m5p3nc3r
457f054053
git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
117 lines
3.4 KiB
C
117 lines
3.4 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 - 2019 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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#ifdef _WIN32
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//fake stdint.h for VC only
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typedef signed char int8_t;
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typedef unsigned char uint8_t;
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typedef __int16 int16_t;
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typedef unsigned __int16 uint16_t;
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typedef __int32 int32_t;
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typedef unsigned __int32 uint32_t;
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typedef __int64 int64_t;
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typedef unsigned __int64 uint64_t;
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#else
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#include <stdint.h>
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#endif
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//based on stdint.h
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typedef int8_t _s8;
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typedef uint8_t _u8;
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typedef int16_t _s16;
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typedef uint16_t _u16;
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typedef int32_t _s32;
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typedef uint32_t _u32;
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typedef int64_t _s64;
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typedef uint64_t _u64;
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#define __small_endian
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#ifndef __GNUC__
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#define __attribute__(x)
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#endif
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// The _word_size_t uses actual data bus width of the current CPU
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#ifdef _AVR_
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typedef _u8 _word_size_t;
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#define THREAD_PROC
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#elif defined (WIN64)
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typedef _u64 _word_size_t;
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#define THREAD_PROC __stdcall
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#elif defined (WIN32)
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typedef _u32 _word_size_t;
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#define THREAD_PROC __stdcall
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#elif defined (__GNUC__)
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typedef unsigned long _word_size_t;
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#define THREAD_PROC
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#elif defined (__ICCARM__)
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typedef _u32 _word_size_t;
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#define THREAD_PROC
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#endif
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typedef uint32_t u_result;
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#define RESULT_OK 0
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#define RESULT_FAIL_BIT 0x80000000
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#define RESULT_ALREADY_DONE 0x20
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#define RESULT_INVALID_DATA (0x8000 | RESULT_FAIL_BIT)
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#define RESULT_OPERATION_FAIL (0x8001 | RESULT_FAIL_BIT)
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#define RESULT_OPERATION_TIMEOUT (0x8002 | RESULT_FAIL_BIT)
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#define RESULT_OPERATION_STOP (0x8003 | RESULT_FAIL_BIT)
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#define RESULT_OPERATION_NOT_SUPPORT (0x8004 | RESULT_FAIL_BIT)
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#define RESULT_FORMAT_NOT_SUPPORT (0x8005 | RESULT_FAIL_BIT)
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#define RESULT_INSUFFICIENT_MEMORY (0x8006 | RESULT_FAIL_BIT)
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#define IS_OK(x) ( ((x) & RESULT_FAIL_BIT) == 0 )
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#define IS_FAIL(x) ( ((x) & RESULT_FAIL_BIT) )
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typedef _word_size_t (THREAD_PROC * thread_proc_t ) ( void * );
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