Squashed 'lidar/sllidar_ros2/' content from commit 3430009

git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
2026-04-22 11:51:45 +00:00
commit 457f054053
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+/*
+ *  RPLIDAR SDK
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2019 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.
+ *
+ */
+
+#pragma once
+
+
+#ifdef _WIN32
+
+//fake stdint.h for VC only
+
+typedef signed   char     int8_t;
+typedef unsigned char     uint8_t;
+
+typedef __int16           int16_t;
+typedef unsigned __int16  uint16_t;
+
+typedef __int32           int32_t;
+typedef unsigned __int32  uint32_t;
+
+typedef __int64           int64_t;
+typedef unsigned __int64  uint64_t;
+
+#else
+
+#include <stdint.h>
+
+#endif
+
+
+//based on stdint.h
+typedef int8_t         _s8;
+typedef uint8_t        _u8;
+
+typedef int16_t        _s16;
+typedef uint16_t       _u16;
+
+typedef int32_t        _s32;
+typedef uint32_t       _u32;
+
+typedef int64_t        _s64;
+typedef uint64_t       _u64;
+
+#define __small_endian
+
+#ifndef __GNUC__
+#define __attribute__(x)
+#endif
+
+
+// The _word_size_t uses actual data bus width of the current CPU
+#ifdef _AVR_
+typedef _u8            _word_size_t;
+#define THREAD_PROC    
+#elif defined (WIN64)
+typedef _u64           _word_size_t;
+#define THREAD_PROC    __stdcall
+#elif defined (WIN32)
+typedef _u32           _word_size_t;
+#define THREAD_PROC    __stdcall
+#elif defined (__GNUC__)
+typedef unsigned long  _word_size_t;
+#define THREAD_PROC   
+#elif defined (__ICCARM__)
+typedef _u32            _word_size_t;
+#define THREAD_PROC  
+#endif
+
+
+typedef uint32_t u_result;
+
+#define RESULT_OK              0
+#define RESULT_FAIL_BIT        0x80000000
+#define RESULT_ALREADY_DONE    0x20
+#define RESULT_INVALID_DATA    (0x8000 | RESULT_FAIL_BIT)
+#define RESULT_OPERATION_FAIL  (0x8001 | RESULT_FAIL_BIT)
+#define RESULT_OPERATION_TIMEOUT  (0x8002 | RESULT_FAIL_BIT)
+#define RESULT_OPERATION_STOP    (0x8003 | RESULT_FAIL_BIT)
+#define RESULT_OPERATION_NOT_SUPPORT    (0x8004 | RESULT_FAIL_BIT)
+#define RESULT_FORMAT_NOT_SUPPORT    (0x8005 | RESULT_FAIL_BIT)
+#define RESULT_INSUFFICIENT_MEMORY   (0x8006 | RESULT_FAIL_BIT)
+
+#define IS_OK(x)    ( ((x) & RESULT_FAIL_BIT) == 0 )
+#define IS_FAIL(x)  ( ((x) & RESULT_FAIL_BIT) )
+
+typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * );