From 1424f02508ca8344578fb659e794d66141674d47 Mon Sep 17 00:00:00 2001
From: Joshua Salzedo <joshuasalzedo@gmail.com>
Date: Thu, 17 Jun 2021 22:11:41 -0700
Subject: [PATCH] Implement Cmake and Bazel bindings

---
 CMakeLists.txt                 |  5 +++++
 WORKSPACE                      |  1 +
 sdk/BUILD                      |  0
 sdk/sdk/BUILD                  | 33 +++++++++++++++++++++++++++
 sdk/sdk/CMakeLists.txt         | 41 ++++++++++++++++++++++++++++++++++
 sdk/sdk/src/rplidar_driver.cpp |  2 +-
 6 files changed, 81 insertions(+), 1 deletion(-)
 create mode 100644 CMakeLists.txt
 create mode 100644 WORKSPACE
 create mode 100644 sdk/BUILD
 create mode 100644 sdk/sdk/BUILD
 create mode 100644 sdk/sdk/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..21780dd
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.10)
+project(rplidar_sdk)
+set(CMAKE_CXX_STANDARD 17)
+
+add_subdirectory(sdk/sdk)
\ No newline at end of file
diff --git a/WORKSPACE b/WORKSPACE
new file mode 100644
index 0000000..898849d
--- /dev/null
+++ b/WORKSPACE
@@ -0,0 +1 @@
+workspace( name = "rp_lidar")
\ No newline at end of file
diff --git a/sdk/BUILD b/sdk/BUILD
new file mode 100644
index 0000000..e69de29
diff --git a/sdk/sdk/BUILD b/sdk/sdk/BUILD
new file mode 100644
index 0000000..03f91d9
--- /dev/null
+++ b/sdk/sdk/BUILD
@@ -0,0 +1,33 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+cc_library(
+    name = "rplidar_driver",
+    srcs = [
+        "src/rplidar_driver.cpp",
+        "src/hal/thread.cpp",
+    ] + select({
+        "@bazel_tools//src/conditions:windows": glob(["src/arch/win32/*.cpp"]),
+        "//conditions:default": glob(["src/arch/linux/*.cpp"]),
+    }),
+    hdrs = glob(["include/*.h"]) + select({
+        "@bazel_tools//src/conditions:windows": glob(["src/arch/win32/*.hpp"]) + glob(["src/arch/win32/*.h"]),
+        "//conditions:default": glob(["src/arch/linux/*.hpp"]) + glob(["src/arch/linux/*.h"]),
+    }) + glob([
+        "src/*.h",
+        "src/hal/*.h",
+    ]),
+    # NOTICE: Ugly hack is ugly, but required in builds that enable -werr
+    # NOTICE: mainly because there is magic in this lib I don't want to attempt to fix.
+    copts = [
+        "-Wno-unused-variable",
+        "-Wno-sign-compare",
+        "-Wno-unused-but-set-variable",
+        "-Wno-parentheses",
+        "-Wno-unused-result",
+    ],
+    includes = [
+        "include",
+        "src",
+    ],
+    visibility = ["//visibility:public"],
+)
diff --git a/sdk/sdk/CMakeLists.txt b/sdk/sdk/CMakeLists.txt
new file mode 100644
index 0000000..12f0511
--- /dev/null
+++ b/sdk/sdk/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.10)
+
+
+file(GLOB base_sources src/*.cpp src/hal/*.cpp)
+file(GLOB base_includes src/*.h src/*.hpp src/hal/*.h src/hal/*.hpp)
+
+# Check if Windows, exclude MinGW
+if (WIN32 AND NOT MINGW)
+    message(STATUS "Detected Windows target...")
+    file(GLOB platform_srcs src/arch/win32/*.hpp src/arch/win32/*.cpp)
+    include_directories(src/arch/win32)
+elseif (MINGW)
+    # Library doesn't build under MinGW, no idea why.
+    message(FATAL_ERROR "Mingw is presently not supported.")
+elseif (${CMAKE_SYSTEM_NAME} MATCHES Linux)
+    message(STATUS "linux target...")
+    file(GLOB platform_srcs src/arch/linux/*.hpp src/arch/linux/*.cpp)
+    include_directories(src/arch/linux)
+
+elseif (${CMAKE_SYSTEM_NAME} MATCHES Darwin)
+    message(STATUS "Apple Mac OS X target...")
+    file(GLOB platform_srcs src/arch/macOS/*.hpp src/arch/macOS/*.cpp)
+    include_directories(src/arch/macOS)
+else ()
+    message(FATAL_ERROR "Unknown platform ${CMAKE_SYSTEM_NAME}, build cannot continue.")
+endif ()
+
+# glob shared C++ sources
+add_library(rplidar_sdk STATIC ${base_sources} ${platform_srcs})
+
+target_include_directories(
+        rplidar_sdk INTERFACE include src
+)
+
+include_directories(src src/hal include)
+
+install(
+        TARGETS rplidar_sdk
+        DESTINATION .
+)
+
diff --git a/sdk/sdk/src/rplidar_driver.cpp b/sdk/sdk/src/rplidar_driver.cpp
index af244f8..80e7a64 100644
--- a/sdk/sdk/src/rplidar_driver.cpp
+++ b/sdk/sdk/src/rplidar_driver.cpp
@@ -2219,7 +2219,7 @@ u_result RPlidarDriverImplCommon::startMotor()
         }
     }
     else {
-        setLidarSpinSpeed(600);//set default rpm to tof lidar
+        return setLidarSpinSpeed(600);//set default rpm to tof lidar
     }
 
 }