[update][框架优化]这是第一个稳定版本，版本号v3.1.1，更新点为：

该SDK将支持在windos和linux系统下使用，目前支持与乐动激光雷达的串口进行通信和数据解析操作，已完成所支持产品的SDK功能测试和说明文档更新。
ldrobotSensorTeam · Feb 25, 2023 · cbe9b1b · cbe9b1b
1 parent 9b5e122
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diff --git a/README.md b/README.md
@@ -7,6 +7,25 @@ This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co.,
 |   LDROBOT LiDAR LD14   | 2D Triangle|
 
 ---
-## Instructions
-- [EN](./INSTRUCTIONS.en.md)
-- [CN](./INSTRUCTIONS.cn.md)
+## Get SDK
+- download package file or use git.
+```bash
+$ cd ~
+
+$ mkdir  ldlidar_ws
+
+$ cd ldlidar_ws
+
+$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sdk.git
+```
+
+---
+## Introduction to linux application example
+- [EN](./sample/linux/README.md)
+- [CN](./sample/linux/README_CN.md)
+
+---
+
+## Introduction to windows application example
+- [EN](./sample/windows/README.md)
+- [CN](./sample/windows/README_CN.md)
diff --git a/include/ldlidar_driver/ldlidar_datatype.h b/include/ldlidar_driver/ldlidar_datatype.h
@@ -26,7 +26,7 @@
 #include <iostream>
 #include <vector>
 
-#define LDLiDAR_SDK_VERSION_NUMBER   "3.1.0"
+#define LDLiDAR_SDK_VERSION_NUMBER   "3.1.1"
 
