lidar avance

LiDAR/LIDAR.cpp

+// #include "./rplidar_sdk-master/sdk/include/sl_lidar.h" 
+// #include "./rplidar_sdk-master/sdk/include/sl_lidar_driver.h"
+#include "../rplidar_sdk-master/sdk/include/rplidar.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <string.h>
+#include <unistd.h>
+
+using namespace sl;
+
+int main(int argc, char const *argv[])
+{
+    // Create communication instance channel
+    IChannel *channel;
+    channel = *createSerialPortChannel("/dev/ttyUSB0", 115200);
+    // LiDAR Driver instance
+    ILidarDriver *lidar = *createLidarDriver();
+    auto res = lidar->connect(channel);
+
+    if (SL_IS_OK(res)) {
+        // Infos sur le LiDAR
+        sl_lidar_response_device_info_t deviceInfo;
+        res = lidar->getDeviceInfo(deviceInfo);
+        if (SL_IS_OK(res)) {
+            printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n",
+            deviceInfo.model,
+            deviceInfo.firmware_version >> 8, deviceInfo.firmware_version & 0xffu,
+            deviceInfo.hardware_version);
+        } else {
+            fprintf(stderr, "Failed to get device information from LIDAR %08x\r\n", res);
+        }
+    } else {
+        fprintf(stderr, "Failed to connect to LIDAR %08x\r\n", res);
+    }
+
+    lidar->setMotorSpeed(0);
+
+    std::vector<LidarScanMode> scanmode;
+    lidar->getAllSupportedScanModes(scanmode);
+
+    // Delete the instances
+    delete lidar;
+    delete channel;
+
+    return 0;
+}

LiDAR/Makefile

+HOME_TREE := ../rplidar_sdk-master/
+
+MODULE_NAME := $(notdir $(CURDIR))
+
+include $(HOME_TREE)/mak_def.inc
+
+CXXSRC += LIDAR.cpp
+C_INCLUDES += -I$(CURDIR)/../rplidar_sdk-master/sdk/include -I$(CURDIR)/../rplidar_sdk-master/sdk/src
+
+EXTRA_OBJ := 
+LD_LIBS += -lstdc++ -lpthread
+
+all: build_app
+
+include $(HOME_TREE)/mak_common.inc
+
+clean: clean_app
\ No newline at end of file