Implemented code for Slamtec rplidar C1

1 files changed, 79 insertions, 0 deletions

diff --git a/LIDAR/sdk/src/arch/macOS/thread.hpp b/LIDAR/sdk/src/arch/macOS/thread.hpp
new file mode 100644
index 0000000..72fd8f8
--- /dev/null
+++ b/LIDAR/sdk/src/arch/macOS/thread.hpp
@@ -0,0 +1,79 @@
+/*
+ *  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.
+ *
+ */
+
+#include "arch/macOS/arch_macOS.h"
+
+namespace rp{ namespace hal{
+
+Thread Thread::create(thread_proc_t proc, void * data)
+{
+    Thread newborn(proc, data);
+    
+    // tricky code, we assume pthread_t is not a structure but a word size value
+    assert( sizeof(newborn._handle) >= sizeof(pthread_t));
+
+    pthread_create((pthread_t *)&newborn._handle, NULL,(void * (*)(void *))proc, data);
+
+    return newborn;
+}
+
+u_result Thread::terminate()
+{
+    if (!this->_handle) return RESULT_OK;
+    
+  //  return pthread_cancel((pthread_t)this->_handle)==0?RESULT_OK:RESULT_OPERATION_FAIL;
+    return RESULT_OK;
+}
+
+u_result Thread::SetSelfPriority( priority_val_t p)
+{
+    // simply ignore this request
+	return  RESULT_OK;
+}
+
+Thread::priority_val_t Thread::getPriority()
+{
+	return PRIORITY_NORMAL;
+}
+
+u_result Thread::join(unsigned long timeout)
+{
+    if (!this->_handle) return RESULT_OK;
+    
+    pthread_join((pthread_t)(this->_handle), NULL);
+    this->_handle = 0;
+    return RESULT_OK;
+}
+
+}}