1 files changed, 144 insertions, 0 deletions
diff --git a/LIDAR/sdk/src/arch/win32/winthread.hpp b/LIDAR/sdk/src/arch/win32/winthread.hpp
new file mode 100644
index 0000000..590794d
--- /dev/null
+++ b/LIDAR/sdk/src/arch/win32/winthread.hpp
@@ -0,0 +1,144 @@
+/*
+ *  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.
+ *
+ */
+
+#include "sdkcommon.h"
+#include <process.h>
+
+namespace rp{ namespace hal{
+
+Thread Thread::create(thread_proc_t proc, void * data)
+{
+    Thread newborn(proc, data);
+
+    newborn._handle = (_word_size_t)( 
+        _beginthreadex(NULL, 0, (unsigned int (_stdcall * )( void * ))proc,
+                        data, 0, NULL));
+    return newborn;
+}
+
+u_result Thread::terminate()
+{
+    if (!this->_handle) return RESULT_OK;
+    if (TerminateThread( reinterpret_cast<HANDLE>(this->_handle), -1))
+    {
+        CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
+        this->_handle = NULL;
+        return RESULT_OK;
+    }else
+    {
+        return RESULT_OPERATION_FAIL;
+    }
+}
+
+u_result Thread::SetSelfPriority( priority_val_t p)
+{
+    HANDLE selfHandle = GetCurrentThread();
+	
+	int win_priority =  THREAD_PRIORITY_NORMAL;
+	switch(p)
+	{
+	case PRIORITY_REALTIME:
+		win_priority = THREAD_PRIORITY_TIME_CRITICAL;
+		break;
+	case PRIORITY_HIGH:
+		win_priority = THREAD_PRIORITY_HIGHEST;
+		break;
+	case PRIORITY_NORMAL:
+		win_priority = THREAD_PRIORITY_NORMAL;
+		break;
+	case PRIORITY_LOW:
+		win_priority = THREAD_PRIORITY_LOWEST;
+		break;
+	case PRIORITY_IDLE:
+		win_priority = THREAD_PRIORITY_IDLE;
+		break;
+	}
+
+	if (SetThreadPriority(selfHandle, win_priority))
+	{
+		return RESULT_OK;
+	}
+	return RESULT_OPERATION_FAIL;
+}
+
+Thread::priority_val_t Thread::getPriority()
+{
+	if (!this->_handle) return PRIORITY_NORMAL;
+	int win_priority =  ::GetThreadPriority(reinterpret_cast<HANDLE>(this->_handle));
+	
+	if (win_priority == THREAD_PRIORITY_ERROR_RETURN)
+	{
+		return PRIORITY_NORMAL;
+	}
+
+	if (win_priority >= THREAD_PRIORITY_TIME_CRITICAL )
+	{
+		return PRIORITY_REALTIME;
+	}
+	else if (win_priority<THREAD_PRIORITY_TIME_CRITICAL && win_priority>=THREAD_PRIORITY_ABOVE_NORMAL)
+	{	
+		return PRIORITY_HIGH;
+	}
+	else if (win_priority<THREAD_PRIORITY_ABOVE_NORMAL && win_priority>THREAD_PRIORITY_BELOW_NORMAL)
+	{
+		return PRIORITY_NORMAL;
+	}else if (win_priority<=THREAD_PRIORITY_BELOW_NORMAL && win_priority>THREAD_PRIORITY_IDLE)
+	{
+		return PRIORITY_LOW;
+	}else if (win_priority<=THREAD_PRIORITY_IDLE)
+	{
+		return PRIORITY_IDLE;
+	}
+	return PRIORITY_NORMAL;
+}
+
+u_result Thread::join(unsigned long timeout)
+{
+    if (!this->_handle) return RESULT_OK;
+    switch ( WaitForSingleObject(reinterpret_cast<HANDLE>(this->_handle), timeout))
+    {
+    case WAIT_OBJECT_0:
+        CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
+        this->_handle = NULL;
+        return RESULT_OK;
+    case WAIT_ABANDONED:
+        return RESULT_OPERATION_FAIL;
+    case WAIT_TIMEOUT:
+        return RESULT_OPERATION_TIMEOUT;
+    }
+
+    return RESULT_OK;
+}
+
+}}