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

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X-lanni
2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
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livox_ros_driver2/3rdparty/rapidjson/internal/biginteger.h
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// 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_BIGINTEGER_H_
#define RAPIDJSON_BIGINTEGER_H_
#include "../rapidjson.h"
#if defined(_MSC_VER) && !__INTEL_COMPILER && defined(_M_AMD64)
#include <intrin.h> // for _umul128
#pragma intrinsic(_umul128)
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
class BigInteger {
public:
typedef uint64_t Type;
BigInteger(const BigInteger &rhs) : count_(rhs.count_) {
std::memcpy(digits_, rhs.digits_, count_ * sizeof(Type));
}
explicit BigInteger(uint64_t u) : count_(1) { digits_[0] = u; }
BigInteger(const char *decimals, size_t length) : count_(1) {
RAPIDJSON_ASSERT(length > 0);
digits_[0] = 0;
size_t i = 0;
const size_t kMaxDigitPerIteration =
19; // 2^64 = 18446744073709551616 > 10^19
while (length >= kMaxDigitPerIteration) {
AppendDecimal64(decimals + i, decimals + i + kMaxDigitPerIteration);
length -= kMaxDigitPerIteration;
i += kMaxDigitPerIteration;
}
if (length > 0) AppendDecimal64(decimals + i, decimals + i + length);
}
BigInteger &operator=(const BigInteger &rhs) {
if (this != &rhs) {
count_ = rhs.count_;
std::memcpy(digits_, rhs.digits_, count_ * sizeof(Type));
}
return *this;
}
BigInteger &operator=(uint64_t u) {
digits_[0] = u;
count_ = 1;
return *this;
}
BigInteger &operator+=(uint64_t u) {
Type backup = digits_[0];
digits_[0] += u;
for (size_t i = 0; i < count_ - 1; i++) {
if (digits_[i] >= backup) return *this; // no carry
backup = digits_[i + 1];
digits_[i + 1] += 1;
}
// Last carry
if (digits_[count_ - 1] < backup) PushBack(1);
return *this;
}
BigInteger &operator*=(uint64_t u) {
if (u == 0) return *this = 0;
if (u == 1) return *this;
if (*this == 1) return *this = u;
uint64_t k = 0;
for (size_t i = 0; i < count_; i++) {
uint64_t hi;
digits_[i] = MulAdd64(digits_[i], u, k, &hi);
k = hi;
}
if (k > 0) PushBack(k);
return *this;
}
BigInteger &operator*=(uint32_t u) {
if (u == 0) return *this = 0;
if (u == 1) return *this;
if (*this == 1) return *this = u;
uint64_t k = 0;
for (size_t i = 0; i < count_; i++) {
const uint64_t c = digits_[i] >> 32;
const uint64_t d = digits_[i] & 0xFFFFFFFF;
const uint64_t uc = u * c;
const uint64_t ud = u * d;
const uint64_t p0 = ud + k;
const uint64_t p1 = uc + (p0 >> 32);
digits_[i] = (p0 & 0xFFFFFFFF) | (p1 << 32);
k = p1 >> 32;
}
if (k > 0) PushBack(k);
return *this;
}
BigInteger &operator<<=(size_t shift) {
if (IsZero() || shift == 0) return *this;
size_t offset = shift / kTypeBit;
size_t interShift = shift % kTypeBit;
RAPIDJSON_ASSERT(count_ + offset <= kCapacity);
if (interShift == 0) {
std::memmove(digits_ + offset, digits_, count_ * sizeof(Type));
count_ += offset;
} else {
digits_[count_] = 0;
for (size_t i = count_; i > 0; i--)
digits_[i + offset] = (digits_[i] << interShift) |
(digits_[i - 1] >> (kTypeBit - interShift));
digits_[offset] = digits_[0] << interShift;
count_ += offset;
if (digits_[count_]) count_++;
}
std::memset(digits_, 0, offset * sizeof(Type));
return *this;
}
bool operator==(const BigInteger &rhs) const {
return count_ == rhs.count_ &&
std::memcmp(digits_, rhs.digits_, count_ * sizeof(Type)) == 0;
}
bool operator==(const Type rhs) const {
return count_ == 1 && digits_[0] == rhs;
}
BigInteger &MultiplyPow5(unsigned exp) {
static const uint32_t kPow5[12] = {
5,
5 * 5,
5 * 5 * 5,
5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5,
5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5 * 5};
if (exp == 0) return *this;
for (; exp >= 27; exp -= 27)
*this *= RAPIDJSON_UINT64_C2(0X6765C793, 0XFA10079D); // 5^27
for (; exp >= 13; exp -= 13)
*this *= static_cast<uint32_t>(1220703125u); // 5^13
if (exp > 0) *this *= kPow5[exp - 1];
return *this;
}
// Compute absolute difference of this and rhs.
// Assume this != rhs
bool Difference(const BigInteger &rhs, BigInteger *out) const {
int cmp = Compare(rhs);
RAPIDJSON_ASSERT(cmp != 0);
const BigInteger *a, *b; // Makes a > b
bool ret;
if (cmp < 0) {
a = &rhs;
b = this;
ret = true;
} else {
a = this;
b = &rhs;
ret = false;
}
Type borrow = 0;
for (size_t i = 0; i < a->count_; i++) {
Type d = a->digits_[i] - borrow;
if (i < b->count_) d -= b->digits_[i];
borrow = (d > a->digits_[i]) ? 1 : 0;
out->digits_[i] = d;
if (d != 0) out->count_ = i + 1;
}
return ret;
}
int Compare(const BigInteger &rhs) const {
if (count_ != rhs.count_) return count_ < rhs.count_ ? -1 : 1;
for (size_t i = count_; i-- > 0;)
if (digits_[i] != rhs.digits_[i])
return digits_[i] < rhs.digits_[i] ? -1 : 1;
return 0;
}
size_t GetCount() const { return count_; }
Type GetDigit(size_t index) const {
RAPIDJSON_ASSERT(index < count_);
return digits_[index];
}
bool IsZero() const { return count_ == 1 && digits_[0] == 0; }
private:
void AppendDecimal64(const char *begin, const char *end) {
uint64_t u = ParseUint64(begin, end);
if (IsZero())
*this = u;
else {
unsigned exp = static_cast<unsigned>(end - begin);
(MultiplyPow5(exp) <<= exp) += u; // *this = *this * 10^exp + u
}
}
void PushBack(Type digit) {
RAPIDJSON_ASSERT(count_ < kCapacity);
digits_[count_++] = digit;
}
static uint64_t ParseUint64(const char *begin, const char *end) {
uint64_t r = 0;
for (const char *p = begin; p != end; ++p) {
RAPIDJSON_ASSERT(*p >= '0' && *p <= '9');
r = r * 10u + static_cast<unsigned>(*p - '0');
}
return r;
}
// Assume a * b + k < 2^128
static uint64_t MulAdd64(uint64_t a, uint64_t b, uint64_t k,
uint64_t *outHigh) {
#if defined(_MSC_VER) && defined(_M_AMD64)
uint64_t low = _umul128(a, b, outHigh) + k;
if (low < k) (*outHigh)++;
return low;
#elif (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) && \
defined(__x86_64__)
__extension__ typedef unsigned __int128 uint128;
uint128 p = static_cast<uint128>(a) * static_cast<uint128>(b);
p += k;
*outHigh = static_cast<uint64_t>(p >> 64);
return static_cast<uint64_t>(p);
#else
const uint64_t a0 = a & 0xFFFFFFFF, a1 = a >> 32, b0 = b & 0xFFFFFFFF,
b1 = b >> 32;
uint64_t x0 = a0 * b0, x1 = a0 * b1, x2 = a1 * b0, x3 = a1 * b1;
x1 += (x0 >> 32); // can't give carry
x1 += x2;
if (x1 < x2) x3 += (static_cast<uint64_t>(1) << 32);
uint64_t lo = (x1 << 32) + (x0 & 0xFFFFFFFF);
uint64_t hi = x3 + (x1 >> 32);
lo += k;
if (lo < k) hi++;
*outHigh = hi;
return lo;
#endif
}
static const size_t kBitCount = 3328; // 64bit * 54 > 10^1000
static const size_t kCapacity = kBitCount / sizeof(Type);
static const size_t kTypeBit = sizeof(Type) * 8;
Type digits_[kCapacity];
size_t count_;
};
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_BIGINTEGER_H_
livox_ros_driver2/3rdparty/rapidjson/internal/clzll.h
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// 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_CLZLL_H_
#define RAPIDJSON_CLZLL_H_
#include "../rapidjson.h"
#if defined(_MSC_VER)
#include <intrin.h>
#if defined(_WIN64)
#pragma intrinsic(_BitScanReverse64)
#else
#pragma intrinsic(_BitScanReverse)
#endif
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
#if (defined(__GNUC__) && __GNUC__ >= 4) || \
RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
#define RAPIDJSON_CLZLL __builtin_clzll
#else
inline uint32_t clzll(uint64_t x) {
// Passing 0 to __builtin_clzll is UB in GCC and results in an
// infinite loop in the software implementation.
RAPIDJSON_ASSERT(x != 0);
#if defined(_MSC_VER)
unsigned long r = 0;
#if defined(_WIN64)
_BitScanReverse64(&r, x);
#else
// Scan the high 32 bits.
if (_BitScanReverse(&r, static_cast<uint32_t>(x >> 32))) return 63 - (r + 32);
// Scan the low 32 bits.
_BitScanReverse(&r, static_cast<uint32_t>(x & 0xFFFFFFFF));
#endif // _WIN64
return 63 - r;
#else
uint32_t r;
while (!(x & (static_cast<uint64_t>(1) << 63))) {
x <<= 1;
++r;
}
return r;
#endif // _MSC_VER
}
#define RAPIDJSON_CLZLL RAPIDJSON_NAMESPACE::internal::clzll
#endif // (defined(__GNUC__) && __GNUC__ >= 4) ||
// RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_CLZLL_H_
livox_ros_driver2/3rdparty/rapidjson/internal/diyfp.h
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// 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.
// This is a C++ header-only implementation of Grisu2 algorithm from the
// publication: Loitsch, Florian. "Printing floating-point numbers quickly and
// accurately with integers." ACM Sigplan Notices 45.6 (2010): 233-243.
#ifndef RAPIDJSON_DIYFP_H_
#define RAPIDJSON_DIYFP_H_
#include <limits>
#include "../rapidjson.h"
#include "clzll.h"
#if defined(_MSC_VER) && defined(_M_AMD64) && !defined(__INTEL_COMPILER)
#include <intrin.h>
#pragma intrinsic(_umul128)
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
#ifdef __GNUC__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(effc++)
#endif
#ifdef __clang__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(padded)
#endif
struct DiyFp {
DiyFp() : f(), e() {}
DiyFp(uint64_t fp, int exp) : f(fp), e(exp) {}
explicit DiyFp(double d) {
union {
double d;
uint64_t u64;
} u = {d};
int biased_e =
static_cast<int>((u.u64 & kDpExponentMask) >> kDpSignificandSize);
uint64_t significand = (u.u64 & kDpSignificandMask);
if (biased_e != 0) {
f = significand + kDpHiddenBit;
e = biased_e - kDpExponentBias;
} else {
f = significand;
e = kDpMinExponent + 1;
}
}
DiyFp operator-(const DiyFp &rhs) const { return DiyFp(f - rhs.f, e); }
DiyFp operator*(const DiyFp &rhs) const {
#if defined(_MSC_VER) && defined(_M_AMD64)
uint64_t h;
uint64_t l = _umul128(f, rhs.f, &h);
if (l & (uint64_t(1) << 63)) // rounding
h++;
return DiyFp(h, e + rhs.e + 64);
#elif (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) && \
defined(__x86_64__)
__extension__ typedef unsigned __int128 uint128;
uint128 p = static_cast<uint128>(f) * static_cast<uint128>(rhs.f);
uint64_t h = static_cast<uint64_t>(p >> 64);
uint64_t l = static_cast<uint64_t>(p);
if (l & (uint64_t(1) << 63)) // rounding
h++;
return DiyFp(h, e + rhs.e + 64);
#else
const uint64_t M32 = 0xFFFFFFFF;
const uint64_t a = f >> 32;
const uint64_t b = f & M32;
const uint64_t c = rhs.f >> 32;
const uint64_t d = rhs.f & M32;
const uint64_t ac = a * c;
const uint64_t bc = b * c;
const uint64_t ad = a * d;
const uint64_t bd = b * d;
uint64_t tmp = (bd >> 32) + (ad & M32) + (bc & M32);
tmp += 1U << 31; /// mult_round
return DiyFp(ac + (ad >> 32) + (bc >> 32) + (tmp >> 32), e + rhs.e + 64);
#endif
}
DiyFp Normalize() const {
int s = static_cast<int>(RAPIDJSON_CLZLL(f));
return DiyFp(f << s, e - s);
}
DiyFp NormalizeBoundary() const {
DiyFp res = *this;
while (!(res.f & (kDpHiddenBit << 1))) {
res.f <<= 1;
res.e--;
}
res.f <<= (kDiySignificandSize - kDpSignificandSize - 2);
res.e = res.e - (kDiySignificandSize - kDpSignificandSize - 2);
return res;
}
void NormalizedBoundaries(DiyFp *minus, DiyFp *plus) const {
DiyFp pl = DiyFp((f << 1) + 1, e - 1).NormalizeBoundary();
DiyFp mi = (f == kDpHiddenBit) ? DiyFp((f << 2) - 1, e - 2)
: DiyFp((f << 1) - 1, e - 1);
mi.f <<= mi.e - pl.e;
mi.e = pl.e;
*plus = pl;
*minus = mi;
}
double ToDouble() const {
union {
double d;
uint64_t u64;
} u;
RAPIDJSON_ASSERT(f <= kDpHiddenBit + kDpSignificandMask);
if (e < kDpDenormalExponent) {
// Underflow.
