build: vendor the Slamtec rplidar SDK in third_party
The repo is now self-contained: driver_rplidar compiles the SDK from third_party/rplidar_sdk (Linux sources only, teardown delete[] bug fixed in place), so a plain cmake configure needs no SDK path and no probing — the XLIDAR_RPLIDAR_SDK_DIR option and external references are gone. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
199
third_party/rplidar_sdk/src/rplidar_driver.cpp
vendored
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199
third_party/rplidar_sdk/src/rplidar_driver.cpp
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/*
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* Slamtec LIDAR SDK
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*
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* Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include "sdkcommon.h"
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#include "hal/abs_rxtx.h"
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#include "hal/thread.h"
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#include "hal/types.h"
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#include "hal/assert.h"
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#include "hal/locker.h"
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#include "hal/socket.h"
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#include "hal/event.h"
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#include "rplidar_driver.h"
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#include "sl_crc.h"
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#include <algorithm>
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namespace rp { namespace standalone{ namespace rplidar {
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RPlidarDriver::RPlidarDriver(){}
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RPlidarDriver::RPlidarDriver(sl_u32 channelType)
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:_channelType(channelType)
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{
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}
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RPlidarDriver::~RPlidarDriver() {}
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RPlidarDriver * RPlidarDriver::CreateDriver(_u32 drivertype)
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{
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//_channelType = drivertype;
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return new RPlidarDriver(drivertype);
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}
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void RPlidarDriver::DisposeDriver(RPlidarDriver * drv)
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{
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delete drv;
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}
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u_result RPlidarDriver::connect(const char *path, _u32 portOrBaud, _u32 flag)
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{
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switch (_channelType)
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{
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case CHANNEL_TYPE_SERIALPORT:
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_channel = (*createSerialPortChannel(path, portOrBaud));
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break;
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case CHANNEL_TYPE_TCP:
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_channel = *createTcpChannel(path, portOrBaud);
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break;
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case CHANNEL_TYPE_UDP:
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_channel = *createUdpChannel(path, portOrBaud);
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break;
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}
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if (!(bool)_channel) return SL_RESULT_OPERATION_FAIL;
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_lidarDrv = *createLidarDriver();
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if (!(bool)_lidarDrv) return SL_RESULT_OPERATION_FAIL;
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sl_result ans =(_lidarDrv)->connect(_channel);
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return ans;
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}
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void RPlidarDriver::disconnect()
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{
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(_lidarDrv)->disconnect();
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}
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bool RPlidarDriver::isConnected()
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{
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return (_lidarDrv)->isConnected();
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}
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u_result RPlidarDriver::reset(_u32 timeout)
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{
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return (_lidarDrv)->reset();
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}
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u_result RPlidarDriver::getAllSupportedScanModes(std::vector<RplidarScanMode>& outModes, _u32 timeoutInMs)
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{
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return (_lidarDrv)->getAllSupportedScanModes(outModes, timeoutInMs);
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}
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u_result RPlidarDriver::getTypicalScanMode(_u16& outMode, _u32 timeoutInMs)
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{
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return (_lidarDrv)->getTypicalScanMode(outMode, timeoutInMs);
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}
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u_result RPlidarDriver::startScan(bool force, bool useTypicalScan, _u32 options, RplidarScanMode* outUsedScanMode)
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{
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return (_lidarDrv)->startScan(force, useTypicalScan, options, outUsedScanMode);
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}
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u_result RPlidarDriver::startScanExpress(bool force, _u16 scanMode, _u32 options, RplidarScanMode* outUsedScanMode, _u32 timeout)
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{
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return (_lidarDrv)->startScanExpress(force, scanMode, options, outUsedScanMode, timeout);
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}
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u_result RPlidarDriver::getHealth(rplidar_response_device_health_t & health, _u32 timeout)
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{
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return (_lidarDrv)->getHealth(health, timeout);
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}
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u_result RPlidarDriver::getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout)
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{
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return (_lidarDrv)->getDeviceInfo(info, timeout);
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}
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u_result RPlidarDriver::setMotorPWM(_u16 pwm)
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{
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return (_lidarDrv)->setMotorSpeed(pwm);
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}
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u_result RPlidarDriver::checkMotorCtrlSupport(bool & support, _u32 timeout)
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{
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MotorCtrlSupport motorSupport;
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u_result ans = (_lidarDrv)->checkMotorCtrlSupport(motorSupport, timeout);
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if (motorSupport == MotorCtrlSupportNone)
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support = false;
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return ans;
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}
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u_result RPlidarDriver::setLidarIpConf(const rplidar_ip_conf_t& conf, _u32 timeout)
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{
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return (_lidarDrv)->setLidarIpConf(conf, timeout);
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}
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u_result RPlidarDriver::getLidarIpConf(rplidar_ip_conf_t& conf, _u32 timeout)
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{
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return (_lidarDrv)->getLidarIpConf(conf, timeout);
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}
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u_result RPlidarDriver::getDeviceMacAddr(_u8* macAddrArray, _u32 timeoutInMs)
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{
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return (_lidarDrv)->getDeviceMacAddr(macAddrArray, timeoutInMs);
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}
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u_result RPlidarDriver::stop(_u32 timeout)
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{
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return (_lidarDrv)->stop(timeout);
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}
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u_result RPlidarDriver::grabScanDataHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count, _u32 timeout)
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{
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return (_lidarDrv)->grabScanDataHq(nodebuffer, count, timeout);
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}
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u_result RPlidarDriver::ascendScanData(rplidar_response_measurement_node_hq_t * nodebuffer, size_t count)
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{
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return (_lidarDrv)->ascendScanData(nodebuffer, count);
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}
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u_result RPlidarDriver::getScanDataWithInterval(rplidar_response_measurement_node_t * nodebuffer, size_t & count)
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{
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return RESULT_OPERATION_NOT_SUPPORT;
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}
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u_result RPlidarDriver::getScanDataWithIntervalHq(rplidar_response_measurement_node_hq_t * nodebuffer, size_t & count)
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{
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return (_lidarDrv)->getScanDataWithIntervalHq(nodebuffer, count);
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}
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u_result RPlidarDriver::startMotor()
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{
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return (_lidarDrv)->setMotorSpeed(DEFAULT_MOTOR_SPEED);
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}
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u_result RPlidarDriver::stopMotor()
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{
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return (_lidarDrv)->setMotorSpeed(0);
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}
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}}}
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