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 +1,84 @@
+// 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_MEMORYSTREAM_H_
+#define RAPIDJSON_MEMORYSTREAM_H_
+
+#include "stream.h"
+
+#ifdef __clang__
+RAPIDJSON_DIAG_PUSH
+RAPIDJSON_DIAG_OFF(unreachable - code)
+RAPIDJSON_DIAG_OFF(missing - noreturn)
+#endif
+
+RAPIDJSON_NAMESPACE_BEGIN
+
+//! Represents an in-memory input byte stream.
+/*!
+    This class is mainly for being wrapped by EncodedInputStream or
+   AutoUTFInputStream.
+
+    It is similar to FileReadBuffer but the source is an in-memory buffer
+   instead of a file.
+
+    Differences between MemoryStream and StringStream:
+    1. StringStream has encoding but MemoryStream is a byte stream.
+    2. MemoryStream needs size of the source buffer and the buffer don't need to
+   be null terminated. StringStream assume null-terminated string as source.
+    3. MemoryStream supports Peek4() for encoding detection. StringStream is
+   specified with an encoding so it should not have Peek4(). \note implements
+   Stream concept
+*/
+struct MemoryStream {
+  typedef char Ch;  // byte
+
+  MemoryStream(const Ch *src, size_t size)
+      : src_(src), begin_(src), end_(src + size), size_(size) {}
+
+  Ch Peek() const { return RAPIDJSON_UNLIKELY(src_ == end_) ? '\0' : *src_; }
+  Ch Take() { return RAPIDJSON_UNLIKELY(src_ == end_) ? '\0' : *src_++; }
+  size_t Tell() const { return static_cast<size_t>(src_ - begin_); }
+
+  Ch *PutBegin() {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+  void Put(Ch) { RAPIDJSON_ASSERT(false); }
+  void Flush() { RAPIDJSON_ASSERT(false); }
+  size_t PutEnd(Ch *) {
+    RAPIDJSON_ASSERT(false);
+    return 0;
+  }
+
+  // For encoding detection only.
+  const Ch *Peek4() const { return Tell() + 4 <= size_ ? src_ : 0; }
+
+  const Ch *src_;    //!< Current read position.
+  const Ch *begin_;  //!< Original head of the string.
+  const Ch *end_;    //!< End of stream.
+  size_t size_;      //!< Size of the stream.
+};
+
+RAPIDJSON_NAMESPACE_END
+
+#ifdef __clang__
+RAPIDJSON_DIAG_POP
+#endif
+
+#endif  // RAPIDJSON_MEMORYBUFFER_H_