00001 /* 00002 * Copyright (c) 2014, RoboPeak 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above copyright notice, 00012 * this list of conditions and the following disclaimer in the documentation 00013 * and/or other materials provided with the distribution. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 00017 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00018 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00019 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00020 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00021 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 00022 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00023 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 00024 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 00025 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00026 * 00027 */ 00028 /* 00029 * RoboPeak LIDAR System 00030 * Linux definition and includes 00031 * 00032 * Copyright 2009 - 2014 RoboPeak Team 00033 * http://www.robopeak.com 00034 * 00035 */ 00036 00037 #pragma once 00038 00039 // libc dep 00040 #include <stdio.h> 00041 #include <stdint.h> 00042 #include <string.h> 00043 #include <stdlib.h> 00044 #include <assert.h> 00045 #include <math.h> 00046 #include <time.h> 00047 #include <stdarg.h> 00048 00049 // libc++ dep 00050 #include <iostream> 00051 #include <string> 00052 00053 // linux specific 00054 #include <unistd.h> 00055 #include <errno.h> 00056 #include <pthread.h> 00057 #include <sys/time.h> 00058 #include <sys/types.h> 00059 #include <sys/stat.h> 00060 #include <fcntl.h> 00061 #include <sys/ioctl.h> 00062 #include <sys/select.h> 00063 #include <time.h> 00064 00065 #include "arch/linux/timer.h" 00066