Implemented code for Slamtec rplidar C1

1 files changed, 155 insertions, 0 deletions

diff --git a/LIDAR/mak_def.inc b/LIDAR/mak_def.inc
new file mode 100644
index 0000000..aaaa8e6
--- /dev/null
+++ b/LIDAR/mak_def.inc
@@ -0,0 +1,155 @@
+#/*
+# *  RPLIDAR SDK
+# *
+# *  Copyright (c) 2009 - 2014 RoboPeak Team
+# *  http://www.robopeak.com
+# *  Copyright (c) 2014 - 2018 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.
+# *
+# */
+
+#
+#  Common Definition for RoboPeak Building
+#
+#
+#
+
+HOME_TREE:=$(realpath $(HOME_TREE))
+
+BUILD_ROOT  = $(HOME_TREE)
+
+#valid platforms are:
+#Linux Darwin
+
+#valid architectures are:
+#x86
+
+BUILD_HOST_PLATFORM := $(shell uname -s)
+BUILD_HOST_ARCH := $(shell uname -m)
+
+ifeq ($(BUILD_HOST_ARCH),x86_64)
+BUILD_HOST_ARCH:=x64
+CFLAGS +=
+CXXFLAGS +=
+endif
+
+BUILD_TARGET_ARCH?=$(BUILD_HOST_ARCH)
+BUILD_TARGET_PLATFORM?=$(BUILD_HOST_PLATFORM)
+
+RM = rm -f
+MV = mv -f
+MKDIR = mkdir -p
+RMDIR = rm -rf
+
+ifeq ($(V),1)
+CMD_HIDE:=
+else
+CMD_HIDE:=@
+endif
+
+ifeq ($(CMD_HIDE),@)
+CMD_HIDE_CC="@echo   CC   $^; @"
+CMD_HIDE_CXX="@echo  CXX  $^; @"
+CMD_HIDE_LD="@echo   LD   $@; @"
+endif
+
+ifdef DEBUG
+OUTPUT_BUILD_PREFIX =Debug
+else
+OUTPUT_BUILD_PREFIX =Release
+endif
+
+BUILD_OUTPUT_ROOT = $(BUILD_ROOT)/output/$(BUILD_TARGET_PLATFORM)/$(OUTPUT_BUILD_PREFIX)
+BUILD_OBJ_ROOT    = $(BUILD_ROOT)/obj/$(BUILD_TARGET_PLATFORM)/$(OUTPUT_BUILD_PREFIX)
+
+SDK_LIB_CORENAME := sl_lidar_sdk
+SDK_STATIC_MODULE:=lib$(SDK_LIB_CORENAME).a
+TARGET_OBJ_ROOT = $(BUILD_OBJ_ROOT)/$(MODULE_NAME)
+SDK_TARGET = $(BUILD_OUTPUT_ROOT)/$(SDK_STATIC_MODULE)
+APP_TARGET=$(BUILD_OUTPUT_ROOT)/$(MODULE_NAME)
+
+# Debugging format.
+DEBUG_TYPE = gdb
+
+#Optimize Level
+OPT = 2 
+
+# Place -D or -U options here
+ifeq ($(BUILD_TARGET_ARCH),x86)
+CDEFS += -D_CPU_ENDIAN_SMALL
+endif
+
+ifeq ($(BUILD_TARGET_PLATFORM),Darwin)
+CDEFS += -D_MACOS
+else
+LD_LIBS += -lrt
+endif
+
+
+CDEFS += $(EXTRA_DEFS)
+
+CXXDEFS +=
+CXXDEFS += $(CDEFS) $(EXTRA_DEFS)
+
+C_INCLUDES += -I.
+CXX_INCLUDES += $(C_INCLUDES)
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+CXXSTANDARD = -std=c++11
+CDEBUG = -g$(DEBUG_TYPE)
+CWARN = -Wall 
+CTUNING = -funsigned-char 
+
+# force everything to become PIC, unless explicitly claimed
+ifndef BUILD_APP_NO_PIC_CODE
+CTUNING += -fPIC
+endif
+
+ifdef DEBUG
+OPT_FLAG = $(CDEBUG)
+CDEFS += -D_DEBUG -DDEBUG
+else
+OPT_FLAG = -O$(OPT)
+CDEFS += -DNDEBUG -D_NDEBUG
+endif
+
+CFLAGS += $(OPT_FLAG) $(CDEFS) $(C_INCLUDES) $(CWARN) $(CSTANDARD) $(CEXTRA) $(CTUNING) -Wstrict-prototypes
+
+CXXFLAGS += $(OPT_FLAG) $(CXXDEFS) $(CXX_INCLUDES) $(CWARN) $(CEXTRA) $(CXXEXTRA) $(CTUNING) $(CXXSTANDARD)
+
+ASFLAGS += -Wa,-adhlns=$(<:.S=.lst),-gstabs $(CDEFS) $(C_INCLUDES)
+LDFLAGS += $(LD_LIBS)
+
+ALL_CFLAGS = $(CFLAGS)
+ALL_CXXFLAGS = $(CXXFLAGS)
+ALL_ASFLAGS = $(ASFLAGS)
+