Added ClearCacheRPLIDAR()

ENSTABretagneRobotics · Jan 26, 2021 · 1910013 · 1910013
1 parent e4512bc
commit 1910013
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Showing 13 changed files with 48 additions and 13 deletions.
diff --git a/.github/workflows/github-actions.yml b/.github/workflows/github-actions.yml
@@ -1,4 +1,8 @@
-on: [push, pull_request]
+on: 
+    push:
+        branches: '**'
+        tags: '' # Restrict to blank tags
+    pull_request:
 jobs:
  # This job can be removed if a new release should not be created...
  deploy:

diff --git a/ClearCacheRPLIDAR.m b/ClearCacheRPLIDAR.m
@@ -0,0 +1,2 @@
+function [result] = ClearCacheRPLIDAR(pRPLIDAR)
+result = calllib('hardwarex', 'ClearCacheRPLIDARx', pRPLIDAR);
diff --git a/MDM.h b/MDM.h
@@ -242,7 +242,7 @@ inline int SendDataMDM(MDM* pMDM, uint8* buf, int buflen, int* pSentBytes)
 		printf("SendDataMDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error sending data with the device. ", 
+			"Error sending data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		return EXIT_FAILURE;
 	}
@@ -296,7 +296,7 @@ inline int RecvDataMDM(MDM* pMDM, uint8* buf, int buflen, int* pReceivedBytes)
 		printf("RecvDataMDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error receiving data with the device. ", 
+			"Error receiving data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		return EXIT_FAILURE;
 	}
@@ -332,7 +332,7 @@ inline int PurgeDataMDM(MDM* pMDM)
 		printf("PurgeDataMDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error purging data from the device. ", 
+			"Error purging data from a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		return EXIT_FAILURE;
 	}
@@ -371,7 +371,7 @@ inline int SendAllDataMDM(MDM* pMDM, uint8* buf, int buflen)
 		printf("SendAllDataMDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error sending data with the device. ", 
+			"Error sending data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		return EXIT_FAILURE;
 	}
@@ -426,7 +426,7 @@ inline int RecvAllDataMDM(MDM* pMDM, uint8* buf, int buflen)
 		printf("RecvAllDataMDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error receiving data with the device. ", 
+			"Error receiving data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		return EXIT_FAILURE;
 	}
@@ -499,7 +499,7 @@ inline int SendDataCRC16MDM(MDM* pMDM, uint8* buf, int buflen)
 		printf("SendDataCRC16MDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error sending data with the device. ", 
+			"Error sending data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		free(writebuf);
 		return EXIT_FAILURE;
@@ -572,7 +572,7 @@ inline int RecvDataCRC16MDM(MDM* pMDM, uint8* buf, int buflen)
 		printf("RecvDataCRC16MDM error (%s) : %s"
 			"(pMDM=%#x)\n", 
 			strtime_m(), 
-			"Error receiving data with the device. ", 
+			"Error receiving data with a MDM. ", 
 			(unsigned int)(intptr_t)pMDM);
 		free(readbuf);
 		return EXIT_FAILURE;
@@ -641,7 +641,7 @@ inline int EchoByteMDM(MDM* pMDM, uint8* pb)
 			printf("EchoMDM error (%s) : %s"
 				"(pMDM=%#x)\n", 
 				strtime_m(), 
-				"Error sending data with the device. ", 
+				"Error sending data with a MDM. ", 
 				(unsigned int)(intptr_t)pMDM);
 			return EXIT_FAILURE;
 		}

diff --git a/RPLIDAR.h b/RPLIDAR.h
@@ -666,20 +666,39 @@ inline int GetStartupMessageRPLIDAR(RPLIDAR* pRPLIDAR)
 
 	if (PurgeRS232Port(&pRPLIDAR->RS232Port) != EXIT_SUCCESS)
 	{
-		printf("Warning : A RPLIDAR might not be responding correctly. \n");
+		printf("Error purging data from a RPLIDAR. \n");
 		return EXIT_FAILURE;
 	}
 	// Need to purge twice on Mac OS otherwise next read() would fail...?
 	if (PurgeRS232Port(&pRPLIDAR->RS232Port) != EXIT_SUCCESS)
 	{
-		printf("Warning : A RPLIDAR might not be responding correctly. \n");
+		printf("Error purging data from a RPLIDAR. \n");
 		return EXIT_FAILURE;
 	}
 #endif // ENABLE_RPLIDAR_SDK_SUPPORT
 
 	return EXIT_SUCCESS;
 }
 
+inline int ClearCacheRPLIDAR(RPLIDAR* pRPLIDAR)
+{
+#ifdef ENABLE_RPLIDAR_SDK_SUPPORT
+	if (IS_FAIL(pRPLIDAR->drv->clearNetSerialRxCache()))
+	{
+		printf("A RPLIDAR is not responding correctly : clearNetSerialRxCache() failed. \n");
+		return EXIT_FAILURE;
+	}
+	return EXIT_SUCCESS;
+#else
+	if (PurgeRS232Port(&pRPLIDAR->RS232Port) != EXIT_SUCCESS)
+	{
+		printf("Error purging data from a RPLIDAR. \n");
+		return EXIT_FAILURE;
+	}
+	return EXIT_SUCCESS;
+#endif // ENABLE_RPLIDAR_SDK_SUPPORT
+}
+
 inline int GetHealthRequestRPLIDAR(RPLIDAR* pRPLIDAR, BOOL* pbProtectionStop)
 {
 #ifdef ENABLE_RPLIDAR_SDK_SUPPORT

diff --git a/hardwarex.cpp b/hardwarex.cpp
@@ -1245,6 +1245,11 @@ HARDWAREX_API int GetStartupMessageRPLIDARx(RPLIDAR* pRPLIDAR)
 	return GetStartupMessageRPLIDAR(pRPLIDAR);
 }
 
