Merge pull request #4 from DeepX-inc/bugfix/fixed-spam-CU-86eq3zgda

Bugfix spam cu 86eq3zgda
DeepX-inc · Oct 7, 2024 · bcd748b · bcd748b
2 parents 936bd4a + 42e72df
commit bcd748b
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Showing 2 changed files with 26 additions and 4 deletions.
diff --git a/livox_ros2_driver/livox_ros2_driver/lds_hub.cpp b/livox_ros2_driver/livox_ros2_driver/lds_hub.cpp
@@ -28,6 +28,7 @@
 #include <string.h>
 #include <memory>
 #include <thread>
+#include <unordered_set>
 
 #include "rapidjson/document.h"
 #include "rapidjson/filereadstream.h"
@@ -157,10 +158,16 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
 }
 
 void LdsHub::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
+  // Store warning status per broadcast code to avoid showing the same warning
+  static std::unordered_set<std::string> whitelist_warning_shown_map;
+
   if (info == NULL) {
     return;
   }
 
+  // Convert broadcast code to string
+  std::string broadcast_code(info->broadcast_code);
+
   if (info->dev_type != kDeviceTypeHub) {
     printf("It's not a hub : %s\n", info->broadcast_code);
     return;
@@ -171,8 +178,12 @@ void LdsHub::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
            info->broadcast_code);
   } else {
     if (!g_lds_hub->IsBroadcastCodeExistInWhitelist(info->broadcast_code)) {
-      printf("Not in the whitelist, please add %s to if want to connect!\n",
-             info->broadcast_code);
+      // Check if the warning for this broadcast code was already shown
+      if (whitelist_warning_shown_map.find(broadcast_code) == whitelist_warning_shown_map.end()) {
+        printf("Not in the whitelist, please add %s to if want to connect!\n",
+               info->broadcast_code);
+        whitelist_warning_shown_map.insert(broadcast_code);
+      }
       return;
     }
   }

diff --git a/livox_ros2_driver/livox_ros2_driver/lds_lidar.cpp b/livox_ros2_driver/livox_ros2_driver/lds_lidar.cpp
@@ -29,6 +29,7 @@
 #include <memory>
 #include <mutex>
 #include <thread>
+#include <unordered_set>
 
 #include "rapidjson/document.h"
 #include "rapidjson/filereadstream.h"
@@ -172,10 +173,16 @@ void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
 }
 
 void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
+  // Store warning status per broadcast code to avoid showing the same warning
+  static std::unordered_set<std::string> whitelist_warning_shown_map;
+
   if (info == nullptr) {
     return;
   }
 
+  // Convert broadcast code to string
+  std::string broadcast_code(info->broadcast_code);
+
   if (info->dev_type == kDeviceTypeHub) {
     printf("In lidar mode, couldn't connect a hub : %s\n",
            info->broadcast_code);
@@ -187,8 +194,12 @@ void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
            info->broadcast_code);
   } else {
     if (!g_lds_ldiar->IsBroadcastCodeExistInWhitelist(info->broadcast_code)) {
-      printf("Not in the whitelist, please add %s to if want to connect!\n",
-             info->broadcast_code);
+      // Check if the warning for this broadcast code was already shown
+      if (whitelist_warning_shown_map.find(broadcast_code) == whitelist_warning_shown_map.end()) {
+        printf("Not in the whitelist, please add %s to if want to connect!\n",
+               info->broadcast_code);
+        whitelist_warning_shown_map.insert(broadcast_code);
+      }
       return;
     }
   }