[update]版本号v2.3.0,更改点为:

1. 优化代码框架,增加名空间,优化头文件包含;
2. 增加互斥锁,防止多线程中共享资源产生竞争;
3. 增加usb设备 rules配置文件
4. 串口接收buffer大小改为4K
5. 增加发布超时检测，应对设备退出或发布异常

Author: DavidHu

.gitignore

@@ -0,0 +1 @@
+*.json

.vscode/c_cpp_properties.json

@@ -32,8 +32,13 @@ if(BUILD_TESTING)
 endif()
 
 # Bin and Install
-file(GLOB  MAIN_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
-add_executable(${PROJECT_NAME}_node  ${MAIN_SRC})
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/include/ldlidar_driver/include
+)
+
+file(GLOB  DRIVER_SRC ${CMAKE_CURRENT_SOURCE_DIR}/include/ldlidar_driver/*.cpp)
+add_executable(${PROJECT_NAME}_node  ${CMAKE_CURRENT_SOURCE_DIR}/src/demo.cpp ${DRIVER_SRC})
 ament_target_dependencies(${PROJECT_NAME}_node rclcpp sensor_msgs)
 target_link_libraries(${PROJECT_NAME}_node pthread)
 

.vscode/settings.json

@@ -1,6 +1,6 @@
 /**
  * @file cmd_interface_linux.cpp
- * @author LDRobot (marketing1@ldrobot.com)
+ * @author LDRobot (support@ldrobot.com)
  * @brief  linux serial port App
  * @version 0.1
  * @date 2021-10-28
@@ -19,17 +19,9 @@
 
 #include "cmd_interface_linux.h"
 
-#include <errno.h>
-#include <fcntl.h>
-#include <memory.h>
-#include <string.h>
-#include <sys/file.h>
-#include <termios.h>
-#include <unistd.h>
+namespace ldlidar {
 
-#include <iostream>
-
-#define MAX_ACK_BUF_LEN 2304000
+#define MAX_ACK_BUF_LEN 4096
 
 CmdInterfaceLinux::CmdInterfaceLinux()
     : rx_thread_(nullptr), rx_count_(0), read_callback_(nullptr) {
@@ -55,8 +47,8 @@ bool CmdInterfaceLinux::Open(std::string &port_name) {
     return false;
   }
 
-  options.c_cflag |= (tcflag_t)(CLOCAL | CREAD | CS8 | CRTSCTS);
-  options.c_cflag &= (tcflag_t) ~(CSTOPB | PARENB | PARODD);
+  options.c_cflag |= (tcflag_t)(CLOCAL | CREAD | CS8);
+  options.c_cflag &= (tcflag_t) ~(CSTOPB | PARENB);
   options.c_lflag &= (tcflag_t) ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL |
                                   ISIG | IEXTEN);  //|ECHOPRT
   options.c_oflag &= (tcflag_t) ~(OPOST);
@@ -166,5 +158,7 @@ void CmdInterfaceLinux::RxThreadProc(void *param) {
   delete[] rx_buf;
 }
 
+}
+
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
  * FILE ********/

CMakeLists.txt

@@ -1,6 +1,6 @@
 /**
  * @file cmd_interface_linux.h
- * @author LDRobot (marketing1@ldrobot.com)
+ * @author LDRobot (support@ldrobot.com)
  * @brief  linux serial port App
  * @version 0.1
  * @date 2021-10-28
@@ -21,8 +21,15 @@
 #define __LINUX_SERIAL_PORT_H__
 
 #include <inttypes.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <memory.h>
 #include <string.h>
+#include <sys/file.h>
+#include <termios.h>
+#include <unistd.h>
 
+#include <iostream>
 #include <atomic>
 #include <condition_variable>
 #include <functional>
@@ -31,6 +38,8 @@
 #include <thread>
 #include <vector>
 
