LdLidar SDK fixes

README.md

@@ -1,11 +1,35 @@
-# LDLiDAR SDK
+# LDLiDAR SDK - Fixed
+
+## Fixes by MrKussen including:
+
+- Deleted non-working code
+- Added missing functions
+- Fixing includes
+- Added one missing header guard instead of pragma once, to make the code uniform.
+- Added platform-dependant defines to decrease confusion and making sure that only code for the right platform will be compiled and run.
+- The linux code was mostly fine, most changes were either in the windows code or the logging module
+
+## How to use (mostly for beginners):
+
+You can use this SDK by just adding the cpp files and the headers to your projects. 
+
+When you compile, there might be errors if you have UNICODE or _UNICODE defined, so avoid defining those if you can, or you will have to change between wide and thin characters in the source code. 
+
+Make sure that you compile the .cpp files here as well as your program files. 
+
+(For example, compilation with g++ can be done by placing your program files in /src/ and running g++ ./src/*.cpp -I./include/)
+
+---
+
+## Supported products
+
 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|
+|     ----               |  ----        |
+|   LDROBOT LiDAR LD06   | 2D DTOF      |
+|   LDROBOT LiDAR LD19   | 2D DTOF      |
+|   LDROBOT LiDAR LD14   | 2D Triangle  |
+|   LDROBOT LiDAR LD14P  | 2D Triangle  |
 
 ---
 ## Get SDK

include/ldlidar_driver/ldlidar_driver.h

@@ -28,6 +28,8 @@
 
 namespace ldlidar {
 
+uint64_t GetSystemTimeStamp(void);
+
 class LDLidarDriver {
 public:
   LDLidarDriver();

include/ldlidar_driver/ldlidar_driver_linux.h

@@ -21,6 +21,8 @@
 #ifndef __LDLIDAR_DRIVER_SDK_LINUX_INTERFACE_H__
 #define __LDLIDAR_DRIVER_SDK_LINUX_INTERFACE_H__
 
+#ifdef __linux__
+
 #include "ldlidar_driver/ldlidar_driver.h"
 #include "ldlidar_driver/ldlidar_dataprocess.h"
 #include "ldlidar_driver/serial_interface_linux.h"
@@ -158,6 +160,7 @@ class LDLidarDriverLinuxInterface : public LDLidarDriver {
 
 } // namespace ldlidar
 
+#endif //__linux__
 #endif // __LDLIDAR_DRIVER_NODE_H__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/ldlidar_driver_win.h

@@ -21,6 +21,8 @@
 #ifndef __LDLIDAR_DRIVER_SDK_WIN_INTERFACE_H__
 #define __LDLIDAR_DRIVER_SDK_WIN_INTERFACE_H__
 
+#ifdef WIN32
+
 #include "ldlidar_driver/ldlidar_driver.h"
 #include "ldlidar_driver/ldlidar_dataprocess.h"
 #include "ldlidar_driver/log_module.h"
@@ -72,7 +74,7 @@ class LDLidarDriverWinInterface : public LDLidarDriver {
   bool WaitLidarComm(int64_t timeout = 1000) override;
 
   /**
-   * @brief get lidar laser scan point cloud data
+   * @brief get lidar laser scan point cloud data | NOTE THAT THIS DOES NOT RETURN X AND Y, ONLY ANGLE AND DISTANCE
    * @param [output]
    * *@param dst: type is ldlidar::Point2D, value is laser scan point cloud data
    * @param [in]
@@ -147,6 +149,7 @@ class LDLidarDriverWinInterface : public LDLidarDriver {
 
 } // namespace ldlidar
 
+#endif //WIN32
 #endif // __LDLIDAR_DRIVER_NODE_H__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/log_module.h

@@ -159,7 +159,7 @@ class LogModule {
 
   ILogRealization* p_realization_; 
 public:
-  static  LogModule* GetInstance( __in const char* filename, __in const char* funcname,__in int lineno, LogLevel level, ILogRealization* plog = NULL);
+  // static  LogModule* GetInstance( __in const char* filename, __in const char* funcname,__in int lineno, LogLevel level, ILogRealization* plog = NULL);
   static  LogModule* GetInstance(LogLevel level, ILogRealization* plog = NULL);
   static  LogModule* GetInstancePrintOriginData(LogLevel level, ILogRealization* plog = NULL);
 