 #define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
 

diff --git a/CMakeLists.txt → sample/linux/CMakeLists.txt b/CMakeLists.txt → sample/linux/CMakeLists.txt
@@ -1,73 +1,61 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(ldlidar)
-
-message(STATUS "operation system is ${CMAKE_SYSTEM}")
-if(CMAKE_SYSTEM_NAME MATCHES "Linux")
-	message(STATUS "current platform: Linux ")
-elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
-	message(STATUS "current platform: Windows")
-elseif(CMAKE_SYSTEM_NAME MATCHES "FreeBSD")
-	message(STATUS "current platform: FreeBSD")
-else()
-	message(STATUS "other platform: ${CMAKE_SYSTEM_NAME}")
-endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
-
-
-if(${CMAKE_BUILD_TYPE} MATCHES  "Release")
-  set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -std=c++11 -Wall")
-  message(STATUS "Mode: Release")
-  message(STATUS "optional:-std=c++11 -Wall")
-elseif(${CMAKE_BUILD_TYPE} MATCHES "Debug")
-  set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -Wall -Wextra -g2 -ggdb")
-  message(STATUS "Mode: Debug")
-  message(STATUS "optional:-std=c++11 -Wall -Wextra -g2 -ggdb")
-else()
-  set(CMAKE_BUILD_TYPE "Debug") 
-  set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -Wall -Wextra -g2 -ggdb")
-  message(STATUS "Mode: Debug")
-  message(STATUS "optional:-std=c++11 -Wall -Wextra -g2 -ggdb")
-endif()
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  ${CMAKE_CURRENT_SOURCE_DIR}/include/
-)
-
-file(GLOB  LDLIDAR_DRIVER_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/src/ldlidar_driver/*.cpp)
-
-add_executable(${PROJECT_NAME}
-  ${CMAKE_CURRENT_SOURCE_DIR}/sample/linux/demo.cpp
-)
-
-add_library(ldlidar_driver_static STATIC 
-  ${LDLIDAR_DRIVER_SOURCE} 
-)
-
-add_library(ldlidar_driver_shared SHARED 
-  ${LDLIDAR_DRIVER_SOURCE} 
-)
-
-# rename library name
-set_target_properties (ldlidar_driver_static PROPERTIES OUTPUT_NAME "ldlidar_driver")
-set_target_properties (ldlidar_driver_shared PROPERTIES OUTPUT_NAME "ldlidar_driver")
-
-# binary file link to library
-target_link_libraries(${PROJECT_NAME} ldlidar_driver_static pthread)
-
-###########
-## Install ##
-###########
-
-INSTALL(TARGETS ldlidar_driver_static ldlidar_driver_shared
-  ARCHIVE DESTINATION lib/ldlidar_driver
-  LIBRARY DESTINATION share/ldlidar_driver
-)
-
-INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR}/include
-  DESTINATION include
-)
+cmake_minimum_required(VERSION 2.8.3)
+project(ldlidar)
+
+if(${CMAKE_BUILD_TYPE} MATCHES  "Release")
+  set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -std=c++11 -Wall")
+  message(STATUS "Mode: Release")
+  message(STATUS "optional:-std=c++11 -Wall")
+elseif(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+  set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -Wall -Wextra -g2 -ggdb")
+  message(STATUS "Mode: Debug")
+  message(STATUS "optional:-std=c++11 -Wall -Wextra -g2 -ggdb")
+else()
+  set(CMAKE_BUILD_TYPE "Debug") 
+  set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -std=c++11 -Wall -Wextra -g2 -ggdb")
+  message(STATUS "Mode: Debug")
+  message(STATUS "optional:-std=c++11 -Wall -Wextra -g2 -ggdb")
+endif()
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../include/
+)
+
+file(GLOB  LDLIDAR_DRIVER_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/../../src/ldlidar_driver/*.cpp)
+
+add_executable(${PROJECT_NAME}
+  demo.cpp
+)
+
+add_library(ldlidar_driver_static STATIC 
+  ${LDLIDAR_DRIVER_SOURCE} 
+)
+
+add_library(ldlidar_driver_shared SHARED 
+  ${LDLIDAR_DRIVER_SOURCE} 
+)
+
+# rename library name
+set_target_properties (ldlidar_driver_static PROPERTIES OUTPUT_NAME "ldlidar_driver")
+set_target_properties (ldlidar_driver_shared PROPERTIES OUTPUT_NAME "ldlidar_driver")
+
+# binary file link to library
+target_link_libraries(${PROJECT_NAME} ldlidar_driver_static pthread)
+
+###########
+## Install ##
+###########
+
+INSTALL(TARGETS ldlidar_driver_static ldlidar_driver_shared
+  ARCHIVE DESTINATION lib/ldlidar_driver
+  LIBRARY DESTINATION share/ldlidar_driver
+)
+
+INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR}/include
+  DESTINATION include
+)
diff --git a/INSTRUCTIONS_EN.md → sample/linux/README.md b/INSTRUCTIONS_EN.md → sample/linux/README.md
@@ -1,32 +1,23 @@
-## get SDK sound code
-```bash
-$ cd ~
-
-$ mkdir  ldlidar_ws
-
-$ cd ldlidar_ws
-
-$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sdk.git
-```
-## system setup
+# 1.system setup
 - Connect the LiDAR to your system motherboard via an onboard serial port or usB-to-serial module (for example, CP2102 module).
 
 - Set the -x permission for the serial port device mounted by the lidar in the system (for example, /dev/ttyUSB0),In actual use, the LiDAR can be set according to the actual mounted status of your system, you can use 'ls -l /dev' command to view.
 
 ``` bash
-$ cd ~/ldlidar_ws/ldlidar_sdk
+$ cd ~/ldlidar_ws/ldlidar_sdk/sample/linux
 
 $ sudo chmod 777 /dev/ttyUSB0
 ```
 
-## build
+# 2.build
 
 ``` bash
-$ cd ~/ldlidar_ws/ldlidar_sdk
+$ cd ~/ldlidar_ws/ldlidar_sdk/sample/linux
+
 $ ./auto_build.sh
 ```
 
-## run
+# 3.run
 ``` bash
 $ ./build/ldlidar <lidar_typename> <serial_number>
 # example:

diff --git a/INSTRUCTIONS_CN.md → sample/linux/README_CN.md b/INSTRUCTIONS_CN.md → sample/linux/README_CN.md
@@ -1,33 +1,23 @@
-## 获取SDK源码
-```bash
-$ cd ~
-
-$ mkdir  ldlidar_ws
-
-$ cd ldlidar_ws
-
-$ git clone  https://github.com/ldrobotSensorTeam/ldlidar_sdk.git
-```
-
-## 系统设置
+# 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,使激光雷达连接到你的系统主板.
 - 第二步，设置激光雷达在系统中挂载的串口设备-x权限,根据激光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,(以/dev/ttyUSB0为例).
 
