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https://github.com/Livox-SDK/livox_ros_driver.git
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livox
GitHub
@@ -143,7 +143,7 @@ add_executable(${PROJECT_NAME}_node
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# precompile macro and compile option
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#---------------------------------------------------------------------------------------
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target_compile_options(${PROJECT_NAME}_node
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PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall -Werror>
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PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall>
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)
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#---------------------------------------------------------------------------------------
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@@ -22,10 +22,9 @@
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* SOFTWARE.
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*/
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// Teensy 3.0, Teensy 3.1:
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// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC Device
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// See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
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// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC
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// Device See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
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//
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// So, ALL HW-calculations are done as 32 bit.
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//
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@@ -47,7 +46,6 @@
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#include <stdint.h>
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// ================= 16-BIT CRC ===================
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class FastCRC16 {
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@@ -55,11 +53,13 @@ public:
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FastCRC16(uint16_t seed);
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// change function name from mcrf4xx_upd to mcrf4xx
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uint16_t mcrf4xx_calc(const uint8_t *data,const uint16_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
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uint16_t
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mcrf4xx_calc(const uint8_t *data,
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const uint16_t datalen); // Equivalent to _crc_ccitt_update() in
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// crc16.h from avr_libc
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private:
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uint16_t seed_;
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};
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// ================= 32-BIT CRC ===================
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@@ -69,11 +69,12 @@ public:
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FastCRC32(uint32_t seed);
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// change function name from crc32_upd to crc32
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uint32_t crc32_calc(const uint8_t *data, uint16_t len); // Call for subsequent calculations with previous seed
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uint32_t crc32_calc(
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const uint8_t *data,
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uint16_t len); // Call for subsequent calculations with previous seed
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private:
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uint32_t seed_;
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};
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#endif // FASTCRC_FASTCRC_H_
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@@ -22,15 +22,14 @@
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* SOFTWARE.
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*/
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/*
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/*
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Tables generated with universal_crc by Danjel McGougan
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*/
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*/
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//
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// modify from FastCRC library @ 2018/11/20
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//
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#ifndef FASTCRC_FASTCRC_TABLES_H_
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#define FASTCRC_FASTCRC_TABLES_H_
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@@ -38,204 +37,165 @@
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// crc16 table
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const uint16_t crc_table_mcrf4xx[1024] = {
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
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0x0000, 0x19d8, 0x33b0, 0x2a68, 0x6760, 0x7eb8, 0x54d0, 0x4d08,
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0xcec0, 0xd718, 0xfd70, 0xe4a8, 0xa9a0, 0xb078, 0x9a10, 0x83c8,
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0x9591, 0x8c49, 0xa621, 0xbff9, 0xf2f1, 0xeb29, 0xc141, 0xd899,
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0x5b51, 0x4289, 0x68e1, 0x7139, 0x3c31, 0x25e9, 0x0f81, 0x1659,
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0x2333, 0x3aeb, 0x1083, 0x095b, 0x4453, 0x5d8b, 0x77e3, 0x6e3b,
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0xedf3, 0xf42b, 0xde43, 0xc79b, 0x8a93, 0x934b, 0xb923, 0xa0fb,
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0xb6a2, 0xaf7a, 0x8512, 0x9cca, 0xd1c2, 0xc81a, 0xe272, 0xfbaa,
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0x7862, 0x61ba, 0x4bd2, 0x520a, 0x1f02, 0x06da, 0x2cb2, 0x356a,
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0x4666, 0x5fbe, 0x75d6, 0x6c0e, 0x2106, 0x38de, 0x12b6, 0x0b6e,
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0x88a6, 0x917e, 0xbb16, 0xa2ce, 0xefc6, 0xf61e, 0xdc76, 0xc5ae,
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0xd3f7, 0xca2f, 0xe047, 0xf99f, 0xb497, 0xad4f, 0x8727, 0x9eff,
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0x1d37, 0x04ef, 0x2e87, 0x375f, 0x7a57, 0x638f, 0x49e7, 0x503f,
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0x6555, 0x7c8d, 0x56e5, 0x4f3d, 0x0235, 0x1bed, 0x3185, 0x285d,
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0xab95, 0xb24d, 0x9825, 0x81fd, 0xccf5, 0xd52d, 0xff45, 0xe69d,
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0xf0c4, 0xe91c, 0xc374, 0xdaac, 0x97a4, 0x8e7c, 0xa414, 0xbdcc,
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0x3e04, 0x27dc, 0x0db4, 0x146c, 0x5964, 0x40bc, 0x6ad4, 0x730c,
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0x8ccc, 0x9514, 0xbf7c, 0xa6a4, 0xebac, 0xf274, 0xd81c, 0xc1c4,
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0x420c, 0x5bd4, 0x71bc, 0x6864, 0x256c, 0x3cb4, 0x16dc, 0x0f04,
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0x195d, 0x0085, 0x2aed, 0x3335, 0x7e3d, 0x67e5, 0x4d8d, 0x5455,
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0xd79d, 0xce45, 0xe42d, 0xfdf5, 0xb0fd, 0xa925, 0x834d, 0x9a95,
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0xafff, 0xb627, 0x9c4f, 0x8597, 0xc89f, 0xd147, 0xfb2f, 0xe2f7,
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0x613f, 0x78e7, 0x528f, 0x4b57, 0x065f, 0x1f87, 0x35ef, 0x2c37,
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0x3a6e, 0x23b6, 0x09de, 0x1006, 0x5d0e, 0x44d6, 0x6ebe, 0x7766,
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0xf4ae, 0xed76, 0xc71e, 0xdec6, 0x93ce, 0x8a16, 0xa07e, 0xb9a6,
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0xcaaa, 0xd372, 0xf91a, 0xe0c2, 0xadca, 0xb412, 0x9e7a, 0x87a2,
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0x046a, 0x1db2, 0x37da, 0x2e02, 0x630a, 0x7ad2, 0x50ba, 0x4962,
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0x5f3b, 0x46e3, 0x6c8b, 0x7553, 0x385b, 0x2183, 0x0beb, 0x1233,
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0x91fb, 0x8823, 0xa24b, 0xbb93, 0xf69b, 0xef43, 0xc52b, 0xdcf3,
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0xe999, 0xf041, 0xda29, 0xc3f1, 0x8ef9, 0x9721, 0xbd49, 0xa491,
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0x2759, 0x3e81, 0x14e9, 0x0d31, 0x4039, 0x59e1, 0x7389, 0x6a51,
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0x7c08, 0x65d0, 0x4fb8, 0x5660, 0x1b68, 0x02b0, 0x28d8, 0x3100,
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0xb2c8, 0xab10, 0x8178, 0x98a0, 0xd5a8, 0xcc70, 0xe618, 0xffc0,
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0x0000, 0x5adc, 0xb5b8, 0xef64, 0x6361, 0x39bd, 0xd6d9, 0x8c05,
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0xc6c2, 0x9c1e, 0x737a, 0x29a6, 0xa5a3, 0xff7f, 0x101b, 0x4ac7,
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0x8595, 0xdf49, 0x302d, 0x6af1, 0xe6f4, 0xbc28, 0x534c, 0x0990,
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0x4357, 0x198b, 0xf6ef, 0xac33, 0x2036, 0x7aea, 0x958e, 0xcf52,
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0x033b, 0x59e7, 0xb683, 0xec5f, 0x605a, 0x3a86, 0xd5e2, 0x8f3e,
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0xc5f9, 0x9f25, 0x7041, 0x2a9d, 0xa698, 0xfc44, 0x1320, 0x49fc,
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0x86ae, 0xdc72, 0x3316, 0x69ca, 0xe5cf, 0xbf13, 0x5077, 0x0aab,
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0x406c, 0x1ab0, 0xf5d4, 0xaf08, 0x230d, 0x79d1, 0x96b5, 0xcc69,
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0x0676, 0x5caa, 0xb3ce, 0xe912, 0x6517, 0x3fcb, 0xd0af, 0x8a73,
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0xc0b4, 0x9a68, 0x750c, 0x2fd0, 0xa3d5, 0xf909, 0x166d, 0x4cb1,
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0x83e3, 0xd93f, 0x365b, 0x6c87, 0xe082, 0xba5e, 0x553a, 0x0fe6,
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0x4521, 0x1ffd, 0xf099, 0xaa45, 0x2640, 0x7c9c, 0x93f8, 0xc924,
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0x054d, 0x5f91, 0xb0f5, 0xea29, 0x662c, 0x3cf0, 0xd394, 0x8948,
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0xc38f, 0x9953, 0x7637, 0x2ceb, 0xa0ee, 0xfa32, 0x1556, 0x4f8a,
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0x80d8, 0xda04, 0x3560, 0x6fbc, 0xe3b9, 0xb965, 0x5601, 0x0cdd,
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0x461a, 0x1cc6, 0xf3a2, 0xa97e, 0x257b, 0x7fa7, 0x90c3, 0xca1f,
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0x0cec, 0x5630, 0xb954, 0xe388, 0x6f8d, 0x3551, 0xda35, 0x80e9,
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0xca2e, 0x90f2, 0x7f96, 0x254a, 0xa94f, 0xf393, 0x1cf7, 0x462b,
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0x8979, 0xd3a5, 0x3cc1, 0x661d, 0xea18, 0xb0c4, 0x5fa0, 0x057c,
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0x4fbb, 0x1567, 0xfa03, 0xa0df, 0x2cda, 0x7606, 0x9962, 0xc3be,
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0x0fd7, 0x550b, 0xba6f, 0xe0b3, 0x6cb6, 0x366a, 0xd90e, 0x83d2,
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0xc915, 0x93c9, 0x7cad, 0x2671, 0xaa74, 0xf0a8, 0x1fcc, 0x4510,
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0x8a42, 0xd09e, 0x3ffa, 0x6526, 0xe923, 0xb3ff, 0x5c9b, 0x0647,
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0x4c80, 0x165c, 0xf938, 0xa3e4, 0x2fe1, 0x753d, 0x9a59, 0xc085,
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0x0a9a, 0x5046, 0xbf22, 0xe5fe, 0x69fb, 0x3327, 0xdc43, 0x869f,
