fix ROS2 Humble build error

README.md

@@ -233,5 +233,5 @@ Here is the example:
 # 5 Support
 
 You can get support from Livox with the following methods:
-* Send email to cs@livoxtech.com with a clear description of your problem and your setup
+* Send email to dev@livoxtech.com with a clear description of your problem and your setup
 * Github Issues

README_CN.md

@@ -234,5 +234,5 @@ char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
 # 5 支持
 
 你可以通过以下方式获取 Livox 的技术支持 :
-* 发送邮件到 cs@livoxtech.com 描述清楚问题和使用场景
+* 发送邮件到 dev@livoxtech.com 描述清楚问题和使用场景
 * Github Issues

sdk_core/include/config.h

@@ -41,7 +41,7 @@
     #define HAVE_KQUEUE 1
 #else
     #include <sys/poll.h>
-    #define HAVE_POLL 1
+    #define HAVE POLL 1
 #endif
 
 #endif  // CONFIG_H_

sdk_core/include/livox_def.h

@@ -643,7 +643,7 @@ typedef struct {
   uint8_t month;
   uint8_t day;
   uint8_t hour;
-  uint32_t microsecond;
+  uint32_t mircrosecond;
 } LidarSetUtcSyncTimeRequest;
 
 /**

sdk_core/src/base/multiple_io/multiple_io_kqueue.cpp

@@ -83,27 +83,22 @@ bool MultipleIOKqueue::PollSetAdd(PollFd poll_fd) {
 
 bool MultipleIOKqueue::PollSetRemove(PollFd poll_fd) {
   int fd = poll_fd.fd;
-  bool result = true;
   if (descriptors_.find(fd) != descriptors_.end()) {
-    do {
+    if (descriptors_[fd].event & READBLE_EVENT) {
-      if (descriptors_[fd].event & READBLE_EVENT) {
+      EV_SET(&kevent_, fd, EVFILT_READ, EV_DELETE, 0, 0, NULL);
-        EV_SET(&kevent_, fd, EVFILT_READ, EV_DELETE, 0, 0, NULL);
+      if (kevent(kqueue_fd_, &kevent_, 1, nullptr, 0, nullptr) == -1) {
-        if (kevent(kqueue_fd_, &kevent_, 1, nullptr, 0, nullptr) == -1) {
+        return false;
-          result = false;
-          break;
-        }
       }
-      if (descriptors_[fd].event & WRITABLE_EVENT) {
+    }
-        EV_SET(&kevent_, fd, EVFILT_WRITE, EV_DELETE, 0, 0, NULL);
+    if (descriptors_[fd].event & WRITABLE_EVENT) {
-        if (kevent(kqueue_fd_, &kevent_, 1, nullptr, 0, nullptr) == -1) {
+      EV_SET(&kevent_, fd, EVFILT_WRITE, EV_DELETE, 0, 0, NULL);
-          result = false;
+      if (kevent(kqueue_fd_, &kevent_, 1, nullptr, 0, nullptr) == -1) {
-          break;
+        return false;
-        }
       }
-    } while(0);
+    }
     descriptors_.erase(fd);
   }
-  return result;
+  return true;
 }
 
 void MultipleIOKqueue::Poll(int time_out) {

sdk_core/src/base/multiple_io/multiple_io_poll.cpp

@@ -93,10 +93,10 @@ void MultipleIOPoll:: Poll(int time_out) {
     for (int i = 0; i < pollset_num_; i++) {
       FdEvent fd_event = NONE_EVENT;
       if (pollset_[i].revents & POLLIN) {
-        fd_event |= READBLE_EVENT;
+        fd_event = | READBLE_EVENT;
       }
       if (pollset_[i].revents & POLLOUT) {
-        fd_event |= WRITABLE_EVENT;
+        fd_event = | WRITABLE_EVENT;
       }
       int fd = pollset_[i].fd;
       if (descriptors_.find(fd) != descriptors_.end()) {

sdk_core/src/base/thread_base.h

@@ -26,6 +26,7 @@
 #define LIVOX_THREAD_BASE_H_
 #include <atomic>
 #include <thread>
+#include <memory>
 #include "noncopyable.h"
 
 namespace livox {

sdk_core/src/base/wake_up/unix/wake_up_pipe.cpp

@@ -67,43 +67,30 @@ bool WakeUpPipe::PipeDestroy() {
 }
 
 bool WakeUpPipe::PipeCreate() {
-  bool status = false;
   //in filedes[0]
   //out filedes[1]
-  int filedes[2]= {};
+  int filedes[2];
   if (pipe(filedes) == -1) {
     return false;
   }
-  do {
-    int flags = 0;
-    if ((flags = fcntl(filedes[0], F_GETFD)) == -1) {
-      break;
-    }
 