 ``` bash
-$ cd ~/ldlidar_ws/ldlidar_sdk
+$ cd ~/ldlidar_ws/ldlidar_sdk/sample/linux
 
 $ sudo chmod 777 /dev/ttyUSB0
 ```
 
-## 编译
+# 2.编译
 
 ```bash
-$ cd ~/ldlidar_ws/ldlidar_sdk
+$ cd ~/ldlidar_ws/ldlidar_sdk/sample/linux
+
 $ ./auto_build.sh
 ```
 
-## 运行
+# 3.运行
 ``` bash
 $ ./build/ldlidar <lidar_typename> <serial_number>
 # example:

diff --git a/auto_build.sh → sample/linux/auto_build.sh b/auto_build.sh → sample/linux/auto_build.sh
diff --git a/clean_build.sh → sample/linux/clean_build.sh b/clean_build.sh → sample/linux/clean_build.sh
diff --git a/sample/windows/README.md b/sample/windows/README.md
@@ -0,0 +1,12 @@
+# Use CMake to generate visual studio C++ projects
+> Prerequisites The visual studio IDE and CMake Tool must be installed on the PC.
+
+## Method 1: Command line mode
+- Open the powershell terminal in the 'sample/windows' directory and run the following command to create a C++ project in the' Visual Studio 15 2017 Win64 'environment as an example.
+```ps1
+mkdir build
+
+cd build
+
+cmake -G "Visual Studio 15 2017 Win64" .. /
+` ` `
diff --git a/sample/windows/README_CN.md b/sample/windows/README_CN.md
@@ -4,7 +4,7 @@
 ## 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
+mkdir build   # create `build` folder.
 
 cd build
 

diff --git a/sample/windows/windemo.cpp b/sample/windows/windemo.cpp
@@ -104,12 +104,11 @@ int main(int argc, char **argv) {
         LOG_INFO_LITE("speed(Hz):%f, size:%d,stamp_begin:%lu, stamp_end:%lu",
             lidar_scan_freq, laser_scan_points.size(), laser_scan_points.front().stamp, laser_scan_points.back().stamp);
         //  output 2d point cloud data
-#if 0
         for (auto point : laser_scan_points) {
           LOG_INFO_LITE("stamp(ns):%lu,angle:%f,distance(mm):%d,intensity:%d", 
               point.stamp, point.angle, point.distance, point.intensity);
         }
-#endif
+
         break;
       }
       case ldlidar::LidarStatus::DATA_TIME_OUT: {
@@ -132,50 +131,6 @@ int main(int argc, char **argv) {
   delete ldlidar_drv;
   ldlidar_drv = nullptr;
 
-#if 0
-	CommPort cp;
-
-	std::vector<PortInfo> info;
-
-
-	CommPort::availablePorts(info);
-
-
-	PortParams pp;
-	pp.baudrate = (BaudRate)921600;
-
-	cp.setPortParams(pp);
-
-	printf("available port:\n\n");
-	int n = 0;
-	for (auto p : info)
-	{
-		printf("[%d] %s,    %s,\n", n++, p.name.c_str(), p.description.c_str());
-	}
-
-	printf("\nplease select port:\n");
-
-	scanf_s("%d", &n);
-
-	if (n > info.size())
-	{
-		return -1;
-	}
-
-
-	// cp.setReadCallback();
-
-	cp.open(info[n].name);
-
-	printf("set address\n");
-
-
-	while (1);
-
-	cp.close();
-#endif
-
-
 	system("pause");
 	return 0;
 }