feat(agv_pro_bringup): add multi-lidar support and drivers

2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
@@ -0,0 +1,128 @@
+// Tencent is pleased to support the open source community by making RapidJSON
+// available.
+//
+// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All
+// rights reserved.
+//
+// Licensed under the MIT License (the "License"); you may not use this file
+// except in compliance with the License. You may obtain a copy of the License
+// at
+//
+// http://opensource.org/licenses/MIT
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+// License for the specific language governing permissions and limitations under
+// the License.
+
+#ifndef RAPIDJSON_FILEWRITESTREAM_H_
+#define RAPIDJSON_FILEWRITESTREAM_H_
+
+#include <cstdio>
+#include "stream.h"
+
+#ifdef __clang__
+RAPIDJSON_DIAG_PUSH
+RAPIDJSON_DIAG_OFF(unreachable - code)
+#endif
+
+RAPIDJSON_NAMESPACE_BEGIN
+
+//! Wrapper of C file stream for output using fwrite().
+/*!
+    \note implements Stream concept
+*/
+class FileWriteStream {
+ public:
+  typedef char Ch;  //!< Character type. Only support char.
+
+  FileWriteStream(std::FILE *fp, char *buffer, size_t bufferSize)
+      : fp_(fp),
+        buffer_(buffer),
+        bufferEnd_(buffer + bufferSize),
+        current_(buffer_) {
+    RAPIDJSON_ASSERT(fp_ != 0);
+  }
+
+  void Put(char c) {
+    if (current_ >= bufferEnd_) Flush();
+
+    *current_++ = c;
+  }
+
+  void PutN(char c, size_t n) {
+    size_t avail = static_cast<size_t>(bufferEnd_ - current_);
+    while (n > avail) {
+      std::memset(current_, c, avail);
+      current_ += avail;
+      Flush();
+      n -= avail;
+      avail = static_cast<size_t>(bufferEnd_ - current_);
+    }
+
+    if (n > 0) {
+      std::memset(current_, c, n);
+      current_ += n;
+    }
+  }
+
+  void Flush() {
+    if (current_ != buffer_) {
+      size_t result =
+          std::fwrite(buffer_, 1, static_cast<size_t>(current_ - buffer_), fp_);
+      if (result < static_cast<size_t>(current_ - buffer_)) {
+        // failure deliberately ignored at this time
+        // added to avoid warn_unused_result build errors
+      }
+      current_ = buffer_;
+    }
+  }
+
+  // Not implemented
+  char Peek() const {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+  char Take() {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+  size_t Tell() const {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+  char *PutBegin() {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+  size_t PutEnd(char *) {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+
+ private:
+  // Prohibit copy constructor & assignment operator.
+  FileWriteStream(const FileWriteStream &);
+  FileWriteStream &operator=(const FileWriteStream &);
+
+  std::FILE *fp_;
+  char *buffer_;
+  char *bufferEnd_;
+  char *current_;
+};
+
+//! Implement specialized version of PutN() with memset() for better
+//! performance.
+template <>
+inline void PutN(FileWriteStream &stream, char c, size_t n) {
+  stream.PutN(c, n);
+}
+
+RAPIDJSON_NAMESPACE_END
+
+#ifdef __clang__
+RAPIDJSON_DIAG_POP
+#endif
+
+#endif  // RAPIDJSON_FILESTREAM_H_