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0xcc58, 0x9684, 0x79e0, 0x233c, 0xaf39, 0xf5e5, 0x1a81, 0x405d,
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0x8f0f, 0xd5d3, 0x3ab7, 0x606b, 0xec6e, 0xb6b2, 0x59d6, 0x030a,
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0x49cd, 0x1311, 0xfc75, 0xa6a9, 0x2aac, 0x7070, 0x9f14, 0xc5c8,
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0x09a1, 0x537d, 0xbc19, 0xe6c5, 0x6ac0, 0x301c, 0xdf78, 0x85a4,
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0xcf63, 0x95bf, 0x7adb, 0x2007, 0xac02, 0xf6de, 0x19ba, 0x4366,
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0x8c34, 0xd6e8, 0x398c, 0x6350, 0xef55, 0xb589, 0x5aed, 0x0031,
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0x4af6, 0x102a, 0xff4e, 0xa592, 0x2997, 0x734b, 0x9c2f, 0xc6f3,
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0x0000, 0x1cbb, 0x3976, 0x25cd, 0x72ec, 0x6e57, 0x4b9a, 0x5721,
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0xe5d8, 0xf963, 0xdcae, 0xc015, 0x9734, 0x8b8f, 0xae42, 0xb2f9,
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0xc3a1, 0xdf1a, 0xfad7, 0xe66c, 0xb14d, 0xadf6, 0x883b, 0x9480,
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0x2679, 0x3ac2, 0x1f0f, 0x03b4, 0x5495, 0x482e, 0x6de3, 0x7158,
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||||
0x8f53, 0x93e8, 0xb625, 0xaa9e, 0xfdbf, 0xe104, 0xc4c9, 0xd872,
|
||||
0x6a8b, 0x7630, 0x53fd, 0x4f46, 0x1867, 0x04dc, 0x2111, 0x3daa,
|
||||
0x4cf2, 0x5049, 0x7584, 0x693f, 0x3e1e, 0x22a5, 0x0768, 0x1bd3,
|
||||
0xa92a, 0xb591, 0x905c, 0x8ce7, 0xdbc6, 0xc77d, 0xe2b0, 0xfe0b,
|
||||
0x16b7, 0x0a0c, 0x2fc1, 0x337a, 0x645b, 0x78e0, 0x5d2d, 0x4196,
|
||||
0xf36f, 0xefd4, 0xca19, 0xd6a2, 0x8183, 0x9d38, 0xb8f5, 0xa44e,
|
||||
0xd516, 0xc9ad, 0xec60, 0xf0db, 0xa7fa, 0xbb41, 0x9e8c, 0x8237,
|
||||
0x30ce, 0x2c75, 0x09b8, 0x1503, 0x4222, 0x5e99, 0x7b54, 0x67ef,
|
||||
0x99e4, 0x855f, 0xa092, 0xbc29, 0xeb08, 0xf7b3, 0xd27e, 0xcec5,
|
||||
0x7c3c, 0x6087, 0x454a, 0x59f1, 0x0ed0, 0x126b, 0x37a6, 0x2b1d,
|
||||
0x5a45, 0x46fe, 0x6333, 0x7f88, 0x28a9, 0x3412, 0x11df, 0x0d64,
|
||||
0xbf9d, 0xa326, 0x86eb, 0x9a50, 0xcd71, 0xd1ca, 0xf407, 0xe8bc,
|
||||
0x2d6e, 0x31d5, 0x1418, 0x08a3, 0x5f82, 0x4339, 0x66f4, 0x7a4f,
|
||||
0xc8b6, 0xd40d, 0xf1c0, 0xed7b, 0xba5a, 0xa6e1, 0x832c, 0x9f97,
|
||||
0xeecf, 0xf274, 0xd7b9, 0xcb02, 0x9c23, 0x8098, 0xa555, 0xb9ee,
|
||||
0x0b17, 0x17ac, 0x3261, 0x2eda, 0x79fb, 0x6540, 0x408d, 0x5c36,
|
||||
0xa23d, 0xbe86, 0x9b4b, 0x87f0, 0xd0d1, 0xcc6a, 0xe9a7, 0xf51c,
|
||||
0x47e5, 0x5b5e, 0x7e93, 0x6228, 0x3509, 0x29b2, 0x0c7f, 0x10c4,
|
||||
0x619c, 0x7d27, 0x58ea, 0x4451, 0x1370, 0x0fcb, 0x2a06, 0x36bd,
|
||||
0x8444, 0x98ff, 0xbd32, 0xa189, 0xf6a8, 0xea13, 0xcfde, 0xd365,
|
||||
0x3bd9, 0x2762, 0x02af, 0x1e14, 0x4935, 0x558e, 0x7043, 0x6cf8,
|
||||
0xde01, 0xc2ba, 0xe777, 0xfbcc, 0xaced, 0xb056, 0x959b, 0x8920,
|
||||
0xf878, 0xe4c3, 0xc10e, 0xddb5, 0x8a94, 0x962f, 0xb3e2, 0xaf59,
|
||||
0x1da0, 0x011b, 0x24d6, 0x386d, 0x6f4c, 0x73f7, 0x563a, 0x4a81,
|
||||
0xb48a, 0xa831, 0x8dfc, 0x9147, 0xc666, 0xdadd, 0xff10, 0xe3ab,
|
||||
0x5152, 0x4de9, 0x6824, 0x749f, 0x23be, 0x3f05, 0x1ac8, 0x0673,
|
||||
0x772b, 0x6b90, 0x4e5d, 0x52e6, 0x05c7, 0x197c, 0x3cb1, 0x200a,
|
||||
0x92f3, 0x8e48, 0xab85, 0xb73e, 0xe01f, 0xfca4, 0xd969, 0xc5d2
|
||||
};
|
||||
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
|
||||
0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
|
||||
0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb,
|
||||
0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
|
||||
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e,
|
||||
0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e,
|
||||
0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
|
||||
0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
|
||||
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285,
|
||||
0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44,
|
||||
0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014,
|
||||
0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
|
||||
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3,
|
||||
0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
|
||||
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e,
|
||||
0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
|
||||
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1,
|
||||
0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483,
|
||||
0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50,
|
||||
0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
|
||||
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
|
||||
0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1,
|
||||
0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72,
|
||||
0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
|
||||
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e,
|
||||
0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf,
|
||||
0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d,
|
||||
0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
|
||||
0x3de3, 0x2c6a, 0x1ef1, 0x0f78, 0x0000, 0x19d8, 0x33b0, 0x2a68, 0x6760,
|
||||
0x7eb8, 0x54d0, 0x4d08, 0xcec0, 0xd718, 0xfd70, 0xe4a8, 0xa9a0, 0xb078,
|
||||
0x9a10, 0x83c8, 0x9591, 0x8c49, 0xa621, 0xbff9, 0xf2f1, 0xeb29, 0xc141,
|
||||
0xd899, 0x5b51, 0x4289, 0x68e1, 0x7139, 0x3c31, 0x25e9, 0x0f81, 0x1659,
|
||||
0x2333, 0x3aeb, 0x1083, 0x095b, 0x4453, 0x5d8b, 0x77e3, 0x6e3b, 0xedf3,
|
||||
0xf42b, 0xde43, 0xc79b, 0x8a93, 0x934b, 0xb923, 0xa0fb, 0xb6a2, 0xaf7a,
|
||||
0x8512, 0x9cca, 0xd1c2, 0xc81a, 0xe272, 0xfbaa, 0x7862, 0x61ba, 0x4bd2,
|
||||
0x520a, 0x1f02, 0x06da, 0x2cb2, 0x356a, 0x4666, 0x5fbe, 0x75d6, 0x6c0e,
|
||||
0x2106, 0x38de, 0x12b6, 0x0b6e, 0x88a6, 0x917e, 0xbb16, 0xa2ce, 0xefc6,
|
||||
0xf61e, 0xdc76, 0xc5ae, 0xd3f7, 0xca2f, 0xe047, 0xf99f, 0xb497, 0xad4f,
|
||||
0x8727, 0x9eff, 0x1d37, 0x04ef, 0x2e87, 0x375f, 0x7a57, 0x638f, 0x49e7,
|
||||
0x503f, 0x6555, 0x7c8d, 0x56e5, 0x4f3d, 0x0235, 0x1bed, 0x3185, 0x285d,
|
||||
0xab95, 0xb24d, 0x9825, 0x81fd, 0xccf5, 0xd52d, 0xff45, 0xe69d, 0xf0c4,
|
||||
0xe91c, 0xc374, 0xdaac, 0x97a4, 0x8e7c, 0xa414, 0xbdcc, 0x3e04, 0x27dc,
|
||||
0x0db4, 0x146c, 0x5964, 0x40bc, 0x6ad4, 0x730c, 0x8ccc, 0x9514, 0xbf7c,
|
||||
0xa6a4, 0xebac, 0xf274, 0xd81c, 0xc1c4, 0x420c, 0x5bd4, 0x71bc, 0x6864,
|
||||
0x256c, 0x3cb4, 0x16dc, 0x0f04, 0x195d, 0x0085, 0x2aed, 0x3335, 0x7e3d,
|
||||
0x67e5, 0x4d8d, 0x5455, 0xd79d, 0xce45, 0xe42d, 0xfdf5, 0xb0fd, 0xa925,
|
||||
0x834d, 0x9a95, 0xafff, 0xb627, 0x9c4f, 0x8597, 0xc89f, 0xd147, 0xfb2f,
|
||||
0xe2f7, 0x613f, 0x78e7, 0x528f, 0x4b57, 0x065f, 0x1f87, 0x35ef, 0x2c37,
|
||||
0x3a6e, 0x23b6, 0x09de, 0x1006, 0x5d0e, 0x44d6, 0x6ebe, 0x7766, 0xf4ae,
|
||||
0xed76, 0xc71e, 0xdec6, 0x93ce, 0x8a16, 0xa07e, 0xb9a6, 0xcaaa, 0xd372,
|
||||
0xf91a, 0xe0c2, 0xadca, 0xb412, 0x9e7a, 0x87a2, 0x046a, 0x1db2, 0x37da,
|
||||
0x2e02, 0x630a, 0x7ad2, 0x50ba, 0x4962, 0x5f3b, 0x46e3, 0x6c8b, 0x7553,
|
||||
0x385b, 0x2183, 0x0beb, 0x1233, 0x91fb, 0x8823, 0xa24b, 0xbb93, 0xf69b,
|
||||
0xef43, 0xc52b, 0xdcf3, 0xe999, 0xf041, 0xda29, 0xc3f1, 0x8ef9, 0x9721,
|
||||
0xbd49, 0xa491, 0x2759, 0x3e81, 0x14e9, 0x0d31, 0x4039, 0x59e1, 0x7389,
|
||||
0x6a51, 0x7c08, 0x65d0, 0x4fb8, 0x5660, 0x1b68, 0x02b0, 0x28d8, 0x3100,
|
||||
0xb2c8, 0xab10, 0x8178, 0x98a0, 0xd5a8, 0xcc70, 0xe618, 0xffc0, 0x0000,
|
||||
0x5adc, 0xb5b8, 0xef64, 0x6361, 0x39bd, 0xd6d9, 0x8c05, 0xc6c2, 0x9c1e,
|
||||
0x737a, 0x29a6, 0xa5a3, 0xff7f, 0x101b, 0x4ac7, 0x8595, 0xdf49, 0x302d,
|
||||
0x6af1, 0xe6f4, 0xbc28, 0x534c, 0x0990, 0x4357, 0x198b, 0xf6ef, 0xac33,
|
||||
0x2036, 0x7aea, 0x958e, 0xcf52, 0x033b, 0x59e7, 0xb683, 0xec5f, 0x605a,
|
||||
0x3a86, 0xd5e2, 0x8f3e, 0xc5f9, 0x9f25, 0x7041, 0x2a9d, 0xa698, 0xfc44,
|
||||
0x1320, 0x49fc, 0x86ae, 0xdc72, 0x3316, 0x69ca, 0xe5cf, 0xbf13, 0x5077,
|
||||
0x0aab, 0x406c, 0x1ab0, 0xf5d4, 0xaf08, 0x230d, 0x79d1, 0x96b5, 0xcc69,
|
||||
0x0676, 0x5caa, 0xb3ce, 0xe912, 0x6517, 0x3fcb, 0xd0af, 0x8a73, 0xc0b4,
|
||||
0x9a68, 0x750c, 0x2fd0, 0xa3d5, 0xf909, 0x166d, 0x4cb1, 0x83e3, 0xd93f,
|
||||
0x365b, 0x6c87, 0xe082, 0xba5e, 0x553a, 0x0fe6, 0x4521, 0x1ffd, 0xf099,
|
||||
0xaa45, 0x2640, 0x7c9c, 0x93f8, 0xc924, 0x054d, 0x5f91, 0xb0f5, 0xea29,
|
||||
0x662c, 0x3cf0, 0xd394, 0x8948, 0xc38f, 0x9953, 0x7637, 0x2ceb, 0xa0ee,
|
||||
0xfa32, 0x1556, 0x4f8a, 0x80d8, 0xda04, 0x3560, 0x6fbc, 0xe3b9, 0xb965,
|
||||
0x5601, 0x0cdd, 0x461a, 0x1cc6, 0xf3a2, 0xa97e, 0x257b, 0x7fa7, 0x90c3,
|
||||
0xca1f, 0x0cec, 0x5630, 0xb954, 0xe388, 0x6f8d, 0x3551, 0xda35, 0x80e9,
|
||||
0xca2e, 0x90f2, 0x7f96, 0x254a, 0xa94f, 0xf393, 0x1cf7, 0x462b, 0x8979,
|
||||
0xd3a5, 0x3cc1, 0x661d, 0xea18, 0xb0c4, 0x5fa0, 0x057c, 0x4fbb, 0x1567,
|
||||
0xfa03, 0xa0df, 0x2cda, 0x7606, 0x9962, 0xc3be, 0x0fd7, 0x550b, 0xba6f,
|
||||
0xe0b3, 0x6cb6, 0x366a, 0xd90e, 0x83d2, 0xc915, 0x93c9, 0x7cad, 0x2671,
|
||||
0xaa74, 0xf0a8, 0x1fcc, 0x4510, 0x8a42, 0xd09e, 0x3ffa, 0x6526, 0xe923,
|
||||
0xb3ff, 0x5c9b, 0x0647, 0x4c80, 0x165c, 0xf938, 0xa3e4, 0x2fe1, 0x753d,
|
||||
0x9a59, 0xc085, 0x0a9a, 0x5046, 0xbf22, 0xe5fe, 0x69fb, 0x3327, 0xdc43,
|
||||
0x869f, 0xcc58, 0x9684, 0x79e0, 0x233c, 0xaf39, 0xf5e5, 0x1a81, 0x405d,
|
||||
0x8f0f, 0xd5d3, 0x3ab7, 0x606b, 0xec6e, 0xb6b2, 0x59d6, 0x030a, 0x49cd,
|
||||
0x1311, 0xfc75, 0xa6a9, 0x2aac, 0x7070, 0x9f14, 0xc5c8, 0x09a1, 0x537d,
|
||||
0xbc19, 0xe6c5, 0x6ac0, 0x301c, 0xdf78, 0x85a4, 0xcf63, 0x95bf, 0x7adb,
|
||||
0x2007, 0xac02, 0xf6de, 0x19ba, 0x4366, 0x8c34, 0xd6e8, 0x398c, 0x6350,
|
||||
0xef55, 0xb589, 0x5aed, 0x0031, 0x4af6, 0x102a, 0xff4e, 0xa592, 0x2997,
|
||||
0x734b, 0x9c2f, 0xc6f3, 0x0000, 0x1cbb, 0x3976, 0x25cd, 0x72ec, 0x6e57,
|
||||
0x4b9a, 0x5721, 0xe5d8, 0xf963, 0xdcae, 0xc015, 0x9734, 0x8b8f, 0xae42,
|
||||
0xb2f9, 0xc3a1, 0xdf1a, 0xfad7, 0xe66c, 0xb14d, 0xadf6, 0x883b, 0x9480,
|
||||
0x2679, 0x3ac2, 0x1f0f, 0x03b4, 0x5495, 0x482e, 0x6de3, 0x7158, 0x8f53,
|
||||
0x93e8, 0xb625, 0xaa9e, 0xfdbf, 0xe104, 0xc4c9, 0xd872, 0x6a8b, 0x7630,
|
||||
0x53fd, 0x4f46, 0x1867, 0x04dc, 0x2111, 0x3daa, 0x4cf2, 0x5049, 0x7584,
|
||||
0x693f, 0x3e1e, 0x22a5, 0x0768, 0x1bd3, 0xa92a, 0xb591, 0x905c, 0x8ce7,
|
||||
0xdbc6, 0xc77d, 0xe2b0, 0xfe0b, 0x16b7, 0x0a0c, 0x2fc1, 0x337a, 0x645b,
|
||||
0x78e0, 0x5d2d, 0x4196, 0xf36f, 0xefd4, 0xca19, 0xd6a2, 0x8183, 0x9d38,
|
||||
0xb8f5, 0xa44e, 0xd516, 0xc9ad, 0xec60, 0xf0db, 0xa7fa, 0xbb41, 0x9e8c,
|
||||
0x8237, 0x30ce, 0x2c75, 0x09b8, 0x1503, 0x4222, 0x5e99, 0x7b54, 0x67ef,
|
||||
0x99e4, 0x855f, 0xa092, 0xbc29, 0xeb08, 0xf7b3, 0xd27e, 0xcec5, 0x7c3c,
|
||||
0x6087, 0x454a, 0x59f1, 0x0ed0, 0x126b, 0x37a6, 0x2b1d, 0x5a45, 0x46fe,
|
||||
0x6333, 0x7f88, 0x28a9, 0x3412, 0x11df, 0x0d64, 0xbf9d, 0xa326, 0x86eb,
|
||||
0x9a50, 0xcd71, 0xd1ca, 0xf407, 0xe8bc, 0x2d6e, 0x31d5, 0x1418, 0x08a3,
|
||||
0x5f82, 0x4339, 0x66f4, 0x7a4f, 0xc8b6, 0xd40d, 0xf1c0, 0xed7b, 0xba5a,
|
||||
0xa6e1, 0x832c, 0x9f97, 0xeecf, 0xf274, 0xd7b9, 0xcb02, 0x9c23, 0x8098,
|
||||
0xa555, 0xb9ee, 0x0b17, 0x17ac, 0x3261, 0x2eda, 0x79fb, 0x6540, 0x408d,
|
||||
0x5c36, 0xa23d, 0xbe86, 0x9b4b, 0x87f0, 0xd0d1, 0xcc6a, 0xe9a7, 0xf51c,
|
||||
0x47e5, 0x5b5e, 0x7e93, 0x6228, 0x3509, 0x29b2, 0x0c7f, 0x10c4, 0x619c,
|
||||
0x7d27, 0x58ea, 0x4451, 0x1370, 0x0fcb, 0x2a06, 0x36bd, 0x8444, 0x98ff,
|
||||
0xbd32, 0xa189, 0xf6a8, 0xea13, 0xcfde, 0xd365, 0x3bd9, 0x2762, 0x02af,
|
||||
0x1e14, 0x4935, 0x558e, 0x7043, 0x6cf8, 0xde01, 0xc2ba, 0xe777, 0xfbcc,
|
||||
0xaced, 0xb056, 0x959b, 0x8920, 0xf878, 0xe4c3, 0xc10e, 0xddb5, 0x8a94,
|
||||
0x962f, 0xb3e2, 0xaf59, 0x1da0, 0x011b, 0x24d6, 0x386d, 0x6f4c, 0x73f7,
|
||||
0x563a, 0x4a81, 0xb48a, 0xa831, 0x8dfc, 0x9147, 0xc666, 0xdadd, 0xff10,
|
||||
0xe3ab, 0x5152, 0x4de9, 0x6824, 0x749f, 0x23be, 0x3f05, 0x1ac8, 0x0673,
|
||||
0x772b, 0x6b90, 0x4e5d, 0x52e6, 0x05c7, 0x197c, 0x3cb1, 0x200a, 0x92f3,
|
||||
0x8e48, 0xab85, 0xb73e, 0xe01f, 0xfca4, 0xd969, 0xc5d2};
|
||||
|
||||
// crc32 table
|
||||
const uint32_t crc_table_crc32[256] = {
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba,
|
||||
0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
|
||||
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
|
||||
0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
|
||||
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