return 0.0;
}
if (e >= kDpMaxExponent) {
// Overflow.
return std::numeric_limits<double>::infinity();
}
const uint64_t be = (e == kDpDenormalExponent && (f & kDpHiddenBit) == 0)
? 0
: static_cast<uint64_t>(e + kDpExponentBias);
u.u64 = (f & kDpSignificandMask) | (be << kDpSignificandSize);
return u.d;
}
static const int kDiySignificandSize = 64;
static const int kDpSignificandSize = 52;
static const int kDpExponentBias = 0x3FF + kDpSignificandSize;
static const int kDpMaxExponent = 0x7FF - kDpExponentBias;
static const int kDpMinExponent = -kDpExponentBias;
static const int kDpDenormalExponent = -kDpExponentBias + 1;
static const uint64_t kDpExponentMask =
RAPIDJSON_UINT64_C2(0x7FF00000, 0x00000000);
static const uint64_t kDpSignificandMask =
RAPIDJSON_UINT64_C2(0x000FFFFF, 0xFFFFFFFF);
static const uint64_t kDpHiddenBit =
RAPIDJSON_UINT64_C2(0x00100000, 0x00000000);
uint64_t f;
int e;
};
inline DiyFp GetCachedPowerByIndex(size_t index) {
// 10^-348, 10^-340, ..., 10^340
static const uint64_t kCachedPowers_F[] = {
RAPIDJSON_UINT64_C2(0xfa8fd5a0, 0x081c0288),
RAPIDJSON_UINT64_C2(0xbaaee17f, 0xa23ebf76),
RAPIDJSON_UINT64_C2(0x8b16fb20, 0x3055ac76),
RAPIDJSON_UINT64_C2(0xcf42894a, 0x5dce35ea),
RAPIDJSON_UINT64_C2(0x9a6bb0aa, 0x55653b2d),
RAPIDJSON_UINT64_C2(0xe61acf03, 0x3d1a45df),
RAPIDJSON_UINT64_C2(0xab70fe17, 0xc79ac6ca),
RAPIDJSON_UINT64_C2(0xff77b1fc, 0xbebcdc4f),
RAPIDJSON_UINT64_C2(0xbe5691ef, 0x416bd60c),
RAPIDJSON_UINT64_C2(0x8dd01fad, 0x907ffc3c),
RAPIDJSON_UINT64_C2(0xd3515c28, 0x31559a83),
RAPIDJSON_UINT64_C2(0x9d71ac8f, 0xada6c9b5),
RAPIDJSON_UINT64_C2(0xea9c2277, 0x23ee8bcb),
RAPIDJSON_UINT64_C2(0xaecc4991, 0x4078536d),
RAPIDJSON_UINT64_C2(0x823c1279, 0x5db6ce57),
RAPIDJSON_UINT64_C2(0xc2109436, 0x4dfb5637),
RAPIDJSON_UINT64_C2(0x9096ea6f, 0x3848984f),
RAPIDJSON_UINT64_C2(0xd77485cb, 0x25823ac7),
RAPIDJSON_UINT64_C2(0xa086cfcd, 0x97bf97f4),
RAPIDJSON_UINT64_C2(0xef340a98, 0x172aace5),
RAPIDJSON_UINT64_C2(0xb23867fb, 0x2a35b28e),
RAPIDJSON_UINT64_C2(0x84c8d4df, 0xd2c63f3b),
RAPIDJSON_UINT64_C2(0xc5dd4427, 0x1ad3cdba),
RAPIDJSON_UINT64_C2(0x936b9fce, 0xbb25c996),
RAPIDJSON_UINT64_C2(0xdbac6c24, 0x7d62a584),
RAPIDJSON_UINT64_C2(0xa3ab6658, 0x0d5fdaf6),
RAPIDJSON_UINT64_C2(0xf3e2f893, 0xdec3f126),
RAPIDJSON_UINT64_C2(0xb5b5ada8, 0xaaff80b8),
RAPIDJSON_UINT64_C2(0x87625f05, 0x6c7c4a8b),
RAPIDJSON_UINT64_C2(0xc9bcff60, 0x34c13053),
RAPIDJSON_UINT64_C2(0x964e858c, 0x91ba2655),
RAPIDJSON_UINT64_C2(0xdff97724, 0x70297ebd),
RAPIDJSON_UINT64_C2(0xa6dfbd9f, 0xb8e5b88f),
RAPIDJSON_UINT64_C2(0xf8a95fcf, 0x88747d94),
RAPIDJSON_UINT64_C2(0xb9447093, 0x8fa89bcf),
RAPIDJSON_UINT64_C2(0x8a08f0f8, 0xbf0f156b),
RAPIDJSON_UINT64_C2(0xcdb02555, 0x653131b6),
RAPIDJSON_UINT64_C2(0x993fe2c6, 0xd07b7fac),
RAPIDJSON_UINT64_C2(0xe45c10c4, 0x2a2b3b06),
RAPIDJSON_UINT64_C2(0xaa242499, 0x697392d3),
RAPIDJSON_UINT64_C2(0xfd87b5f2, 0x8300ca0e),
RAPIDJSON_UINT64_C2(0xbce50864, 0x92111aeb),
RAPIDJSON_UINT64_C2(0x8cbccc09, 0x6f5088cc),
RAPIDJSON_UINT64_C2(0xd1b71758, 0xe219652c),
RAPIDJSON_UINT64_C2(0x9c400000, 0x00000000),
RAPIDJSON_UINT64_C2(0xe8d4a510, 0x00000000),
RAPIDJSON_UINT64_C2(0xad78ebc5, 0xac620000),
RAPIDJSON_UINT64_C2(0x813f3978, 0xf8940984),
RAPIDJSON_UINT64_C2(0xc097ce7b, 0xc90715b3),
RAPIDJSON_UINT64_C2(0x8f7e32ce, 0x7bea5c70),
RAPIDJSON_UINT64_C2(0xd5d238a4, 0xabe98068),
RAPIDJSON_UINT64_C2(0x9f4f2726, 0x179a2245),
RAPIDJSON_UINT64_C2(0xed63a231, 0xd4c4fb27),
RAPIDJSON_UINT64_C2(0xb0de6538, 0x8cc8ada8),
RAPIDJSON_UINT64_C2(0x83c7088e, 0x1aab65db),
RAPIDJSON_UINT64_C2(0xc45d1df9, 0x42711d9a),
RAPIDJSON_UINT64_C2(0x924d692c, 0xa61be758),
RAPIDJSON_UINT64_C2(0xda01ee64, 0x1a708dea),
RAPIDJSON_UINT64_C2(0xa26da399, 0x9aef774a),
RAPIDJSON_UINT64_C2(0xf209787b, 0xb47d6b85),
RAPIDJSON_UINT64_C2(0xb454e4a1, 0x79dd1877),
RAPIDJSON_UINT64_C2(0x865b8692, 0x5b9bc5c2),
RAPIDJSON_UINT64_C2(0xc83553c5, 0xc8965d3d),
RAPIDJSON_UINT64_C2(0x952ab45c, 0xfa97a0b3),
RAPIDJSON_UINT64_C2(0xde469fbd, 0x99a05fe3),
RAPIDJSON_UINT64_C2(0xa59bc234, 0xdb398c25),
RAPIDJSON_UINT64_C2(0xf6c69a72, 0xa3989f5c),
RAPIDJSON_UINT64_C2(0xb7dcbf53, 0x54e9bece),
RAPIDJSON_UINT64_C2(0x88fcf317, 0xf22241e2),
RAPIDJSON_UINT64_C2(0xcc20ce9b, 0xd35c78a5),
RAPIDJSON_UINT64_C2(0x98165af3, 0x7b2153df),
RAPIDJSON_UINT64_C2(0xe2a0b5dc, 0x971f303a),
RAPIDJSON_UINT64_C2(0xa8d9d153, 0x5ce3b396),
RAPIDJSON_UINT64_C2(0xfb9b7cd9, 0xa4a7443c),
RAPIDJSON_UINT64_C2(0xbb764c4c, 0xa7a44410),
RAPIDJSON_UINT64_C2(0x8bab8eef, 0xb6409c1a),
RAPIDJSON_UINT64_C2(0xd01fef10, 0xa657842c),
RAPIDJSON_UINT64_C2(0x9b10a4e5, 0xe9913129),
RAPIDJSON_UINT64_C2(0xe7109bfb, 0xa19c0c9d),
RAPIDJSON_UINT64_C2(0xac2820d9, 0x623bf429),
RAPIDJSON_UINT64_C2(0x80444b5e, 0x7aa7cf85),
RAPIDJSON_UINT64_C2(0xbf21e440, 0x03acdd2d),
RAPIDJSON_UINT64_C2(0x8e679c2f, 0x5e44ff8f),
RAPIDJSON_UINT64_C2(0xd433179d, 0x9c8cb841),
RAPIDJSON_UINT64_C2(0x9e19db92, 0xb4e31ba9),
RAPIDJSON_UINT64_C2(0xeb96bf6e, 0xbadf77d9),
RAPIDJSON_UINT64_C2(0xaf87023b, 0x9bf0ee6b)};
static const int16_t kCachedPowers_E[] = {
-1220, -1193, -1166, -1140, -1113, -1087, -1060, -1034, -1007, -980, -954,
-927, -901, -874, -847, -821, -794, -768, -741, -715, -688, -661,
-635, -608, -582, -555, -529, -502, -475, -449, -422, -396, -369,
-343, -316, -289, -263, -236, -210, -183, -157, -130, -103, -77,
-50, -24, 3, 30, 56, 83, 109, 136, 162, 189, 216,
242, 269, 295, 322, 348, 375, 402, 428, 455, 481, 508,
534, 561, 588, 614, 641, 667, 694, 720, 747, 774, 800,
827, 853, 880, 907, 933, 960, 986, 1013, 1039, 1066};
RAPIDJSON_ASSERT(index < 87);
return DiyFp(kCachedPowers_F[index], kCachedPowers_E[index]);
}
inline DiyFp GetCachedPower(int e, int *K) {
// int k = static_cast<int>(ceil((-61 - e) * 0.30102999566398114)) + 374;
double dk = (-61 - e) * 0.30102999566398114 +
347; // dk must be positive, so can do ceiling in positive
int k = static_cast<int>(dk);
if (dk - k > 0.0) k++;
unsigned index = static_cast<unsigned>((k >> 3) + 1);
*K = -(-348 + static_cast<int>(
index << 3)); // decimal exponent no need lookup table
return GetCachedPowerByIndex(index);
}
inline DiyFp GetCachedPower10(int exp, int *outExp) {
RAPIDJSON_ASSERT(exp >= -348);
unsigned index = static_cast<unsigned>(exp + 348) / 8u;
*outExp = -348 + static_cast<int>(index) * 8;
return GetCachedPowerByIndex(index);
}
#ifdef __GNUC__
RAPIDJSON_DIAG_POP
#endif
#ifdef __clang__
RAPIDJSON_DIAG_POP
RAPIDJSON_DIAG_OFF(padded)
#endif
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_DIYFP_H_
livox_ros_driver2/3rdparty/rapidjson/internal/dtoa.h
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// 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.
