Added step to readme

README.md

@@ -8,9 +8,7 @@ mkdir -p ldlidar_ros2_ws/src
 
 cd ldlidar_ros2_ws/src
 
-git clone  https://github.com/ldrobotSensorTeam/ldlidar_ros2.git
-
-git submodule update --init --recursive
+git clone  https://github.com/maxryan4/ldlidar_ros2.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).

sdk/.gitignore

@@ -0,0 +1,3 @@
+*.json
+build/**
+sample/windows/build/**

sdk/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")
+
+

sdk/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 SHENZHEN LDROBOT CO., LTD. All rights
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

sdk/README.md

@@ -0,0 +1,32 @@
+# LDLiDAR SDK
+This SDK is only applicable to the LiDAR products sold by Shenzhen LDROBOT Co., LTD. 
+|    product models      |  range types |
+|     ----               |  ----         |
+|   LDROBOT LiDAR LD06   | 2D DTOF |
+|   LDROBOT LiDAR LD19   | 2D DTOF |
+|   LDROBOT LiDAR LD14   | 2D Triangle|
+|   LDROBOT LiDAR LD14P   | 2D Triangle|
+
+---
+## 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)

sdk/include/ldlidar_driver/ldlidar_dataprocess.h

@@ -0,0 +1,122 @@
+/**
+ * @file lipkg.h
+ * @author LDRobot (support@ldrobot.com)
+ *         David Hu (hmd_hubei_cn@163.com)
+ * @brief  LiDAR data protocol processing App
+ *         This code is only applicable to LDROBOT LiDAR LD00 LD03 LD08 LD14
+ * products sold by Shenzhen LDROBOT Co., LTD
+ * @version 1.0
+ * @date 2023-03-12
+ *
+ * @copyright Copyright (c) 2017-2023  SHENZHEN LDROBOT CO., LTD. All rights
+ * reserved.
+ * Licensed under the MIT License (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License in the file LICENSE
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef __LDLIDAR_DATAPROCESS_H__
+#define __LDLIDAR_DATAPROCESS_H__
+
+#include <string.h>
+
+#include <chrono>
+#include <mutex>
+#include <functional>
+
+#include "ldlidar_driver/slbf.h"
+#include "ldlidar_driver/sl_transform.h"
+#include "ldlidar_driver/tofbf.h"
+#include "ldlidar_driver/ldlidar_protocol.h"
+
+namespace ldlidar {
+
+class LdLidarDataProcess {
+public:
+  LdLidarDataProcess();
+
+  ~LdLidarDataProcess();
+
+  void SetProductType(LDType typenumber);
+
+  void SetNoiseFilter(bool is_enable);
+
+  void RegisterTimestampGetFunctional(std::function<uint64_t(void)> timestamp_handle);
+
+  void CommReadCallback(const char *byte, size_t len);
+
+  /**
+   * @brief get lidar scan data
+  */
+  bool GetLaserScanData(Points2D& out); 
+
+  /**
+   * @brief get Lidar spin speed (Hz)
+  */
+  double GetSpeed(void);
+
+  LidarStatus GetLidarStatus(void);
+
+  uint8_t GetLidarErrorCode(void);
+
+  bool GetLidarPowerOnCommStatus(void);
+
+  void ClearDataProcessStatus(void) {
+    is_frame_ready_ = false;
+    is_poweron_comm_normal_ = false;
+    lidarstatus_ = LidarStatus::NORMAL;
+    lidarerrorcode_ = LIDAR_NO_ERROR;
+    last_pkg_timestamp_ = 0;
+    lidar_scan_data_vec_.clear();
+    tmp_lidar_scan_data_vec_.clear();
+  }
+
+private:
+  int lidar_measure_freq_;
+  LDType typenumber_;
+  LidarStatus lidarstatus_;
+  uint8_t lidarerrorcode_;
+  bool is_frame_ready_;
+  bool is_noise_filter_;
+  uint16_t timestamp_; 
+  double speed_;
+  std::function<uint64_t(void)> get_timestamp_;
+  bool is_poweron_comm_normal_;
+  uint64_t last_pkg_timestamp_;
+
+  LdLidarProtocol* protocol_handle_;
+  Points2D lidar_scan_data_vec_;
+  Points2D tmp_lidar_scan_data_vec_;
+  std::mutex mutex_lock1_;
+  std::mutex mutex_lock2_;
+
+  void SetLidarStatus(LidarStatus status);
+
+  void SetLidarErrorCode(uint8_t errorcode);
+
+  bool AnalysisOne(uint8_t byte); // parse single packet
+
+  bool Parse(const uint8_t *data, long len); 
+
+  bool AssemblePacket(); // combine stantard data into data frames and calibrate
+
+  bool IsFrameReady(void);  // get Lidar data frame ready flag
+
+  void ResetFrameReady(void);  // reset frame ready flag
+
+  void SetFrameReady(void);    // set frame ready flag
+
+  void SetLaserScanData(Points2D& src);
+
+  Points2D GetLaserScanData(void);
+};
+
+} // namespace ldlidar
+
+#endif  // __LDLIDAR_DATAPROCESS_H__
+/********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
+ * FILE ********/