|
||||
0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec,
|
||||
0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
|
||||
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
|
||||
0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
|
||||
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940,
|
||||
0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116,
|
||||
0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
|
||||
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
|
||||
0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
|
||||
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a,
|
||||
0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818,
|
||||
0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
|
||||
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
|
||||
0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
|
||||
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c,
|
||||
0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
|
||||
0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
|
||||
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
|
||||
0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
|
||||
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086,
|
||||
0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4,
|
||||
0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
|
||||
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
|
||||
0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
|
||||
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
|
||||
0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe,
|
||||
0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
|
||||
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
|
||||
0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
|
||||
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252,
|
||||
0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60,
|
||||
0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
|
||||
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
|
||||
0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
|
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04,
|
||||
0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a,
|
||||
0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
|
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
|
||||
0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
|
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e,
|
||||
0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
|
||||
0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
|
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
|
||||
0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
|
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0,
|
||||
0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6,
|
||||
0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
|
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
|
||||
0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
|
||||
};
|
||||
|
||||
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f,
|
||||
0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
|
||||
0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, 0x1db71064, 0x6ab020f2,
|
||||
0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
|
||||
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9,
|
||||
0xfa0f3d63, 0x8d080df5, 0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
|
||||
0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, 0x35b5a8fa, 0x42b2986c,
|
||||
0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
|
||||
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423,
|
||||
0xcfba9599, 0xb8bda50f, 0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
|
||||
0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, 0x76dc4190, 0x01db7106,
|
||||
0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
|
||||
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d,
|
||||
0x91646c97, 0xe6635c01, 0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
|
||||
0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, 0x65b0d9c6, 0x12b7e950,
|
||||
0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
|
||||
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7,
|
||||
0xa4d1c46d, 0xd3d6f4fb, 0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
|
||||
0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, 0x5005713c, 0x270241aa,
|
||||
0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
|
||||
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81,
|
||||
0xb7bd5c3b, 0xc0ba6cad, 0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
|
||||
0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, 0xe3630b12, 0x94643b84,
|
||||
0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
|
||||
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb,
|
||||
0x196c3671, 0x6e6b06e7, 0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
|
||||
0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, 0xd6d6a3e8, 0xa1d1937e,
|
||||
0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
|
||||
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55,
|
||||
0x316e8eef, 0x4669be79, 0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
|
||||
0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, 0xc5ba3bbe, 0xb2bd0b28,
|
||||
0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
|
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f,
|
||||
0x72076785, 0x05005713, 0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
|
||||
0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, 0x86d3d2d4, 0xf1d4e242,
|
||||
0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
|
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69,
|
||||
0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
|
||||
0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc,
|
||||
0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
|
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693,
|
||||
0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
|
||||
0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -37,19 +37,15 @@
|
||||
#include "FastCRC.h"
|
||||
#include "FastCRC_tables.hpp"
|
||||
|
||||
|
||||
// ================= 16-BIT CRC ===================
|
||||
/** Constructor
|
||||
*/
|
||||
FastCRC16::FastCRC16(uint16_t seed) {
|
||||
seed_ = seed;
|
||||
}
|
||||
FastCRC16::FastCRC16(uint16_t seed) { seed_ = seed; }
|
||||
|
||||
#define crc_n4(crc, data, table) crc ^= data; \
|
||||
crc = (table[(crc & 0xff) + 0x300]) ^ \
|
||||
(table[((crc >> 8) & 0xff) + 0x200]) ^ \
|
||||
(table[((data >> 16) & 0xff) + 0x100]) ^ \
|
||||
(table[data >> 24]);
|
||||
#define crc_n4(crc, data, table) \
|
||||
crc ^= data; \
|
||||
crc = (table[(crc & 0xff) + 0x300]) ^ (table[((crc >> 8) & 0xff) + 0x200]) ^ \
|
||||
(table[((data >> 16) & 0xff) + 0x100]) ^ (table[data >> 24]);
|
||||
|
||||
/** MCRF4XX
|
||||
* equivalent to _crc_ccitt_update() in crc16.h from avr_libc
|
||||
@@ -80,25 +76,22 @@ uint16_t FastCRC16::mcrf4xx_calc(const uint8_t *data, uint16_t len) {
|
||||
crc = (crc >> 8) ^ crc_table_mcrf4xx[(crc & 0xff) ^ *data++];
|
||||
}
|
||||
|
||||
//seed = crc;
|
||||
// seed = crc;
|
||||
return crc;
|
||||
}
|
||||
|
||||
|
||||
// ================= 32-BIT CRC ===================
|
||||
/** Constructor
|
||||
*/
|
||||
FastCRC32::FastCRC32(uint32_t seed) {
|
||||
seed_ = seed;
|
||||
}
|
||||
FastCRC32::FastCRC32(uint32_t seed) { seed_ = seed; }
|
||||
|
||||
#define crc_n4d(crc, data, table) crc ^= data; \
|
||||
crc = (table[(crc & 0xff) + 0x300]) ^ \
|
||||
(table[((crc >> 8) & 0xff) + 0x200]) ^ \
|
||||
(table[((crc >> 16) & 0xff) + 0x100]) ^ \
|
||||
(table[(crc >> 24) & 0xff]);
|
||||
#define crc_n4d(crc, data, table) \
|
||||
crc ^= data; \
|
||||
crc = (table[(crc & 0xff) + 0x300]) ^ (table[((crc >> 8) & 0xff) + 0x200]) ^ \
|
||||
(table[((crc >> 16) & 0xff) + 0x100]) ^ (table[(crc >> 24) & 0xff]);
|
||||
|
||||
#define crcsm_n4d(crc, data, table) crc ^= data; \
|
||||
#define crcsm_n4d(crc, data, table) \
|
||||
crc ^= data; \
|
||||
crc = (crc >> 8) ^ (table[crc & 0xff]); \
|
||||
crc = (crc >> 8) ^ (table[crc & 0xff]); \
|
||||
crc = (crc >> 8) ^ (table[crc & 0xff]); \
|
||||
@@ -118,7 +111,7 @@ FastCRC32::FastCRC32(uint32_t seed) {
|
||||
|
||||
uint32_t FastCRC32::crc32_calc(const uint8_t *data, uint16_t len) {
|
||||
|
||||
uint32_t crc = seed_^0xffffffff;
|
||||
uint32_t crc = seed_ ^ 0xffffffff;
|
||||
|
||||
while (((uintptr_t)data & 3) && len) {
|
||||
crc = (crc >> 8) ^ CRC_TABLE_CRC32[(crc & 0xff) ^ *data++];
|
||||
@@ -127,17 +120,17 @@ uint32_t FastCRC32::crc32_calc(const uint8_t *data, uint16_t len) {
|
||||
|
||||
while (len >= 16) {
|
||||
len -= 16;
|
||||
#if CRC_BIGTABLES
|
||||
#if CRC_BIGTABLES
|
||||
crc_n4d(crc, ((uint32_t *)data)[0], CRC_TABLE_CRC32);
|
||||
crc_n4d(crc, ((uint32_t *)data)[1], CRC_TABLE_CRC32);
|
||||
crc_n4d(crc, ((uint32_t *)data)[2], CRC_TABLE_CRC32);
|
||||
crc_n4d(crc, ((uint32_t *)data)[3], CRC_TABLE_CRC32);
|
||||
#else
|
||||
#else
|
||||
crcsm_n4d(crc, ((uint32_t *)data)[0], CRC_TABLE_CRC32);
|
||||
crcsm_n4d(crc, ((uint32_t *)data)[1], CRC_TABLE_CRC32);
|
||||
crcsm_n4d(crc, ((uint32_t *)data)[2], CRC_TABLE_CRC32);
|
||||
crcsm_n4d(crc, ((uint32_t *)data)[3], CRC_TABLE_CRC32);
|
||||
#endif
|
||||
#endif
|
||||
data += 16;
|
||||
}
|
||||
|
||||
@@ -145,10 +138,8 @@ uint32_t FastCRC32::crc32_calc(const uint8_t *data, uint16_t len) {
|
||||
crc = (crc >> 8) ^ CRC_TABLE_CRC32[(crc & 0xff) ^ *data++];
|
||||
}
|
||||
|
||||
//seed = crc;
|
||||
// seed = crc;
|
||||
crc ^= 0xffffffff;
|
||||
|
||||
return crc;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -48,12 +48,12 @@ struct CommDevUartConfig {
|
||||
|
||||
/** Communication device usb config */
|
||||
struct CommDevUsbConfig {
|
||||
void* data;
|
||||
void *data;
|
||||
};
|
||||
|
||||
/** Communication device can config */
|
||||
struct CommDevCanConfig {
|
||||
void* data;
|
||||
void *data;
|
||||
};
|
||||
|
||||
/** Communication device config */
|
||||
@@ -67,5 +67,5 @@ typedef struct {
|
||||
} config;
|
||||
} CommDevConfig;
|
||||
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
#endif // COMM_COMM_DEVICE_H_
|
||||
|
||||
@@ -23,17 +23,17 @@
|
||||
//
|
||||
|
||||
#include "comm_protocol.h"
|
||||
#include <iostream>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <iostream>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
CommProtocol::CommProtocol(ProtocolConfig& config) : config_(config) {
|
||||
CommProtocol::CommProtocol(ProtocolConfig &config) : config_(config) {
|
||||
ResetParser();
|
||||
ResetCache();
|
||||
|
||||
offset_to_read_index_= 0;
|
||||
offset_to_read_index_ = 0;
|
||||
packet_length_ = 0;
|
||||
|
||||
if (kGps == config.type) {
|
||||
@@ -89,7 +89,8 @@ uint32_t CommProtocol::GetValidDataSize() {
|
||||
}
|
||||
|
||||
void CommProtocol::UpdateCache(void) {
|
||||
if (GetCacheTailSize() < kMoveCacheLimit) { /* move unused data to cache head */
|
||||
if (GetCacheTailSize() <
|
||||
kMoveCacheLimit) { /* move unused data to cache head */
|
||||
uint32_t valid_data_size = GetValidDataSize();
|
||||
|
||||
if (valid_data_size) {
|
||||
@@ -103,18 +104,16 @@ void CommProtocol::UpdateCache(void) {
|
||||
}
|
||||
}
|
||||
|
||||
int32_t CommProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, \
|
||||
int32_t CommProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) {
|
||||
return protocol_->Pack(o_buf, o_buf_size, o_len, i_packet);
|
||||
}
|
||||
|
||||
void CommProtocol::ResetParser() {
|
||||
fsm_parse_step_ = kSearchPacketPreamble;
|
||||
}
|
||||
void CommProtocol::ResetParser() { fsm_parse_step_ = kSearchPacketPreamble; }
|
||||
|
||||
int32_t CommProtocol::ParseCommStream(CommPacket *o_pack) {
|
||||
int32_t ret = kParseFail;
|
||||
while ((GetValidDataSize() > protocol_->GetPreambleLen()) && \
|
||||
while ((GetValidDataSize() > protocol_->GetPreambleLen()) &&
|
||||
(GetValidDataSize() > offset_to_read_index_)) {
|
||||
switch (fsm_parse_step_) {
|
||||
case kSearchPacketPreamble: {
|
||||
@@ -129,12 +128,11 @@ int32_t CommProtocol::ParseCommStream(CommPacket *o_pack) {
|
||||
ret = FsmGetPacketData(o_pack);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
FsmParserStateTransfer(kSearchPacketPreamble);
|
||||
}
|
||||
default: { FsmParserStateTransfer(kSearchPacketPreamble); }
|
||||
}
|
||||
|
||||
if (ret == kParseNeedMoreData) break; /* */
|
||||
if (ret == kParseNeedMoreData)
|
||||
break; /* */
|
||||
}
|
||||
|
||||
return ret;
|
||||
@@ -158,16 +156,18 @@ int32_t CommProtocol::FsmSearchPacketPreamble() {
|
||||
break;
|
||||
} else {
|
||||
packet_length_ = protocol_->GetPacketLen(GetCacheReadPos());
|
||||
if ((packet_length_ < cache_.size) && \
|
||||
(packet_length_ > protocol_->GetPacketWrapperLen())) { /* check the legality of length */
|
||||
if ((packet_length_ < cache_.size) &&
|
||||
(packet_length_ >
|
||||
protocol_
|
||||
->GetPacketWrapperLen())) { /* check the legality of length */
|
||||
FsmParserStateTransfer(kGetPacketData);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
//printf("|%2x", cache_.buf[cache_.rd_idx]);
|
||||
// printf("|%2x", cache_.buf[cache_.rd_idx]);
|
||||
++cache_.rd_idx; /* skip one byte */
|
||||
} while(0);
|
||||
} while (0);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -216,9 +216,9 @@ int32_t CommProtocol::FsmGetPacketData(CommPacket *o_pack) {
|
||||
cache_.rd_idx += protocol_->GetPacketLen(GetCacheReadPos());
|
||||
FsmParserStateTransfer(kSearchPacketPreamble);
|
||||
return kParseSuccess;
|
||||
} while(0);
|
||||
} while (0);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -25,10 +25,10 @@
|
||||
#ifndef COMM_COMM_PROTOCOL_H_
|
||||
#define COMM_COMM_PROTOCOL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "gps_protocol.h"
|
||||
#include "protocol.h"
|
||||
#include "sdk_protocol.h"
|
||||
#include "gps_protocol.h"
|
||||
#include <stdint.h>
|
||||
|
||||
namespace livox_ros {
|
||||
const uint32_t kCacheSize = 8192;
|
||||
@@ -50,11 +50,12 @@ typedef struct {
|
||||
} CommCache;
|
||||
|
||||
class CommProtocol {
|
||||
public:
|
||||
CommProtocol(ProtocolConfig& config);
|
||||
public:
|
||||
CommProtocol(ProtocolConfig &config);
|
||||
~CommProtocol();
|
||||
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet);
|
||||
|
||||
int32_t ParseCommStream(CommPacket *o_pack);
|
||||
|
||||
@@ -66,11 +67,11 @@ class CommProtocol {
|
||||
|
||||
void ResetParser();
|
||||
|
||||
private:
|
||||
private:
|
||||
uint32_t GetCacheTailSize();
|
||||
uint32_t GetValidDataSize();
|
||||
void UpdateCache(void);
|
||||
uint8_t* GetCacheReadPos() { return &cache_.buf[cache_.rd_idx]; }
|
||||
uint8_t *GetCacheReadPos() { return &cache_.buf[cache_.rd_idx]; }
|
||||
void ResetCache() {
|
||||
cache_.wr_idx = 0;
|
||||
cache_.rd_idx = 0;
|
||||
@@ -78,7 +79,7 @@ class CommProtocol {
|
||||
}
|
||||
|
||||
ProtocolConfig config_;
|
||||
Protocol* protocol_;
|
||||
Protocol *protocol_;
|
||||
CommCache cache_;
|
||||
uint16_t seq_num_;
|
||||
|
||||
@@ -92,7 +93,7 @@ class CommProtocol {
|
||||
int32_t FsmFindPacketLength();
|
||||
int32_t FsmGetPacketData(CommPacket *o_pack);
|
||||
void FsmParserStateTransfer(uint32_t new_state) {
|
||||
if(new_state < kParseStepUndef) {
|
||||
if (new_state < kParseStepUndef) {
|
||||
fsm_parse_step_ = new_state;
|
||||
} else {
|
||||
fsm_parse_step_ = kSearchPacketPreamble;
|
||||
@@ -100,5 +101,5 @@ class CommProtocol {
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
#endif // COMM_COMM_PROTOCOL_H_
|
||||
|
||||
@@ -36,19 +36,17 @@ const uint32_t kPacketLengthLmit = 200;
|
||||
const uint32_t kPreambleLen = 1;
|
||||
const uint32_t kWrapperLen = 4; /** '$' + '*' + '2 checksum byte' */
|
||||
|
||||
GpsProtocol::GpsProtocol() { found_length_ = 0; }
|
||||
|
||||
GpsProtocol::GpsProtocol() {
|
||||
found_length_ = 0;
|
||||
}
|
||||
|
||||
int32_t GpsProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, \
|
||||
int32_t GpsProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) {
|
||||
//GpsPacket* gps_packet = (GpsPacket*)o_buf;
|
||||
// GpsPacket* gps_packet = (GpsPacket*)o_buf;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int32_t GpsProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) {
|
||||
//GpsPacket *gps_packet = (GpsPacket *)i_buf;
|
||||
int32_t GpsProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len,
|
||||
CommPacket *o_packet) {
|
||||
// GpsPacket *gps_packet = (GpsPacket *)i_buf;
|
||||
|
||||
if (i_len < GetPacketWrapperLen()) {
|
||||
return -1; // packet length error
|
||||
@@ -61,17 +59,15 @@ int32_t GpsProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacke
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t GpsProtocol::GetPreambleLen() {
|
||||
return kPreambleLen; /** '$' */
|
||||
}
|
||||
uint32_t GpsProtocol::GetPreambleLen() { return kPreambleLen; /** '$' */ }
|
||||
|
||||
uint32_t GpsProtocol::GetPacketWrapperLen() {
|
||||
return kWrapperLen; /** '$' + '*' + '2 checksum bytes' */
|
||||
}
|
||||
|
||||
uint32_t GpsProtocol::FindPacketLen(const uint8_t *buf, uint32_t buf_length) {
|
||||
uint32_t i=0;
|
||||
for (; (i<buf_length) && (i<kPacketLengthLmit); i++) {
|
||||
uint32_t i = 0;
|
||||
for (; (i < buf_length) && (i < kPacketLengthLmit); i++) {
|
||||
if ((buf[i] == kGpsProtocolEof) && (buf[0] == kGpsProtocolSof)) {
|
||||
found_length_ = i + 1 + 2; /* num = index + 1 + two bytes checksum */
|
||||
return kFindLengthSuccess;
|
||||
@@ -84,9 +80,7 @@ uint32_t GpsProtocol::FindPacketLen(const uint8_t *buf, uint32_t buf_length) {
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t GpsProtocol::GetPacketLen(const uint8_t *buf) {
|
||||
return found_length_;
|
||||
}
|
||||
uint32_t GpsProtocol::GetPacketLen(const uint8_t *buf) { return found_length_; }
|
||||
|
||||
int32_t GpsProtocol::CheckPreamble(const uint8_t *buf) {
|
||||
GpsPreamble *preamble = (GpsPreamble *)buf;
|
||||
@@ -99,7 +93,8 @@ int32_t GpsProtocol::CheckPreamble(const uint8_t *buf) {
|
||||
}
|
||||
|
||||
int32_t GpsProtocol::CheckPacket(const uint8_t *buf) {
|
||||
uint8_t checksum = CalcGpsPacketChecksum(&buf[1], found_length_ - kWrapperLen);
|
||||
uint8_t checksum =
|
||||
CalcGpsPacketChecksum(&buf[1], found_length_ - kWrapperLen);
|
||||
uint8_t raw_checksum = AscciiToHex(&buf[found_length_ - 2]);
|
||||
if (checksum == raw_checksum) {
|
||||
return 0;
|
||||
@@ -108,7 +103,8 @@ int32_t GpsProtocol::CheckPacket(const uint8_t *buf) {
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t GpsProtocol::CalcGpsPacketChecksum(const uint8_t *buf, uint32_t length) {
|
||||
uint8_t GpsProtocol::CalcGpsPacketChecksum(const uint8_t *buf,
|
||||
uint32_t length) {
|
||||
uint8_t result = buf[0];
|
||||
for (uint32_t i = 1; i < length; i++) {
|
||||
result ^= buf[i];
|
||||
@@ -116,15 +112,16 @@ uint8_t GpsProtocol::CalcGpsPacketChecksum(const uint8_t *buf, uint32_t length)
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
uint8_t AscciiToHex(const uint8_t *TwoChar) {
|
||||
uint8_t h = toupper(TwoChar[0]) - 0x30;
|
||||
if (h > 9) h -= 7;
|
||||
if (h > 9)
|
||||
h -= 7;
|
||||
|
||||
uint8_t l = toupper(TwoChar[1]) - 0x30;
|
||||
if (l > 9) l -= 7;
|
||||
if (l > 9)
|
||||
l -= 7;
|
||||
|
||||
return h*16 + l;
|
||||
return h * 16 + l;
|
||||
}
|
||||
|
||||
}// namespace livox
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -25,8 +25,8 @@
|
||||
#ifndef LIVOX_GPS_PROTOCOL_H_
|
||||
#define LIVOX_GPS_PROTOCOL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "protocol.h"
|
||||
#include <stdint.h>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
@@ -47,13 +47,14 @@ typedef struct {
|
||||
uint8_t AscciiToHex(const uint8_t *TwoChar);
|
||||
|
||||
class GpsProtocol : public Protocol {
|
||||
public:
|
||||
public:
|
||||
GpsProtocol();
|
||||
~GpsProtocol() = default;
|
||||
|
||||
int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) override;
|
||||
int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len,
|
||||
CommPacket *o_packet) override;
|
||||
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, \
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) override;
|
||||
|
||||
uint32_t GetPreambleLen() override;
|
||||
@@ -68,12 +69,11 @@ class GpsProtocol : public Protocol {
|
||||
|
||||
int32_t CheckPacket(const uint8_t *buf) override;
|
||||
|
||||
private:
|
||||
private:
|
||||
uint32_t found_length_;
|
||||
|
||||
uint8_t CalcGpsPacketChecksum(const uint8_t *buf, uint32_t length);
|
||||
|
||||
};
|
||||
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
#endif // LIVOX_GPS_PROTOCOL_H_
|
||||
|
||||
@@ -40,7 +40,11 @@ typedef enum { kNoNeed, kNeedAck, kDelayAck } NeedAckType;
|
||||
|
||||
typedef enum { kParseSuccess, kParseFail, kParseNeedMoreData } ParseResult;
|
||||
|
||||
typedef enum { kFindLengthSuccess, kFindLengthContinue, kFindLengthError } FindLengthResult;
|
||||
typedef enum {
|
||||
kFindLengthSuccess,
|
||||
kFindLengthContinue,
|
||||
kFindLengthError
|
||||
} FindLengthResult;
|
||||
|
||||
typedef struct CommPacket {
|
||||
uint8_t packet_type;
|
||||
@@ -69,7 +73,7 @@ typedef struct {
|
||||
|
||||
/** NAME-0183 Protocol info config for gps */
|
||||
typedef struct {
|
||||
void* data;
|
||||
void *data;
|
||||
} GpsProtocolConfig;
|
||||
|
||||
typedef struct {
|
||||
@@ -81,12 +85,13 @@ typedef struct {
|
||||
} ProtocolConfig;
|
||||
|
||||
class Protocol {
|
||||
public:
|
||||
public:
|
||||
virtual ~Protocol() = default;
|
||||
|
||||
virtual int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) = 0;
|
||||
virtual int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len,
|
||||
CommPacket *o_packet) = 0;
|
||||
|
||||
virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, \
|
||||
virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) = 0;
|
||||
|
||||
virtual uint32_t GetPreambleLen() = 0;
|
||||
@@ -102,5 +107,5 @@ class Protocol {
|
||||
virtual int32_t CheckPacket(const uint8_t *buf) = 0;
|
||||
};
|
||||
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
#endif // COMM_PROTOCOL_H_
|
||||
|
||||
@@ -32,9 +32,10 @@ const uint8_t kSdkProtocolSof = 0xAA;
|
||||
const uint32_t kSdkPacketCrcSize = 4; // crc32
|
||||
const uint32_t kSdkPacketPreambleCrcSize = 2; // crc16
|
||||
|
||||
SdkProtocol::SdkProtocol(uint16_t seed16, uint32_t seed32) : crc16_(seed16), crc32_(seed32) {}
|
||||
SdkProtocol::SdkProtocol(uint16_t seed16, uint32_t seed32)
|
||||
: crc16_(seed16), crc32_(seed32) {}
|
||||
|
||||
int32_t SdkProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,\
|
||||
int32_t SdkProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) {
|
||||
SdkPacket *sdk_packet = (SdkPacket *)o_buf;
|
||||
|
||||
@@ -52,14 +53,15 @@ int32_t SdkProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,\
|
||||
sdk_packet->version = kSdkVer0;
|
||||
sdk_packet->packet_type = i_packet.packet_type;
|
||||
sdk_packet->seq_num = i_packet.seq_num & 0xFFFF;
|
||||
sdk_packet->preamble_crc = crc16_.mcrf4xx_calc(o_buf, GetPreambleLen() - \
|
||||
kSdkPacketPreambleCrcSize);
|
||||
sdk_packet->preamble_crc =
|
||||
crc16_.mcrf4xx_calc(o_buf, GetPreambleLen() - kSdkPacketPreambleCrcSize);
|
||||
sdk_packet->cmd_set = i_packet.cmd_set;
|
||||
sdk_packet->cmd_id = i_packet.cmd_code;
|
||||
|
||||
memcpy(sdk_packet->data, i_packet.data, i_packet.data_len);
|
||||
|
||||
uint32_t crc = crc32_.crc32_calc(o_buf, sdk_packet->length - kSdkPacketCrcSize);
|
||||
uint32_t crc =
|
||||
crc32_.crc32_calc(o_buf, sdk_packet->length - kSdkPacketCrcSize);
|
||||
o_buf[sdk_packet->length - 4] = crc & 0xFF;
|
||||
o_buf[sdk_packet->length - 3] = (crc >> 8) & 0xFF;
|
||||
o_buf[sdk_packet->length - 2] = (crc >> 16) & 0xFF;
|
||||
@@ -70,7 +72,8 @@ int32_t SdkProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,\
|
||||
return 0;
|
||||
}
|
||||
|
||||
int32_t SdkProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) {
|
||||
int32_t SdkProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len,
|
||||
CommPacket *o_packet) {
|
||||
SdkPacket *sdk_packet = (SdkPacket *)i_buf;
|
||||
|
||||
if (i_len < GetPacketWrapperLen()) {
|
||||
@@ -92,9 +95,7 @@ int32_t SdkProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacke
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t SdkProtocol::GetPreambleLen() {
|
||||
return sizeof(SdkPreamble);
|
||||
}
|
||||
uint32_t SdkProtocol::GetPreambleLen() { return sizeof(SdkPreamble); }
|
||||
|
||||
uint32_t SdkProtocol::GetPacketWrapperLen() {
|
||||
return sizeof(SdkPacket) - 1 + kSdkPacketCrcSize;
|
||||
@@ -108,7 +109,8 @@ uint32_t SdkProtocol::GetPacketLen(const uint8_t *buf) {
|
||||
int32_t SdkProtocol::CheckPreamble(const uint8_t *buf) {
|
||||
SdkPreamble *preamble = (SdkPreamble *)buf;
|
||||
|
||||
if ((preamble->sof == kSdkProtocolSof) && (crc16_.mcrf4xx_calc(buf, GetPreambleLen()) == 0)) {
|
||||
if ((preamble->sof == kSdkProtocolSof) &&
|
||||
(crc16_.mcrf4xx_calc(buf, GetPreambleLen()) == 0)) {
|
||||
return 0;
|
||||
} else {
|
||||
return -1;
|
||||
@@ -118,9 +120,9 @@ int32_t SdkProtocol::CheckPreamble(const uint8_t *buf) {
|
||||
int32_t SdkProtocol::CheckPacket(const uint8_t *buf) {
|
||||
SdkPacket *sdk_packet = (SdkPacket *)buf;
|
||||
|
||||
uint32_t crc = ((uint32_t)(buf[sdk_packet->length - 4])) | \
|
||||
(((uint32_t)(buf[sdk_packet->length - 3])) << 8) | \
|
||||
(((uint32_t)(buf[sdk_packet->length - 2])) << 16) | \
|
||||
uint32_t crc = ((uint32_t)(buf[sdk_packet->length - 4])) |
|
||||
(((uint32_t)(buf[sdk_packet->length - 3])) << 8) |
|
||||
(((uint32_t)(buf[sdk_packet->length - 2])) << 16) |
|
||||
(((uint32_t)(buf[sdk_packet->length - 1])) << 24);
|
||||
|
||||
if (crc32_.crc32_calc(buf, sdk_packet->length - kSdkPacketCrcSize) == crc) {
|
||||
@@ -129,4 +131,4 @@ int32_t SdkProtocol::CheckPacket(const uint8_t *buf) {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
}// namespace livox
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -25,9 +25,9 @@
|
||||
#ifndef LIVOX_SDK_PROTOCOL_H_
|
||||
#define LIVOX_SDK_PROTOCOL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "protocol.h"
|
||||
#include "FastCRC/FastCRC.h"
|
||||
#include "protocol.h"
|
||||
#include <stdint.h>
|
||||
|
||||
namespace livox_ros {
|
||||
typedef enum { kSdkVerNone, kSdkVer0, kSdkVer1 } SdkVersion;
|
||||
@@ -58,13 +58,14 @@ typedef struct {
|
||||
#pragma pack()
|
||||
|
||||
class SdkProtocol : public Protocol {
|
||||
public:
|
||||
public:
|
||||
SdkProtocol(uint16_t seed16, uint32_t seed32);
|
||||
~SdkProtocol() = default;
|
||||
|
||||
int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) override;
|
||||
int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len,
|
||||
CommPacket *o_packet) override;
|
||||
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, \
|
||||
int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len,
|
||||
const CommPacket &i_packet) override;
|
||||
|
||||
uint32_t GetPreambleLen() override;
|
||||
@@ -77,9 +78,9 @@ class SdkProtocol : public Protocol {
|
||||
|
||||
int32_t CheckPacket(const uint8_t *buf) override;
|
||||
|
||||
private:
|
||||
private:
|
||||
FastCRC16 crc16_;
|
||||
FastCRC32 crc32_;
|
||||
};
|
||||
} // namespace livox
|
||||
} // namespace livox_ros
|
||||
#endif // LIVOX_SDK_PROTOCOL_H_
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ALLOCATORS_H_
|
||||
#define RAPIDJSON_ALLOCATORS_H_
|
||||
@@ -32,7 +36,8 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
|
||||
\code
|
||||
concept Allocator {
|
||||
static const bool kNeedFree; //!< Whether this allocator needs to call Free().
|
||||
static const bool kNeedFree; //!< Whether this allocator needs to call
|
||||
Free().
|
||||
|
||||
// Allocate a memory block.
|
||||
// \param size of the memory block in bytes.
|
||||
@@ -40,8 +45,10 @@ concept Allocator {
|
||||
void* Malloc(size_t size);
|
||||
|
||||
// Resize a memory block.
|
||||
// \param originalPtr The pointer to current memory block. Null pointer is permitted.
|
||||
// \param originalSize The current size in bytes. (Design issue: since some allocator may not book-keep this, explicitly pass to it can save memory.)
|
||||
// \param originalPtr The pointer to current memory block. Null pointer is
|
||||
permitted.
|
||||
// \param originalSize The current size in bytes. (Design issue: since some
|
||||
allocator may not book-keep this, explicitly pass to it can save memory.)
|
||||
// \param newSize the new size in bytes.
|
||||
void* Realloc(void* originalPtr, size_t originalSize, size_t newSize);
|
||||
|
||||
@@ -52,7 +59,6 @@ concept Allocator {
|
||||
\endcode
|
||||
*/
|
||||
|
||||
|
||||
/*! \def RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY
|
||||
\ingroup RAPIDJSON_CONFIG
|
||||
\brief User-defined kDefaultChunkCapacity definition.
|
||||
@@ -64,7 +70,6 @@ concept Allocator {
|
||||
#define RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY (64 * 1024)
|
||||
#endif
|
||||
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// CrtAllocator
|
||||
|
||||
@@ -75,13 +80,13 @@ concept Allocator {
|
||||
class CrtAllocator {
|
||||
public:
|
||||
static const bool kNeedFree = true;
|
||||
void* Malloc(size_t size) {
|
||||
void *Malloc(size_t size) {
|
||||
if (size) // behavior of malloc(0) is implementation defined.
|
||||
return std::malloc(size);
|
||||
else
|
||||
return NULL; // standardize to returning NULL.
|
||||
}
|
||||
void* Realloc(void* originalPtr, size_t originalSize, size_t newSize) {
|
||||
void *Realloc(void *originalPtr, size_t originalSize, size_t newSize) {
|
||||
(void)originalSize;
|
||||
if (newSize == 0) {
|
||||
std::free(originalPtr);
|
||||
@@ -100,47 +105,55 @@ public:
|
||||
|
||||
It does not free memory blocks. And Realloc() only allocate new memory.
|
||||
|
||||
The memory chunks are allocated by BaseAllocator, which is CrtAllocator by default.
|
||||
The memory chunks are allocated by BaseAllocator, which is CrtAllocator by
|
||||
default.
|
||||
|
||||
User may also supply a buffer as the first chunk.
|
||||
|
||||
If the user-buffer is full then additional chunks are allocated by BaseAllocator.
|
||||
If the user-buffer is full then additional chunks are allocated by
|
||||
BaseAllocator.
|
||||
|
||||
The user-buffer is not deallocated by this allocator.
|
||||
|
||||
\tparam BaseAllocator the allocator type for allocating memory chunks. Default is CrtAllocator.
|
||||
\note implements Allocator concept
|
||||
\tparam BaseAllocator the allocator type for allocating memory chunks.
|
||||
Default is CrtAllocator. \note implements Allocator concept
|
||||
*/
|
||||
template <typename BaseAllocator = CrtAllocator>
|
||||
class MemoryPoolAllocator {
|
||||
template <typename BaseAllocator = CrtAllocator> class MemoryPoolAllocator {
|
||||
public:
|
||||
static const bool kNeedFree = false; //!< Tell users that no need to call Free() with this allocator. (concept Allocator)
|
||||
static const bool kNeedFree =
|
||||
false; //!< Tell users that no need to call Free() with this allocator.
|
||||
//!< (concept Allocator)
|
||||
|
||||
//! Constructor with chunkSize.
|
||||
/*! \param chunkSize The size of memory chunk. The default is kDefaultChunkSize.
|
||||
\param baseAllocator The allocator for allocating memory chunks.
|
||||
/*! \param chunkSize The size of memory chunk. The default is
|
||||
kDefaultChunkSize. \param baseAllocator The allocator for allocating memory
|
||||
chunks.
|
||||
*/
|
||||
MemoryPoolAllocator(size_t chunkSize = kDefaultChunkCapacity, BaseAllocator* baseAllocator = 0) :
|
||||
chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(0), baseAllocator_(baseAllocator), ownBaseAllocator_(0)
|
||||
{
|
||||
}
|
||||
MemoryPoolAllocator(size_t chunkSize = kDefaultChunkCapacity,
|
||||
BaseAllocator *baseAllocator = 0)
|
||||
: chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(0),
|
||||
baseAllocator_(baseAllocator), ownBaseAllocator_(0) {}
|
||||
|
||||
//! Constructor with user-supplied buffer.
|
||||
/*! The user buffer will be used firstly. When it is full, memory pool allocates new chunk with chunk size.
|
||||
/*! The user buffer will be used firstly. When it is full, memory pool
|
||||
allocates new chunk with chunk size.
|
||||
|
||||
The user buffer will not be deallocated when this allocator is destructed.
|
||||
|
||||
\param buffer User supplied buffer.
|
||||
\param size Size of the buffer in bytes. It must at least larger than sizeof(ChunkHeader).
|
||||
\param chunkSize The size of memory chunk. The default is kDefaultChunkSize.
|
||||
\param baseAllocator The allocator for allocating memory chunks.
|
||||
\param size Size of the buffer in bytes. It must at least larger than
|
||||
sizeof(ChunkHeader). \param chunkSize The size of memory chunk. The default
|
||||
is kDefaultChunkSize. \param baseAllocator The allocator for allocating
|
||||
memory chunks.
|
||||
*/
|
||||
MemoryPoolAllocator(void *buffer, size_t size, size_t chunkSize = kDefaultChunkCapacity, BaseAllocator* baseAllocator = 0) :
|
||||
chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(buffer), baseAllocator_(baseAllocator), ownBaseAllocator_(0)
|
||||
{
|
||||
MemoryPoolAllocator(void *buffer, size_t size,
|
||||
size_t chunkSize = kDefaultChunkCapacity,
|
||||
BaseAllocator *baseAllocator = 0)
|
||||
: chunkHead_(0), chunk_capacity_(chunkSize), userBuffer_(buffer),
|
||||
baseAllocator_(baseAllocator), ownBaseAllocator_(0) {
|
||||
RAPIDJSON_ASSERT(buffer != 0);
|
||||
RAPIDJSON_ASSERT(size > sizeof(ChunkHeader));
|
||||
chunkHead_ = reinterpret_cast<ChunkHeader*>(buffer);
|
||||
chunkHead_ = reinterpret_cast<ChunkHeader *>(buffer);
|
||||
chunkHead_->capacity = size - sizeof(ChunkHeader);
|
||||
chunkHead_->size = 0;
|
||||
chunkHead_->next = 0;
|
||||
@@ -157,7 +170,7 @@ public:
|
||||
//! Deallocates all memory chunks, excluding the user-supplied buffer.
|
||||
void Clear() {
|
||||
while (chunkHead_ && chunkHead_ != userBuffer_) {
|
||||
ChunkHeader* next = chunkHead_->next;
|
||||
ChunkHeader *next = chunkHead_->next;
|
||||
baseAllocator_->Free(chunkHead_);
|
||||
chunkHead_ = next;
|
||||
}
|
||||
@@ -170,7 +183,7 @@ public:
|
||||
*/
|
||||
size_t Capacity() const {
|
||||
size_t capacity = 0;
|
||||
for (ChunkHeader* c = chunkHead_; c != 0; c = c->next)
|
||||
for (ChunkHeader *c = chunkHead_; c != 0; c = c->next)
|
||||
capacity += c->capacity;
|
||||
return capacity;
|
||||
}
|
||||
@@ -180,13 +193,13 @@ public:
|
||||
*/
|
||||
size_t Size() const {
|
||||
size_t size = 0;
|
||||
for (ChunkHeader* c = chunkHead_; c != 0; c = c->next)
|
||||
for (ChunkHeader *c = chunkHead_; c != 0; c = c->next)
|
||||
size += c->size;
|
||||
return size;
|
||||
}
|
||||
|
||||
//! Allocates a memory block. (concept Allocator)
|
||||
void* Malloc(size_t size) {
|
||||
void *Malloc(size_t size) {
|
||||
if (!size)
|
||||
return NULL;
|
||||
|
||||
@@ -195,13 +208,14 @@ public:
|
||||
if (!AddChunk(chunk_capacity_ > size ? chunk_capacity_ : size))
|
||||
return NULL;
|
||||
|
||||
void *buffer = reinterpret_cast<char *>(chunkHead_) + RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + chunkHead_->size;
|
||||
void *buffer = reinterpret_cast<char *>(chunkHead_) +
|
||||
RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + chunkHead_->size;
|
||||
chunkHead_->size += size;
|
||||
return buffer;
|
||||
}
|
||||
|
||||
//! Resizes a memory block (concept Allocator)
|
||||
void* Realloc(void* originalPtr, size_t originalSize, size_t newSize) {
|
||||
void *Realloc(void *originalPtr, size_t originalSize, size_t newSize) {
|
||||
if (originalPtr == 0)
|
||||
return Malloc(newSize);
|
||||
|
||||
@@ -215,8 +229,11 @@ public:
|
||||
if (originalSize >= newSize)
|
||||
return originalPtr;
|
||||
|
||||
// Simply expand it if it is the last allocation and there is sufficient space
|
||||
if (originalPtr == reinterpret_cast<char *>(chunkHead_) + RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + chunkHead_->size - originalSize) {
|
||||
// Simply expand it if it is the last allocation and there is sufficient
|
||||
// space
|
||||
if (originalPtr == reinterpret_cast<char *>(chunkHead_) +
|
||||
RAPIDJSON_ALIGN(sizeof(ChunkHeader)) +
|
||||
chunkHead_->size - originalSize) {
|
||||
size_t increment = static_cast<size_t>(newSize - originalSize);
|
||||
if (chunkHead_->size + increment <= chunkHead_->capacity) {
|
||||
chunkHead_->size += increment;
|
||||
@@ -225,12 +242,11 @@ public:
|
||||
}
|
||||
|
||||
// Realloc process: allocate and copy memory, do not free original buffer.