// This is a C++ header-only implementation of Grisu2 algorithm from the
// publication: Loitsch, Florian. "Printing floating-point numbers quickly and
// accurately with integers." ACM Sigplan Notices 45.6 (2010): 233-243.
#ifndef RAPIDJSON_DTOA_
#define RAPIDJSON_DTOA_
#include "diyfp.h"
#include "ieee754.h"
#include "itoa.h" // GetDigitsLut()
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
#ifdef __GNUC__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(effc++)
RAPIDJSON_DIAG_OFF(array - bounds) // some gcc versions generate wrong warnings
// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=59124
#endif
inline void GrisuRound(char *buffer, int len, uint64_t delta, uint64_t rest,
uint64_t ten_kappa, uint64_t wp_w) {
while (rest < wp_w && delta - rest >= ten_kappa &&
(rest + ten_kappa < wp_w || /// closer
wp_w - rest > rest + ten_kappa - wp_w)) {
buffer[len - 1]--;
rest += ten_kappa;
}
}
inline int CountDecimalDigit32(uint32_t n) {
// Simple pure C++ implementation was faster than __builtin_clz version in
// this situation.
if (n < 10) return 1;
if (n < 100) return 2;
if (n < 1000) return 3;
if (n < 10000) return 4;
if (n < 100000) return 5;
if (n < 1000000) return 6;
if (n < 10000000) return 7;
if (n < 100000000) return 8;
// Will not reach 10 digits in DigitGen()
// if (n < 1000000000) return 9;
// return 10;
return 9;
}
inline void DigitGen(const DiyFp &W, const DiyFp &Mp, uint64_t delta,
char *buffer, int *len, int *K) {
static const uint32_t kPow10[] = {1, 10, 100, 1000,
10000, 100000, 1000000, 10000000,
100000000, 1000000000};
const DiyFp one(uint64_t(1) << -Mp.e, Mp.e);
const DiyFp wp_w = Mp - W;
uint32_t p1 = static_cast<uint32_t>(Mp.f >> -one.e);
uint64_t p2 = Mp.f & (one.f - 1);
int kappa = CountDecimalDigit32(p1); // kappa in [0, 9]
*len = 0;
while (kappa > 0) {
uint32_t d = 0;
switch (kappa) {
case 9:
d = p1 / 100000000;
p1 %= 100000000;
break;
case 8:
d = p1 / 10000000;
p1 %= 10000000;
break;
case 7:
d = p1 / 1000000;
p1 %= 1000000;
break;
case 6:
d = p1 / 100000;
p1 %= 100000;
break;
case 5:
d = p1 / 10000;
p1 %= 10000;
break;
case 4:
d = p1 / 1000;
p1 %= 1000;
break;
case 3:
d = p1 / 100;
p1 %= 100;
break;
case 2:
d = p1 / 10;
p1 %= 10;
break;
case 1:
d = p1;
p1 = 0;
break;
default:;
}
if (d || *len)
buffer[(*len)++] = static_cast<char>('0' + static_cast<char>(d));
kappa--;
uint64_t tmp = (static_cast<uint64_t>(p1) << -one.e) + p2;
if (tmp <= delta) {
*K += kappa;
GrisuRound(buffer, *len, delta, tmp,
static_cast<uint64_t>(kPow10[kappa]) << -one.e, wp_w.f);
return;
}
}
// kappa = 0
for (;;) {
p2 *= 10;
delta *= 10;
char d = static_cast<char>(p2 >> -one.e);
if (d || *len) buffer[(*len)++] = static_cast<char>('0' + d);
p2 &= one.f - 1;
kappa--;
if (p2 < delta) {
*K += kappa;
int index = -kappa;
GrisuRound(buffer, *len, delta, p2, one.f,
wp_w.f * (index < 9 ? kPow10[index] : 0));
return;
}
}
}
inline void Grisu2(double value, char *buffer, int *length, int *K) {
const DiyFp v(value);
DiyFp w_m, w_p;
v.NormalizedBoundaries(&w_m, &w_p);
const DiyFp c_mk = GetCachedPower(w_p.e, K);
const DiyFp W = v.Normalize() * c_mk;
DiyFp Wp = w_p * c_mk;
DiyFp Wm = w_m * c_mk;
Wm.f++;
Wp.f--;
DigitGen(W, Wp, Wp.f - Wm.f, buffer, length, K);
}
inline char *WriteExponent(int K, char *buffer) {
if (K < 0) {
*buffer++ = '-';
K = -K;
}
if (K >= 100) {
*buffer++ = static_cast<char>('0' + static_cast<char>(K / 100));
K %= 100;
const char *d = GetDigitsLut() + K * 2;
*buffer++ = d[0];
*buffer++ = d[1];
} else if (K >= 10) {
const char *d = GetDigitsLut() + K * 2;
*buffer++ = d[0];
*buffer++ = d[1];
} else
*buffer++ = static_cast<char>('0' + static_cast<char>(K));
return buffer;
}
inline char *Prettify(char *buffer, int length, int k, int maxDecimalPlaces) {
const int kk = length + k; // 10^(kk-1) <= v < 10^kk
if (0 <= k && kk <= 21) {
// 1234e7 -> 12340000000
for (int i = length; i < kk; i++) buffer[i] = '0';
buffer[kk] = '.';
buffer[kk + 1] = '0';
return &buffer[kk + 2];
} else if (0 < kk && kk <= 21) {
// 1234e-2 -> 12.34
std::memmove(&buffer[kk + 1], &buffer[kk],
static_cast<size_t>(length - kk));
buffer[kk] = '.';
if (0 > k + maxDecimalPlaces) {
// When maxDecimalPlaces = 2, 1.2345 -> 1.23, 1.102 -> 1.1
// Remove extra trailing zeros (at least one) after truncation.
for (int i = kk + maxDecimalPlaces; i > kk + 1; i--)
if (buffer[i] != '0') return &buffer[i + 1];
return &buffer[kk + 2]; // Reserve one zero
} else
return &buffer[length + 1];
} else if (-6 < kk && kk <= 0) {
// 1234e-6 -> 0.001234
const int offset = 2 - kk;
std::memmove(&buffer[offset], &buffer[0], static_cast<size_t>(length));
buffer[0] = '0';
buffer[1] = '.';
for (int i = 2; i < offset; i++) buffer[i] = '0';
if (length - kk > maxDecimalPlaces) {
// When maxDecimalPlaces = 2, 0.123 -> 0.12, 0.102 -> 0.1
// Remove extra trailing zeros (at least one) after truncation.
for (int i = maxDecimalPlaces + 1; i > 2; i--)
if (buffer[i] != '0') return &buffer[i + 1];
return &buffer[3]; // Reserve one zero
} else
return &buffer[length + offset];
} else if (kk < -maxDecimalPlaces) {
// Truncate to zero
buffer[0] = '0';
buffer[1] = '.';
buffer[2] = '0';
return &buffer[3];
} else if (length == 1) {
// 1e30
buffer[1] = 'e';
return WriteExponent(kk - 1, &buffer[2]);
} else {
// 1234e30 -> 1.234e33
std::memmove(&buffer[2], &buffer[1], static_cast<size_t>(length - 1));
buffer[1] = '.';
buffer[length + 1] = 'e';
return WriteExponent(kk - 1, &buffer[0 + length + 2]);
}
}
inline char *dtoa(double value, char *buffer, int maxDecimalPlaces = 324) {
RAPIDJSON_ASSERT(maxDecimalPlaces >= 1);
Double d(value);
if (d.IsZero()) {
if (d.Sign()) *buffer++ = '-'; // -0.0, Issue #289
buffer[0] = '0';
buffer[1] = '.';
buffer[2] = '0';
return &buffer[3];
} else {
if (value < 0) {
*buffer++ = '-';
value = -value;
}
int length, K;
Grisu2(value, buffer, &length, &K);
return Prettify(buffer, length, K, maxDecimalPlaces);
}
}
#ifdef __GNUC__
RAPIDJSON_DIAG_POP
#endif
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_DTOA_
livox_ros_driver2/3rdparty/rapidjson/internal/ieee754.h
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// 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_IEEE754_
#define RAPIDJSON_IEEE754_
#include "../rapidjson.h"
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
class Double {
public:
Double() {}
Double(double d) : d_(d) {}
Double(uint64_t u) : u_(u) {}
double Value() const { return d_; }
uint64_t Uint64Value() const { return u_; }
double NextPositiveDouble() const {
RAPIDJSON_ASSERT(!Sign());
return Double(u_ + 1).Value();
}
bool Sign() const { return (u_ & kSignMask) != 0; }
uint64_t Significand() const { return u_ & kSignificandMask; }
int Exponent() const {
return static_cast<int>(((u_ & kExponentMask) >> kSignificandSize) -
kExponentBias);
}
bool IsNan() const {
return (u_ & kExponentMask) == kExponentMask && Significand() != 0;
}
bool IsInf() const {
return (u_ & kExponentMask) == kExponentMask && Significand() == 0;
}
bool IsNanOrInf() const { return (u_ & kExponentMask) == kExponentMask; }
bool IsNormal() const {
return (u_ & kExponentMask) != 0 || Significand() == 0;
}
bool IsZero() const { return (u_ & (kExponentMask | kSignificandMask)) == 0; }
uint64_t IntegerSignificand() const {
return IsNormal() ? Significand() | kHiddenBit : Significand();
}
int IntegerExponent() const {
return (IsNormal() ? Exponent() : kDenormalExponent) - kSignificandSize;
}
uint64_t ToBias() const {
return (u_ & kSignMask) ? ~u_ + 1 : u_ | kSignMask;
}
static int EffectiveSignificandSize(int order) {
if (order >= -1021)
return 53;
else if (order <= -1074)
return 0;
else
return order + 1074;
}
private:
static const int kSignificandSize = 52;
static const int kExponentBias = 0x3FF;
static const int kDenormalExponent = 1 - kExponentBias;
static const uint64_t kSignMask = RAPIDJSON_UINT64_C2(0x80000000, 0x00000000);
static const uint64_t kExponentMask =
RAPIDJSON_UINT64_C2(0x7FF00000, 0x00000000);
static const uint64_t kSignificandMask =
RAPIDJSON_UINT64_C2(0x000FFFFF, 0xFFFFFFFF);
static const uint64_t kHiddenBit =
RAPIDJSON_UINT64_C2(0x00100000, 0x00000000);
union {
double d_;
uint64_t u_;
};
};
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_IEEE754_
livox_ros_driver2/3rdparty/rapidjson/internal/itoa.h
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// 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_ITOA_
#define RAPIDJSON_ITOA_
#include "../rapidjson.h"
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
inline const char *GetDigitsLut() {
static const char cDigitsLut[200] = {
'0', '0', '0', '1', '0', '2', '0', '3', '0', '4', '0', '5', '0', '6', '0',
'7', '0', '8', '0', '9', '1', '0', '1', '1', '1', '2', '1', '3', '1', '4',
'1', '5', '1', '6', '1', '7', '1', '8', '1', '9', '2', '0', '2', '1', '2',
'2', '2', '3', '2', '4', '2', '5', '2', '6', '2', '7', '2', '8', '2', '9',
'3', '0', '3', '1', '3', '2', '3', '3', '3', '4', '3', '5', '3', '6', '3',
'7', '3', '8', '3', '9', '4', '0', '4', '1', '4', '2', '4', '3', '4', '4',
'4', '5', '4', '6', '4', '7', '4', '8', '4', '9', '5', '0', '5', '1', '5',
'2', '5', '3', '5', '4', '5', '5', '5', '6', '5', '7', '5', '8', '5', '9',
'6', '0', '6', '1', '6', '2', '6', '3', '6', '4', '6', '5', '6', '6', '6',
'7', '6', '8', '6', '9', '7', '0', '7', '1', '7', '2', '7', '3', '7', '4',
'7', '5', '7', '6', '7', '7', '7', '8', '7', '9', '8', '0', '8', '1', '8',
'2', '8', '3', '8', '4', '8', '5', '8', '6', '8', '7', '8', '8', '8', '9',
'9', '0', '9', '1', '9', '2', '9', '3', '9', '4', '9', '5', '9', '6', '9',
'7', '9', '8', '9', '9'};
return cDigitsLut;
}
inline char *u32toa(uint32_t value, char *buffer) {
RAPIDJSON_ASSERT(buffer != 0);
const char *cDigitsLut = GetDigitsLut();
if (value < 10000) {
const uint32_t d1 = (value / 100) << 1;
const uint32_t d2 = (value % 100) << 1;
if (value >= 1000) *buffer++ = cDigitsLut[d1];
if (value >= 100) *buffer++ = cDigitsLut[d1 + 1];
if (value >= 10) *buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
} else if (value < 100000000) {
// value = bbbbcccc
const uint32_t b = value / 10000;
const uint32_t c = value % 10000;
const uint32_t d1 = (b / 100) << 1;
const uint32_t d2 = (b % 100) << 1;
const uint32_t d3 = (c / 100) << 1;
const uint32_t d4 = (c % 100) << 1;
if (value >= 10000000) *buffer++ = cDigitsLut[d1];
if (value >= 1000000) *buffer++ = cDigitsLut[d1 + 1];
if (value >= 100000) *buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
*buffer++ = cDigitsLut[d3];
*buffer++ = cDigitsLut[d3 + 1];
*buffer++ = cDigitsLut[d4];
*buffer++ = cDigitsLut[d4 + 1];
} else {
// value = aabbbbcccc in decimal
const uint32_t a = value / 100000000; // 1 to 42
value %= 100000000;
if (a >= 10) {
const unsigned i = a << 1;
*buffer++ = cDigitsLut[i];
*buffer++ = cDigitsLut[i + 1];
} else
*buffer++ = static_cast<char>('0' + static_cast<char>(a));
const uint32_t b = value / 10000; // 0 to 9999
const uint32_t c = value % 10000; // 0 to 9999
const uint32_t d1 = (b / 100) << 1;
const uint32_t d2 = (b % 100) << 1;
const uint32_t d3 = (c / 100) << 1;
const uint32_t d4 = (c % 100) << 1;
*buffer++ = cDigitsLut[d1];
*buffer++ = cDigitsLut[d1 + 1];
*buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
*buffer++ = cDigitsLut[d3];
*buffer++ = cDigitsLut[d3 + 1];
*buffer++ = cDigitsLut[d4];
*buffer++ = cDigitsLut[d4 + 1];
}
return buffer;
}
inline char *i32toa(int32_t value, char *buffer) {
RAPIDJSON_ASSERT(buffer != 0);
uint32_t u = static_cast<uint32_t>(value);
if (value < 0) {
*buffer++ = '-';
u = ~u + 1;
}
return u32toa(u, buffer);
}
inline char *u64toa(uint64_t value, char *buffer) {
RAPIDJSON_ASSERT(buffer != 0);
const char *cDigitsLut = GetDigitsLut();
const uint64_t kTen8 = 100000000;
const uint64_t kTen9 = kTen8 * 10;
const uint64_t kTen10 = kTen8 * 100;
const uint64_t kTen11 = kTen8 * 1000;
const uint64_t kTen12 = kTen8 * 10000;
const uint64_t kTen13 = kTen8 * 100000;
const uint64_t kTen14 = kTen8 * 1000000;
const uint64_t kTen15 = kTen8 * 10000000;
const uint64_t kTen16 = kTen8 * kTen8;
if (value < kTen8) {
uint32_t v = static_cast<uint32_t>(value);
if (v < 10000) {
const uint32_t d1 = (v / 100) << 1;
const uint32_t d2 = (v % 100) << 1;
if (v >= 1000) *buffer++ = cDigitsLut[d1];
if (v >= 100) *buffer++ = cDigitsLut[d1 + 1];
if (v >= 10) *buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
} else {
// value = bbbbcccc
const uint32_t b = v / 10000;
const uint32_t c = v % 10000;
const uint32_t d1 = (b / 100) << 1;
const uint32_t d2 = (b % 100) << 1;
const uint32_t d3 = (c / 100) << 1;
const uint32_t d4 = (c % 100) << 1;
if (value >= 10000000) *buffer++ = cDigitsLut[d1];
if (value >= 1000000) *buffer++ = cDigitsLut[d1 + 1];
if (value >= 100000) *buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
*buffer++ = cDigitsLut[d3];
*buffer++ = cDigitsLut[d3 + 1];
*buffer++ = cDigitsLut[d4];
*buffer++ = cDigitsLut[d4 + 1];
}
} else if (value < kTen16) {
const uint32_t v0 = static_cast<uint32_t>(value / kTen8);
const uint32_t v1 = static_cast<uint32_t>(value % kTen8);
const uint32_t b0 = v0 / 10000;
const uint32_t c0 = v0 % 10000;
const uint32_t d1 = (b0 / 100) << 1;
const uint32_t d2 = (b0 % 100) << 1;
const uint32_t d3 = (c0 / 100) << 1;
const uint32_t d4 = (c0 % 100) << 1;
const uint32_t b1 = v1 / 10000;
const uint32_t c1 = v1 % 10000;
const uint32_t d5 = (b1 / 100) << 1;
const uint32_t d6 = (b1 % 100) << 1;
const uint32_t d7 = (c1 / 100) << 1;
const uint32_t d8 = (c1 % 100) << 1;
if (value >= kTen15) *buffer++ = cDigitsLut[d1];
if (value >= kTen14) *buffer++ = cDigitsLut[d1 + 1];
if (value >= kTen13) *buffer++ = cDigitsLut[d2];
if (value >= kTen12) *buffer++ = cDigitsLut[d2 + 1];
if (value >= kTen11) *buffer++ = cDigitsLut[d3];
if (value >= kTen10) *buffer++ = cDigitsLut[d3 + 1];
if (value >= kTen9) *buffer++ = cDigitsLut[d4];
*buffer++ = cDigitsLut[d4 + 1];
*buffer++ = cDigitsLut[d5];
*buffer++ = cDigitsLut[d5 + 1];
*buffer++ = cDigitsLut[d6];
*buffer++ = cDigitsLut[d6 + 1];
*buffer++ = cDigitsLut[d7];
*buffer++ = cDigitsLut[d7 + 1];
*buffer++ = cDigitsLut[d8];
*buffer++ = cDigitsLut[d8 + 1];
} else {
const uint32_t a = static_cast<uint32_t>(value / kTen16); // 1 to 1844
value %= kTen16;
if (a < 10)
*buffer++ = static_cast<char>('0' + static_cast<char>(a));
else if (a < 100) {
const uint32_t i = a << 1;
*buffer++ = cDigitsLut[i];
*buffer++ = cDigitsLut[i + 1];
} else if (a < 1000) {
*buffer++ = static_cast<char>('0' + static_cast<char>(a / 100));
const uint32_t i = (a % 100) << 1;
*buffer++ = cDigitsLut[i];
*buffer++ = cDigitsLut[i + 1];
} else {
const uint32_t i = (a / 100) << 1;
const uint32_t j = (a % 100) << 1;
*buffer++ = cDigitsLut[i];
*buffer++ = cDigitsLut[i + 1];
*buffer++ = cDigitsLut[j];
*buffer++ = cDigitsLut[j + 1];
}
const uint32_t v0 = static_cast<uint32_t>(value / kTen8);
const uint32_t v1 = static_cast<uint32_t>(value % kTen8);
const uint32_t b0 = v0 / 10000;
const uint32_t c0 = v0 % 10000;
const uint32_t d1 = (b0 / 100) << 1;
const uint32_t d2 = (b0 % 100) << 1;
const uint32_t d3 = (c0 / 100) << 1;
const uint32_t d4 = (c0 % 100) << 1;
const uint32_t b1 = v1 / 10000;
const uint32_t c1 = v1 % 10000;
const uint32_t d5 = (b1 / 100) << 1;
const uint32_t d6 = (b1 % 100) << 1;
const uint32_t d7 = (c1 / 100) << 1;
const uint32_t d8 = (c1 % 100) << 1;
*buffer++ = cDigitsLut[d1];
*buffer++ = cDigitsLut[d1 + 1];
*buffer++ = cDigitsLut[d2];
*buffer++ = cDigitsLut[d2 + 1];
*buffer++ = cDigitsLut[d3];
*buffer++ = cDigitsLut[d3 + 1];
*buffer++ = cDigitsLut[d4];
*buffer++ = cDigitsLut[d4 + 1];
*buffer++ = cDigitsLut[d5];
*buffer++ = cDigitsLut[d5 + 1];
*buffer++ = cDigitsLut[d6];
*buffer++ = cDigitsLut[d6 + 1];
*buffer++ = cDigitsLut[d7];
*buffer++ = cDigitsLut[d7 + 1];
*buffer++ = cDigitsLut[d8];
*buffer++ = cDigitsLut[d8 + 1];
}
return buffer;
}
inline char *i64toa(int64_t value, char *buffer) {
RAPIDJSON_ASSERT(buffer != 0);
uint64_t u = static_cast<uint64_t>(value);
if (value < 0) {
*buffer++ = '-';
u = ~u + 1;
}
return u64toa(u, buffer);
}
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_ITOA_
livox_ros_driver2/3rdparty/rapidjson/internal/meta.h
Vendored
+243
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// 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_INTERNAL_META_H_
#define RAPIDJSON_INTERNAL_META_H_
#include "../rapidjson.h"
#ifdef __GNUC__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(effc++)
#endif
#if defined(_MSC_VER) && !defined(__clang__)
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(6334)
#endif
#if RAPIDJSON_HAS_CXX11_TYPETRAITS
#include <type_traits>
#endif
//@cond RAPIDJSON_INTERNAL
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
// Helper to wrap/convert arbitrary types to void, useful for arbitrary type
// matching
template <typename T>
struct Void {
typedef void Type;
};
///////////////////////////////////////////////////////////////////////////////
// BoolType, TrueType, FalseType
//
template <bool Cond>
struct BoolType {
static const bool Value = Cond;
typedef BoolType Type;
};
typedef BoolType<true> TrueType;
typedef BoolType<false> FalseType;
///////////////////////////////////////////////////////////////////////////////
// SelectIf, BoolExpr, NotExpr, AndExpr, OrExpr
//
template <bool C>
struct SelectIfImpl {
template <typename T1, typename T2>
struct Apply {
typedef T1 Type;
};
};
template <>
struct SelectIfImpl<false> {
template <typename T1, typename T2>
struct Apply {
typedef T2 Type;
};
};
template <bool C, typename T1, typename T2>
struct SelectIfCond : SelectIfImpl<C>::template Apply<T1, T2> {};
template <typename C, typename T1, typename T2>
struct SelectIf : SelectIfCond<C::Value, T1, T2> {};
template <bool Cond1, bool Cond2>
struct AndExprCond : FalseType {};
template <>
struct AndExprCond<true, true> : TrueType {};
template <bool Cond1, bool Cond2>
struct OrExprCond : TrueType {};
template <>
struct OrExprCond<false, false> : FalseType {};
template <typename C>
struct BoolExpr : SelectIf<C, TrueType, FalseType>::Type {};
template <typename C>
struct NotExpr : SelectIf<C, FalseType, TrueType>::Type {};
template <typename C1, typename C2>
struct AndExpr : AndExprCond<C1::Value, C2::Value>::Type {};
template <typename C1, typename C2>
struct OrExpr : OrExprCond<C1::Value, C2::Value>::Type {};
///////////////////////////////////////////////////////////////////////////////
// AddConst, MaybeAddConst, RemoveConst
template <typename T>
struct AddConst {
typedef const T Type;
};
template <bool Constify, typename T>
struct MaybeAddConst : SelectIfCond<Constify, const T, T> {};
template <typename T>
struct RemoveConst {
typedef T Type;
};
template <typename T>
struct RemoveConst<const T> {
typedef T Type;
};
///////////////////////////////////////////////////////////////////////////////
// IsSame, IsConst, IsMoreConst, IsPointer
//
template <typename T, typename U>
struct IsSame : FalseType {};
template <typename T>
struct IsSame<T, T> : TrueType {};
template <typename T>
struct IsConst : FalseType {};
template <typename T>
struct IsConst<const T> : TrueType {};
template <typename CT, typename T>
struct IsMoreConst
: AndExpr<
IsSame<typename RemoveConst<CT>::Type, typename RemoveConst<T>::Type>,
BoolType<IsConst<CT>::Value >= IsConst<T>::Value>>::Type {};
template <typename T>
struct IsPointer : FalseType {};
template <typename T>
struct IsPointer<T *> : TrueType {};
///////////////////////////////////////////////////////////////////////////////
// IsBaseOf
//
#if RAPIDJSON_HAS_CXX11_TYPETRAITS
template <typename B, typename D>
struct IsBaseOf : BoolType<::std::is_base_of<B, D>::value> {};
#else // simplified version adopted from Boost
template <typename B, typename D>
struct IsBaseOfImpl {
RAPIDJSON_STATIC_ASSERT(sizeof(B) != 0);
RAPIDJSON_STATIC_ASSERT(sizeof(D) != 0);
typedef char (&Yes)[1];
typedef char (&No)[2];
template <typename T>
static Yes Check(const D *, T);
static No Check(const B *, int);
struct Host {
operator const B *() const;
operator const D *();
};
enum { Value = (sizeof(Check(Host(), 0)) == sizeof(Yes)) };
};
template <typename B, typename D>
struct IsBaseOf : OrExpr<IsSame<B, D>, BoolExpr<IsBaseOfImpl<B, D>>>::Type {};
#endif // RAPIDJSON_HAS_CXX11_TYPETRAITS
//////////////////////////////////////////////////////////////////////////
// EnableIf / DisableIf
//
template <bool Condition, typename T = void>
struct EnableIfCond {
typedef T Type;
};
template <typename T>
struct EnableIfCond<false, T> { /* empty */
};
template <bool Condition, typename T = void>
struct DisableIfCond {
typedef T Type;
};
template <typename T>
struct DisableIfCond<true, T> { /* empty */
};
template <typename Condition, typename T = void>
struct EnableIf : EnableIfCond<Condition::Value, T> {};
template <typename Condition, typename T = void>
struct DisableIf : DisableIfCond<Condition::Value, T> {};
// SFINAE helpers
struct SfinaeTag {};
template <typename T>
struct RemoveSfinaeTag;
template <typename T>
struct RemoveSfinaeTag<SfinaeTag &(*)(T)> {
typedef T Type;
};
#define RAPIDJSON_REMOVEFPTR_(type) \
typename ::RAPIDJSON_NAMESPACE::internal::RemoveSfinaeTag< \
::RAPIDJSON_NAMESPACE::internal::SfinaeTag &(*)type>::Type
#define RAPIDJSON_ENABLEIF(cond) \
typename ::RAPIDJSON_NAMESPACE::internal::EnableIf<RAPIDJSON_REMOVEFPTR_( \
cond)>::Type * = NULL
#define RAPIDJSON_DISABLEIF(cond) \
typename ::RAPIDJSON_NAMESPACE::internal::DisableIf<RAPIDJSON_REMOVEFPTR_( \
cond)>::Type * = NULL
#define RAPIDJSON_ENABLEIF_RETURN(cond, returntype) \
typename ::RAPIDJSON_NAMESPACE::internal::EnableIf< \
RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type
#define RAPIDJSON_DISABLEIF_RETURN(cond, returntype) \
typename ::RAPIDJSON_NAMESPACE::internal::DisableIf< \
RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type
} // namespace internal
RAPIDJSON_NAMESPACE_END
//@endcond
#if defined(_MSC_VER) && !defined(__clang__)
RAPIDJSON_DIAG_POP
#endif
#ifdef __GNUC__
RAPIDJSON_DIAG_POP
#endif
#endif // RAPIDJSON_INTERNAL_META_H_
livox_ros_driver2/3rdparty/rapidjson/internal/pow10.h
Vendored
+77
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@@ -0,0 +1,77 @@
// 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_POW10_
#define RAPIDJSON_POW10_
#include "../rapidjson.h"
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
//! Computes integer powers of 10 in double (10.0^n).
