[update][框架优化]完成基于lidar sdk的windows应用示例开发与测试，并对现框架源码进行通用化优化

.gitignore

@@ -1,3 +1,3 @@
 *.json
 build/**
-src/test_sys/build/**
+sample/windows/build/**

CMakeLists.txt

@@ -12,15 +12,6 @@ else()
 	message(STATUS "other platform: ${CMAKE_SYSTEM_NAME}")
 endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
 
-if(WIN32)
-	message(STATUS "Now is windows")
-elseif(APPLE)
-	message(STATUS "Now is Apple systens.")
-elseif(UNIX)
-	message(STATUS "Now is UNIX-like OS's.")
-endif()
-message(STATUS "###################################")
-
 
 if(${CMAKE_BUILD_TYPE} MATCHES  "Release")
   set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -std=c++11 -Wall")

include/ldlidar_driver/ldlidar_datatype.h

@@ -26,6 +26,8 @@
 #include <iostream>
 #include <vector>
 
+#define LDLiDAR_SDK_VERSION_NUMBER   "3.1.0"
+
 #define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
 
 //  lidar error code definition

include/ldlidar_driver/lipkg.h

@@ -39,6 +39,7 @@ enum {
   POINT_PER_PACK = 12,
 };
 
+#ifdef __linux__
 typedef struct __attribute__((packed)) {
   uint16_t distance;
   uint8_t intensity;
@@ -54,6 +55,27 @@ typedef struct __attribute__((packed)) {
   uint16_t timestamp;
   uint8_t crc8;
 } LiDARFrameType;
+#else
+
+#pragma pack(1)
+typedef struct {
+	uint16_t distance;
+	uint8_t intensity;
+} LidarPointStructType;
+
+typedef struct {
+	uint8_t header;
+	uint8_t ver_len;
+	uint16_t speed;
+	uint16_t start_angle;
+	LidarPointStructType point[POINT_PER_PACK];
+	uint16_t end_angle;
+	uint16_t timestamp;
+	uint8_t crc8;
+} LiDARFrameType;
+#pragma pack()
+
+#endif
 
 class LiPkg {
 public:

include/ldlidar_driver/log_module.h

@@ -15,12 +15,11 @@
 * See the License for the specific language governing permissions and
 * limitations under the License.
 **/
+
 #ifndef  __LOGMODULE_H_
 #define  __LOGMODULE_H_
 
 
-#define LINUX
-
 #define ENABLE_LOG_DIS_OUTPUT
 
 #define ENABLE_CONSOLE_LOG_DISPALY
@@ -32,7 +31,7 @@
 #include <chrono>
 #include <stdlib.h>
 
-#ifndef LINUX
+#ifndef __linux__
 #include <windows.h>
 #else
 //#include <pthread.h>
@@ -108,16 +107,25 @@ class LogPrint :public ILogRealization {
   }
 };
 
-#ifndef LINUX
+#ifndef __linux__
 class LogOutputString :public ILogRealization {
 public:
   virtual void Initializion(const char* path = NULL) {
     return ;
   }
 
   virtual void LogPrintInf(const char* str) {
-    OutputDebugString((LPCTSTR)str);
-    OutputDebugString("\r\n");
+    //OutputDebugString((LPCTSTR)str); // 将字符串发送到调试器进行显示。
+    //OutputDebugString("\r\n");
+
+	printf("%s\r\n", str); // 将字符串发送到控制台显示
+  }
+
+  virtual void LogPrintData(const char* str) {
+    //OutputDebugString((LPCTSTR)str); // 将字符串发送到调试器进行显示。
+    //OutputDebugString("\r\n");
+
+	printf("%s\r\n", str); // 将字符串发送到控制台显示
   }
 
   ILOGFREE(LogOutputString)
@@ -186,7 +194,7 @@ class LogModule {
 
   static LogModule*  s_plog_module_;
 
-#ifndef LINUX
+#ifndef __linux__
     CRITICAL_SECTION   mutex_lock_;
 #else
     pthread_mutex_t    mutex_lock_;

sample/windows/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5)
+
+project (ldlidar_driver_win LANGUAGES CXX)
+
+include_directories(
+  ${PROJECT_SOURCE_DIR}/
+  ${PROJECT_SOURCE_DIR}/../../include
+)
+
+add_executable(demo 
+  ${PROJECT_SOURCE_DIR}/windemo.cpp 
+  ${PROJECT_SOURCE_DIR}/ldlidar_driver_win.cpp
+  ${PROJECT_SOURCE_DIR}/commport.cpp
+  ${PROJECT_SOURCE_DIR}/../../src/ldlidar_driver/lipkg.cpp
+  ${PROJECT_SOURCE_DIR}/../../src/ldlidar_driver/log_module.cpp
+  ${PROJECT_SOURCE_DIR}/../../src/ldlidar_driver/sl_transform.cpp
+  ${PROJECT_SOURCE_DIR}/../../src/ldlidar_driver/slbf.cpp
+  ${PROJECT_SOURCE_DIR}/../../src/ldlidar_driver/tofbf.cpp
+)
+target_compile_features(demo PUBLIC cxx_std_11)

sample/windows/README_CN.md

@@ -0,0 +1,12 @@
+# 使用CMake生成visual studio C++ 工程
+> 前提条件，PC上需要提前安装有visual studio IDE 和 CMake Tool。
+
+## 方法一：命令行方式
+- 在`sample/windows`目录下打开powershell终端，以创建`Visual Studio 15 2017 Win64`环境下的C++工程为例，运行如下命令。
+```ps1
+mkdir build
+
+cd build
+
+cmake -G "Visual Studio 15 2017 Win64" ../
+```