-    flags |= FD_CLOEXEC;
+  int flags = 0;
-    if (fcntl(filedes[0], F_SETFD, flags) == -1) {
+  if ((flags = fcntl(filedes[0], F_GETFL|O_NONBLOCK)) == -1) {
-      break;
+    return false;
-    }
+  }
 
-    flags = 0;
+  flags |= FD_CLOEXEC;
-    if ((flags = fcntl(filedes[1], F_GETFD)) == -1) {
+  if (fcntl(filedes[0], F_SETFL, flags) == -1) {
-      break;
+    return false;
-    }
+  }
 
-    flags |= FD_CLOEXEC;
+  flags = 0;
-    if (fcntl(filedes[1], F_SETFD, flags) == -1) {
+  if ((flags = fcntl(filedes[1], F_GETFD)) == -1) {
-      break;
+    return false;
-    }
+  }
-    status = true;
-  } while(0);
 
-  if (!status) {
+  flags |= FD_CLOEXEC;
-    if (filedes[0] > 0) {
+  if (fcntl(filedes[1], F_SETFD, flags) == -1) {
-      close(filedes[0]);
-    }
-    if (filedes[1] > 0) {
-      close(filedes[1]);
-    }
     return false;
   }
   pipe_out_ = filedes[0];

sdk_core/src/command_handler/command_impl.cpp

@@ -209,7 +209,7 @@ bool ParseRmcTime(const char* rmc, uint16_t rmc_len, LidarSetUtcSyncTimeRequest*
   }
 
   utc_time_req->hour = hour;
-  utc_time_req->microsecond = (minute * 60 * 1000 + second * 1000) * 1000;
+  utc_time_req->mircrosecond = (minute * 60 * 1000 + second * 1000) * 1000;
   return true;
 }
 

sdk_core/src/device_manager.cpp

@@ -160,18 +160,6 @@ void DeviceManager::HubLidarInfomationCallback(livox_status status, uint8_t, Hub
     if (connected_cb_) {
       connected_cb_(&(devices_[kHubDefaultHandle].info), kEventHubConnectionChange);
     }
-  } else if (status == kStatusTimeout) {
-    LOG_WARN("Query lidars information Timeout.");
-    if (IsDeviceConnected(kHubDefaultHandle)) {
-      LOG_INFO("Retry to query lidars information.");
-      command_handler().SendCommand(kHubDefaultHandle,
-                                    kCommandSetHub,
-                                    kCommandIDHubQueryLidarInformation,
-                                    NULL,
-                                    0,
-                                    MakeCommandCallback<DeviceManager, HubQueryLidarInformationResponse>(
-                                        this, &DeviceManager::HubLidarInfomationCallback));
-    }
   } else {
     LOG_ERROR("Failed to query lidars information connected to hub.");
   }
@@ -190,18 +178,6 @@ void DeviceManager::QueryDeviceInformationCallback(livox_status status, uint8_t
     if (connected_cb_) {
       connected_cb_(&devices_[handle].info, kEventConnect);
     }
-  } else if (status == kStatusTimeout) {
-    LOG_WARN("Query lidar information Timeout.");
-    if (IsDeviceConnected(handle)) {
-      LOG_INFO("Retry to query lidar information.");
-      command_handler().SendCommand(handle,
-                                    kCommandSetGeneral,
-                                    kCommandIDGeneralDeviceInfo,
-                                    NULL,
-                                    0,
-                                    MakeCommandCallback<DeviceManager, DeviceInformationResponse>(
-                                        this, &DeviceManager::QueryDeviceInformationCallback));
-    }
   } else {
     LOG_ERROR("Failed to query lidar information.");
   }