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

2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
@@ -0,0 +1,78 @@
+// 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_MEMORYBUFFER_H_
+#define RAPIDJSON_MEMORYBUFFER_H_
+
+#include "internal/stack.h"
+#include "stream.h"
+
+RAPIDJSON_NAMESPACE_BEGIN
+
+//! Represents an in-memory output byte stream.
+/*!
+    This class is mainly for being wrapped by EncodedOutputStream or
+   AutoUTFOutputStream.
+
+    It is similar to FileWriteBuffer but the destination is an in-memory buffer
+   instead of a file.
+
+    Differences between MemoryBuffer and StringBuffer:
+    1. StringBuffer has Encoding but MemoryBuffer is only a byte buffer.
+    2. StringBuffer::GetString() returns a null-terminated string.
+   MemoryBuffer::GetBuffer() returns a buffer without terminator.
+
+    \tparam Allocator type for allocating memory buffer.
+    \note implements Stream concept
+*/
+template <typename Allocator = CrtAllocator>
+struct GenericMemoryBuffer {
+  typedef char Ch;  // byte
+
+  GenericMemoryBuffer(Allocator *allocator = 0,
+                      size_t capacity = kDefaultCapacity)
+      : stack_(allocator, capacity) {}
+
+  void Put(Ch c) { *stack_.template Push<Ch>() = c; }
+  void Flush() {}
+
+  void Clear() { stack_.Clear(); }
+  void ShrinkToFit() { stack_.ShrinkToFit(); }
+  Ch *Push(size_t count) { return stack_.template Push<Ch>(count); }
+  void Pop(size_t count) { stack_.template Pop<Ch>(count); }
+
+  const Ch *GetBuffer() const { return stack_.template Bottom<Ch>(); }
+
+  size_t GetSize() const { return stack_.GetSize(); }
+
+  static const size_t kDefaultCapacity = 256;
+  mutable internal::Stack<Allocator> stack_;
+};
+
+typedef GenericMemoryBuffer<> MemoryBuffer;
+
+//! Implement specialized version of PutN() with memset() for better
+//! performance.
+template <>
+inline void PutN(MemoryBuffer &memoryBuffer, char c, size_t n) {
+  std::memset(memoryBuffer.stack_.Push<char>(n), c, n * sizeof(c));
+}
+
+RAPIDJSON_NAMESPACE_END
+
+#endif  // RAPIDJSON_MEMORYBUFFER_H_