|
||||
if (void* newBuffer = Malloc(newSize)) {
|
||||
if (void *newBuffer = Malloc(newSize)) {
|
||||
if (originalSize)
|
||||
std::memcpy(newBuffer, originalPtr, originalSize);
|
||||
return newBuffer;
|
||||
}
|
||||
else
|
||||
} else
|
||||
return NULL;
|
||||
}
|
||||
|
||||
@@ -239,9 +255,9 @@ public:
|
||||
|
||||
private:
|
||||
//! Copy constructor is not permitted.
|
||||
MemoryPoolAllocator(const MemoryPoolAllocator& rhs) /* = delete */;
|
||||
MemoryPoolAllocator(const MemoryPoolAllocator &rhs) /* = delete */;
|
||||
//! Copy assignment operator is not permitted.
|
||||
MemoryPoolAllocator& operator=(const MemoryPoolAllocator& rhs) /* = delete */;
|
||||
MemoryPoolAllocator &operator=(const MemoryPoolAllocator &rhs) /* = delete */;
|
||||
|
||||
//! Creates a new chunk.
|
||||
/*! \param capacity Capacity of the chunk in bytes.
|
||||
@@ -250,33 +266,39 @@ private:
|
||||
bool AddChunk(size_t capacity) {
|
||||
if (!baseAllocator_)
|
||||
ownBaseAllocator_ = baseAllocator_ = RAPIDJSON_NEW(BaseAllocator)();
|
||||
if (ChunkHeader* chunk = reinterpret_cast<ChunkHeader*>(baseAllocator_->Malloc(RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + capacity))) {
|
||||
if (ChunkHeader *chunk =
|
||||
reinterpret_cast<ChunkHeader *>(baseAllocator_->Malloc(
|
||||
RAPIDJSON_ALIGN(sizeof(ChunkHeader)) + capacity))) {
|
||||
chunk->capacity = capacity;
|
||||
chunk->size = 0;
|
||||
chunk->next = chunkHead_;
|
||||
chunkHead_ = chunk;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
} else
|
||||
return false;
|
||||
}
|
||||
|
||||
static const int kDefaultChunkCapacity = RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY; //!< Default chunk capacity.
|
||||
static const int kDefaultChunkCapacity =
|
||||
RAPIDJSON_ALLOCATOR_DEFAULT_CHUNK_CAPACITY; //!< Default chunk capacity.
|
||||
|
||||
//! Chunk header for perpending to each chunk.
|
||||
/*! Chunks are stored as a singly linked list.
|
||||
*/
|
||||
struct ChunkHeader {
|
||||
size_t capacity; //!< Capacity of the chunk in bytes (excluding the header itself).
|
||||
size_t capacity; //!< Capacity of the chunk in bytes (excluding the header
|
||||
//!< itself).
|
||||
size_t size; //!< Current size of allocated memory in bytes.
|
||||
ChunkHeader *next; //!< Next chunk in the linked list.
|
||||
};
|
||||
|
||||
ChunkHeader *chunkHead_; //!< Head of the chunk linked-list. Only the head chunk serves allocation.
|
||||
size_t chunk_capacity_; //!< The minimum capacity of chunk when they are allocated.
|
||||
ChunkHeader *chunkHead_; //!< Head of the chunk linked-list. Only the head
|
||||
//!< chunk serves allocation.
|
||||
size_t chunk_capacity_; //!< The minimum capacity of chunk when they are
|
||||
//!< allocated.
|
||||
void *userBuffer_; //!< User supplied buffer.
|
||||
BaseAllocator* baseAllocator_; //!< base allocator for allocating memory chunks.
|
||||
BaseAllocator* ownBaseAllocator_; //!< base allocator created by this object.
|
||||
BaseAllocator
|
||||
*baseAllocator_; //!< base allocator for allocating memory chunks.
|
||||
BaseAllocator *ownBaseAllocator_; //!< base allocator created by this object.
|
||||
};
|
||||
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_CURSORSTREAMWRAPPER_H_
|
||||
#define RAPIDJSON_CURSORSTREAMWRAPPER_H_
|
||||
@@ -30,27 +34,26 @@ RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
|
||||
|
||||
//! Cursor stream wrapper for counting line and column number if error exists.
|
||||
/*!
|
||||
\tparam InputStream Any stream that implements Stream Concept
|
||||
*/
|
||||
template <typename InputStream, typename Encoding = UTF8<> >
|
||||
template <typename InputStream, typename Encoding = UTF8<>>
|
||||
class CursorStreamWrapper : public GenericStreamWrapper<InputStream, Encoding> {
|
||||
public:
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
CursorStreamWrapper(InputStream& is):
|
||||
GenericStreamWrapper<InputStream, Encoding>(is), line_(1), col_(0) {}
|
||||
CursorStreamWrapper(InputStream &is)
|
||||
: GenericStreamWrapper<InputStream, Encoding>(is), line_(1), col_(0) {}
|
||||
|
||||
// counting line and column number
|
||||
Ch Take() {
|
||||
Ch ch = this->is_.Take();
|
||||
if(ch == '\n') {
|
||||
line_ ++;
|
||||
if (ch == '\n') {
|
||||
line_++;
|
||||
col_ = 0;
|
||||
} else {
|
||||
col_ ++;
|
||||
col_++;
|
||||
}
|
||||
return ch;
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,22 +1,26 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ENCODEDSTREAM_H_
|
||||
#define RAPIDJSON_ENCODEDSTREAM_H_
|
||||
|
||||
#include "stream.h"
|
||||
#include "memorystream.h"
|
||||
#include "stream.h"
|
||||
|
||||
#ifdef __GNUC__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
@@ -32,47 +36,61 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
|
||||
//! Input byte stream wrapper with a statically bound encoding.
|
||||
/*!
|
||||
\tparam Encoding The interpretation of encoding of the stream. Either UTF8, UTF16LE, UTF16BE, UTF32LE, UTF32BE.
|
||||
\tparam InputByteStream Type of input byte stream. For example, FileReadStream.
|
||||
\tparam Encoding The interpretation of encoding of the stream. Either UTF8,
|
||||
UTF16LE, UTF16BE, UTF32LE, UTF32BE. \tparam InputByteStream Type of input
|
||||
byte stream. For example, FileReadStream.
|
||||
*/
|
||||
template <typename Encoding, typename InputByteStream>
|
||||
class EncodedInputStream {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
|
||||
public:
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
EncodedInputStream(InputByteStream& is) : is_(is) {
|
||||
EncodedInputStream(InputByteStream &is) : is_(is) {
|
||||
current_ = Encoding::TakeBOM(is_);
|
||||
}
|
||||
|
||||
Ch Peek() const { return current_; }
|
||||
Ch Take() { Ch c = current_; current_ = Encoding::Take(is_); return c; }
|
||||
Ch Take() {
|
||||
Ch c = current_;
|
||||
current_ = Encoding::Take(is_);
|
||||
return c;
|
||||
}
|
||||
size_t Tell() const { return is_.Tell(); }
|
||||
|
||||
// Not implemented
|
||||
void Put(Ch) { RAPIDJSON_ASSERT(false); }
|
||||
void Flush() { RAPIDJSON_ASSERT(false); }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
EncodedInputStream(const EncodedInputStream&);
|
||||
EncodedInputStream& operator=(const EncodedInputStream&);
|
||||
EncodedInputStream(const EncodedInputStream &);
|
||||
EncodedInputStream &operator=(const EncodedInputStream &);
|
||||
|
||||
InputByteStream& is_;
|
||||
InputByteStream &is_;
|
||||
Ch current_;
|
||||
};
|
||||
|
||||
//! Specialized for UTF8 MemoryStream.
|
||||
template <>
|
||||
class EncodedInputStream<UTF8<>, MemoryStream> {
|
||||
template <> class EncodedInputStream<UTF8<>, MemoryStream> {
|
||||
public:
|
||||
typedef UTF8<>::Ch Ch;
|
||||
|
||||
EncodedInputStream(MemoryStream& is) : is_(is) {
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xEFu) is_.Take();
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xBBu) is_.Take();
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xBFu) is_.Take();
|
||||
EncodedInputStream(MemoryStream &is) : is_(is) {
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xEFu)
|
||||
is_.Take();
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xBBu)
|
||||
is_.Take();
|
||||
if (static_cast<unsigned char>(is_.Peek()) == 0xBFu)
|
||||
is_.Take();
|
||||
}
|
||||
Ch Peek() const { return is_.Peek(); }
|
||||
Ch Take() { return is_.Take(); }
|
||||
@@ -81,28 +99,30 @@ public:
|
||||
// Not implemented
|
||||
void Put(Ch) {}
|
||||
void Flush() {}
|
||||
Ch* PutBegin() { return 0; }
|
||||
size_t PutEnd(Ch*) { return 0; }
|
||||
Ch *PutBegin() { return 0; }
|
||||
size_t PutEnd(Ch *) { return 0; }
|
||||
|
||||
MemoryStream& is_;
|
||||
MemoryStream &is_;
|
||||
|
||||
private:
|
||||
EncodedInputStream(const EncodedInputStream&);
|
||||
EncodedInputStream& operator=(const EncodedInputStream&);
|
||||
EncodedInputStream(const EncodedInputStream &);
|
||||
EncodedInputStream &operator=(const EncodedInputStream &);
|
||||
};
|
||||
|
||||
//! Output byte stream wrapper with statically bound encoding.
|
||||
/*!
|
||||
\tparam Encoding The interpretation of encoding of the stream. Either UTF8, UTF16LE, UTF16BE, UTF32LE, UTF32BE.
|
||||
\tparam OutputByteStream Type of input byte stream. For example, FileWriteStream.
|
||||
\tparam Encoding The interpretation of encoding of the stream. Either UTF8,
|
||||
UTF16LE, UTF16BE, UTF32LE, UTF32BE. \tparam OutputByteStream Type of input
|
||||
byte stream. For example, FileWriteStream.
|
||||
*/
|
||||
template <typename Encoding, typename OutputByteStream>
|
||||
class EncodedOutputStream {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
|
||||
public:
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
EncodedOutputStream(OutputByteStream& os, bool putBOM = true) : os_(os) {
|
||||
EncodedOutputStream(OutputByteStream &os, bool putBOM = true) : os_(os) {
|
||||
if (putBOM)
|
||||
Encoding::PutBOM(os_);
|
||||
}
|
||||
@@ -111,22 +131,39 @@ public:
|
||||
void Flush() { os_.Flush(); }
|
||||
|
||||
// Not implemented
|
||||
Ch Peek() const { RAPIDJSON_ASSERT(false); return 0;}
|
||||
Ch Take() { RAPIDJSON_ASSERT(false); return 0;}
|
||||
size_t Tell() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch Peek() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
Ch Take() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t Tell() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
EncodedOutputStream(const EncodedOutputStream&);
|
||||
EncodedOutputStream& operator=(const EncodedOutputStream&);
|
||||
EncodedOutputStream(const EncodedOutputStream &);
|
||||
EncodedOutputStream &operator=(const EncodedOutputStream &);
|
||||
|
||||
OutputByteStream& os_;
|
||||
OutputByteStream &os_;
|
||||
};
|
||||
|
||||
#define RAPIDJSON_ENCODINGS_FUNC(x) UTF8<Ch>::x, UTF16LE<Ch>::x, UTF16BE<Ch>::x, UTF32LE<Ch>::x, UTF32BE<Ch>::x
|
||||
#define RAPIDJSON_ENCODINGS_FUNC(x) \
|
||||
UTF8<Ch>::x, UTF16LE<Ch>::x, UTF16BE<Ch>::x, UTF32LE<Ch>::x, UTF32BE<Ch>::x
|
||||
|
||||
//! Input stream wrapper with dynamically bound encoding and automatic encoding detection.
|
||||
//! Input stream wrapper with dynamically bound encoding and automatic encoding
|
||||
//! detection.
|
||||
/*!
|
||||
\tparam CharType Type of character for reading.
|
||||
\tparam InputByteStream type of input byte stream to be wrapped.
|
||||
@@ -134,6 +171,7 @@ private:
|
||||
template <typename CharType, typename InputByteStream>
|
||||
class AutoUTFInputStream {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
|
||||
public:
|
||||
typedef CharType Ch;
|
||||
|
||||
@@ -142,10 +180,11 @@ public:
|
||||
\param is input stream to be wrapped.
|
||||
\param type UTF encoding type if it is not detected from the stream.
|
||||
*/
|
||||
AutoUTFInputStream(InputByteStream& is, UTFType type = kUTF8) : is_(&is), type_(type), hasBOM_(false) {
|
||||
AutoUTFInputStream(InputByteStream &is, UTFType type = kUTF8)
|
||||
: is_(&is), type_(type), hasBOM_(false) {
|
||||
RAPIDJSON_ASSERT(type >= kUTF8 && type <= kUTF32BE);
|
||||
DetectType();
|
||||
static const TakeFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(Take) };
|
||||
static const TakeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Take)};
|
||||
takeFunc_ = f[type_];
|
||||
current_ = takeFunc_(*is_);
|
||||
}
|
||||
@@ -154,18 +193,28 @@ public:
|
||||
bool HasBOM() const { return hasBOM_; }
|
||||
|
||||
Ch Peek() const { return current_; }
|
||||
Ch Take() { Ch c = current_; current_ = takeFunc_(*is_); return c; }
|
||||
Ch Take() {
|
||||
Ch c = current_;
|
||||
current_ = takeFunc_(*is_);
|
||||
return c;
|
||||
}
|
||||
size_t Tell() const { return is_->Tell(); }
|
||||
|
||||
// Not implemented
|
||||
void Put(Ch) { RAPIDJSON_ASSERT(false); }
|
||||
void Flush() { RAPIDJSON_ASSERT(false); }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
AutoUTFInputStream(const AutoUTFInputStream&);
|
||||
AutoUTFInputStream& operator=(const AutoUTFInputStream&);
|
||||
AutoUTFInputStream(const AutoUTFInputStream &);
|
||||
AutoUTFInputStream &operator=(const AutoUTFInputStream &);
|
||||
|
||||
// Detect encoding type with BOM or RFC 4627
|
||||
void DetectType() {
|
||||
@@ -176,17 +225,45 @@ private:
|
||||
// FF FE UTF-16LE
|
||||
// EF BB BF UTF-8
|
||||
|
||||
const unsigned char* c = reinterpret_cast<const unsigned char *>(is_->Peek4());
|
||||
const unsigned char *c =
|
||||
reinterpret_cast<const unsigned char *>(is_->Peek4());
|
||||
if (!c)
|
||||
return;
|
||||
|
||||
unsigned bom = static_cast<unsigned>(c[0] | (c[1] << 8) | (c[2] << 16) | (c[3] << 24));
|
||||
unsigned bom =
|
||||
static_cast<unsigned>(c[0] | (c[1] << 8) | (c[2] << 16) | (c[3] << 24));
|
||||
hasBOM_ = false;
|
||||
if (bom == 0xFFFE0000) { type_ = kUTF32BE; hasBOM_ = true; is_->Take(); is_->Take(); is_->Take(); is_->Take(); }
|
||||
else if (bom == 0x0000FEFF) { type_ = kUTF32LE; hasBOM_ = true; is_->Take(); is_->Take(); is_->Take(); is_->Take(); }
|
||||
else if ((bom & 0xFFFF) == 0xFFFE) { type_ = kUTF16BE; hasBOM_ = true; is_->Take(); is_->Take(); }
|
||||
else if ((bom & 0xFFFF) == 0xFEFF) { type_ = kUTF16LE; hasBOM_ = true; is_->Take(); is_->Take(); }
|
||||
else if ((bom & 0xFFFFFF) == 0xBFBBEF) { type_ = kUTF8; hasBOM_ = true; is_->Take(); is_->Take(); is_->Take(); }
|
||||
if (bom == 0xFFFE0000) {
|
||||
type_ = kUTF32BE;
|
||||
hasBOM_ = true;
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
} else if (bom == 0x0000FEFF) {
|
||||
type_ = kUTF32LE;
|
||||
hasBOM_ = true;
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
} else if ((bom & 0xFFFF) == 0xFFFE) {
|
||||
type_ = kUTF16BE;
|
||||
hasBOM_ = true;
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
} else if ((bom & 0xFFFF) == 0xFEFF) {
|
||||
type_ = kUTF16LE;
|
||||
hasBOM_ = true;
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
} else if ((bom & 0xFFFFFF) == 0xBFBBEF) {
|
||||
type_ = kUTF8;
|
||||
hasBOM_ = true;
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
is_->Take();
|
||||
}
|
||||
|
||||
// RFC 4627: Section 3
|
||||
// "Since the first two characters of a JSON text will always be ASCII
|
||||
@@ -200,31 +277,47 @@ private:
|
||||
// xx xx xx xx UTF-8
|
||||
|
||||
if (!hasBOM_) {
|
||||
int pattern = (c[0] ? 1 : 0) | (c[1] ? 2 : 0) | (c[2] ? 4 : 0) | (c[3] ? 8 : 0);
|
||||
int pattern =
|
||||
(c[0] ? 1 : 0) | (c[1] ? 2 : 0) | (c[2] ? 4 : 0) | (c[3] ? 8 : 0);
|
||||
switch (pattern) {
|
||||
case 0x08: type_ = kUTF32BE; break;
|
||||
case 0x0A: type_ = kUTF16BE; break;
|
||||
case 0x01: type_ = kUTF32LE; break;
|
||||
case 0x05: type_ = kUTF16LE; break;
|
||||
case 0x0F: type_ = kUTF8; break;
|
||||
default: break; // Use type defined by user.
|
||||
case 0x08:
|
||||
type_ = kUTF32BE;
|
||||
break;
|
||||
case 0x0A:
|
||||
type_ = kUTF16BE;
|
||||
break;
|
||||
case 0x01:
|
||||
type_ = kUTF32LE;
|
||||
break;
|
||||
case 0x05:
|
||||
type_ = kUTF16LE;
|
||||
break;
|
||||
case 0x0F:
|
||||
type_ = kUTF8;
|
||||
break;
|
||||
default:
|
||||
break; // Use type defined by user.
|
||||
}
|
||||
}
|
||||
|
||||
// Runtime check whether the size of character type is sufficient. It only perform checks with assertion.
|
||||
if (type_ == kUTF16LE || type_ == kUTF16BE) RAPIDJSON_ASSERT(sizeof(Ch) >= 2);
|
||||
if (type_ == kUTF32LE || type_ == kUTF32BE) RAPIDJSON_ASSERT(sizeof(Ch) >= 4);
|
||||
// Runtime check whether the size of character type is sufficient. It only
|
||||
// perform checks with assertion.
|
||||
if (type_ == kUTF16LE || type_ == kUTF16BE)
|
||||
RAPIDJSON_ASSERT(sizeof(Ch) >= 2);
|
||||
if (type_ == kUTF32LE || type_ == kUTF32BE)
|
||||
RAPIDJSON_ASSERT(sizeof(Ch) >= 4);
|
||||
}
|
||||
|
||||
typedef Ch (*TakeFunc)(InputByteStream& is);
|
||||
InputByteStream* is_;
|
||||
typedef Ch (*TakeFunc)(InputByteStream &is);
|
||||
InputByteStream *is_;
|
||||
UTFType type_;
|
||||
Ch current_;
|
||||
TakeFunc takeFunc_;
|
||||
bool hasBOM_;
|
||||
};
|
||||
|
||||
//! Output stream wrapper with dynamically bound encoding and automatic encoding detection.
|
||||
//! Output stream wrapper with dynamically bound encoding and automatic encoding
|
||||
//! detection.
|
||||
/*!
|
||||
\tparam CharType Type of character for writing.
|
||||
\tparam OutputByteStream type of output byte stream to be wrapped.
|
||||
@@ -232,6 +325,7 @@ private:
|
||||
template <typename CharType, typename OutputByteStream>
|
||||
class AutoUTFOutputStream {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
|
||||
public:
|
||||
typedef CharType Ch;
|
||||
|
||||
@@ -241,14 +335,18 @@ public:
|
||||
\param type UTF encoding type.
|
||||
\param putBOM Whether to write BOM at the beginning of the stream.
|
||||
*/
|
||||
AutoUTFOutputStream(OutputByteStream& os, UTFType type, bool putBOM) : os_(&os), type_(type) {
|
||||
AutoUTFOutputStream(OutputByteStream &os, UTFType type, bool putBOM)
|
||||
: os_(&os), type_(type) {
|
||||
RAPIDJSON_ASSERT(type >= kUTF8 && type <= kUTF32BE);
|
||||
|
||||
// Runtime check whether the size of character type is sufficient. It only perform checks with assertion.
|
||||
if (type_ == kUTF16LE || type_ == kUTF16BE) RAPIDJSON_ASSERT(sizeof(Ch) >= 2);
|
||||
if (type_ == kUTF32LE || type_ == kUTF32BE) RAPIDJSON_ASSERT(sizeof(Ch) >= 4);
|
||||
// Runtime check whether the size of character type is sufficient. It only
|
||||
// perform checks with assertion.
|
||||
if (type_ == kUTF16LE || type_ == kUTF16BE)
|
||||
RAPIDJSON_ASSERT(sizeof(Ch) >= 2);
|
||||
if (type_ == kUTF32LE || type_ == kUTF32BE)
|
||||
RAPIDJSON_ASSERT(sizeof(Ch) >= 4);
|
||||
|
||||
static const PutFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(Put) };
|
||||
static const PutFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Put)};
|
||||
putFunc_ = f[type_];
|
||||
|
||||
if (putBOM)
|
||||
@@ -261,25 +359,40 @@ public:
|
||||
void Flush() { os_->Flush(); }
|
||||
|
||||
// Not implemented
|
||||
Ch Peek() const { RAPIDJSON_ASSERT(false); return 0;}
|
||||
Ch Take() { RAPIDJSON_ASSERT(false); return 0;}
|
||||
size_t Tell() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch Peek() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
Ch Take() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t Tell() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
AutoUTFOutputStream(const AutoUTFOutputStream&);
|
||||
AutoUTFOutputStream& operator=(const AutoUTFOutputStream&);
|
||||
AutoUTFOutputStream(const AutoUTFOutputStream &);
|
||||
AutoUTFOutputStream &operator=(const AutoUTFOutputStream &);
|
||||
|
||||
void PutBOM() {
|
||||
typedef void (*PutBOMFunc)(OutputByteStream&);
|
||||
static const PutBOMFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(PutBOM) };
|
||||
typedef void (*PutBOMFunc)(OutputByteStream &);
|
||||
static const PutBOMFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(PutBOM)};
|
||||
f[type_](*os_);
|
||||
}
|
||||
|
||||
typedef void (*PutFunc)(OutputByteStream&, Ch);
|
||||
typedef void (*PutFunc)(OutputByteStream &, Ch);
|
||||
|
||||
OutputByteStream* os_;
|
||||
OutputByteStream *os_;
|
||||
UTFType type_;
|
||||
PutFunc putFunc_;
|
||||
};
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ENCODINGS_H_
|
||||
#define RAPIDJSON_ENCODINGS_H_
|
||||
@@ -19,7 +23,8 @@
|
||||
|
||||
#if defined(_MSC_VER) && !defined(__clang__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(4244) // conversion from 'type1' to 'type2', possible loss of data
|
||||
RAPIDJSON_DIAG_OFF(
|
||||
4244) // conversion from 'type1' to 'type2', possible loss of data
|
||||
RAPIDJSON_DIAG_OFF(4702) // unreachable code
|
||||
#elif defined(__GNUC__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
@@ -37,15 +42,16 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
|
||||
\code
|
||||
concept Encoding {
|
||||
typename Ch; //! Type of character. A "character" is actually a code unit in unicode's definition.
|
||||
typename Ch; //! Type of character. A "character" is actually a code unit
|
||||
in unicode's definition.
|
||||
|
||||
enum { supportUnicode = 1 }; // or 0 if not supporting unicode
|
||||
|
||||
//! \brief Encode a Unicode codepoint to an output stream.
|
||||
//! \param os Output stream.
|
||||
//! \param codepoint An unicode codepoint, ranging from 0x0 to 0x10FFFF inclusively.
|
||||
template<typename OutputStream>
|
||||
static void Encode(OutputStream& os, unsigned codepoint);
|
||||
//! \param codepoint An unicode codepoint, ranging from 0x0 to 0x10FFFF
|
||||
inclusively. template<typename OutputStream> static void Encode(OutputStream&
|
||||
os, unsigned codepoint);
|
||||
|
||||
//! \brief Decode a Unicode codepoint from an input stream.
|
||||
//! \param is Input stream.
|
||||
@@ -58,8 +64,8 @@ concept Encoding {
|
||||
//! \param is Input stream to obtain codepoint.
|
||||
//! \param os Output for copying one codepoint.
|
||||
//! \return true if it is valid.
|
||||
//! \note This function just validating and copying the codepoint without actually decode it.
|
||||
template <typename InputStream, typename OutputStream>
|
||||
//! \note This function just validating and copying the codepoint without
|
||||
actually decode it. template <typename InputStream, typename OutputStream>
|
||||
static bool Validate(InputStream& is, OutputStream& os);
|
||||
|
||||
// The following functions are deal with byte streams.
|
||||
@@ -92,26 +98,23 @@ concept Encoding {
|
||||
\tparam CharType Code unit for storing 8-bit UTF-8 data. Default is char.
