[update]版本号3.0.0，ldrobotsensor SDK3.0 framework import success.

CMakeLists.txt

@@ -1,19 +1,18 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ldlidar_sl)
 
-set(VAL  1)
-if(${VAL} EQUAL 1)
-  set(CMAKE_BUILD_TYPE "Release") 
+if(${CMAKE_BUILD_TYPE} MATCHES  "Release")
+  #set(CMAKE_BUILD_TYPE "Release") 
   set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -std=c++11 -Wall")
   #set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -std=c++11 -O3 -Wall")
   message(STATUS "Mode: Release")
-  message(STATUS "optional:-std=c++11")
+  message(STATUS "optional:-std=c++11 -Wall")
 else()
-  set(CMAKE_BUILD_TYPE "Debug") 
+  #set(CMAKE_BUILD_TYPE "Debug") 
   set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -Wall -Wextra -Wpedantic -g2 -ggdb")
   #set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -O2 -Wall -Wextra -Wpedantic -g2 -ggdb")
   message(STATUS "Mode: Debug")
-  message(STATUS "optional:-std=c++11")
+  message(STATUS "optional:-std=c++11 -Wall -Wextra -Wpedantic -g2 -ggdb")
 endif()
 
 ###########
@@ -23,22 +22,53 @@ endif()
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/core/
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/dataprocess/
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/filter/
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/logger/
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include/serialcom/
 )
 
-file(GLOB  LDLIDAR_DRIVER_SRC ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/*.cpp)
+file(GLOB  LDLIDAR_DRI_CORE ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/core/*.cpp)
+file(GLOB  LDLIDAR_DRI_DATARPC ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/dataprocess/*.cpp)
+file(GLOB  LDLIDAR_DRI_FILTER ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/filter/*.cpp)
+file(GLOB  LDLIDAR_DRI_LOGGER ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/logger/*.cpp)
+file(GLOB  LDLIDAR_DRI_SERIAL ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/serialcom/*.cpp)
 
-add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/linux_demo/demo.cpp ${LDLIDAR_DRIVER_SRC})
-target_link_libraries(${PROJECT_NAME} pthread)
+add_executable(${PROJECT_NAME}_node ${CMAKE_CURRENT_SOURCE_DIR}/src/linux_demo/demo.cpp)
 
+add_library(ldlidar_driver_static STATIC 
+  ${LDLIDAR_DRI_CORE} 
+  ${LDLIDAR_DRI_DATARPC} 
+  ${LDLIDAR_DRI_FILTER} 
+  ${LDLIDAR_DRI_LOGGER} 
+  ${LDLIDAR_DRI_SERIAL}
+)
+
+add_library(ldlidar_driver_shared SHARED 
+  ${LDLIDAR_DRI_CORE} 
+  ${LDLIDAR_DRI_DATARPC} 
+  ${LDLIDAR_DRI_FILTER} 
+  ${LDLIDAR_DRI_LOGGER} 
+  ${LDLIDAR_DRI_SERIAL}
+)
+
+# rename library name
+set_target_properties (ldlidar_driver_static PROPERTIES OUTPUT_NAME "ldlidar_driver")
+set_target_properties (ldlidar_driver_shared PROPERTIES OUTPUT_NAME "ldlidar_driver")
 
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/ldlidar.cpp
-# )
+# binary file link to library
+target_link_libraries(${PROJECT_NAME}_node ldlidar_driver_static pthread)
 
-#############
-## Testing ##
-#############
+###########
+## Install ##
+###########
 
+INSTALL(TARGETS ldlidar_driver_static ldlidar_driver_shared
+  ARCHIVE DESTINATION lib/ldlidar_driver
+  LIBRARY DESTINATION share/ldlidar_driver
+)
 
+INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR}/ldlidar_driver/include
+  DESTINATION include/ldlidar_driver
+)

README.md

@@ -38,8 +38,8 @@ $ ./auto_build.sh
 
 ## 3. 运行
 ``` bash
-$ ./build/ldlidar_sl <serial_number>
-# 例如 ./build/ldlidar_sl /dev/ttyS0
+$ ./build/ldlidar_sl_node <serial_number>
+# 例如 ./build/ldlidar_sl_node /dev/ttyS0
 ```
 
 # Instructions
@@ -80,6 +80,6 @@ $ ./auto_build.sh
 
 ## step 3: run
 ``` bash
-$ ./build/ldlidar_sl <serial_number>
-# 例如 ./build/ldlidar_sl /dev/ttyS0
+$ ./build/ldlidar_sl_node <serial_number>
+# example ./build/ldlidar_sl_node /dev/ttyS0
 ```

auto_build.sh

@@ -1,17 +1,45 @@
 #!/bin/bash
 #Author: David Hu
-#Date: 2022-05
+#Date: 2022-09
 
 # Exit on error
 set -e
-set -x
+
+BUILD_MODE_DEBUG=1
+BUILD_MODE_RELEASE=0
+OP_YES=1
+
+echo "Start cmake build"
+read -p "Please select build mode [Debug(1)/Release(0)]:" BUILD_MODE
+read -p "Is install lib and include files on the workspace, please input [yes(1)/no[0]]:" IS_INSTALL
 
 if [ ! -e "./build" ];then
   mkdir build
   echo "create ./build/"
 fi
 
-echo "start cmake build"
 cd ./build
-cmake ..
-make
+
+if [ ${BUILD_MODE} == ${BUILD_MODE_DEBUG} ];then
+  cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=../install ..
+elif [ ${BUILD_MODE} == ${BUILD_MODE_RELEASE} ];then
+  cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=../install ..
+else
+  echo "build mode input error"
+  exit 0
+fi
+
+make
+
+if [ ${IS_INSTALL} == ${OP_YES} ]
+then
+  if [ ! -e "../install" ]
+  then
+    mkdir ../install
+    echo "create ../install/"
+  fi
+  make install
+  echo "build and install finished."
+else
+  echo "build finished."
+fi

clean_build.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+#Author: David Hu
+#Date: 2022-09
+if [ -e "./build" ];then
+  rm -rf build/
+  echo "del ./build/"
+fi
+
+if [ -e "./install" ];then
+  rm -rf install/
+  echo "del ./install/"
+fi
+
+echo "del is ok....."