@@ -200,7 +200,7 @@ class LogModule {
 };
 
 #ifdef ENABLE_LOG_DIS_OUTPUT
-#define  LOG(level,format,...)   LogModule::GetInstance(__FILE__, __FUNCTION__, __LINE__,level)->LogPrintInf(format,__VA_ARGS__);
+#define  LOG(level,format,...)   LogModule::GetInstance(level)->LogPrintInf(format,__VA_ARGS__);
 #define  LOG_DEBUG(format,...)   LOG(LogModule::DEBUG_LEVEL,format,__VA_ARGS__)
 #define  LOG_INFO(format,...)    LOG(LogModule::INFO_LEVEL,format,__VA_ARGS__)
 #define  LOG_WARN(format,...)    LOG(LogModule::WARNING_LEVEL,format,__VA_ARGS__)

include/ldlidar_driver/network_socket_interface_linux.h

@@ -20,6 +20,8 @@
 #ifndef __SOCKET_INTERFACE_LINUX_H__
 #define __SOCKET_INTERFACE_LINUX_H__
 
+#ifdef __linux__
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -120,6 +122,8 @@ class TCPSocketInterfaceLinux {
 };
 
 } // namespace ldlidar
+
+#endif // __linux__
 #endif //  __SOCKET_INTERFACE_LINUX_H__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/serial_interface_linux.h

@@ -20,6 +20,8 @@
 #ifndef __LINUX_SERIAL_PORT_H__
 #define __LINUX_SERIAL_PORT_H__
 
+#ifdef __linux__
+
 #include <inttypes.h>
 #include <errno.h>
 #include <fcntl.h>
@@ -75,7 +77,8 @@ class SerialInterfaceLinux {
 
 } // namespace ldlidar
 
-#endif  //__LINUX_SERIAL_PORT_H__
+#endif //__linux__
+#endif //__LINUX_SERIAL_PORT_H__
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

include/ldlidar_driver/serial_interface_win.h

@@ -16,14 +16,18 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#ifndef __WINDOWS_SERIAL_PORT_H__
+#define __WINDOWS_SERIAL_PORT_H__
+
+#ifdef WIN32
 
-#pragma once
 #include <Windows.h>
 
 #include <atomic>
 #include <string>
 #include <thread>
 #include <vector>
+#include <functional>
 
 struct PortInfo {
   std::string name;
@@ -77,6 +81,10 @@ struct PortParams {
 };
 
 class SerialInterfaceWin {
+  private:
+  std::function<void(std::string)> commErrorHandle;
+  std::function<void(const char *, size_t length)> readCallback;
+
  public:
   SerialInterfaceWin();
   ~SerialInterfaceWin();
@@ -115,10 +123,9 @@ class SerialInterfaceWin {
   OVERLAPPED mOverlappedRecv;
   std::atomic<bool> mRxThreadRunFlag;
 
-  std::function<void(std::string)> commErrorHandle;
-  std::function<void(const char *, size_t length)> readCallback;
-
   PortParams portParams;
 };
 
+#endif //WIN32
+#endif //__WINDOWS_SERIAL_PORT_H__
 /********************* (C) COPYRIGHT LD Robot *******END OF FILE ********/

src/ldlidar_driver.cpp

@@ -22,6 +22,13 @@
 
 namespace ldlidar {
 
+uint64_t GetSystemTimeStamp(void) {
+	std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> tp = 
+		std::chrono::time_point_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now());
+	auto tmp = std::chrono::duration_cast<std::chrono::nanoseconds>(tp.time_since_epoch());
+	return ((uint64_t)tmp.count());
+}
+
 bool LDLidarDriver::is_ok_ = false;
 
