Merge pull request #332 from wentywenty/main

Add the rplidar-ros package

Author: traversaro

patch/ros-humble-rplidar-ros.patch

@@ -0,0 +1,89 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 48123e6..f0cecc7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -21,18 +21,25 @@ endif()
+ set(RPLIDAR_SDK_PATH "./sdk/")
+ 
+ if(APPLE)
+-add_compile_definitions(_MACOS)
+-FILE(GLOB RPLIDAR_SDK_SRC
+-  "${RPLIDAR_SDK_PATH}/src/arch/macOS/*.cpp"
+-  "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
+-  "${RPLIDAR_SDK_PATH}/src/*.cpp"
+-)
++  add_compile_definitions(_MACOS)
++  FILE(GLOB RPLIDAR_SDK_SRC
++    "${RPLIDAR_SDK_PATH}/src/arch/macOS/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/*.cpp"
++  )
++elseif(WIN32)
++  add_compile_definitions(_USE_MATH_DEFINES)
++  FILE(GLOB RPLIDAR_SDK_SRC 
++    "${RPLIDAR_SDK_PATH}/src/arch/win32/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/*.cpp"
++  )
+ else()
+-FILE(GLOB RPLIDAR_SDK_SRC 
+-  "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
+-  "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
+-  "${RPLIDAR_SDK_PATH}/src/*.cpp"
+-)
++  FILE(GLOB RPLIDAR_SDK_SRC 
++    "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
++    "${RPLIDAR_SDK_PATH}/src/*.cpp"
++  )
+ endif()
+ 
+ ################################################################################
+diff --git a/sdk/Makefile b/sdk/Makefile
+index 81215d9..69aec97 100644
+--- a/sdk/Makefile
++++ b/sdk/Makefile
+@@ -60,6 +60,12 @@ CXXSRC += src/arch/macOS/net_serial.cpp \
+           src/arch/macOS/timer.cpp
+ endif
+ 
++ifeq ($(BUILD_TARGET_PLATFORM),Windows)
++CXXSRC += src/arch/windows/net_serial.cpp \
++          src/arch/windows/net_socket.cpp \
++          src/arch/windows/timer.cpp
++endif
++
+ all: build_sdk
+ 
+ include $(HOME_TREE)/mak_common.inc
+diff --git a/sdk/src/arch/macOS/net_socket.cpp b/sdk/src/arch/macOS/net_socket.cpp
+index f7ddfbf..153de6d 100644
+--- a/sdk/src/arch/macOS/net_socket.cpp
++++ b/sdk/src/arch/macOS/net_socket.cpp
+@@ -754,6 +754,26 @@ public:
+ 
+     }
+ 
++    virtual u_result clearRxCache()
++    {
++        timeval tv;
++        tv.tv_sec = 0;
++        tv.tv_usec = 0;
++        fd_set rdset;
++        FD_ZERO(&rdset);
++        FD_SET(_socket_fd, &rdset);
++
++        int res = -1;
++        char recv_data[2];
++        memset(recv_data, 0, sizeof(recv_data));
++        while (true) {
++            res = select(FD_SETSIZE, &rdset, nullptr, nullptr, &tv);
++            if (res == 0) break;
++            recv(_socket_fd, recv_data, 1, 0);
++        }
++        return RESULT_OK;
++    }
++
+     virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr)
+     {
+         struct sockaddr * addr = (sourceAddr?reinterpret_cast<struct sockaddr *>(const_cast<void *>(sourceAddr->getPlatformData())):NULL);

vinca.yaml

@@ -313,6 +313,7 @@ packages_select_by_deps:
       # Requested in https://github.com/RoboStack/ros-humble/issues/325
       - data_tamer_cpp
       - imu_tools
+      - rplidar_ros
 
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux