 Subject: [PATCH] =?UTF-8?q?[update]=E7=89=88=E6=9C=AC=E5=8F=B7v3.0.2?= =?UTF-8?q?=EF=BC=8C=E4=BF=AE=E5=A4=8D32=E4=BD=8D=E7=B3=BB=E7=BB=9F?= =?UTF-8?q?=E4=B8=8B=E6=97=A5=E5=BF=97=E6=89=93=E5=8D=B0=E6=97=B6=E9=97=B4?= =?UTF-8?q?=E6=88=B3uint64=5Ft=E6=95=B0=E6=8D=AE=E6=A0=BC=E5=BC=8F?= =?UTF-8?q?=E4=B8=8D=E5=AF=B9=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ldlidar_driver/include/logger/log_module.h | 4 ++-- ldlidar_driver/src/core/ldlidar_driver.cpp | 2 +- ldlidar_driver/src/logger/log_module.cpp | 24 ++++++++++++++++++---- src/linux_demo/demo.cpp | 12 +++++++++-- 4 files changed, 33 insertions(+), 9 deletions(-) diff --git a/ldlidar_driver/include/logger/log_module.h b/ldlidar_driver/include/logger/log_module.h index 73994c1..46e1882 100644 --- a/ldlidar_driver/include/logger/log_module.h +++ b/ldlidar_driver/include/logger/log_module.h @@ -145,12 +145,12 @@ class LogModule { std::string GetCurrentTime(); - inline int64_t GetCurrentLocalTimeStamp() { + inline uint64_t GetCurrentLocalTimeStamp() { //// 获取系统时间戳 std::chrono::time_point tp = std::chrono::time_point_cast(std::chrono::system_clock::now()); auto tmp = std::chrono::duration_cast(tp.time_since_epoch()); - return tmp.count(); + return (uint64_t)tmp.count(); } std::string GetFormatValue(std::string str_value); diff --git a/ldlidar_driver/src/core/ldlidar_driver.cpp b/ldlidar_driver/src/core/ldlidar_driver.cpp index 43e9c27..452191e 100644 --- a/ldlidar_driver/src/core/ldlidar_driver.cpp +++ b/ldlidar_driver/src/core/ldlidar_driver.cpp @@ -24,7 +24,7 @@ namespace ldlidar { bool LDLidarDriver::is_ok_ = false; -LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.1"), +LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.2"), is_start_flag_(false), comm_pkg_(new LiPkg()), comm_serial_(new SerialInterfaceLinux()){ diff --git a/ldlidar_driver/src/logger/log_module.cpp b/ldlidar_driver/src/logger/log_module.cpp index 264a338..61369e0 100644 --- a/ldlidar_driver/src/logger/log_module.cpp +++ b/ldlidar_driver/src/logger/log_module.cpp @@ -90,8 +90,16 @@ void LogModule::LogPrintInf(const char* format,...) { case DEBUG_LEVEL: { //时间戳 uint is seconds char s_stamp[100] = {0}; - int64_t timestamp = GetCurrentLocalTimeStamp(); - snprintf(s_stamp, 100, "[%ld.%ld]", (timestamp/1000000000), (timestamp%1000000000)); + uint64_t timestamp = GetCurrentLocalTimeStamp(); +#ifdef __LP64__ + snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000)); +#else +#ifdef _WIN64 + snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000)); +#else + snprintf(s_stamp, 100, "[%llu.%llu]", (timestamp/1000000000), (timestamp%1000000000)); +#endif +#endif str_temp.append(s_stamp); } break; @@ -132,8 +140,16 @@ void LogModule::LogPrintNoLocationInf(const char* format,...) { //时间戳 uint is seconds char s_stamp[100] = {0}; - int64_t timestamp = GetCurrentLocalTimeStamp(); - snprintf(s_stamp, 100, "[%ld.%ld]", (timestamp/1000000000), (timestamp%1000000000)); + uint64_t timestamp = GetCurrentLocalTimeStamp(); +#ifdef __LP64__ + snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000)); +#else +#ifdef _WIN64 + snprintf(s_stamp, 100, "[%lu.%lu]", (timestamp/1000000000), (timestamp%1000000000)); +#else + snprintf(s_stamp, 100, "[%llu.%llu]", (timestamp/1000000000), (timestamp%1000000000)); +#endif +#endif str_temp.append(s_stamp); va_list ptr; diff --git a/src/linux_demo/demo.cpp b/src/linux_demo/demo.cpp index e55f6c9..526a174 100644 --- a/src/linux_demo/demo.cpp +++ b/src/linux_demo/demo.cpp @@ -72,13 +72,21 @@ int main(int argc, char **argv) { case ldlidar::LidarStatus::NORMAL: { double lidar_spin_freq = 0; node->GetLidarSpinFreq(lidar_spin_freq); - +#ifdef __LP64__ LDS_LOG_INFO("speed(Hz):%f, size:%d,stamp_front:%lu, stamp_back:%lu", lidar_spin_freq, laser_scan_points.size(), laser_scan_points.front().stamp, laser_scan_points.back().stamp); - +#else + LDS_LOG_INFO("speed(Hz):%f, size:%d,stamp_front:%llu, stamp_back:%llu", + lidar_spin_freq, laser_scan_points.size(), laser_scan_points.front().stamp, laser_scan_points.back().stamp); +#endif for (auto point : laser_scan_points) { +#ifdef __LP64__ LDS_LOG_INFO("stamp(ns):%lu,angle:%f,distance(mm):%d,intensity:%d", point.stamp, point.angle, point.distance, point.intensity); +#else + LDS_LOG_INFO("stamp(ns):%llu,angle:%f,distance(mm):%d,intensity:%d", + point.stamp, point.angle, point.distance, point.intensity); +#endif } break; }