sdk/include/ldlidar_driver/ldlidar_datatype.h

@@ -0,0 +1,104 @@
+/**
+ * @file ldlidar_datatype.h
+ * @author LDRobot (support@ldrobot.com)
+ * @brief  lidar point data structure
+ *         This code is only applicable to LDROBOT products
+ * sold by Shenzhen LDROBOT Co., LTD
+ * @version 0.1
+ * @date 2021-11-09
+ *
+ * @copyright Copyright (c) 2017-2023  SHENZHEN LDROBOT CO., LTD. All rights
+ * reserved.
+ * Licensed under the MIT License (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License in the file LICENSE
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef _LDLIDAR_POINT_DATA_H_
+#define _LDLIDAR_POINT_DATA_H_
+
+#include <stdint.h>
+
+#include <iostream>
+#include <vector>
+#include <string>
+
+#define LDLiDAR_SDK_VERSION_NUMBER   "3.3.1"
+
+#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
+
+//  lidar error code definition
+#define LIDAR_NO_ERROR                     0x00
+#define LIDAR_ERROR_BLOCKING               0x01  /* 雷达堵转 */  
+#define LIDAR_ERROR_OCCLUSION              0x02  /* 雷达遮挡 */
+#define LIDAR_ERROR_BLOCKING_AND_OCCLUSION 0x03  /*  雷达堵转且遮挡 */ 
+// end lidar error code definition
+
+namespace ldlidar {
+
+enum class LDType {
+  NO_VER,
+  LD_14,
+  LD_14P,
+  LD_06,
+  LD_19,
+  STL_06P,
+  STL_26,
+  STL_27L,
+};
+
+enum class LidarStatus {
+  NORMAL,             /* 雷达正常,可获取点云数据 */  
+  ERROR,              /* 表明雷达出现异常错误，可获取雷达反馈的错误码了解具体错误 */  
+  DATA_TIME_OUT,      /* 雷达点云数据包发布超时 */  
+  DATA_WAIT,          /* 雷达点云数据包发布等待 */  
+  STOP,               /* 雷达停止转动、未启动Driver */  
+};
+
+struct PointData {
+  // Polar coordinate representation
+  float angle;         // Angle ranges from 0 to 359 degrees
+  uint16_t distance;   // Distance is measured in millimeters
+  uint8_t intensity;  // Intensity is 0 to 255
+  //! System time when first range was measured in nanoseconds
+  uint64_t stamp;
+  // Cartesian coordinate representation
+  double x;
+  double y;
+  PointData(float angle, uint16_t distance, uint8_t intensity, uint64_t stamp = 0, double x = 0, double y = 0) {
+    this->angle = angle;
+    this->distance = distance;
+    this->intensity = intensity;
+    this->stamp = stamp;
+    this->x = x;
+    this->y = y;
+  }
+  PointData() {}
+};
+
+typedef std::vector<PointData> Points2D;
+
+struct LaserScan {
+  //! System time when first range was measured in nanoseconds
+  uint64_t stamp;
+  //! Array of laser point
+  Points2D points;
+
+  LaserScan &operator=(const LaserScan &data) {
+    this->stamp = data.stamp;
+    this->points = data.points;
+    return *this;
+  }
+};
+
+
+} // namespace ldlidar
+
+#endif  // _LDLIDAR_POINT_DATA_H_
+
+/********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
+ * FILE ********/