feat(agv_pro_bringup): add multi-lidar support and drivers
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X-lanni
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// Tencent is pleased to support the open source community by making RapidJSON
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// available.
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//
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// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All
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// rights reserved.
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//
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// Licensed under the MIT License (the "License"); you may not use this file
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// except in compliance with the License. You may obtain a copy of the License
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// at
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//
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// http://opensource.org/licenses/MIT
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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// WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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// License for the specific language governing permissions and limitations under
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// the License.
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#ifndef RAPIDJSON_INTERNAL_META_H_
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#define RAPIDJSON_INTERNAL_META_H_
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#include "../rapidjson.h"
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#ifdef __GNUC__
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RAPIDJSON_DIAG_PUSH
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RAPIDJSON_DIAG_OFF(effc++)
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#endif
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#if defined(_MSC_VER) && !defined(__clang__)
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RAPIDJSON_DIAG_PUSH
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RAPIDJSON_DIAG_OFF(6334)
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#endif
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#if RAPIDJSON_HAS_CXX11_TYPETRAITS
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#include <type_traits>
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#endif
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//@cond RAPIDJSON_INTERNAL
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RAPIDJSON_NAMESPACE_BEGIN
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namespace internal {
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// Helper to wrap/convert arbitrary types to void, useful for arbitrary type
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// matching
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template <typename T>
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struct Void {
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typedef void Type;
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};
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///////////////////////////////////////////////////////////////////////////////
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// BoolType, TrueType, FalseType
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//
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template <bool Cond>
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struct BoolType {
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static const bool Value = Cond;
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typedef BoolType Type;
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};
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typedef BoolType<true> TrueType;
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typedef BoolType<false> FalseType;
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///////////////////////////////////////////////////////////////////////////////
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// SelectIf, BoolExpr, NotExpr, AndExpr, OrExpr
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//
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template <bool C>
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struct SelectIfImpl {
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template <typename T1, typename T2>
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struct Apply {
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typedef T1 Type;
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};
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};
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template <>
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struct SelectIfImpl<false> {
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template <typename T1, typename T2>
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struct Apply {
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typedef T2 Type;
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};
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};
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template <bool C, typename T1, typename T2>
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struct SelectIfCond : SelectIfImpl<C>::template Apply<T1, T2> {};
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template <typename C, typename T1, typename T2>
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struct SelectIf : SelectIfCond<C::Value, T1, T2> {};
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template <bool Cond1, bool Cond2>
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struct AndExprCond : FalseType {};
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template <>
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struct AndExprCond<true, true> : TrueType {};
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template <bool Cond1, bool Cond2>
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struct OrExprCond : TrueType {};
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template <>
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struct OrExprCond<false, false> : FalseType {};
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template <typename C>
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struct BoolExpr : SelectIf<C, TrueType, FalseType>::Type {};
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template <typename C>
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struct NotExpr : SelectIf<C, FalseType, TrueType>::Type {};
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template <typename C1, typename C2>
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struct AndExpr : AndExprCond<C1::Value, C2::Value>::Type {};
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template <typename C1, typename C2>
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struct OrExpr : OrExprCond<C1::Value, C2::Value>::Type {};
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///////////////////////////////////////////////////////////////////////////////
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// AddConst, MaybeAddConst, RemoveConst
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template <typename T>
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struct AddConst {
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typedef const T Type;
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};
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template <bool Constify, typename T>
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struct MaybeAddConst : SelectIfCond<Constify, const T, T> {};
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template <typename T>
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struct RemoveConst {
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typedef T Type;
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};
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template <typename T>
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struct RemoveConst<const T> {
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typedef T Type;
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};
