Merge pull request #141 from RoboSense-LiDAR/dev_opt

feat:sync to rs_driver

CHANGELOG.md

@@ -1,6 +1,12 @@
 # CHANGELOG 
 ## Unreleased
 
+## Unreleased
+## v1.5.12 2023-12-28
+### Fixed
+- Fix bug in getting device info and status.
+- Fix bug in getting device temperature.
+
 ## v1.5.11 2023-12-18
 
 ### Changed

CMakeLists.txt

@@ -25,21 +25,27 @@ if(${ENABLE_EPOLL_RECEIVE})
   add_definitions("-DENABLE_EPOLL_RECEIVE")
 endif(${ENABLE_EPOLL_RECEIVE})
 
-option(ENABLE_DOUBLE_RCVBUF "Enable double size of RCVBUF" OFF)
-if(${ENABLE_DOUBLE_RCVBUF})
-  add_definitions("-DENABLE_DOUBLE_RCVBUF")
-endif(${ENABLE_DOUBLE_RCVBUF})
+option(ENABLE_MODIFY_RECVBUF "Enable modify size of RECVBUF" ON)
+if(${ENABLE_MODIFY_RECVBUF})
+  add_definitions("-DENABLE_MODIFY_RECVBUF")
+endif(${ENABLE_MODIFY_RECVBUF})
 
 option(ENABLE_WAIT_IF_QUEUE_EMPTY "Enable waiting for a while in handle thread if the queue is empty" OFF)
 if(${ENABLE_WAIT_IF_QUEUE_EMPTY})
   add_definitions("-DENABLE_WAIT_IF_QUEUE_EMPTY")
 endif(${ENABLE_WAIT_IF_QUEUE_EMPTY})
 
+option(ENABLE_DIFOP_PARSE "Enable parsing DIFOP Packet" ON)
+if(${ENABLE_DIFOP_PARSE})
+  add_definitions("-DENABLE_DIFOP_PARSE")
+endif(${ENABLE_DIFOP_PARSE})
+
 option(ENABLE_STAMP_WITH_LOCAL "Enable stamp point cloud with local time" OFF)
 if(${ENABLE_STAMP_WITH_LOCAL})
   add_definitions("-DENABLE_STAMP_WITH_LOCAL")
 endif(${ENABLE_STAMP_WITH_LOCAL})
 
+
 option(ENABLE_SOURCE_PACKET_LEGACY "Enable ROS Source of MSOP/DIFOP Packet v1.3.x" OFF)
 if(${ENABLE_SOURCE_PACKET_LEGACY})
   add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")

src/source/source_driver.hpp

@@ -213,7 +213,6 @@ void SourceDriver::processPointCloud()
     {
       continue;
     }
-
     sendPointCloud(msg);
 
     free_point_cloud_queue_.push(msg);