1.new feature:support vs2019; 1.bugfix: grabscandata may miss the syncbit

Author: WubinXia

sdk/app/frame_grabber/stdafx.h

@@ -75,4 +75,5 @@ using namespace WTL;
 
 //STL
 #include <vector>
-#include <map>
+#include <map>
+#include <string>

sdk/app/simple_grabber/main.cpp

@@ -54,7 +54,7 @@ using namespace rp::standalone::rplidar;
 void print_usage(int argc, const char * argv[])
 {
     printf("Simple LIDAR data grabber for RPLIDAR.\n"
-           "Version: "RPLIDAR_SDK_VERSION"\n"
+           "Version: " RPLIDAR_SDK_VERSION "\n"
            "Usage:\n"
            "%s <com port> [baudrate]\n"
            "The default baudrate is 115200(for A2) or 256000(for A3). Please refer to the datasheet for details.\n"

sdk/app/ultra_simple/main.cpp

@@ -28,7 +28,7 @@
 #include <stdlib.h>
 
 #include "rplidar.h" //RPLIDAR standard sdk, all-in-one header
-
+#include "time.h"
 #ifndef _countof
 #define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
 #endif
@@ -90,7 +90,7 @@ int main(int argc, const char * argv[]) {
     bool useArgcBaudrate = false;
 
     printf("Ultra simple LIDAR data grabber for RPLIDAR.\n"
-           "Version: "RPLIDAR_SDK_VERSION"\n");
+           "Version: " RPLIDAR_SDK_VERSION "\n");
 
     // read serial port from the command line...
     if (argc>1) opt_com_path = argv[1]; // or set to a fixed value: e.g. "com3" 
@@ -105,7 +105,7 @@ int main(int argc, const char * argv[]) {
     if (!opt_com_path) {
 #ifdef _WIN32
         // use default com port
-        opt_com_path = "\\\\.\\com3";
+        opt_com_path = "\\\\.\\com57";
 #elif __APPLE__
         opt_com_path = "/dev/tty.SLAB_USBtoUART";
 #else
@@ -205,15 +205,16 @@ int main(int argc, const char * argv[]) {
         size_t   count = _countof(nodes);
 
         op_result = drv->grabScanDataHq(nodes, count);
-
+        if (count > 1500)
+            printf("time:%u secs. cnt:%d/n", clock() / CLOCKS_PER_SEC,count);
         if (IS_OK(op_result)) {
             drv->ascendScanData(nodes, count);
             for (int pos = 0; pos < (int)count ; ++pos) {
-                printf("%s theta: %03.2f Dist: %08.2f Q: %d \n", 
-                    (nodes[pos].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) ?"S ":"  ", 
-                    (nodes[pos].angle_z_q14 * 90.f / (1 << 14)), 
-                    nodes[pos].dist_mm_q2/4.0f,
-                    nodes[pos].quality);
+                //printf("%s theta: %03.2f Dist: %08.2f Q: %d \n", 
+                //    (nodes[pos].flag & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) ?"S ":"  ", 
+                //    (nodes[pos].angle_z_q14 * 90.f / (1 << 14)), 
+                //    nodes[pos].dist_mm_q2/4.0f,
+                //    nodes[pos].quality);
             }
         }
 

sdk/build/windows-i386-Debug/object/lidar_driver/CL.read.1.tlog

@@ -0,0 +1,2 @@
+#v4.0:v100
+Debug|Win32|D:\sdk\rplidar_sdk\rplidar_sdk\sdk\workspaces\vc10\|