+namespace ldlidar {
+
 class CmdInterfaceLinux {
  public:
   CmdInterfaceLinux();
@@ -59,6 +68,8 @@ class CmdInterfaceLinux {
   static void RxThreadProc(void *param);
 };
 
+} // namespace ldlidar
+
 #endif  //__LINUX_SERIAL_PORT_H__
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF

src/cmd_interface_linux.cpp …e/ldlidar_driver/cmd_interface_linux.cppsrc/cmd_interface_linux.cpp renamed to include/ldlidar_driver/cmd_interface_linux.cpp src/cmd_interface_linux.cpp renamed to include/ldlidar_driver/cmd_interface_linux.cpp

@@ -1,6 +1,6 @@
 /**
  * @file lipkg.h
- * @author LDRobot (marketing1@ldrobot.com)
+ * @author LDRobot (support@ldrobot.com)
  * @brief  LiDAR data protocol processing App
  *         This code is only applicable to LDROBOT LiDAR LD06 products 
  * sold by Shenzhen LDROBOT Co., LTD
@@ -22,15 +22,13 @@
 #ifndef __LIPKG_H
 #define __LIPKG_H
 
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/laser_scan.hpp>
-#include <stdint.h>
-
-#include <array>
-#include <iostream>
-#include <vector>
+#include <chrono>
 
 #include "pointdata.h"
+#include "tofbf.h"
+#include "cmd_interface_linux.h"
+
+namespace ldlidar {
 
 enum {
   PKG_HEADER = 0x54,
@@ -56,52 +54,69 @@ typedef struct __attribute__((packed)) {
 
 class LiPkg {
  public:
-  LiPkg(rclcpp::Node::SharedPtr& node, std::string frame_id, bool laser_scan_dir, bool enable_angle_crop_func,
-  double angle_crop_min, double angle_crop_max);
-  // get Lidar spin speed (Hz)
-  double GetSpeed(void); 
-  // get time stamp of the packet
-  uint16_t GetTimestamp(void) { return timestamp_; }  
-  // a packet is ready                                              
-  bool IsPkgReady(void) { return is_pkg_ready_; }  
-  // Get lidar data frame ready flag  
-  bool IsFrameReady(void) { return is_frame_ready_; }  
-  // Lidar data frame readiness flag reset
-  void ResetFrameReady(void) { is_frame_ready_ = false; }
-  // the number of errors in parser process of lidar data frame
-  long GetErrorTimes(void) { return error_times_; } 
-  // Get original Lidar data package
-  const std::array<PointData, POINT_PER_PACK>& GetPkgData(void);  
-  // parse single packet
-  bool AnalysisOne(uint8_t byte);
-  bool Parse(const uint8_t* data, long len);  
-  // combine stantard data into data frames and calibrate
-  bool AssemblePacket();  
-  // Get ros2 laserscan type data
-  sensor_msgs::msg::LaserScan GetLaserScan() { return output_; }
+  const int kPointFrequence = 4500;
 
