loctv
161a33a71e
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>
95 lines
3.0 KiB
C++
95 lines
3.0 KiB
C++
/*
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* RPLIDAR SDK
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*
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* Copyright (c) 2009 - 2014 RoboPeak Team
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* http://www.robopeak.com
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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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#pragma once
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#include "hal/types.h"
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#define CLASS_THREAD(c , x ) \
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rp::hal::Thread::create_member<c, &c::x>(this )
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namespace rp{ namespace hal{
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class Thread
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{
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public:
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enum priority_val_t
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{
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PRIORITY_REALTIME = 0,
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PRIORITY_HIGH = 1,
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PRIORITY_NORMAL = 2,
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PRIORITY_LOW = 3,
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PRIORITY_IDLE = 4,
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};
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template <class T, u_result (T::*PROC)(void)>
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static Thread create_member(T * pthis)
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{
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return create(_thread_thunk<T,PROC>, pthis);
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}
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template <class T, u_result (T::*PROC)(void) >
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static _word_size_t THREAD_PROC _thread_thunk(void * data)
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{
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return (static_cast<T *>(data)->*PROC)();
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}
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static Thread create(thread_proc_t proc, void * data = NULL );
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public:
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~Thread() { }
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Thread(): _data(NULL),_func(NULL),_handle(0) {}
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_word_size_t getHandle(){ return _handle;}
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u_result terminate();
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void *getData() { return _data;}
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u_result join(unsigned long timeout = -1);
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// disabled as on platforms like Linux, the priority will be inherited by the child thread
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// which may caused unexpected behavior.
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// Please using Thread::SetSelfPriority instead
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// u_result setPriority( priority_val_t p);
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priority_val_t getPriority();
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static u_result SetSelfPriority(priority_val_t p);
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bool operator== ( const Thread & right) { return this->_handle == right._handle; }
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protected:
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Thread( thread_proc_t proc, void * data ): _data(data),_func(proc), _handle(0) {}
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void * _data;
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thread_proc_t _func;
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_word_size_t _handle;
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};
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}}
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