Implemented code for Slamtec rplidar C1

1 files changed, 88 insertions, 0 deletions

diff --git a/LIDAR/sdk/src/hal/abs_rxtx.h b/LIDAR/sdk/src/hal/abs_rxtx.h
new file mode 100644
index 0000000..54900e3
--- /dev/null
+++ b/LIDAR/sdk/src/hal/abs_rxtx.h
@@ -0,0 +1,88 @@
+/*
+ *  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.
+ *
+ */
+
+#pragma once 
+
+#include "hal/types.h"
+
+namespace rp{ namespace hal{
+
+class serial_rxtx
+{
+public:
+    enum{
+        ANS_OK      = 0,
+        ANS_TIMEOUT = -1,
+        ANS_DEV_ERR = -2,
+    };
+
+    static serial_rxtx * CreateRxTx();
+    static void ReleaseRxTx( serial_rxtx * );
+
+    serial_rxtx():_is_serial_opened(false){}
+    virtual ~serial_rxtx(){}
+
+    virtual void flush( _u32 flags) = 0;
+
+    virtual bool bind(const char * portname, _u32 baudrate, _u32 flags = 0) = 0;
+    virtual bool open() = 0;
+    virtual void close()  = 0;
+    
+    virtual int waitfordata(size_t data_count,_u32 timeout = -1, size_t * returned_size = NULL) = 0;
+
+    virtual int senddata(const unsigned char * data, size_t size) = 0;
+    virtual int recvdata(unsigned char * data, size_t size) = 0;
+
+    virtual int waitforsent(_u32 timeout = -1, size_t * returned_size = NULL) = 0;
+    virtual int waitforrecv(_u32 timeout = -1, size_t * returned_size = NULL) = 0;
+
+    virtual size_t rxqueue_count() = 0;
+
+    virtual void setDTR() = 0;
+    virtual void clearDTR() = 0;
+    virtual void cancelOperation() {}
+
+    virtual bool isOpened()
+    {
+        return _is_serial_opened;
+    }
+
+protected:
+    volatile bool   _is_serial_opened;
+};
+
+}}
+
+
+