+  LiPkg();
+  ~LiPkg();
+  /**
+   * @brief get sdk pack version number
+  */
+  std::string GetSdkPackVersionNum(void) const;
+  /**
+   * @brief get Lidar spin speed (Hz)
+  */
+  double GetSpeed(void); 
+  /**
+   * @brief get lidar spind speed (degree per second) origin
+  */
+  uint16_t GetSpeedOrigin(void);
+  /**
+   * @brief get time stamp of the packet
+  */
+  uint16_t GetTimestamp(void);  
+  /**
+   * @brief Get lidar data frame ready flag 
+  */
+  bool IsFrameReady(void);  
+  /**
+   * @brief Lidar data frame readiness flag reset
+  */
+  void ResetFrameReady(void);
+  /**
+   * @brief the number of errors in parser process of lidar data frame
+  */
+  long GetErrorTimes(void);  
+  /**
+   * @brief comm data read callback handle
+  */
+  void CommReadCallback(const char *byte, size_t len);
+  /**
+   * @brief get lidar scan point cloud data
+  */
+  Points2D GetLaserScanData(void);
+  
  private:
-  const int kPointFrequence = 4500;
-  rclcpp::Node::SharedPtr& node_;
-  std::string frame_id_;
+  std::string sdk_pack_version_;
   uint16_t timestamp_;
   double speed_;
   long error_times_;
   bool is_frame_ready_;
-  bool is_pkg_ready_;
-  bool laser_scan_dir_;
-  bool enable_angle_crop_func_;
-  double angle_crop_min_;
-  double angle_crop_max_;
-  LiDARFrameTypeDef pkg;
-  std::vector<uint8_t> data_tmp_;
-  std::array<PointData, POINT_PER_PACK> one_pkg_;
-  std::vector<PointData> frame_tmp_;
-  sensor_msgs::msg::LaserScan output_;
-  // Lidar frame data tranfrom to  ros2 laserscan  type data
-  void ToLaserscan(std::vector<PointData> src);
+
+  LiDARFrameTypeDef pkg_;
+  Points2D frame_tmp_;
+  Points2D laser_scan_data_;
+  std::mutex  mutex_lock1_;
+  std::mutex  mutex_lock2_;
+
+  bool AnalysisOne(uint8_t byte);
+  bool Parse(const uint8_t* data, long len);  
+  bool AssemblePacket();  
+  void SetLaserScanData(Points2D& src);
+  void SetFrameReady(void);
 };
 
+} // namespace ldlidar
+
 #endif  //__LIPKG_H
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF

src/cmd_interface_linux.h …dar_driver/include/cmd_interface_linux.hsrc/cmd_interface_linux.h renamed to include/ldlidar_driver/include/cmd_interface_linux.h src/cmd_interface_linux.h renamed to include/ldlidar_driver/include/cmd_interface_linux.h

@@ -1,6 +1,6 @@
 /**
  * @file pointdata.h
- * @author LDRobot (marketing1@ldrobot.com)
+ * @author LDRobot (support@ldrobot.com)
  * @brief  lidar point data structure
  *         This code is only applicable to LDROBOT products
  * sold by Shenzhen LDROBOT Co., LTD
@@ -26,6 +26,11 @@
 #include <iostream>
 #include <vector>
 
+namespace ldlidar {
+
+#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
+#define RADIAN_TO_ANGLED(angle) ((angle)*180000 / 3141.59)
+
 struct PointData {
   // Polar coordinate representation
   float angle;         // Angle ranges from 0 to 359 degrees
@@ -52,8 +57,7 @@ struct PointData {
 
 typedef std::vector<PointData> Points2D;
 
-#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000)
-#define RADIAN_TO_ANGLED(angle) ((angle)*180000 / 3141.59)
+} // namespace ldlidar
 
 #endif  // _POINT_DATA_H_
 

src/lipkg.h include/ldlidar_driver/include/lipkg.hsrc/lipkg.h renamed to include/ldlidar_driver/include/lipkg.h

@@ -1,6 +1,6 @@
 /**
  * @file tofbf.h
- * @author LDRobot (marketing1@ldrobot.com)
+ * @author LDRobot (support@ldrobot.com)
  * @brief  LiDAR near-range filtering algorithm
  *         This code is only applicable to LDROBOT LiDAR LD06 products 
  * sold by Shenzhen LDROBOT Co., LTD
@@ -22,11 +22,13 @@
 #ifndef __TOFBF_H_
 #define __TOFBF_H_
 
-#include <stdint.h>
+#include <math.h>
 
-#include <vector>
+#include <algorithm>
 
-#include "lipkg.h"
+#include "pointdata.h"
+
+namespace ldlidar {
 
 class Tofbf {
  private:
@@ -45,6 +47,8 @@ class Tofbf {
   ~Tofbf();
 };
 
+} // namespace ldlidar 
+
 #endif  //__TOFBF_H_
 
 /********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF