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 +1,130 @@
+// 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_STRINGBUFFER_H_
+#define RAPIDJSON_STRINGBUFFER_H_
+
+#include "internal/stack.h"
+#include "stream.h"
+
+#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
+#include <utility>  // std::move
+#endif
+
+#include "internal/stack.h"
+
+#if defined(__clang__)
+RAPIDJSON_DIAG_PUSH
+RAPIDJSON_DIAG_OFF(c++ 98 - compat)
+#endif
+
+RAPIDJSON_NAMESPACE_BEGIN
+
+//! Represents an in-memory output stream.
+/*!
+    \tparam Encoding Encoding of the stream.
+    \tparam Allocator type for allocating memory buffer.
+    \note implements Stream concept
+*/
+template <typename Encoding, typename Allocator = CrtAllocator>
+class GenericStringBuffer {
+ public:
+  typedef typename Encoding::Ch Ch;
+
+  GenericStringBuffer(Allocator *allocator = 0,
+                      size_t capacity = kDefaultCapacity)
+      : stack_(allocator, capacity) {}
+
+#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
+  GenericStringBuffer(GenericStringBuffer &&rhs)
+      : stack_(std::move(rhs.stack_)) {}
+  GenericStringBuffer &operator=(GenericStringBuffer &&rhs) {
+    if (&rhs != this) stack_ = std::move(rhs.stack_);
+    return *this;
+  }
+#endif
+
+  void Put(Ch c) { *stack_.template Push<Ch>() = c; }
+  void PutUnsafe(Ch c) { *stack_.template PushUnsafe<Ch>() = c; }
+  void Flush() {}
+
+  void Clear() { stack_.Clear(); }
+  void ShrinkToFit() {
+    // Push and pop a null terminator. This is safe.
+    *stack_.template Push<Ch>() = '\0';
+    stack_.ShrinkToFit();
+    stack_.template Pop<Ch>(1);
+  }
+
+  void Reserve(size_t count) { stack_.template Reserve<Ch>(count); }
+  Ch *Push(size_t count) { return stack_.template Push<Ch>(count); }
+  Ch *PushUnsafe(size_t count) { return stack_.template PushUnsafe<Ch>(count); }
+  void Pop(size_t count) { stack_.template Pop<Ch>(count); }
+
+  const Ch *GetString() const {
+    // Push and pop a null terminator. This is safe.
+    *stack_.template Push<Ch>() = '\0';
+    stack_.template Pop<Ch>(1);
+
+    return stack_.template Bottom<Ch>();
+  }
+
+  //! Get the size of string in bytes in the string buffer.
+  size_t GetSize() const { return stack_.GetSize(); }
+
+  //! Get the length of string in Ch in the string buffer.
+  size_t GetLength() const { return stack_.GetSize() / sizeof(Ch); }
+
+  static const size_t kDefaultCapacity = 256;
+  mutable internal::Stack<Allocator> stack_;
+
+ private:
+  // Prohibit copy constructor & assignment operator.
+  GenericStringBuffer(const GenericStringBuffer &);
+  GenericStringBuffer &operator=(const GenericStringBuffer &);
+};
+
+//! String buffer with UTF8 encoding
+typedef GenericStringBuffer<UTF8<>> StringBuffer;
+
+template <typename Encoding, typename Allocator>
+inline void PutReserve(GenericStringBuffer<Encoding, Allocator> &stream,
+                       size_t count) {
+  stream.Reserve(count);
+}
+
+template <typename Encoding, typename Allocator>
+inline void PutUnsafe(GenericStringBuffer<Encoding, Allocator> &stream,
+                      typename Encoding::Ch c) {
+  stream.PutUnsafe(c);
+}
+
+//! Implement specialized version of PutN() with memset() for better
+//! performance.
+template <>
+inline void PutN(GenericStringBuffer<UTF8<>> &stream, char c, size_t n) {
+  std::memset(stream.stack_.Push<char>(n), c, n * sizeof(c));
+}
+
+RAPIDJSON_NAMESPACE_END
+
+#if defined(__clang__)
+RAPIDJSON_DIAG_POP
+#endif
+
+#endif  // RAPIDJSON_STRINGBUFFER_H_