/*! This function uses lookup table for fast and accurate results.
\param n non-negative exponent. Must <= 308.
\return 10.0^n
*/
inline double Pow10(int n) {
static const double e[] = {
// 1e-0...1e308: 309 * 8 bytes = 2472 bytes
1e+0, 1e+1, 1e+2, 1e+3, 1e+4, 1e+5, 1e+6, 1e+7, 1e+8,
1e+9, 1e+10, 1e+11, 1e+12, 1e+13, 1e+14, 1e+15, 1e+16, 1e+17,
1e+18, 1e+19, 1e+20, 1e+21, 1e+22, 1e+23, 1e+24, 1e+25, 1e+26,
1e+27, 1e+28, 1e+29, 1e+30, 1e+31, 1e+32, 1e+33, 1e+34, 1e+35,
1e+36, 1e+37, 1e+38, 1e+39, 1e+40, 1e+41, 1e+42, 1e+43, 1e+44,
1e+45, 1e+46, 1e+47, 1e+48, 1e+49, 1e+50, 1e+51, 1e+52, 1e+53,
1e+54, 1e+55, 1e+56, 1e+57, 1e+58, 1e+59, 1e+60, 1e+61, 1e+62,
1e+63, 1e+64, 1e+65, 1e+66, 1e+67, 1e+68, 1e+69, 1e+70, 1e+71,
1e+72, 1e+73, 1e+74, 1e+75, 1e+76, 1e+77, 1e+78, 1e+79, 1e+80,
1e+81, 1e+82, 1e+83, 1e+84, 1e+85, 1e+86, 1e+87, 1e+88, 1e+89,
1e+90, 1e+91, 1e+92, 1e+93, 1e+94, 1e+95, 1e+96, 1e+97, 1e+98,
1e+99, 1e+100, 1e+101, 1e+102, 1e+103, 1e+104, 1e+105, 1e+106, 1e+107,
1e+108, 1e+109, 1e+110, 1e+111, 1e+112, 1e+113, 1e+114, 1e+115, 1e+116,
1e+117, 1e+118, 1e+119, 1e+120, 1e+121, 1e+122, 1e+123, 1e+124, 1e+125,
1e+126, 1e+127, 1e+128, 1e+129, 1e+130, 1e+131, 1e+132, 1e+133, 1e+134,
1e+135, 1e+136, 1e+137, 1e+138, 1e+139, 1e+140, 1e+141, 1e+142, 1e+143,
1e+144, 1e+145, 1e+146, 1e+147, 1e+148, 1e+149, 1e+150, 1e+151, 1e+152,
1e+153, 1e+154, 1e+155, 1e+156, 1e+157, 1e+158, 1e+159, 1e+160, 1e+161,
1e+162, 1e+163, 1e+164, 1e+165, 1e+166, 1e+167, 1e+168, 1e+169, 1e+170,
1e+171, 1e+172, 1e+173, 1e+174, 1e+175, 1e+176, 1e+177, 1e+178, 1e+179,
1e+180, 1e+181, 1e+182, 1e+183, 1e+184, 1e+185, 1e+186, 1e+187, 1e+188,
1e+189, 1e+190, 1e+191, 1e+192, 1e+193, 1e+194, 1e+195, 1e+196, 1e+197,
1e+198, 1e+199, 1e+200, 1e+201, 1e+202, 1e+203, 1e+204, 1e+205, 1e+206,
1e+207, 1e+208, 1e+209, 1e+210, 1e+211, 1e+212, 1e+213, 1e+214, 1e+215,
1e+216, 1e+217, 1e+218, 1e+219, 1e+220, 1e+221, 1e+222, 1e+223, 1e+224,
1e+225, 1e+226, 1e+227, 1e+228, 1e+229, 1e+230, 1e+231, 1e+232, 1e+233,
1e+234, 1e+235, 1e+236, 1e+237, 1e+238, 1e+239, 1e+240, 1e+241, 1e+242,
1e+243, 1e+244, 1e+245, 1e+246, 1e+247, 1e+248, 1e+249, 1e+250, 1e+251,
1e+252, 1e+253, 1e+254, 1e+255, 1e+256, 1e+257, 1e+258, 1e+259, 1e+260,
1e+261, 1e+262, 1e+263, 1e+264, 1e+265, 1e+266, 1e+267, 1e+268, 1e+269,
1e+270, 1e+271, 1e+272, 1e+273, 1e+274, 1e+275, 1e+276, 1e+277, 1e+278,
1e+279, 1e+280, 1e+281, 1e+282, 1e+283, 1e+284, 1e+285, 1e+286, 1e+287,
1e+288, 1e+289, 1e+290, 1e+291, 1e+292, 1e+293, 1e+294, 1e+295, 1e+296,
1e+297, 1e+298, 1e+299, 1e+300, 1e+301, 1e+302, 1e+303, 1e+304, 1e+305,
1e+306, 1e+307, 1e+308};
RAPIDJSON_ASSERT(n >= 0 && n <= 308);
return e[n];
}
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_POW10_
livox_ros_driver2/3rdparty/rapidjson/internal/regex.h
Vendored
+753
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@@ -0,0 +1,753 @@
// 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_INTERNAL_REGEX_H_
#define RAPIDJSON_INTERNAL_REGEX_H_
#include "../allocators.h"
#include "../stream.h"
#include "stack.h"
#ifdef __clang__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(padded)
RAPIDJSON_DIAG_OFF(switch - enum)
#elif defined(_MSC_VER)
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated
#endif
#ifdef __GNUC__
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(effc++)
#endif
#ifndef RAPIDJSON_REGEX_VERBOSE
#define RAPIDJSON_REGEX_VERBOSE 0
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
///////////////////////////////////////////////////////////////////////////////
// DecodedStream
template <typename SourceStream, typename Encoding>
class DecodedStream {
public:
DecodedStream(SourceStream &ss) : ss_(ss), codepoint_() { Decode(); }
unsigned Peek() { return codepoint_; }
unsigned Take() {
unsigned c = codepoint_;
if (c) // No further decoding when '\0'
Decode();
return c;
}
private:
void Decode() {
if (!Encoding::Decode(ss_, &codepoint_)) codepoint_ = 0;
}
SourceStream &ss_;
unsigned codepoint_;
};
///////////////////////////////////////////////////////////////////////////////
// GenericRegex
static const SizeType kRegexInvalidState = ~SizeType(
0); //!< Represents an invalid index in GenericRegex::State::out, out1
static const SizeType kRegexInvalidRange = ~SizeType(0);
template <typename Encoding, typename Allocator>
class GenericRegexSearch;
//! Regular expression engine with subset of ECMAscript grammar.
/*!
Supported regular expression syntax:
- \c ab Concatenation
- \c a|b Alternation
- \c a? Zero or one
- \c a* Zero or more
- \c a+ One or more
- \c a{3} Exactly 3 times
- \c a{3,} At least 3 times
- \c a{3,5} 3 to 5 times
- \c (ab) Grouping
- \c ^a At the beginning
- \c a$ At the end
- \c . Any character
- \c [abc] Character classes
- \c [a-c] Character class range
- \c [a-z0-9_] Character class combination
- \c [^abc] Negated character classes
- \c [^a-c] Negated character class range
- \c [\b] Backspace (U+0008)
- \c \\| \\\\ ... Escape characters
- \c \\f Form feed (U+000C)
- \c \\n Line feed (U+000A)
- \c \\r Carriage return (U+000D)
- \c \\t Tab (U+0009)
- \c \\v Vertical tab (U+000B)
\note This is a Thompson NFA engine, implemented with reference to
Cox, Russ. "Regular Expression Matching Can Be Simple And Fast (but is
slow in Java, Perl, PHP, Python, Ruby,...).",
https://swtch.com/~rsc/regexp/regexp1.html
*/
template <typename Encoding, typename Allocator = CrtAllocator>
class GenericRegex {
public:
typedef Encoding EncodingType;
typedef typename Encoding::Ch Ch;
template <typename, typename>
friend class GenericRegexSearch;
GenericRegex(const Ch *source, Allocator *allocator = 0)
: ownAllocator_(allocator ? 0 : RAPIDJSON_NEW(Allocator)()),
allocator_(allocator ? allocator : ownAllocator_),
states_(allocator_, 256),
ranges_(allocator_, 256),
root_(kRegexInvalidState),
stateCount_(),
rangeCount_(),
anchorBegin_(),
anchorEnd_() {
GenericStringStream<Encoding> ss(source);
DecodedStream<GenericStringStream<Encoding>, Encoding> ds(ss);
Parse(ds);
}
~GenericRegex() { RAPIDJSON_DELETE(ownAllocator_); }
bool IsValid() const { return root_ != kRegexInvalidState; }
private:
enum Operator {
kZeroOrOne,
kZeroOrMore,
kOneOrMore,
kConcatenation,
kAlternation,
kLeftParenthesis
};
static const unsigned kAnyCharacterClass = 0xFFFFFFFF; //!< For '.'