ldlidar_driver/include/lipkg.h → ldlidar_driver/include/dataprocess/lipkg.h

@@ -21,14 +21,14 @@
 #ifndef __LIPKG_H
 #define __LIPKG_H
 
-#include <sys/time.h>
+#include <string.h>
 
 #include <chrono>
+#include <mutex>
+#include <functional>
 
 #include "slbf.h"
-#include "pointdata.h"
 #include "transform.h"
-#include "cmd_interface_linux.h"
 
 namespace ldlidar {
 
@@ -57,51 +57,74 @@ typedef struct __attribute__((packed)) {
 class LiPkg {
 public:
   LiPkg();
+
   ~LiPkg();
 
-  std::string GetSdkPackVersionNum(void);
   void SetProductType(LDType typenumber);
-  /**
-   * @brief set lidar scan dir
-   * @param is_to_right_hand
-   *        value is true, counterclockwise
-   *        value is false, clockwise
-  */
-  void SetLaserScanDir(bool is_to_right_hand);
+
   void SetNoiseFilter(bool is_enable);
+
+  void RegisterTimestampGetFunctional(std::function<uint64_t(void)> timestamp_handle);
+
   void CommReadCallBack(const char *byte, size_t len);
-  bool GetLaserScanData(Points2D& out); // get a frame lidar data
-  double GetSpeed(void); //get  Lidar spin speed (Hz)
+
+  /**
+   * @brief get lidar scan data
+  */
+  bool GetLaserScanData(Points2D& out); 
+
+  /**
+   * @brief get Lidar spin speed (Hz)
+  */
+  double GetSpeed(void);
+
   LidarStatus GetLidarStatus(void);
 
+  uint8_t GetLidarErrorCode(void);
+
+  bool GetLidarPowerOnCommStatus(void);
+
 private:
   const int kPointFrequence = 2300;
-  std::string sdk_pack_version_;
-  LDType ld_typenumber_;
-  LidarStatus ld_lidarstatus_;
-  bool to_right_hand_;
+  LDType typenumber_;
+  LidarStatus lidarstatus_;
+  uint8_t lidarerrorcode_;
   bool is_frame_ready_;
   bool is_noise_filter_;
-  uint16_t timestamp_; // time stamp of the packet
+  uint16_t timestamp_; 
   double speed_;
-  long error_times_;
-  LiDARFrameTypeDef pkg;
+  std::function<uint64_t(void)> get_timestamp_;
+  bool is_poweron_comm_normal_;
+  uint8_t poweron_datapkg_count_;
+
+  LiDARFrameTypeDef datapkg_;
   Points2D lidar_frame_data_;
   Points2D frame_tmp_;
   std::mutex mutex_lock1_;
   std::mutex mutex_lock2_;
 
+  void SetLidarStatus(LidarStatus status);
+
+  void SetLidarErrorCode(uint8_t errorcode);
+
   bool AnalysisOne(uint8_t byte); // parse single packet
-  bool Parse(const uint8_t *data, long len); // ==
+
+  bool Parse(const uint8_t *data, long len); 
+
   bool AssemblePacket(); // combine stantard data into data frames and calibrate
+
   bool IsFrameReady(void);  // get Lidar data frame ready flag
+
   void ResetFrameReady(void);  // reset frame ready flag
+
   void SetFrameReady(void);    // set frame ready flag
+
   void SetLaserScanData(Points2D& src);
+
   Points2D GetLaserScanData(void);
-  long GetErrorTimes(void); // the number of errors in parser process of lidar data frame
-  uint64_t GetTime(void); // systime ns
+
   void AnalysisLidarIsBlocking(uint16_t lidar_speed_val);
+
   void AnalysisLidarIsOcclusion(Points2D& lidar_data);
 };
 

ldlidar_driver/include/transform.h → ldlidar_driver/include/dataprocess/transform.h

@@ -26,18 +26,18 @@
 #include <algorithm>
 #include <vector>
 
-#include "pointdata.h"
+#include "ldlidar_datatype.h"
 
 namespace ldlidar {
 
 class SlTransform {
- private:
+private:
   bool to_right_hand_ = true;
   double offset_x_;
   double offset_y_;
   LDType version_;
 
- public:
+public:
   SlTransform(LDType version, bool to_right_hand = false);
   Points2D Transform(const Points2D &data);
   ~SlTransform();

ldlidar_driver/include/slbf.h → ldlidar_driver/include/filter/slbf.h

@@ -25,12 +25,12 @@
 
 #include <algorithm>
 
-#include "pointdata.h"
+#include "ldlidar_datatype.h"
 
 namespace ldlidar {
 
 class Slbf {
- private:
+private:
   const int kConfidenceHigh = 200;
   const int kConfidenceMiddle = 150;
   const int kConfidenceLow = 92;
@@ -45,7 +45,7 @@ class Slbf {
   Slbf(const Slbf &) = delete;
   Slbf &operator=(const Slbf &) = delete;
 
- public:
+public:
   Slbf(int speed, bool strict_policy = true);
   Points2D NearFilter(const Points2D &tmp) const;
   void EnableStrictPolicy(bool enable);