[update]优化软件工程目录和工程配置文件，更新README(版本号v3.0.4)

ldrobotSensorTeam · Mar 1, 2023 · e22ed73 · e22ed73
1 parent d746d26
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diff --git a/CMakeLists.txt b/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

diff --git a/README.md b/README.md
@@ -1,47 +1,3 @@
-- [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
@@ -55,8 +11,6 @@ $ 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).

diff --git a/README_CN.md b/README_CN.md
@@ -0,0 +1,39 @@
+# 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
+```
+
+## 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
+```
diff --git a/...ar_driver/include/core/ldlidar_datatype.h → ldlidar_driver/include/ldlidar_datatype.h b/...ar_driver/include/core/ldlidar_datatype.h → ldlidar_driver/include/ldlidar_datatype.h
diff --git a/ldlidar_driver/include/core/ldlidar_driver.h → ldlidar_driver/include/ldlidar_driver.h b/ldlidar_driver/include/core/ldlidar_driver.h → ldlidar_driver/include/ldlidar_driver.h
diff --git a/ldlidar_driver/include/dataprocess/lipkg.h → ldlidar_driver/include/lipkg.h b/ldlidar_driver/include/dataprocess/lipkg.h → ldlidar_driver/include/lipkg.h
diff --git a/ldlidar_driver/include/logger/log_module.h → ldlidar_driver/include/log_module.h b/ldlidar_driver/include/logger/log_module.h → ldlidar_driver/include/log_module.h
diff --git a/...nclude/serialcom/serial_interface_linux.h → ...r_driver/include/serial_interface_linux.h b/...nclude/serialcom/serial_interface_linux.h → ...r_driver/include/serial_interface_linux.h
diff --git a/...driver/include/dataprocess/sl_transform.h → ldlidar_driver/include/sl_transform.h b/...driver/include/dataprocess/sl_transform.h → ldlidar_driver/include/sl_transform.h
diff --git a/ldlidar_driver/include/filter/slbf.h → ldlidar_driver/include/slbf.h b/ldlidar_driver/include/filter/slbf.h → ldlidar_driver/include/slbf.h
diff --git a/ldlidar_driver/src/core/ldlidar_driver.cpp → ldlidar_driver/src/ldlidar_driver.cpp b/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_("3.0.4"),
   is_start_flag_(false),
   comm_pkg_(new LiPkg()),
   comm_serial_(new SerialInterfaceLinux()){

diff --git a/ldlidar_driver/src/dataprocess/lipkg.cpp → ldlidar_driver/src/lipkg.cpp b/ldlidar_driver/src/dataprocess/lipkg.cpp → ldlidar_driver/src/lipkg.cpp
diff --git a/ldlidar_driver/src/logger/log_module.cpp → ldlidar_driver/src/log_module.cpp b/ldlidar_driver/src/logger/log_module.cpp → ldlidar_driver/src/log_module.cpp
diff --git a/.../src/serialcom/serial_interface_linux.cpp → ...dar_driver/src/serial_interface_linux.cpp b/.../src/serialcom/serial_interface_linux.cpp → ...dar_driver/src/serial_interface_linux.cpp
diff --git a/...r_driver/src/dataprocess/sl_transform.cpp → ldlidar_driver/src/sl_transform.cpp b/...r_driver/src/dataprocess/sl_transform.cpp → ldlidar_driver/src/sl_transform.cpp
diff --git a/ldlidar_driver/src/filter/slbf.cpp → ldlidar_driver/src/slbf.cpp b/ldlidar_driver/src/filter/slbf.cpp → ldlidar_driver/src/slbf.cpp
diff --git a/src/test_sys/CMakeLists.txt b/src/test_sys/CMakeLists.txt
@@ -22,43 +22,31 @@ 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}/test.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
 set_target_properties (ldlidar_driver_static PROPERTIES OUTPUT_NAME "ldlidar_driver")
 set_target_properties (ldlidar_driver_shared PROPERTIES OUTPUT_NAME "ldlidar_driver")
 
 # binary file link to library
-target_link_libraries(${PROJECT_NAME}_node ldlidar_driver_static pthread wiringPi)
+target_link_libraries(${PROJECT_NAME}_node 
+  ldlidar_driver_static 
+  pthread 
+  wiringPi
+)
 
 ###########
 ## Install ##