现场无ceres版本8-11

laser/LivoxLaser.cpp

@@ -1,5 +1,6 @@
 
 #include "LivoxLaser.h"
+#include <unistd.h>
 
 RegisterLaser(Livox)
 

laser/LivoxMid100Laser.cpp

@@ -166,7 +166,7 @@ Error_manager CLivoxMid100Laser::start_scan()
 //雷达的停止接口函数， 让雷达停止扫描，一般需要子类重载，不同的雷达结束方式不同。
 Error_manager CLivoxMid100Laser::stop_scan()
 {
-	LOG(INFO)<<" livoxmid100 stoped !!!"<<m_laser_param.sn();
+	LOG(INFO)<<" livoxmid100 stoped !!!"<<m_laser_param.sn()<<",tid:"<<std::this_thread::get_id();
 	return CLivoxLaser::stop_scan();
 }
 //结束任务单，stop之后，要检查线程状态和数据结果，然后才能 end_task

system_manager/System_Manager.cpp

@@ -229,7 +229,7 @@ Error_manager System_Manager::plc_command_callback(int terminal_id_plc,void* own
     }
     if(system_manager->mp_wj_controller==NULL)
     {
-        Error_manager(PARAMETER_ERROR,NEGLIGIBLE_ERROR,"wj lidar is null");
+        return Error_manager(PARAMETER_ERROR,NEGLIGIBLE_ERROR,"wj lidar is null");
     }
     code=system_manager->m_terminal_vector[terminal_id]->execute_command(system_manager->m_laser_vector,
                                                                          system_manager->mp_wj_controller,

terminor/terminal_command_executor.cpp

@@ -482,8 +482,8 @@ Error_manager Terminor_Command_Executor::scanning_measuring() {
     float offset_width = fabs(dj_locate_information.locate_width - wj_locate_information.locate_width);
     float offset_wheel_base = fabs(
             dj_locate_information.locate_wheel_base - wj_locate_information.locate_wheel_base);
-    if (offset_x > 100 || offset_y > 100 || offset_angle > 4 || offset_wheel_base > 200 || offset_width > 200) {
-        LOG(WARNING) << "chekc failed. (offset x>100, y>100, angle>4, wheel_base>200, width>200): " << offset_x
+    if (offset_x > 100 || offset_y > 100 || offset_angle > 4 || offset_wheel_base > 550 || offset_width > 200) {
+        LOG(WARNING) << "chekc failed. (offset x>100, y>100, angle>4, wheel_base>550, width>200): " << offset_x
                      << " " << offset_y << " " << offset_angle << " " << offset_wheel_base << " " << offset_width;
         return Error_manager(TERMINOR_CHECK_RESULTS_ERROR, NORMAL, "check results failed ");
     }

wj_lidar/region_detect.cpp

@@ -135,11 +135,11 @@ Error_manager Region_detector::isRect(std::vector<cv::Point2f> &points, bool pri
         float width = std::min(l1, l2);
         float length = std::max(l1, l2);
         // 车宽应位于[1.35, 2.0]，车长应位于[2.2, 3.0]
-        if (width < 1.350 || width > 2.000 || length > 3.000 || length < 2.200)
+        if (width < 1.350 || width > 2.000 || length > 3.1500 || length < 2.200)
         {
             if (print)
             {
-                LOG(WARNING) << "\t width<1350 || width >2100 || length >3300 ||length < 2100 "
+                LOG(WARNING) << "\t width<1350 || width >2000 || length >3150 ||length < 2200 "
                              << "  length:" << length << "  width:" << width;
             }
             return Error_manager(Error_code::WJ_REGION_RECTANGLE_SIZE_ERROR);