static const unsigned kRangeCharacterClass = 0xFFFFFFFE;
static const unsigned kRangeNegationFlag = 0x80000000;
struct Range {
unsigned start; //
unsigned end;
SizeType next;
};
struct State {
SizeType out; //!< Equals to kInvalid for matching state
SizeType out1; //!< Equals to non-kInvalid for split
SizeType rangeStart;
unsigned codepoint;
};
struct Frag {
Frag(SizeType s, SizeType o, SizeType m) : start(s), out(o), minIndex(m) {}
SizeType start;
SizeType out; //!< link-list of all output states
SizeType minIndex;
};
State &GetState(SizeType index) {
RAPIDJSON_ASSERT(index < stateCount_);
return states_.template Bottom<State>()[index];
}
const State &GetState(SizeType index) const {
RAPIDJSON_ASSERT(index < stateCount_);
return states_.template Bottom<State>()[index];
}
Range &GetRange(SizeType index) {
RAPIDJSON_ASSERT(index < rangeCount_);
return ranges_.template Bottom<Range>()[index];
}
const Range &GetRange(SizeType index) const {
RAPIDJSON_ASSERT(index < rangeCount_);
return ranges_.template Bottom<Range>()[index];
}
template <typename InputStream>
void Parse(DecodedStream<InputStream, Encoding> &ds) {
Stack<Allocator> operandStack(allocator_, 256); // Frag
Stack<Allocator> operatorStack(allocator_, 256); // Operator
Stack<Allocator> atomCountStack(allocator_,
256); // unsigned (Atom per parenthesis)
*atomCountStack.template Push<unsigned>() = 0;
unsigned codepoint;
while (ds.Peek() != 0) {
switch (codepoint = ds.Take()) {
case '^':
anchorBegin_ = true;
break;
case '$':
anchorEnd_ = true;
break;
case '|':
while (!operatorStack.Empty() &&
*operatorStack.template Top<Operator>() < kAlternation)
if (!Eval(operandStack, *operatorStack.template Pop<Operator>(1)))
return;
*operatorStack.template Push<Operator>() = kAlternation;
*atomCountStack.template Top<unsigned>() = 0;
break;
case '(':
*operatorStack.template Push<Operator>() = kLeftParenthesis;
*atomCountStack.template Push<unsigned>() = 0;
break;
case ')':
while (!operatorStack.Empty() &&
*operatorStack.template Top<Operator>() != kLeftParenthesis)
if (!Eval(operandStack, *operatorStack.template Pop<Operator>(1)))
return;
if (operatorStack.Empty()) return;
operatorStack.template Pop<Operator>(1);
atomCountStack.template Pop<unsigned>(1);
ImplicitConcatenation(atomCountStack, operatorStack);
break;
case '?':
if (!Eval(operandStack, kZeroOrOne)) return;
break;
case '*':
if (!Eval(operandStack, kZeroOrMore)) return;
break;
case '+':
if (!Eval(operandStack, kOneOrMore)) return;
break;
case '{': {
unsigned n, m;
if (!ParseUnsigned(ds, &n)) return;
if (ds.Peek() == ',') {
ds.Take();
if (ds.Peek() == '}')
m = kInfinityQuantifier;
else if (!ParseUnsigned(ds, &m) || m < n)
return;
} else
m = n;
if (!EvalQuantifier(operandStack, n, m) || ds.Peek() != '}') return;
ds.Take();
} break;
case '.':
PushOperand(operandStack, kAnyCharacterClass);
ImplicitConcatenation(atomCountStack, operatorStack);
break;
case '[': {
SizeType range;
if (!ParseRange(ds, &range)) return;
SizeType s = NewState(kRegexInvalidState, kRegexInvalidState,
kRangeCharacterClass);
GetState(s).rangeStart = range;
*operandStack.template Push<Frag>() = Frag(s, s, s);
}
ImplicitConcatenation(atomCountStack, operatorStack);
break;
case '\\': // Escape character
if (!CharacterEscape(ds, &codepoint))
return; // Unsupported escape character
// fall through to default
RAPIDJSON_DELIBERATE_FALLTHROUGH;
default: // Pattern character
PushOperand(operandStack, codepoint);
ImplicitConcatenation(atomCountStack, operatorStack);
}
}
while (!operatorStack.Empty())
if (!Eval(operandStack, *operatorStack.template Pop<Operator>(1))) return;
// Link the operand to matching state.
if (operandStack.GetSize() == sizeof(Frag)) {
Frag *e = operandStack.template Pop<Frag>(1);
Patch(e->out, NewState(kRegexInvalidState, kRegexInvalidState, 0));
root_ = e->start;
#if RAPIDJSON_REGEX_VERBOSE
printf("root: %d\n", root_);
for (SizeType i = 0; i < stateCount_; i++) {
State &s = GetState(i);
printf("[%2d] out: %2d out1: %2d c: '%c'\n", i, s.out, s.out1,
(char)s.codepoint);
}
printf("\n");
#endif
}
}
SizeType NewState(SizeType out, SizeType out1, unsigned codepoint) {
State *s = states_.template Push<State>();
s->out = out;
s->out1 = out1;
s->codepoint = codepoint;
s->rangeStart = kRegexInvalidRange;
return stateCount_++;
}
void PushOperand(Stack<Allocator> &operandStack, unsigned codepoint) {
SizeType s = NewState(kRegexInvalidState, kRegexInvalidState, codepoint);
*operandStack.template Push<Frag>() = Frag(s, s, s);
}
void ImplicitConcatenation(Stack<Allocator> &atomCountStack,
Stack<Allocator> &operatorStack) {
if (*atomCountStack.template Top<unsigned>())
*operatorStack.template Push<Operator>() = kConcatenation;
(*atomCountStack.template Top<unsigned>())++;
}
SizeType Append(SizeType l1, SizeType l2) {
SizeType old = l1;
while (GetState(l1).out != kRegexInvalidState) l1 = GetState(l1).out;
GetState(l1).out = l2;
return old;
}
void Patch(SizeType l, SizeType s) {
for (SizeType next; l != kRegexInvalidState; l = next) {
next = GetState(l).out;
GetState(l).out = s;
}
}
bool Eval(Stack<Allocator> &operandStack, Operator op) {
switch (op) {
case kConcatenation:
RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag) * 2);
{
Frag e2 = *operandStack.template Pop<Frag>(1);
Frag e1 = *operandStack.template Pop<Frag>(1);
Patch(e1.out, e2.start);
*operandStack.template Push<Frag>() =
Frag(e1.start, e2.out, Min(e1.minIndex, e2.minIndex));
}
return true;
case kAlternation:
if (operandStack.GetSize() >= sizeof(Frag) * 2) {
Frag e2 = *operandStack.template Pop<Frag>(1);
Frag e1 = *operandStack.template Pop<Frag>(1);
SizeType s = NewState(e1.start, e2.start, 0);
*operandStack.template Push<Frag>() =
Frag(s, Append(e1.out, e2.out), Min(e1.minIndex, e2.minIndex));
return true;
}
return false;
case kZeroOrOne:
if (operandStack.GetSize() >= sizeof(Frag)) {
Frag e = *operandStack.template Pop<Frag>(1);
SizeType s = NewState(kRegexInvalidState, e.start, 0);
*operandStack.template Push<Frag>() =
Frag(s, Append(e.out, s), e.minIndex);
return true;
}
return false;
case kZeroOrMore:
if (operandStack.GetSize() >= sizeof(Frag)) {
Frag e = *operandStack.template Pop<Frag>(1);
SizeType s = NewState(kRegexInvalidState, e.start, 0);
Patch(e.out, s);
*operandStack.template Push<Frag>() = Frag(s, s, e.minIndex);
return true;
}
return false;
case kOneOrMore:
if (operandStack.GetSize() >= sizeof(Frag)) {
Frag e = *operandStack.template Pop<Frag>(1);
SizeType s = NewState(kRegexInvalidState, e.start, 0);
Patch(e.out, s);
*operandStack.template Push<Frag>() = Frag(e.start, s, e.minIndex);
return true;
}
return false;
default:
// syntax error (e.g. unclosed kLeftParenthesis)
return false;
}
}
bool EvalQuantifier(Stack<Allocator> &operandStack, unsigned n, unsigned m) {
RAPIDJSON_ASSERT(n <= m);
RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag));
if (n == 0) {
if (m == 0) // a{0} not support
return false;
else if (m == kInfinityQuantifier)
Eval(operandStack, kZeroOrMore); // a{0,} -> a*
else {
Eval(operandStack, kZeroOrOne); // a{0,5} -> a?
for (unsigned i = 0; i < m - 1; i++)
CloneTopOperand(operandStack); // a{0,5} -> a? a? a? a? a?
for (unsigned i = 0; i < m - 1; i++)
Eval(operandStack, kConcatenation); // a{0,5} -> a?a?a?a?a?
}
return true;
}
for (unsigned i = 0; i < n - 1; i++) // a{3} -> a a a
CloneTopOperand(operandStack);
if (m == kInfinityQuantifier)
Eval(operandStack, kOneOrMore); // a{3,} -> a a a+
else if (m > n) {
CloneTopOperand(operandStack); // a{3,5} -> a a a a
Eval(operandStack, kZeroOrOne); // a{3,5} -> a a a a?
for (unsigned i = n; i < m - 1; i++)
CloneTopOperand(operandStack); // a{3,5} -> a a a a? a?
for (unsigned i = n; i < m; i++)
Eval(operandStack, kConcatenation); // a{3,5} -> a a aa?a?
}
for (unsigned i = 0; i < n - 1; i++)
Eval(operandStack,
kConcatenation); // a{3} -> aaa, a{3,} -> aaa+, a{3.5} -> aaaa?a?
