Merge pull request #1 from mingdonghu/master

support LDLiDAR LD14P product

CMakeLists.txt

@@ -22,35 +22,22 @@ 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/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/
+  ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/include
 )
 
-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)
+file(GLOB  LDLIDAR_DRI ${CMAKE_CURRENT_SOURCE_DIR}/ldlidar_driver/src/*.cpp)
 
-add_executable(${PROJECT_NAME}_node ${CMAKE_CURRENT_SOURCE_DIR}/src/linux_demo/demo.cpp)
+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}
+  ${LDLIDAR_DRI} 
 )
 
 add_library(ldlidar_driver_shared SHARED 
-  ${LDLIDAR_DRI_CORE} 
-  ${LDLIDAR_DRI_DATARPC} 
-  ${LDLIDAR_DRI_FILTER} 
-  ${LDLIDAR_DRI_LOGGER} 
-  ${LDLIDAR_DRI_SERIAL}
+  ${LDLIDAR_DRI} 
 )
 
 # rename library name

README.md

@@ -1,50 +1,7 @@
-- [cn](#操作指南)
-- [en](#Instructions)
-# 操作指南
-
->此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为:
-> - LDROBOT LiDAR LD14
-
-## 0. 获取雷达的Linux SDK
-```bash
-$ cd ~
-
-$ mkdir  ldlidar_ws
-
-$ cd ldlidar_ws
-
-$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
-# 或者
-$ git clone  https://gitee.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
-```
-
-## 1. 系统设置
-- 第一步，通过板载串口或者USB转串口模块(例如,cp2102模块)的方式使雷达连接到你的系统主板.
-- 第二步，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyUSB0为例)
-	- 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用`ls -l /dev`命令查看.
-
-``` bash
-$ cd ~/ldlidar_ws/ldlidar_sl_sdk
-
-$ sudo chmod 777 /dev/ttyUSB0
-```
-
-## 2. 编译
-
-```bash
-$ cd ~/ldlidar_ws/ldlidar_sl_sdk
-$ ./auto_build.sh
-```
-
-## 3. 运行
-``` bash
-$ ./build/ldlidar_sl_node <serial_number>
-# 例如 ./build/ldlidar_sl_node /dev/ttyS0
-```
-
 # Instructions
 > This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. The product models are :
 > - LDROBOT LiDAR LD14
+> - LDROBOT LiDAR LD14P
 
 ## step 0. get LiDAR Linux SDK
 ```bash
@@ -55,8 +12,6 @@ $ mkdir  ldlidar_ws
 $ cd ldlidar_ws
 
 $ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
-# or
-$ git clone  https://gitee.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
 ```
 ## step 1: system setup
 - Connect the LiDAR to your system motherboard via an onboard serial port or usB-to-serial module (for example, CP2102 module).
@@ -80,6 +35,12 @@ $ ./auto_build.sh
 
 ## step 3: run
 ``` bash
-$ ./build/ldlidar_sl_node <serial_number>
-# example ./build/ldlidar_sl_node /dev/ttyS0
+$ ./build/ldlidar_sl_node <product_type> <serial_number>
+# eg:
+# LDLiDAR LD14
+$ ./build/ldlidar_sl_node LD14  /dev/ttyUSB0
+# LDLiDAR LD14P, measuring frequnecy is 2300Hz
+$ ./build/ldlidar_sl_node LD14P_2300HZ  /dev/ttyUSB0
+# LDLiDAR LD14P, measuring frequnecy is 4000Hz
+$ ./build/ldlidar_sl_node LD14P_4000HZ  /dev/ttyUSB0
 ```

README_CN.md

@@ -0,0 +1,46 @@
+# 操作指南
+
+>此SDK仅适用于深圳乐动机器人有限公司销售的激光雷达产品，产品型号为:
+> - LDROBOT LiDAR LD14
+> - LDROBOT LiDAR LD14P
+
+## 0. 获取雷达的Linux SDK
+```bash
+$ cd ~
+
+$ mkdir  ldlidar_ws
+
+$ cd ldlidar_ws
+
+$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sl_sdk.git
+```
+
+## 1. 系统设置
+- 第一步，通过板载串口或者USB转串口模块(例如,cp2102模块)的方式使雷达连接到你的系统主板.
+- 第二步，设置雷达在系统中挂载的串口设备-x权限(以/dev/ttyUSB0为例)
+	- 实际使用时，根据雷达在你的系统中的实际挂载情况来设置，可以使用`ls -l /dev`命令查看.
+
+``` bash
+$ cd ~/ldlidar_ws/ldlidar_sl_sdk
+
+$ sudo chmod 777 /dev/ttyUSB0
+```
+
+## 2. 编译
+
+```bash
+$ cd ~/ldlidar_ws/ldlidar_sl_sdk
+$ ./auto_build.sh
+```
+
+## 3. 运行
+``` bash
+$ ./build/ldlidar_sl_node <product_type> <serial_number>
+# eg:
+# LDLiDAR LD14
+$ ./build/ldlidar_sl_node LD14  /dev/ttyUSB0
+# LDLiDAR LD14P, measuring frequnecy is 2300Hz
+$ ./build/ldlidar_sl_node LD14P_2300HZ  /dev/ttyUSB0
+# LDLiDAR LD14P, measuring frequnecy is 4000Hz
+$ ./build/ldlidar_sl_node LD14P_4000HZ  /dev/ttyUSB0
+```

ldlidar_driver/include/core/ldlidar_datatype.h → ldlidar_driver/include/ldlidar_datatype.h

@@ -41,6 +41,8 @@ namespace ldlidar {
 enum class LDType {
   NO_VER,
   LD_14, 
+  LD_14P_2300HZ,
+  LD_14P_4000HZ,
 };
 
 enum class LidarStatus {

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

@@ -90,11 +90,10 @@ class LiPkg {
     lidarstatus_ = LidarStatus::NORMAL;
     lidarerrorcode_ = LIDAR_NO_ERROR;
     last_pkg_timestamp_ = 0;
-    first_flag_ = true;
   }
 
 private:
-  const int kPointFrequence = 2300;
+  int lidar_measure_freq_;
   LDType typenumber_;
   LidarStatus lidarstatus_;
   uint8_t lidarerrorcode_;
@@ -105,7 +104,6 @@ class LiPkg {
   std::function<uint64_t(void)> get_timestamp_;
   bool is_poweron_comm_normal_;
   uint8_t poweron_datapkg_count_;
-  bool first_flag_;
   uint64_t last_pkg_timestamp_;
 
   LiDARFrameTypeDef datapkg_;

ldlidar_driver/src/core/ldlidar_driver.cpp → ldlidar_driver/src/ldlidar_driver.cpp

@@ -24,7 +24,7 @@ namespace ldlidar {
 
 bool LDLidarDriver::is_ok_ = false;
 
-LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.3"),
+LDLidarDriver::LDLidarDriver() : sdk_pack_version_("3.0.5"),
   is_start_flag_(false),
   comm_pkg_(new LiPkg()),
   comm_serial_(new SerialInterfaceLinux()){