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///////////////////////////////////////////////////////////////////////////////
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// IsSame, IsConst, IsMoreConst, IsPointer
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//
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template <typename T, typename U>
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struct IsSame : FalseType {};
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template <typename T>
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struct IsSame<T, T> : TrueType {};
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template <typename T>
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struct IsConst : FalseType {};
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template <typename T>
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struct IsConst<const T> : TrueType {};
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template <typename CT, typename T>
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struct IsMoreConst
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: AndExpr<
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IsSame<typename RemoveConst<CT>::Type, typename RemoveConst<T>::Type>,
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BoolType<IsConst<CT>::Value >= IsConst<T>::Value>>::Type {};
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template <typename T>
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struct IsPointer : FalseType {};
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template <typename T>
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struct IsPointer<T *> : TrueType {};
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///////////////////////////////////////////////////////////////////////////////
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// IsBaseOf
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//
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#if RAPIDJSON_HAS_CXX11_TYPETRAITS
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template <typename B, typename D>
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struct IsBaseOf : BoolType<::std::is_base_of<B, D>::value> {};
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#else // simplified version adopted from Boost
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template <typename B, typename D>
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struct IsBaseOfImpl {
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RAPIDJSON_STATIC_ASSERT(sizeof(B) != 0);
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RAPIDJSON_STATIC_ASSERT(sizeof(D) != 0);
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typedef char (&Yes)[1];
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typedef char (&No)[2];
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template <typename T>
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static Yes Check(const D *, T);
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static No Check(const B *, int);
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struct Host {
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operator const B *() const;
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operator const D *();
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};
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enum { Value = (sizeof(Check(Host(), 0)) == sizeof(Yes)) };
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};
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template <typename B, typename D>
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struct IsBaseOf : OrExpr<IsSame<B, D>, BoolExpr<IsBaseOfImpl<B, D>>>::Type {};
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#endif // RAPIDJSON_HAS_CXX11_TYPETRAITS
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//////////////////////////////////////////////////////////////////////////
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// EnableIf / DisableIf
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//
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template <bool Condition, typename T = void>
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struct EnableIfCond {
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typedef T Type;
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};
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template <typename T>
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struct EnableIfCond<false, T> { /* empty */
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};
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template <bool Condition, typename T = void>
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struct DisableIfCond {
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typedef T Type;
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};
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template <typename T>
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struct DisableIfCond<true, T> { /* empty */
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};
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template <typename Condition, typename T = void>
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struct EnableIf : EnableIfCond<Condition::Value, T> {};
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template <typename Condition, typename T = void>
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struct DisableIf : DisableIfCond<Condition::Value, T> {};
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// SFINAE helpers
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struct SfinaeTag {};
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template <typename T>
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struct RemoveSfinaeTag;
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template <typename T>
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struct RemoveSfinaeTag<SfinaeTag &(*)(T)> {
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typedef T Type;
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};
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#define RAPIDJSON_REMOVEFPTR_(type) \
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typename ::RAPIDJSON_NAMESPACE::internal::RemoveSfinaeTag< \
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::RAPIDJSON_NAMESPACE::internal::SfinaeTag &(*)type>::Type
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#define RAPIDJSON_ENABLEIF(cond) \
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typename ::RAPIDJSON_NAMESPACE::internal::EnableIf<RAPIDJSON_REMOVEFPTR_( \
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cond)>::Type * = NULL
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#define RAPIDJSON_DISABLEIF(cond) \
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typename ::RAPIDJSON_NAMESPACE::internal::DisableIf<RAPIDJSON_REMOVEFPTR_( \
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cond)>::Type * = NULL
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#define RAPIDJSON_ENABLEIF_RETURN(cond, returntype) \
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typename ::RAPIDJSON_NAMESPACE::internal::EnableIf< \
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RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type
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#define RAPIDJSON_DISABLEIF_RETURN(cond, returntype) \
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typename ::RAPIDJSON_NAMESPACE::internal::DisableIf< \
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RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type
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} // namespace internal
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RAPIDJSON_NAMESPACE_END
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//@endcond
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#if defined(_MSC_VER) && !defined(__clang__)
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RAPIDJSON_DIAG_POP
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#endif
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#ifdef __GNUC__
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RAPIDJSON_DIAG_POP
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#endif
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#endif // RAPIDJSON_INTERNAL_META_H_
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