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localize_for_ppk
Commit 68fd6537 authored by wangdawei's avatar wangdawei
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test

parent 6752fd40
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Showing with 8 additions and 8 deletions
libs/locate_system/adjust_ppk_by_locate/convert.cc
View file @ 68fd6537
...@@ -437,8 +437,8 @@ void Convert::processGps(pandar_msgs::PandarGps &gpsMsg) { ...@@ -437,8 +437,8 @@ void Convert::processGps(pandar_msgs::PandarGps &gpsMsg) {
} }
void Convert::pushLiDARData(pandar_msgs::PandarPacket packet) { void Convert::pushLiDARData(pandar_msgs::PandarPacket packet) {
// ROS_WARN("Convert::pushLiDARData"); // ROS_WARN("Convert::pushLiDARData");
m_PacketsBuffer.push_back(packet); m_PacketsBuffer.push_back(packet);
} }
int Convert::parseData(Pandar128PacketVersion13 &packet, const uint8_t *recvbuf, int Convert::parseData(Pandar128PacketVersion13 &packet, const uint8_t *recvbuf,
......
libs/locate_system/adjust_ppk_by_locate/convert.h
View file @ 68fd6537
...@@ -333,13 +333,13 @@ typedef struct PacketsBuffer_s { ...@@ -333,13 +333,13 @@ typedef struct PacketsBuffer_s {
lastOverflowed = false; lastOverflowed = false;
ROS_WARN("buffer recovered"); ROS_WARN("buffer recovered");
} }
if(((m_iterPush > m_iterTaskEnd) && (m_iterPush - m_iterTaskEnd) > 4 * m_stepSize) || // if(((m_iterPush > m_iterTaskEnd) && (m_iterPush - m_iterTaskEnd) > 4 * m_stepSize) ||
((m_iterPush < m_iterTaskBegin) && (m_iterTaskBegin - m_iterPush) < CIRCLE - 4 * m_stepSize)){ // ((m_iterPush < m_iterTaskBegin) && (m_iterTaskBegin - m_iterPush) < CIRCLE - 4 * m_stepSize)){
while((((m_iterPush > m_iterTaskEnd) && (m_iterPush - m_iterTaskEnd) > 4 * m_stepSize) || // while((((m_iterPush > m_iterTaskEnd) && (m_iterPush - m_iterTaskEnd) > 4 * m_stepSize) ||
((m_iterPush < m_iterTaskBegin) && (m_iterTaskBegin - m_iterPush) < CIRCLE - 4 * m_stepSize))) // ((m_iterPush < m_iterTaskBegin) && (m_iterTaskBegin - m_iterPush) < CIRCLE - 4 * m_stepSize)))
usleep(1000); // usleep(1000);
} // }
*(m_iterPush++) = pkt; *(m_iterPush++) = pkt;
return 1; return 1;
} }
......
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