1 files changed, 94 insertions, 0 deletions
diff --git a/LIDAR/sdk/src/hal/thread.h b/LIDAR/sdk/src/hal/thread.h
new file mode 100644
index 0000000..74b6ff7
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+++ b/LIDAR/sdk/src/hal/thread.h
@@ -0,0 +1,94 @@
+/*
+ *  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"
+#define CLASS_THREAD(c , x ) \
+	rp::hal::Thread::create_member<c, &c::x>(this )
+
+namespace rp{ namespace hal{
+
+class Thread
+{
+public:
+    enum priority_val_t
+	{
+		PRIORITY_REALTIME = 0,
+		PRIORITY_HIGH     = 1,
+		PRIORITY_NORMAL   = 2,
+		PRIORITY_LOW      = 3,
+		PRIORITY_IDLE     = 4,
+	};
+
+    template <class T, u_result (T::*PROC)(void)>
+    static Thread create_member(T * pthis)
+    {
+		return create(_thread_thunk<T,PROC>, pthis);
+	}
+
+	template <class T, u_result (T::*PROC)(void) >
+	static _word_size_t THREAD_PROC _thread_thunk(void * data)
+	{
+		return (static_cast<T *>(data)->*PROC)();
+	}
+	static Thread create(thread_proc_t proc, void * data = NULL );
+
+public:
+    ~Thread() { }
+    Thread():  _data(NULL),_func(NULL),_handle(0)  {}
+    _word_size_t getHandle(){ return _handle;}
+    u_result terminate();
+    void *getData() { return _data;}
+    u_result join(unsigned long timeout = -1);
+	
+    // disabled as on platforms like Linux, the priority will be inherited by the child thread
+    // which may caused unexpected behavior.
+    // Please using Thread::SetSelfPriority instead
+    // u_result setPriority( priority_val_t p);
+	priority_val_t getPriority();
+
+    static u_result SetSelfPriority(priority_val_t p);
+
+
+    bool operator== ( const Thread & right) { return this->_handle == right._handle; }
+protected:
+    Thread( thread_proc_t proc, void * data ): _data(data),_func(proc), _handle(0)  {}
+    void * _data;
+    thread_proc_t _func;
+    _word_size_t _handle;
+};
+
+}}
+