+HARDWAREX_API int ClearCacheRPLIDARx(RPLIDAR* pRPLIDAR)
+{
+	return ClearCacheRPLIDAR(pRPLIDAR);
+}
+
 HARDWAREX_API int GetHealthRequestRPLIDARx(RPLIDAR* pRPLIDAR, BOOL* pbProtectionStop)
 {
 	return GetHealthRequestRPLIDAR(pRPLIDAR, pbProtectionStop);

diff --git a/hardwarex.h b/hardwarex.h
@@ -229,6 +229,7 @@ extern "C" {
 	HARDWAREX_API int StopRequestRPLIDARx(RPLIDAR* pRPLIDAR);
 	HARDWAREX_API int ResetRequestRPLIDARx(RPLIDAR* pRPLIDAR);
 	HARDWAREX_API int GetStartupMessageRPLIDARx(RPLIDAR* pRPLIDAR);
+	HARDWAREX_API int ClearCacheRPLIDARx(RPLIDAR* pRPLIDAR);
 	HARDWAREX_API int GetHealthRequestRPLIDARx(RPLIDAR* pRPLIDAR, BOOL* pbProtectionStop);
 	HARDWAREX_API int GetInfoRequestRPLIDARx(RPLIDAR* pRPLIDAR, int* pModelID, int* pHardwareVersion, int* pFirmwareMajor, int* pFirmwareMinor, char* SerialNumber);
 	HARDWAREX_API int GetTypicalScanModeRPLIDARx(RPLIDAR* pRPLIDAR, int* pScanModeID);

diff --git a/linux_x64/hardwarex.so b/linux_x64/hardwarex.so
diff --git a/mac/hardwarex.dylib b/mac/hardwarex.dylib
diff --git a/x64/hardwarex.dll b/x64/hardwarex.dll
diff --git a/x64/hardwarex_proto.m b/x64/hardwarex_proto.m
@@ -1,7 +1,7 @@
 function [methodinfo,structs,enuminfo,ThunkLibName]=hardwarex_proto
 %HARDWAREX_PROTO Create structures to define interfaces found in 'hardwarex'.
 
-%This function was generated by loadlibrary.m parser version  on Mon Jan 18 21:30:36 2021
+%This function was generated by loadlibrary.m parser version  on Tue Jan 26 19:41:04 2021
 %perl options:'hardwarex.i -outfile=hardwarex_proto.m -thunkfile=hardwarex_thunk_pcwin64.c -header=hardwarex.h'
 ival={cell(1,0)}; % change 0 to the actual number of functions to preallocate the data.
 structs=[];enuminfo=[];fcnNum=1;
@@ -258,6 +258,8 @@
 fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='ResetRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
 %  int GetStartupMessageRPLIDARx ( RPLIDAR * pRPLIDAR ); 
 fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='GetStartupMessageRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
+%  int ClearCacheRPLIDARx ( RPLIDAR * pRPLIDAR ); 
+fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='ClearCacheRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
 %  int GetHealthRequestRPLIDARx ( RPLIDAR * pRPLIDAR , BOOL * pbProtectionStop ); 
 fcns.thunkname{fcnNum}='int32voidPtrvoidPtrThunk';fcns.name{fcnNum}='GetHealthRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1;
 %  int GetInfoRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int * pModelID , int * pHardwareVersion , int * pFirmwareMajor , int * pFirmwareMinor , char * SerialNumber ); 

diff --git a/x64/hardwarex_thunk_pcwin64.dll b/x64/hardwarex_thunk_pcwin64.dll
diff --git a/x86/hardwarex.dll b/x86/hardwarex.dll
diff --git a/x86/hardwarex_proto.m b/x86/hardwarex_proto.m
@@ -1,7 +1,7 @@
 function [methodinfo,structs,enuminfo,ThunkLibName]=hardwarex_proto
 %HARDWAREX_PROTO Create structures to define interfaces found in 'hardwarex'.
 
-%This function was generated by loadlibrary.m parser version  on Mon Jan 18 21:30:17 2021
+%This function was generated by loadlibrary.m parser version  on Tue Jan 26 19:40:46 2021
 %perl options:'hardwarex.i -outfile=hardwarex_proto.m'
 ival={cell(1,0)}; % change 0 to the actual number of functions to preallocate the data.
 structs=[];enuminfo=[];fcnNum=1;
@@ -257,6 +257,8 @@
 fcns.name{fcnNum}='ResetRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
 %  int GetStartupMessageRPLIDARx ( RPLIDAR * pRPLIDAR ); 
 fcns.name{fcnNum}='GetStartupMessageRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
+%  int ClearCacheRPLIDARx ( RPLIDAR * pRPLIDAR ); 
+fcns.name{fcnNum}='ClearCacheRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1;
 %  int GetHealthRequestRPLIDARx ( RPLIDAR * pRPLIDAR , BOOL * pbProtectionStop ); 
 fcns.name{fcnNum}='GetHealthRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1;
 %  int GetInfoRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int * pModelID , int * pHardwareVersion , int * pFirmwareMajor , int * pFirmwareMinor , char * SerialNumber );