return true;
}
static SizeType Min(SizeType a, SizeType b) { return a < b ? a : b; }
void CloneTopOperand(Stack<Allocator> &operandStack) {
const Frag src =
*operandStack
.template Top<Frag>(); // Copy constructor to prevent invalidation
SizeType count =
stateCount_ - src.minIndex; // Assumes top operand contains states in
// [src->minIndex, stateCount_)
State *s = states_.template Push<State>(count);
memcpy(s, &GetState(src.minIndex), count * sizeof(State));
for (SizeType j = 0; j < count; j++) {
if (s[j].out != kRegexInvalidState) s[j].out += count;
if (s[j].out1 != kRegexInvalidState) s[j].out1 += count;
}
*operandStack.template Push<Frag>() =
Frag(src.start + count, src.out + count, src.minIndex + count);
stateCount_ += count;
}
template <typename InputStream>
bool ParseUnsigned(DecodedStream<InputStream, Encoding> &ds, unsigned *u) {
unsigned r = 0;
if (ds.Peek() < '0' || ds.Peek() > '9') return false;
while (ds.Peek() >= '0' && ds.Peek() <= '9') {
if (r >= 429496729 && ds.Peek() > '5') // 2^32 - 1 = 4294967295
return false; // overflow
r = r * 10 + (ds.Take() - '0');
}
*u = r;
return true;
}
template <typename InputStream>
bool ParseRange(DecodedStream<InputStream, Encoding> &ds, SizeType *range) {
bool isBegin = true;
bool negate = false;
int step = 0;
SizeType start = kRegexInvalidRange;
SizeType current = kRegexInvalidRange;
unsigned codepoint;
while ((codepoint = ds.Take()) != 0) {
if (isBegin) {
isBegin = false;
if (codepoint == '^') {
negate = true;
continue;
}
}
switch (codepoint) {
case ']':
if (start == kRegexInvalidRange)
return false; // Error: nothing inside []
if (step == 2) { // Add trailing '-'
SizeType r = NewRange('-');
RAPIDJSON_ASSERT(current != kRegexInvalidRange);
GetRange(current).next = r;
}
if (negate) GetRange(start).start |= kRangeNegationFlag;
*range = start;
return true;
case '\\':
if (ds.Peek() == 'b') {
ds.Take();
codepoint = 0x0008; // Escape backspace character
} else if (!CharacterEscape(ds, &codepoint))
return false;
// fall through to default
RAPIDJSON_DELIBERATE_FALLTHROUGH;
default:
switch (step) {
case 1:
if (codepoint == '-') {
step++;
break;
}
// fall through to step 0 for other characters
RAPIDJSON_DELIBERATE_FALLTHROUGH;
case 0: {
SizeType r = NewRange(codepoint);
if (current != kRegexInvalidRange) GetRange(current).next = r;
if (start == kRegexInvalidRange) start = r;
current = r;
}
step = 1;
break;
default:
RAPIDJSON_ASSERT(step == 2);
GetRange(current).end = codepoint;
step = 0;
}
}
}
return false;
}
SizeType NewRange(unsigned codepoint) {
Range *r = ranges_.template Push<Range>();
r->start = r->end = codepoint;
r->next = kRegexInvalidRange;
return rangeCount_++;
}
template <typename InputStream>
bool CharacterEscape(DecodedStream<InputStream, Encoding> &ds,
unsigned *escapedCodepoint) {
unsigned codepoint;
switch (codepoint = ds.Take()) {
case '^':
case '$':
case '|':
case '(':
case ')':
case '?':
case '*':
case '+':
case '.':
case '[':
case ']':
case '{':
case '}':
case '\\':
*escapedCodepoint = codepoint;
return true;
case 'f':
*escapedCodepoint = 0x000C;
return true;
case 'n':
*escapedCodepoint = 0x000A;
return true;
case 'r':
*escapedCodepoint = 0x000D;
return true;
case 't':
*escapedCodepoint = 0x0009;
return true;
case 'v':
*escapedCodepoint = 0x000B;
return true;
default:
return false; // Unsupported escape character
}
}
Allocator *ownAllocator_;
Allocator *allocator_;
Stack<Allocator> states_;
Stack<Allocator> ranges_;
SizeType root_;
SizeType stateCount_;
SizeType rangeCount_;
static const unsigned kInfinityQuantifier = ~0u;
// For SearchWithAnchoring()
bool anchorBegin_;
bool anchorEnd_;
};
template <typename RegexType, typename Allocator = CrtAllocator>
class GenericRegexSearch {
public:
typedef typename RegexType::EncodingType Encoding;
typedef typename Encoding::Ch Ch;
GenericRegexSearch(const RegexType &regex, Allocator *allocator = 0)
: regex_(regex),
allocator_(allocator),
ownAllocator_(0),
state0_(allocator, 0),
state1_(allocator, 0),
stateSet_() {
RAPIDJSON_ASSERT(regex_.IsValid());
if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)();
stateSet_ = static_cast<unsigned *>(allocator_->Malloc(GetStateSetSize()));
state0_.template Reserve<SizeType>(regex_.stateCount_);
state1_.template Reserve<SizeType>(regex_.stateCount_);
}
~GenericRegexSearch() {
Allocator::Free(stateSet_);
RAPIDJSON_DELETE(ownAllocator_);
}
template <typename InputStream>
bool Match(InputStream &is) {
return SearchWithAnchoring(is, true, true);
}
bool Match(const Ch *s) {
GenericStringStream<Encoding> is(s);
return Match(is);
}
template <typename InputStream>
bool Search(InputStream &is) {
return SearchWithAnchoring(is, regex_.anchorBegin_, regex_.anchorEnd_);
}
bool Search(const Ch *s) {
GenericStringStream<Encoding> is(s);
return Search(is);
}
private:
typedef typename RegexType::State State;
typedef typename RegexType::Range Range;
template <typename InputStream>
bool SearchWithAnchoring(InputStream &is, bool anchorBegin, bool anchorEnd) {
DecodedStream<InputStream, Encoding> ds(is);
state0_.Clear();
Stack<Allocator> *current = &state0_, *next = &state1_;
const size_t stateSetSize = GetStateSetSize();
std::memset(stateSet_, 0, stateSetSize);
bool matched = AddState(*current, regex_.root_);
unsigned codepoint;
while (!current->Empty() && (codepoint = ds.Take()) != 0) {
std::memset(stateSet_, 0, stateSetSize);
next->Clear();
matched = false;
for (const SizeType *s = current->template Bottom<SizeType>();
s != current->template End<SizeType>(); ++s) {
const State &sr = regex_.GetState(*s);
if (sr.codepoint == codepoint ||
sr.codepoint == RegexType::kAnyCharacterClass ||
(sr.codepoint == RegexType::kRangeCharacterClass &&
MatchRange(sr.rangeStart, codepoint))) {
matched = AddState(*next, sr.out) || matched;
if (!anchorEnd && matched) return true;
}
if (!anchorBegin) AddState(*next, regex_.root_);
}
internal::Swap(current, next);
}
return matched;
}
size_t GetStateSetSize() const { return (regex_.stateCount_ + 31) / 32 * 4; }
// Return whether the added states is a match state
bool AddState(Stack<Allocator> &l, SizeType index) {
RAPIDJSON_ASSERT(index != kRegexInvalidState);
const State &s = regex_.GetState(index);
if (s.out1 != kRegexInvalidState) { // Split
bool matched = AddState(l, s.out);
return AddState(l, s.out1) || matched;
} else if (!(stateSet_[index >> 5] & (1u << (index & 31)))) {
stateSet_[index >> 5] |= (1u << (index & 31));
*l.template PushUnsafe<SizeType>() = index;
}
return s.out ==
kRegexInvalidState; // by using PushUnsafe() above, we can ensure s
// is not validated due to reallocation.
}
bool MatchRange(SizeType rangeIndex, unsigned codepoint) const {
bool yes = (regex_.GetRange(rangeIndex).start &
RegexType::kRangeNegationFlag) == 0;
while (rangeIndex != kRegexInvalidRange) {
const Range &r = regex_.GetRange(rangeIndex);
if (codepoint >= (r.start & ~RegexType::kRangeNegationFlag) &&
codepoint <= r.end)
return yes;
rangeIndex = r.next;
}
return !yes;
}
const RegexType &regex_;
Allocator *allocator_;
Allocator *ownAllocator_;
Stack<Allocator> state0_;
Stack<Allocator> state1_;
uint32_t *stateSet_;
};
typedef GenericRegex<UTF8<>> Regex;
typedef GenericRegexSearch<Regex> RegexSearch;
} // namespace internal
RAPIDJSON_NAMESPACE_END
#ifdef __GNUC__
RAPIDJSON_DIAG_POP
#endif
#if defined(__clang__) || defined(_MSC_VER)
RAPIDJSON_DIAG_POP
#endif
#endif // RAPIDJSON_INTERNAL_REGEX_H_
livox_ros_driver2/3rdparty/rapidjson/internal/stack.h
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// 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_INTERNAL_STACK_H_
#define RAPIDJSON_INTERNAL_STACK_H_
#include <cstddef>
#include "../allocators.h"
#include "swap.h"
#if defined(__clang__)
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
///////////////////////////////////////////////////////////////////////////////
// Stack
//! A type-unsafe stack for storing different types of data.
/*! \tparam Allocator Allocator for allocating stack memory.
*/
template <typename Allocator>
class Stack {
public:
// Optimization note: Do not allocate memory for stack_ in constructor.
// Do it lazily when first Push() -> Expand() -> Resize().
Stack(Allocator *allocator, size_t stackCapacity)
: allocator_(allocator),
ownAllocator_(0),
stack_(0),
stackTop_(0),
stackEnd_(0),
initialCapacity_(stackCapacity) {}
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
Stack(Stack &&rhs)
: allocator_(rhs.allocator_),
ownAllocator_(rhs.ownAllocator_),
stack_(rhs.stack_),
stackTop_(rhs.stackTop_),
stackEnd_(rhs.stackEnd_),
initialCapacity_(rhs.initialCapacity_) {
rhs.allocator_ = 0;
rhs.ownAllocator_ = 0;
rhs.stack_ = 0;
rhs.stackTop_ = 0;
rhs.stackEnd_ = 0;
rhs.initialCapacity_ = 0;
}
#endif
~Stack() { Destroy(); }
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
Stack &operator=(Stack &&rhs) {
if (&rhs != this) {
Destroy();
allocator_ = rhs.allocator_;
ownAllocator_ = rhs.ownAllocator_;
stack_ = rhs.stack_;
stackTop_ = rhs.stackTop_;
stackEnd_ = rhs.stackEnd_;
initialCapacity_ = rhs.initialCapacity_;
rhs.allocator_ = 0;
rhs.ownAllocator_ = 0;
rhs.stack_ = 0;
rhs.stackTop_ = 0;
rhs.stackEnd_ = 0;
rhs.initialCapacity_ = 0;
}
return *this;
}
#endif
void Swap(Stack &rhs) RAPIDJSON_NOEXCEPT {
internal::Swap(allocator_, rhs.allocator_);
internal::Swap(ownAllocator_, rhs.ownAllocator_);
internal::Swap(stack_, rhs.stack_);
internal::Swap(stackTop_, rhs.stackTop_);
internal::Swap(stackEnd_, rhs.stackEnd_);
internal::Swap(initialCapacity_, rhs.initialCapacity_);
}
void Clear() { stackTop_ = stack_; }
void ShrinkToFit() {
if (Empty()) {
// If the stack is empty, completely deallocate the memory.
Allocator::Free(stack_); // NOLINT (+clang-analyzer-unix.Malloc)
stack_ = 0;
stackTop_ = 0;
stackEnd_ = 0;
} else
Resize(GetSize());
}
// Optimization note: try to minimize the size of this function for force
// inline. Expansion is run very infrequently, so it is moved to another
// (probably non-inline) function.
template <typename T>
RAPIDJSON_FORCEINLINE void Reserve(size_t count = 1) {
// Expand the stack if needed
if (RAPIDJSON_UNLIKELY(static_cast<std::ptrdiff_t>(sizeof(T) * count) >
(stackEnd_ - stackTop_)))
Expand<T>(count);
}
template <typename T>
RAPIDJSON_FORCEINLINE T *Push(size_t count = 1) {
Reserve<T>(count);
return PushUnsafe<T>(count);
}
template <typename T>
RAPIDJSON_FORCEINLINE T *PushUnsafe(size_t count = 1) {
RAPIDJSON_ASSERT(stackTop_);
RAPIDJSON_ASSERT(static_cast<std::ptrdiff_t>(sizeof(T) * count) <=
(stackEnd_ - stackTop_));
T *ret = reinterpret_cast<T *>(stackTop_);
stackTop_ += sizeof(T) * count;
return ret;
}
template <typename T>
T *Pop(size_t count) {
RAPIDJSON_ASSERT(GetSize() >= count * sizeof(T));
stackTop_ -= count * sizeof(T);
return reinterpret_cast<T *>(stackTop_);
}
template <typename T>
T *Top() {
RAPIDJSON_ASSERT(GetSize() >= sizeof(T));
return reinterpret_cast<T *>(stackTop_ - sizeof(T));
}
template <typename T>
const T *Top() const {
RAPIDJSON_ASSERT(GetSize() >= sizeof(T));
return reinterpret_cast<T *>(stackTop_ - sizeof(T));
}
template <typename T>
T *End() {
return reinterpret_cast<T *>(stackTop_);
}
template <typename T>
const T *End() const {
return reinterpret_cast<T *>(stackTop_);
}
template <typename T>
T *Bottom() {
return reinterpret_cast<T *>(stack_);
}
template <typename T>
const T *Bottom() const {
return reinterpret_cast<T *>(stack_);
}
bool HasAllocator() const { return allocator_ != 0; }
Allocator &GetAllocator() {
RAPIDJSON_ASSERT(allocator_);
return *allocator_;
}
bool Empty() const { return stackTop_ == stack_; }
size_t GetSize() const { return static_cast<size_t>(stackTop_ - stack_); }
size_t GetCapacity() const { return static_cast<size_t>(stackEnd_ - stack_); }
private:
template <typename T>
void Expand(size_t count) {
// Only expand the capacity if the current stack exists. Otherwise just
// create a stack with initial capacity.
size_t newCapacity;
if (stack_ == 0) {
if (!allocator_) ownAllocator_ = allocator_ = RAPIDJSON_NEW(Allocator)();
newCapacity = initialCapacity_;
} else {
newCapacity = GetCapacity();
newCapacity += (newCapacity + 1) / 2;
}
size_t newSize = GetSize() + sizeof(T) * count;
if (newCapacity < newSize) newCapacity = newSize;
Resize(newCapacity);
}
void Resize(size_t newCapacity) {
const size_t size = GetSize(); // Backup the current size
stack_ = static_cast<char *>(
allocator_->Realloc(stack_, GetCapacity(), newCapacity));
stackTop_ = stack_ + size;
stackEnd_ = stack_ + newCapacity;
}
void Destroy() {
Allocator::Free(stack_);
RAPIDJSON_DELETE(ownAllocator_); // Only delete if it is owned by the stack
}
// Prohibit copy constructor & assignment operator.
