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>
53 lines
1.8 KiB
C++
53 lines
1.8 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 - 2018 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 "arch/linux/arch_linux.h"
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namespace rp{ namespace arch{
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_u64 rp_getus()
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{
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struct timespec t;
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t.tv_sec = t.tv_nsec = 0;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return t.tv_sec*1000000LL + t.tv_nsec/1000;
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}
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_u64 rp_getms()
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{
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struct timespec t;
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t.tv_sec = t.tv_nsec = 0;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return t.tv_sec*1000L + t.tv_nsec/1000000L;
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}
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}}
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