Implemented code for Slamtec rplidar C1

1 files changed, 67 insertions, 0 deletions

diff --git a/LIDAR/sdk/src/hal/util.h b/LIDAR/sdk/src/hal/util.h
new file mode 100644
index 0000000..205a858
--- /dev/null
+++ b/LIDAR/sdk/src/hal/util.h
@@ -0,0 +1,67 @@
+/*
+ *  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
+
+
+//------
+/* _countof helper */
+#if !defined(_countof)
+#if !defined(__cplusplus)
+#define _countof(_Array) (sizeof(_Array) / sizeof(_Array[0]))
+#else
+extern "C++"
+{
+template <typename _CountofType, size_t _SizeOfArray>
+char (*__countof_helper( _CountofType (&_Array)[_SizeOfArray]))[_SizeOfArray];
+#define _countof(_Array) sizeof(*__countof_helper(_Array))
+}
+#endif
+#endif
+
+/* _offsetof helper */
+#if !defined(offsetof)
+#define offsetof(_structure, _field) ((_word_size_t)&(((_structure *)0x0)->_field))
+#endif
+
+
+#define BEGIN_STATIC_CODE( _blockname_ ) \
+    static class _static_code_##_blockname_ {   \
+    public:     \
+        _static_code_##_blockname_ () 
+
+
+#define END_STATIC_CODE( _blockname_ ) \
+    }   _instance_##_blockname_;
+