00001 /* 00002 * RPLIDAR SDK 00003 * 00004 * Copyright (c) 2009 - 2014 RoboPeak Team 00005 * http://www.robopeak.com 00006 * Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd. 00007 * http://www.slamtec.com 00008 * 00009 */ 00010 /* 00011 * Redistribution and use in source and binary forms, with or without 00012 * modification, are permitted provided that the following conditions are met: 00013 * 00014 * 1. Redistributions of source code must retain the above copyright notice, 00015 * this list of conditions and the following disclaimer. 00016 * 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00022 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 00023 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00024 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00025 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00026 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00027 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 00028 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 00029 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 00030 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 00031 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 */ 00034 00035 #pragma once 00036 00037 // libc dep 00038 #include <stdio.h> 00039 #include <stdint.h> 00040 #include <string.h> 00041 #include <stdlib.h> 00042 #include <assert.h> 00043 #include <math.h> 00044 #include <time.h> 00045 #include <stdarg.h> 00046 00047 // libc++ dep 00048 #include <iostream> 00049 #include <string> 00050 00051 // linux specific 00052 #include <unistd.h> 00053 #include <errno.h> 00054 #include <pthread.h> 00055 #include <sys/time.h> 00056 #include <sys/types.h> 00057 #include <sys/stat.h> 00058 #include <fcntl.h> 00059 #include <sys/ioctl.h> 00060 #include <sys/select.h> 00061 #include <time.h> 00062 00063 #include "arch/linux/timer.h" 00064