From dcd2dd87ce8034a46e4150a89dc69f6ba1a22d8d Mon Sep 17 00:00:00 2001 From: Edvin Date: Thu, 10 Apr 2025 11:35:25 +0200 Subject: Implemented code for Slamtec rplidar C1 --- LIDAR/sdk/src/hal/event.h | 206 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 206 insertions(+) create mode 100644 LIDAR/sdk/src/hal/event.h (limited to 'LIDAR/sdk/src/hal/event.h') diff --git a/LIDAR/sdk/src/hal/event.h b/LIDAR/sdk/src/hal/event.h new file mode 100644 index 0000000..ada15a5 --- /dev/null +++ b/LIDAR/sdk/src/hal/event.h @@ -0,0 +1,206 @@ +/* + * 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 +namespace rp{ namespace hal{ + +class Event +{ +public: + + enum + { + EVENT_OK = 1, + EVENT_TIMEOUT = 0xFFFFFFFF, + EVENT_FAILED = 0, + }; + + Event(bool isAutoReset = true, bool isSignal = false) +#ifdef _WIN32 + : _event(NULL) +#else + : _is_signalled(isSignal) + , _isAutoReset(isAutoReset) +#endif + { +#ifdef _WIN32 + _event = CreateEvent(NULL, isAutoReset?FALSE:TRUE, isSignal?TRUE:FALSE, NULL); +#else + pthread_mutex_init(&_cond_locker, NULL); + pthread_condattr_init(&_cond_attr); +#ifdef _MACOS + // sadly, there is no monotonic clock support for pthread cond variable on MACOS + // if time slew is a big issue, try to reimplement it using kqueue/kevent +#else + pthread_condattr_setclock(&_cond_attr, CLOCK_MONOTONIC); +#endif + pthread_cond_init(&_cond_var, &_cond_attr); + +#endif + } + + ~ Event() + { + release(); + } + + void set( bool isSignal = true ) + { + if (isSignal){ +#ifdef _WIN32 + SetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + + if ( _is_signalled == false ) + { + _is_signalled = true; + pthread_cond_signal(&_cond_var); + } + pthread_mutex_unlock(&_cond_locker); +#endif + } + else + { +#ifdef _WIN32 + ResetEvent(_event); +#else + pthread_mutex_lock(&_cond_locker); + _is_signalled = false; + pthread_mutex_unlock(&_cond_locker); +#endif + } + } + + unsigned long wait( unsigned long timeout = 0xFFFFFFFF ) + { +#ifdef _WIN32 + switch (WaitForSingleObject(_event, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout)) + { + case WAIT_FAILED: + return EVENT_FAILED; + case WAIT_OBJECT_0: + return EVENT_OK; + case WAIT_TIMEOUT: + return EVENT_TIMEOUT; + } + return EVENT_OK; +#else + unsigned long ans = EVENT_OK; + pthread_mutex_lock( &_cond_locker ); + + if ( !_is_signalled ) + { + + if (timeout == 0xFFFFFFFF){ + pthread_cond_wait(&_cond_var,&_cond_locker); + }else + { + int timewaitresult = 0; +#ifdef _MACOS + timespec wait_time; + + wait_time.tv_sec = timeout / 1000; + wait_time.tv_nsec = (timeout%1000)*1000000ULL; + + timewaitresult = pthread_cond_timedwait_relative_np(&_cond_var,&_cond_locker,&wait_time); +#else + timespec wait_time; + clock_gettime(CLOCK_MONOTONIC, &wait_time); + + wait_time.tv_sec += timeout / 1000; + wait_time.tv_nsec += (timeout%1000)*1000000ULL; + + if (wait_time.tv_nsec >= 1000000000) + { + ++wait_time.tv_sec; + wait_time.tv_nsec -= 1000000000; + } + timewaitresult = pthread_cond_timedwait(&_cond_var,&_cond_locker,&wait_time); +#endif + + switch (timewaitresult) + { + case 0: + // signalled + break; + case ETIMEDOUT: + // time up + ans = EVENT_TIMEOUT; + goto _final; + break; + default: + ans = EVENT_FAILED; + goto _final; + } + + } + } + + //assert(_is_signalled); + + if ( _isAutoReset ) + { + _is_signalled = false; + } +_final: + pthread_mutex_unlock( &_cond_locker ); + + return ans; +#endif + + } +protected: + + void release() + { +#ifdef _WIN32 + CloseHandle(_event); +#else + pthread_mutex_destroy(&_cond_locker); + pthread_cond_destroy(&_cond_var); +#endif + } + +#ifdef _WIN32 + HANDLE _event; +#else + pthread_cond_t _cond_var; + pthread_mutex_t _cond_locker; + pthread_condattr_t _cond_attr; + bool _is_signalled; + bool _isAutoReset; +#endif +}; +}} -- cgit v1.2.3