Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'

2026-04-22 11:51:45 +00:00
parent f5ea157e21 457f054053
commit 3304573d28
104 changed files with 16895 additions and 0 deletions
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+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include "sdkcommon.h"
+#include <mmsystem.h>
+#pragma comment(lib, "Winmm.lib")
+
+namespace rp{ namespace arch{
+
+static LARGE_INTEGER _current_freq;
+
+void HPtimer_reset()
+{
+    BOOL ans=QueryPerformanceFrequency(&_current_freq);
+    _current_freq.QuadPart/=1000ULL;
+    assert(ans);
+}
+
+_u64 getHDTimer_us()
+{
+    LARGE_INTEGER current;
+    QueryPerformanceCounter(&current);
+
+    return (_u64)(current.QuadPart / (_current_freq.QuadPart/1000ULL));
+
+}
+
+_u64 getHDTimer()
+{
+    LARGE_INTEGER current;
+    QueryPerformanceCounter(&current);
+
+    return (_u64)(current.QuadPart/_current_freq.QuadPart);
+}
+
+BEGIN_STATIC_CODE(timer_cailb)
+{
+    HPtimer_reset();
+}END_STATIC_CODE(timer_cailb)
+
+}}