Stack(const Stack &);
Stack &operator=(const Stack &);
Allocator *allocator_;
Allocator *ownAllocator_;
char *stack_;
char *stackTop_;
char *stackEnd_;
size_t initialCapacity_;
};
} // namespace internal
RAPIDJSON_NAMESPACE_END
#if defined(__clang__)
RAPIDJSON_DIAG_POP
#endif
#endif // RAPIDJSON_STACK_H_
livox_ros_driver2/3rdparty/rapidjson/internal/strfunc.h
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// 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_INTERNAL_STRFUNC_H_
#define RAPIDJSON_INTERNAL_STRFUNC_H_
#include <cwchar>
#include "../stream.h"
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
//! Custom strlen() which works on different character types.
/*! \tparam Ch Character type (e.g. char, wchar_t, short)
\param s Null-terminated input string.
\return Number of characters in the string.
\note This has the same semantics as strlen(), the return value is not
number of Unicode codepoints.
*/
template <typename Ch>
inline SizeType StrLen(const Ch *s) {
RAPIDJSON_ASSERT(s != 0);
const Ch *p = s;
while (*p) ++p;
return SizeType(p - s);
}
template <>
inline SizeType StrLen(const char *s) {
return SizeType(std::strlen(s));
}
template <>
inline SizeType StrLen(const wchar_t *s) {
return SizeType(std::wcslen(s));
}
//! Returns number of code points in a encoded string.
template <typename Encoding>
bool CountStringCodePoint(const typename Encoding::Ch *s, SizeType length,
SizeType *outCount) {
RAPIDJSON_ASSERT(s != 0);
RAPIDJSON_ASSERT(outCount != 0);
GenericStringStream<Encoding> is(s);
const typename Encoding::Ch *end = s + length;
SizeType count = 0;
while (is.src_ < end) {
unsigned codepoint;
if (!Encoding::Decode(is, &codepoint)) return false;
count++;
}
*outCount = count;
return true;
}
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_INTERNAL_STRFUNC_H_
livox_ros_driver2/3rdparty/rapidjson/internal/strtod.h
Vendored
+303
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// 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_STRTOD_
#define RAPIDJSON_STRTOD_
#include <climits>
#include <limits>
#include "biginteger.h"
#include "diyfp.h"
#include "ieee754.h"
#include "pow10.h"
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
inline double FastPath(double significand, int exp) {
if (exp < -308)
return 0.0;
else if (exp >= 0)
return significand * internal::Pow10(exp);
else
return significand / internal::Pow10(-exp);
}
inline double StrtodNormalPrecision(double d, int p) {
if (p < -308) {
// Prevent expSum < -308, making Pow10(p) = 0
d = FastPath(d, -308);
d = FastPath(d, p + 308);
} else
d = FastPath(d, p);
return d;
}
template <typename T>
inline T Min3(T a, T b, T c) {
T m = a;
if (m > b) m = b;
if (m > c) m = c;
return m;
}
inline int CheckWithinHalfULP(double b, const BigInteger &d, int dExp) {
const Double db(b);
const uint64_t bInt = db.IntegerSignificand();
const int bExp = db.IntegerExponent();
const int hExp = bExp - 1;
int dS_Exp2 = 0, dS_Exp5 = 0, bS_Exp2 = 0, bS_Exp5 = 0, hS_Exp2 = 0,
hS_Exp5 = 0;
// Adjust for decimal exponent
if (dExp >= 0) {
dS_Exp2 += dExp;
dS_Exp5 += dExp;
} else {
bS_Exp2 -= dExp;
bS_Exp5 -= dExp;
hS_Exp2 -= dExp;
hS_Exp5 -= dExp;
}
// Adjust for binary exponent
if (bExp >= 0)
bS_Exp2 += bExp;
else {
dS_Exp2 -= bExp;
hS_Exp2 -= bExp;
}
// Adjust for half ulp exponent
if (hExp >= 0)
hS_Exp2 += hExp;
else {
dS_Exp2 -= hExp;
bS_Exp2 -= hExp;
}
// Remove common power of two factor from all three scaled values
int common_Exp2 = Min3(dS_Exp2, bS_Exp2, hS_Exp2);
dS_Exp2 -= common_Exp2;
bS_Exp2 -= common_Exp2;
hS_Exp2 -= common_Exp2;
BigInteger dS = d;
dS.MultiplyPow5(static_cast<unsigned>(dS_Exp5)) <<=
static_cast<unsigned>(dS_Exp2);
BigInteger bS(bInt);
bS.MultiplyPow5(static_cast<unsigned>(bS_Exp5)) <<=
static_cast<unsigned>(bS_Exp2);
BigInteger hS(1);
hS.MultiplyPow5(static_cast<unsigned>(hS_Exp5)) <<=
static_cast<unsigned>(hS_Exp2);
BigInteger delta(0);
dS.Difference(bS, &delta);
return delta.Compare(hS);
}
inline bool StrtodFast(double d, int p, double *result) {
// Use fast path for string-to-double conversion if possible
// see
// http://www.exploringbinary.com/fast-path-decimal-to-floating-point-conversion/
if (p > 22 && p < 22 + 16) {
// Fast Path Cases In Disguise
d *= internal::Pow10(p - 22);
p = 22;
}
if (p >= -22 && p <= 22 && d <= 9007199254740991.0) { // 2^53 - 1
*result = FastPath(d, p);
return true;
} else
return false;
}
// Compute an approximation and see if it is within 1/2 ULP
inline bool StrtodDiyFp(const char *decimals, int dLen, int dExp,
double *result) {
uint64_t significand = 0;
int i = 0; // 2^64 - 1 = 18446744073709551615, 1844674407370955161 =
// 0x1999999999999999
for (; i < dLen; i++) {
if (significand > RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) ||
(significand == RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) &&
decimals[i] > '5'))
break;
significand = significand * 10u + static_cast<unsigned>(decimals[i] - '0');
}
if (i < dLen && decimals[i] >= '5') // Rounding
significand++;
int remaining = dLen - i;
const int kUlpShift = 3;
const int kUlp = 1 << kUlpShift;
int64_t error = (remaining == 0) ? 0 : kUlp / 2;
DiyFp v(significand, 0);
v = v.Normalize();
error <<= -v.e;
dExp += remaining;
int actualExp;
DiyFp cachedPower = GetCachedPower10(dExp, &actualExp);
if (actualExp != dExp) {
static const DiyFp kPow10[] = {
DiyFp(RAPIDJSON_UINT64_C2(0xa0000000, 0x00000000), -60), // 10^1
DiyFp(RAPIDJSON_UINT64_C2(0xc8000000, 0x00000000), -57), // 10^2
DiyFp(RAPIDJSON_UINT64_C2(0xfa000000, 0x00000000), -54), // 10^3
DiyFp(RAPIDJSON_UINT64_C2(0x9c400000, 0x00000000), -50), // 10^4
DiyFp(RAPIDJSON_UINT64_C2(0xc3500000, 0x00000000), -47), // 10^5
DiyFp(RAPIDJSON_UINT64_C2(0xf4240000, 0x00000000), -44), // 10^6
DiyFp(RAPIDJSON_UINT64_C2(0x98968000, 0x00000000), -40) // 10^7
};
int adjustment = dExp - actualExp;
RAPIDJSON_ASSERT(adjustment >= 1 && adjustment < 8);
v = v * kPow10[adjustment - 1];
if (dLen + adjustment >
19) // has more digits than decimal digits in 64-bit
error += kUlp / 2;
}
v = v * cachedPower;
error += kUlp + (error == 0 ? 0 : 1);
const int oldExp = v.e;
v = v.Normalize();
error <<= oldExp - v.e;
const int effectiveSignificandSize =
Double::EffectiveSignificandSize(64 + v.e);
int precisionSize = 64 - effectiveSignificandSize;
if (precisionSize + kUlpShift >= 64) {
int scaleExp = (precisionSize + kUlpShift) - 63;
v.f >>= scaleExp;
v.e += scaleExp;
error = (error >> scaleExp) + 1 + kUlp;
precisionSize -= scaleExp;
}
DiyFp rounded(v.f >> precisionSize, v.e + precisionSize);
const uint64_t precisionBits =
(v.f & ((uint64_t(1) << precisionSize) - 1)) * kUlp;
const uint64_t halfWay = (uint64_t(1) << (precisionSize - 1)) * kUlp;
if (precisionBits >= halfWay + static_cast<unsigned>(error)) {
rounded.f++;
if (rounded.f & (DiyFp::kDpHiddenBit
<< 1)) { // rounding overflows mantissa (issue #340)
rounded.f >>= 1;
rounded.e++;
}
}
*result = rounded.ToDouble();
return halfWay - static_cast<unsigned>(error) >= precisionBits ||
precisionBits >= halfWay + static_cast<unsigned>(error);
}
inline double StrtodBigInteger(double approx, const char *decimals, int dLen,
int dExp) {
RAPIDJSON_ASSERT(dLen >= 0);
const BigInteger dInt(decimals, static_cast<unsigned>(dLen));
Double a(approx);
int cmp = CheckWithinHalfULP(a.Value(), dInt, dExp);
if (cmp < 0)
return a.Value(); // within half ULP
else if (cmp == 0) {
// Round towards even
if (a.Significand() & 1)
return a.NextPositiveDouble();
else
return a.Value();
} else // adjustment
return a.NextPositiveDouble();
}
inline double StrtodFullPrecision(double d, int p, const char *decimals,
size_t length, size_t decimalPosition,
int exp) {
RAPIDJSON_ASSERT(d >= 0.0);
RAPIDJSON_ASSERT(length >= 1);
double result = 0.0;
if (StrtodFast(d, p, &result)) return result;
RAPIDJSON_ASSERT(length <= INT_MAX);
int dLen = static_cast<int>(length);
RAPIDJSON_ASSERT(length >= decimalPosition);
RAPIDJSON_ASSERT(length - decimalPosition <= INT_MAX);
int dExpAdjust = static_cast<int>(length - decimalPosition);
RAPIDJSON_ASSERT(exp >= INT_MIN + dExpAdjust);
int dExp = exp - dExpAdjust;
// Make sure length+dExp does not overflow
RAPIDJSON_ASSERT(dExp <= INT_MAX - dLen);
// Trim leading zeros
while (dLen > 0 && *decimals == '0') {
dLen--;
decimals++;
}
// Trim trailing zeros
while (dLen > 0 && decimals[dLen - 1] == '0') {
dLen--;
dExp++;
}
if (dLen == 0) { // Buffer only contains zeros.
return 0.0;
}
// Trim right-most digits
const int kMaxDecimalDigit = 767 + 1;
if (dLen > kMaxDecimalDigit) {
dExp += dLen - kMaxDecimalDigit;
dLen = kMaxDecimalDigit;
}
// If too small, underflow to zero.
// Any x <= 10^-324 is interpreted as zero.
if (dLen + dExp <= -324) return 0.0;
// If too large, overflow to infinity.
// Any x >= 10^309 is interpreted as +infinity.
if (dLen + dExp > 309) return std::numeric_limits<double>::infinity();
if (StrtodDiyFp(decimals, dLen, dExp, &result)) return result;
// Use approximation from StrtodDiyFp and make adjustment with BigInteger
// comparison
return StrtodBigInteger(result, decimals, dLen, dExp);
}
} // namespace internal
RAPIDJSON_NAMESPACE_END
#endif // RAPIDJSON_STRTOD_
livox_ros_driver2/3rdparty/rapidjson/internal/swap.h
Vendored
+50
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// 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_INTERNAL_SWAP_H_
#define RAPIDJSON_INTERNAL_SWAP_H_
#include "../rapidjson.h"
#if defined(__clang__)
RAPIDJSON_DIAG_PUSH
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
#endif
RAPIDJSON_NAMESPACE_BEGIN
namespace internal {
//! Custom swap() to avoid dependency on C++ <algorithm> header
/*! \tparam T Type of the arguments to swap, should be instantiated with
primitive C++ types only. \note This has the same semantics as std::swap().
*/
template <typename T>
inline void Swap(T &a, T &b) RAPIDJSON_NOEXCEPT {
T tmp = a;
a = b;
b = tmp;
}
} // namespace internal
RAPIDJSON_NAMESPACE_END
#if defined(__clang__)
RAPIDJSON_DIAG_POP
#endif
#endif // RAPIDJSON_INTERNAL_SWAP_H_