 LDLidarDriver::LDLidarDriver() : 

src/ldlidar_driver_linux.cpp

@@ -18,6 +18,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#ifdef __linux__
+
 #include "ldlidar_driver/ldlidar_driver_linux.h"
 
 namespace ldlidar {
@@ -28,6 +31,7 @@ LDLidarDriverLinuxInterface::LDLidarDriverLinuxInterface() :  comm_pkg_(new LdLi
   comm_udp_network_(new UDPSocketInterfaceLinux()){
 
   last_pubdata_times_ = std::chrono::steady_clock::now();
+  RegisterGetTimestampFunctional(std::bind(GetSystemTimeStamp));
 }
 
 LDLidarDriverLinuxInterface::~LDLidarDriverLinuxInterface() {
@@ -337,5 +341,7 @@ bool LDLidarDriverLinuxInterface::Stop(void) {
 }
 
 } // namespace ldlidar
+
+#endif //__linux__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

src/ldlidar_driver_win.cpp

@@ -18,6 +18,9 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+
+#ifdef WIN32
+
 #include "ldlidar_driver/ldlidar_driver_win.h"
 
 namespace ldlidar {
@@ -27,6 +30,7 @@ LDLidarDriverWinInterface::LDLidarDriverWinInterface() :
   comm_port_handle_(new SerialInterfaceWin()) {
 
   last_pubdata_times_ = std::chrono::steady_clock::now();
+  RegisterGetTimestampFunctional(std::bind(GetSystemTimeStamp));
 }
 
 LDLidarDriverWinInterface::~LDLidarDriverWinInterface() {
@@ -226,5 +230,7 @@ bool LDLidarDriverWinInterface::Stop(void) {
 }
 
 } // namespace ldlidar
+
+#endif //WIN32
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

src/log_module.cpp

@@ -32,23 +32,6 @@
 
 LogModule* LogModule::s_plog_module_ = NULL;
 
-
-LogModule* LogModule::GetInstance(__in const char* filename, __in const char* funcname, __in int lineno,LogLevel level,ILogRealization* plog) {
-	if (s_plog_module_ == NULL) {
-		s_plog_module_ = new LogModule();
-	}
-	s_plog_module_->logInfo_.str_filename = filename;
-	s_plog_module_->logInfo_.str_funcname = funcname;
-	s_plog_module_->logInfo_.n_linenumber = lineno;
-	s_plog_module_->logInfo_.loglevel = level;
-
-	if (plog != NULL) {
-		s_plog_module_->p_realization_->free();
-		s_plog_module_->p_realization_ = plog;
-	}
-	return s_plog_module_;
-}
-
 LogModule* LogModule::GetInstance(LogLevel level, ILogRealization* plog) {
 	if (s_plog_module_ == NULL) {
 		s_plog_module_ = new LogModule();

src/network_socket_interface_linux.cpp

@@ -17,9 +17,12 @@
  * limitations under the License.
  */
 
+#ifdef __linux__
+
 #include "ldlidar_driver/network_socket_interface_linux.h"
 #include "ldlidar_driver/log_module.h"
 
+
 #define MAX_RECV_BUF_LEN 4096
 
 namespace ldlidar {
@@ -454,5 +457,6 @@ void TCPSocketInterfaceLinux::RecvThreadProc(void *param) {
 }
 
 } // namespace ldlidar
+#endif //__linux__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

src/serial_interface_linux.cpp

@@ -20,6 +20,7 @@
 #include "ldlidar_driver/serial_interface_linux.h"
 #include "ldlidar_driver/log_module.h"
 
+#ifdef __linux__
 
 #define MAX_ACK_BUF_LEN 4096
 
@@ -179,6 +180,6 @@ void SerialInterfaceLinux::RxThreadProc(void *param) {
 }
 
 } // namespace ldlidar
-
+#endif //__linux__
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

src/serial_interface_win.cpp

@@ -17,6 +17,8 @@
  * limitations under the License.
  */
 
+#ifdef WIN32
+
 #include "ldlidar_driver/serial_interface_win.h"
 #include "ldlidar_driver/log_module.h"
 
@@ -323,4 +325,6 @@ void SerialInterfaceWin::rxThreadProc(SerialInterfaceWin *pClass) {
 
   delete[] rxBuf;
 }
+
+#endif //WIN32
 /********************* (C) COPYRIGHT LD Robot *******END OF FILE ********/