[update]修复上次提交发现的bug，更新新型号支持相关文档，增加子项目CMake配置文件方便开发者引用(版本号v3.3.1)

ldrobotSensorTeam · Mar 11, 2023 · 6148cd3 · 6148cd3
1 parent be0c240
commit 6148cd3
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Showing 9 changed files with 63 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,47 @@
+# sub project
+message(STATUS "operation system is ${CMAKE_SYSTEM}")
+
+if(CMAKE_SYSTEM_NAME MATCHES "Linux")
+message(STATUS "current platform: Linux ")
+
+set(LDLIDAR_DRIVER_SOURCE_LINUX
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_driver.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_driver_linux.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_dataprocess.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_protocol.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/log_module.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/network_socket_interface_linux.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/serial_interface_linux.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/sl_transform.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/slbf.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/tofbf.cpp
+)
+
+add_library(ldlidar_driver STATIC 
+  ${LDLIDAR_DRIVER_SOURCE_LINUX} 
+)
+
+elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
+message(STATUS "current platform: Windows")
+
+set(LDLIDAR_DRIVER_SOURCE_WIN
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_driver.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_driver_win.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_dataprocess.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_protocol.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/log_module.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/serial_interface_win.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/sl_transform.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/slbf.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/tofbf.cpp
+)
+
+add_library(ldlidar_driver STATIC 
+  ${LDLIDAR_DRIVER_SOURCE_WIN} 
+)
+
+else()
+	message(STATUS "other platform: ${CMAKE_SYSTEM_NAME}")
+endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
+
+
diff --git a/README.md b/README.md
@@ -5,6 +5,7 @@ This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co.,
 |   LDROBOT LiDAR LD06   | 2D DTOF |
 |   LDROBOT LiDAR LD19   | 2D DTOF |
 |   LDROBOT LiDAR LD14   | 2D Triangle|
+|   LDROBOT LiDAR LD14P   | 2D Triangle|
 
 ---
 ## Get SDK

diff --git a/include/ldlidar_driver/ldlidar_datatype.h b/include/ldlidar_driver/ldlidar_datatype.h
@@ -27,7 +27,7 @@
 #include <vector>
 #include <string>
 
-#define LDLiDAR_SDK_VERSION_NUMBER   "3.3.0"
+#define LDLiDAR_SDK_VERSION_NUMBER   "3.3.1"
 
 #define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
 

diff --git a/sample/linux/CMakeLists.txt b/sample/linux/CMakeLists.txt
@@ -29,7 +29,7 @@ include_directories(
 set(LDLIDAR_DRIVER_SOURCE_LINUX
   ${CMAKE_CURRENT_SOURCE_DIR}/../../src/ldlidar_driver.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/../../src/ldlidar_driver_linux.cpp
-  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/lipkg.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../src/ldlidar_dataprocess.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/../../src/ldlidar_protocol.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/../../src/log_module.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/../../src/network_socket_interface_linux.cpp

diff --git a/sample/linux/README.md b/sample/linux/README.md
@@ -23,6 +23,8 @@ $ ./build/ldlidar <lidar_typename> <serial_number>
 # example:
 # LDLiDAR LD14 
 $ ./build/ldlidar LD14 /dev/ttyUSB0
+# LDLiDAR LD14P 
+$ ./build/ldlidar LD14P /dev/ttyUSB0
 # LDLiDAR LD06
 $ ./build/ldlidar LD06 /dev/ttyUSB0
 # LDLiDAR LD19

diff --git a/sample/linux/README_CN.md b/sample/linux/README_CN.md
@@ -23,6 +23,8 @@ $ ./build/ldlidar <lidar_typename> <serial_number>
 # example:
 # LDLiDAR LD14 
 $ ./build/ldlidar LD14 /dev/ttyUSB0
+# LDLiDAR LD14P 
+$ ./build/ldlidar LD14P /dev/ttyUSB0
 # LDLiDAR LD06
 $ ./build/ldlidar LD06 /dev/ttyUSB0
 # LDLiDAR LD19

diff --git a/sample/linux/demo.cpp b/sample/linux/demo.cpp
@@ -44,8 +44,9 @@ struct LdsInfoStruct {
   uint32_t baudrate;
 };
 
-LdsInfoStruct LdsInfoArrary[3] = {
+LdsInfoStruct LdsInfoArrary[4] = {
   {"LD14", ldlidar::LDType::LD_14, 115200},
+  {"LD14P", ldlidar::LDType::LD_14P, 230400},
   {"LD06", ldlidar::LDType::LD_06, 230400},
   {"LD19", ldlidar::LDType::LD_19, 230400},
 };
@@ -75,6 +76,7 @@ int main(int argc, char **argv) {
     LOG_INFO("please input: ./ldlidar <lidar type> <serial number>","");
     LOG_INFO("example:","");
     LOG_INFO("./ldlidar LD14 /dev/ttyUSB0","");
+    LOG_INFO("./ldlidar LD14P /dev/ttyUSB0","");
     LOG_INFO("./ldlidar LD06 /dev/ttyUSB0","");
     LOG_INFO("./ldlidar LD19 /dev/ttyUSB0","");
     exit(EXIT_FAILURE);

diff --git a/sample/windows/windemo.cpp b/sample/windows/windemo.cpp
@@ -37,11 +37,12 @@ int main(int argc, char** argv) {
     uint32_t baudrate;
   };
 
-  const int inf_array_size = 3;
+  const int inf_array_size = 4;
   lidar_inf_struct inf_array[inf_array_size] = {
       {0, "LDLiDAR LD06", ldlidar::LDType::LD_06, 230400},
       {1, "LDLiDAR LD14", ldlidar::LDType::LD_14, 115200},
-      {2, "LDLiDAR LD19", ldlidar::LDType::LD_19, 230400}};
+      {2, "LDLiDAR LD14P", ldlidar::LDType::LD_14P, 230400},
+      {3, "LDLiDAR LD19", ldlidar::LDType::LD_19, 230400}};
 
   printf("The SDK support ldlidar product:\n");
   for (auto inf_base : inf_array) {

diff --git a/test/test.cpp b/test/test.cpp
@@ -68,8 +68,9 @@ struct LdsInfoStruct {
   uint32_t baudrate;
 };
 
-LdsInfoStruct LdsInfoArrary[3] = {
+LdsInfoStruct LdsInfoArrary[4] = {
   {"LD14", ldlidar::LDType::LD_14, 115200},
+  {"LD14P", ldlidar::LDType::LD_14P, 230400},
   {"LD06", ldlidar::LDType::LD_06, 230400},
   {"LD19", ldlidar::LDType::LD_19, 230400},
 };
@@ -99,6 +100,7 @@ int test(int argc, char **argv) {
     LOG_INFO("please input: ./test_node <lidar type> <serial number>","");
     LOG_INFO("example:","");
     LOG_INFO("./test_node LD14 /dev/ttyUSB0","");
+    LOG_INFO("./test_node LD14P /dev/ttyUSB0","");
     LOG_INFO("./test_node LD06 /dev/ttyUSB0","");
     LOG_INFO("./test_node LD19 /dev/ttyUSB0","");
     exit(EXIT_FAILURE);