|
||||
\note implements Encoding concept
|
||||
*/
|
||||
template<typename CharType = char>
|
||||
struct UTF8 {
|
||||
template <typename CharType = char> struct UTF8 {
|
||||
typedef CharType Ch;
|
||||
|
||||
enum { supportUnicode = 1 };
|
||||
|
||||
template<typename OutputStream>
|
||||
static void Encode(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void Encode(OutputStream &os, unsigned codepoint) {
|
||||
if (codepoint <= 0x7F)
|
||||
os.Put(static_cast<Ch>(codepoint & 0xFF));
|
||||
else if (codepoint <= 0x7FF) {
|
||||
os.Put(static_cast<Ch>(0xC0 | ((codepoint >> 6) & 0xFF)));
|
||||
os.Put(static_cast<Ch>(0x80 | ((codepoint & 0x3F))));
|
||||
}
|
||||
else if (codepoint <= 0xFFFF) {
|
||||
} else if (codepoint <= 0xFFFF) {
|
||||
os.Put(static_cast<Ch>(0xE0 | ((codepoint >> 12) & 0xFF)));
|
||||
os.Put(static_cast<Ch>(0x80 | ((codepoint >> 6) & 0x3F)));
|
||||
os.Put(static_cast<Ch>(0x80 | (codepoint & 0x3F)));
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
os.Put(static_cast<Ch>(0xF0 | ((codepoint >> 18) & 0xFF)));
|
||||
os.Put(static_cast<Ch>(0x80 | ((codepoint >> 12) & 0x3F)));
|
||||
@@ -120,20 +123,18 @@ struct UTF8 {
|
||||
}
|
||||
}
|
||||
|
||||
template<typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream &os, unsigned codepoint) {
|
||||
if (codepoint <= 0x7F)
|
||||
PutUnsafe(os, static_cast<Ch>(codepoint & 0xFF));
|
||||
else if (codepoint <= 0x7FF) {
|
||||
PutUnsafe(os, static_cast<Ch>(0xC0 | ((codepoint >> 6) & 0xFF)));
|
||||
PutUnsafe(os, static_cast<Ch>(0x80 | ((codepoint & 0x3F))));
|
||||
}
|
||||
else if (codepoint <= 0xFFFF) {
|
||||
} else if (codepoint <= 0xFFFF) {
|
||||
PutUnsafe(os, static_cast<Ch>(0xE0 | ((codepoint >> 12) & 0xFF)));
|
||||
PutUnsafe(os, static_cast<Ch>(0x80 | ((codepoint >> 6) & 0x3F)));
|
||||
PutUnsafe(os, static_cast<Ch>(0x80 | (codepoint & 0x3F)));
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
PutUnsafe(os, static_cast<Ch>(0xF0 | ((codepoint >> 18) & 0xFF)));
|
||||
PutUnsafe(os, static_cast<Ch>(0x80 | ((codepoint >> 12) & 0x3F)));
|
||||
@@ -143,10 +144,15 @@ struct UTF8 {
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
static bool Decode(InputStream& is, unsigned* codepoint) {
|
||||
#define RAPIDJSON_COPY() c = is.Take(); *codepoint = (*codepoint << 6) | (static_cast<unsigned char>(c) & 0x3Fu)
|
||||
#define RAPIDJSON_TRANS(mask) result &= ((GetRange(static_cast<unsigned char>(c)) & mask) != 0)
|
||||
#define RAPIDJSON_TAIL() RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x70)
|
||||
static bool Decode(InputStream &is, unsigned *codepoint) {
|
||||
#define RAPIDJSON_COPY() \
|
||||
c = is.Take(); \
|
||||
*codepoint = (*codepoint << 6) | (static_cast<unsigned char>(c) & 0x3Fu)
|
||||
#define RAPIDJSON_TRANS(mask) \
|
||||
result &= ((GetRange(static_cast<unsigned char>(c)) & mask) != 0)
|
||||
#define RAPIDJSON_TAIL() \
|
||||
RAPIDJSON_COPY(); \
|
||||
RAPIDJSON_TRANS(0x70)
|
||||
typename InputStream::Ch c = is.Take();
|
||||
if (!(c & 0x80)) {
|
||||
*codepoint = static_cast<unsigned char>(c);
|
||||
@@ -161,14 +167,42 @@ struct UTF8 {
|
||||
}
|
||||
bool result = true;
|
||||
switch (type) {
|
||||
case 2: RAPIDJSON_TAIL(); return result;
|
||||
case 3: RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 4: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x50); RAPIDJSON_TAIL(); return result;
|
||||
case 5: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x10); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 6: RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 10: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x20); RAPIDJSON_TAIL(); return result;
|
||||
case 11: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x60); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
default: return false;
|
||||
case 2:
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 3:
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 4:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x50);
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 5:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x10);
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 6:
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 10:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x20);
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 11:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x60);
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
#undef RAPIDJSON_COPY
|
||||
#undef RAPIDJSON_TRANS
|
||||
@@ -176,10 +210,13 @@ struct UTF8 {
|
||||
}
|
||||
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static bool Validate(InputStream& is, OutputStream& os) {
|
||||
static bool Validate(InputStream &is, OutputStream &os) {
|
||||
#define RAPIDJSON_COPY() os.Put(c = is.Take())
|
||||
#define RAPIDJSON_TRANS(mask) result &= ((GetRange(static_cast<unsigned char>(c)) & mask) != 0)
|
||||
#define RAPIDJSON_TAIL() RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x70)
|
||||
#define RAPIDJSON_TRANS(mask) \
|
||||
result &= ((GetRange(static_cast<unsigned char>(c)) & mask) != 0)
|
||||
#define RAPIDJSON_TAIL() \
|
||||
RAPIDJSON_COPY(); \
|
||||
RAPIDJSON_TRANS(0x70)
|
||||
Ch c;
|
||||
RAPIDJSON_COPY();
|
||||
if (!(c & 0x80))
|
||||
@@ -187,14 +224,42 @@ struct UTF8 {
|
||||
|
||||
bool result = true;
|
||||
switch (GetRange(static_cast<unsigned char>(c))) {
|
||||
case 2: RAPIDJSON_TAIL(); return result;
|
||||
case 3: RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 4: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x50); RAPIDJSON_TAIL(); return result;
|
||||
case 5: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x10); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 6: RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
case 10: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x20); RAPIDJSON_TAIL(); return result;
|
||||
case 11: RAPIDJSON_COPY(); RAPIDJSON_TRANS(0x60); RAPIDJSON_TAIL(); RAPIDJSON_TAIL(); return result;
|
||||
default: return false;
|
||||
case 2:
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 3:
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 4:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x50);
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 5:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x10);
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 6:
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 10:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x20);
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
case 11:
|
||||
RAPIDJSON_COPY();
|
||||
RAPIDJSON_TRANS(0x60);
|
||||
RAPIDJSON_TAIL();
|
||||
RAPIDJSON_TAIL();
|
||||
return result;
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
#undef RAPIDJSON_COPY
|
||||
#undef RAPIDJSON_TRANS
|
||||
@@ -203,43 +268,58 @@ struct UTF8 {
|
||||
|
||||
static unsigned char GetRange(unsigned char c) {
|
||||
// Referring to DFA of http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
|
||||
// With new mapping 1 -> 0x10, 7 -> 0x20, 9 -> 0x40, such that AND operation can test multiple types.
|
||||
// With new mapping 1 -> 0x10, 7 -> 0x20, 9 -> 0x40, such that AND operation
|
||||
// can test multiple types.
|
||||
static const unsigned char type[] = {
|
||||
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
|
||||
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
|
||||
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
|
||||
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
|
||||
0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,
|
||||
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
|
||||
0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,
|
||||
0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,
|
||||
8,8,2,2,2,2,2,2,2,2,2,2,2,2,2,2, 2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,
|
||||
10,3,3,3,3,3,3,3,3,3,3,3,3,4,3,3, 11,6,6,6,5,8,8,8,8,8,8,8,8,8,8,8,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0x10, 0x10, 0x10, 0x10,
|
||||
0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10,
|
||||
0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40,
|
||||
0x40, 0x40, 0x40, 0x40, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
|
||||
0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
|
||||
0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20, 0x20,
|
||||
8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,
|
||||
2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2,
|
||||
2, 2, 2, 2, 2, 2, 2, 2, 10, 3, 3, 3,
|
||||
3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 3, 3,
|
||||
11, 6, 6, 6, 5, 8, 8, 8, 8, 8, 8, 8,
|
||||
8, 8, 8, 8,
|
||||
};
|
||||
return type[c];
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
typename InputByteStream::Ch c = Take(is);
|
||||
if (static_cast<unsigned char>(c) != 0xEFu) return c;
|
||||
if (static_cast<unsigned char>(c) != 0xEFu)
|
||||
return c;
|
||||
c = is.Take();
|
||||
if (static_cast<unsigned char>(c) != 0xBBu) return c;
|
||||
if (static_cast<unsigned char>(c) != 0xBBu)
|
||||
return c;
|
||||
c = is.Take();
|
||||
if (static_cast<unsigned char>(c) != 0xBFu) return c;
|
||||
if (static_cast<unsigned char>(c) != 0xBFu)
|
||||
return c;
|
||||
c = is.Take();
|
||||
return c;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static Ch Take(InputByteStream& is) {
|
||||
template <typename InputByteStream> static Ch Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
return static_cast<Ch>(is.Take());
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xEFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xBBu));
|
||||
@@ -247,7 +327,7 @@ struct UTF8 {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, Ch c) {
|
||||
static void Put(OutputByteStream &os, Ch c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(c));
|
||||
}
|
||||
@@ -259,27 +339,28 @@ struct UTF8 {
|
||||
//! UTF-16 encoding.
|
||||
/*! http://en.wikipedia.org/wiki/UTF-16
|
||||
http://tools.ietf.org/html/rfc2781
|
||||
\tparam CharType Type for storing 16-bit UTF-16 data. Default is wchar_t. C++11 may use char16_t instead.
|
||||
\note implements Encoding concept
|
||||
\tparam CharType Type for storing 16-bit UTF-16 data. Default is wchar_t.
|
||||
C++11 may use char16_t instead. \note implements Encoding concept
|
||||
|
||||
\note For in-memory access, no need to concern endianness. The code units and code points are represented by CPU's endianness.
|
||||
For streaming, use UTF16LE and UTF16BE, which handle endianness.
|
||||
\note For in-memory access, no need to concern endianness. The code units
|
||||
and code points are represented by CPU's endianness. For streaming, use
|
||||
UTF16LE and UTF16BE, which handle endianness.
|
||||
*/
|
||||
template<typename CharType = wchar_t>
|
||||
struct UTF16 {
|
||||
template <typename CharType = wchar_t> struct UTF16 {
|
||||
typedef CharType Ch;
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(Ch) >= 2);
|
||||
|
||||
enum { supportUnicode = 1 };
|
||||
|
||||
template<typename OutputStream>
|
||||
static void Encode(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void Encode(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2);
|
||||
if (codepoint <= 0xFFFF) {
|
||||
RAPIDJSON_ASSERT(codepoint < 0xD800 || codepoint > 0xDFFF); // Code point itself cannot be surrogate pair
|
||||
RAPIDJSON_ASSERT(
|
||||
codepoint < 0xD800 ||
|
||||
codepoint > 0xDFFF); // Code point itself cannot be surrogate pair
|
||||
os.Put(static_cast<typename OutputStream::Ch>(codepoint));
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
unsigned v = codepoint - 0x10000;
|
||||
os.Put(static_cast<typename OutputStream::Ch>((v >> 10) | 0xD800));
|
||||
@@ -287,31 +368,31 @@ struct UTF16 {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
template<typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2);
|
||||
if (codepoint <= 0xFFFF) {
|
||||
RAPIDJSON_ASSERT(codepoint < 0xD800 || codepoint > 0xDFFF); // Code point itself cannot be surrogate pair
|
||||
RAPIDJSON_ASSERT(
|
||||
codepoint < 0xD800 ||
|
||||
codepoint > 0xDFFF); // Code point itself cannot be surrogate pair
|
||||
PutUnsafe(os, static_cast<typename OutputStream::Ch>(codepoint));
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
unsigned v = codepoint - 0x10000;
|
||||
PutUnsafe(os, static_cast<typename OutputStream::Ch>((v >> 10) | 0xD800));
|
||||
PutUnsafe(os, static_cast<typename OutputStream::Ch>((v & 0x3FF) | 0xDC00));
|
||||
PutUnsafe(os,
|
||||
static_cast<typename OutputStream::Ch>((v & 0x3FF) | 0xDC00));
|
||||
}
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
static bool Decode(InputStream& is, unsigned* codepoint) {
|
||||
static bool Decode(InputStream &is, unsigned *codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 2);
|
||||
typename InputStream::Ch c = is.Take();
|
||||
if (c < 0xD800 || c > 0xDFFF) {
|
||||
*codepoint = static_cast<unsigned>(c);
|
||||
return true;
|
||||
}
|
||||
else if (c <= 0xDBFF) {
|
||||
} else if (c <= 0xDBFF) {
|
||||
*codepoint = (static_cast<unsigned>(c) & 0x3FF) << 10;
|
||||
c = is.Take();
|
||||
*codepoint |= (static_cast<unsigned>(c) & 0x3FF);
|
||||
@@ -322,7 +403,7 @@ struct UTF16 {
|
||||
}
|
||||
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static bool Validate(InputStream& is, OutputStream& os) {
|
||||
static bool Validate(InputStream &is, OutputStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 2);
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 2);
|
||||
typename InputStream::Ch c;
|
||||
@@ -338,17 +419,16 @@ struct UTF16 {
|
||||
};
|
||||
|
||||
//! UTF-16 little endian encoding.
|
||||
template<typename CharType = wchar_t>
|
||||
struct UTF16LE : UTF16<CharType> {
|
||||
template <typename CharType = wchar_t> struct UTF16LE : UTF16<CharType> {
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
CharType c = Take(is);
|
||||
return static_cast<uint16_t>(c) == 0xFEFFu ? Take(is) : c;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType Take(InputByteStream& is) {
|
||||
static CharType Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
unsigned c = static_cast<uint8_t>(is.Take());
|
||||
c |= static_cast<unsigned>(static_cast<uint8_t>(is.Take())) << 8;
|
||||
@@ -356,32 +436,33 @@ struct UTF16LE : UTF16<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFEu));
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, CharType c) {
|
||||
static void Put(OutputByteStream &os, CharType c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(static_cast<unsigned>(c) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>((static_cast<unsigned>(c) >> 8) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(static_cast<unsigned>(c) &
|
||||
0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(
|
||||
(static_cast<unsigned>(c) >> 8) & 0xFFu));
|
||||
}
|
||||
};
|
||||
|
||||
//! UTF-16 big endian encoding.
|
||||
template<typename CharType = wchar_t>
|
||||
struct UTF16BE : UTF16<CharType> {
|
||||
template <typename CharType = wchar_t> struct UTF16BE : UTF16<CharType> {
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
CharType c = Take(is);
|
||||
return static_cast<uint16_t>(c) == 0xFEFFu ? Take(is) : c;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType Take(InputByteStream& is) {
|
||||
static CharType Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
unsigned c = static_cast<unsigned>(static_cast<uint8_t>(is.Take())) << 8;
|
||||
c |= static_cast<unsigned>(static_cast<uint8_t>(is.Take()));
|
||||
@@ -389,17 +470,19 @@ struct UTF16BE : UTF16<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFEu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFFu));
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, CharType c) {
|
||||
static void Put(OutputByteStream &os, CharType c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>((static_cast<unsigned>(c) >> 8) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(static_cast<unsigned>(c) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(
|
||||
(static_cast<unsigned>(c) >> 8) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(static_cast<unsigned>(c) &
|
||||
0xFFu));
|
||||
}
|
||||
};
|
||||
|
||||
@@ -408,35 +491,35 @@ struct UTF16BE : UTF16<CharType> {
|
||||
|
||||
//! UTF-32 encoding.
|
||||
/*! http://en.wikipedia.org/wiki/UTF-32
|
||||
\tparam CharType Type for storing 32-bit UTF-32 data. Default is unsigned. C++11 may use char32_t instead.
|
||||
\note implements Encoding concept
|
||||
\tparam CharType Type for storing 32-bit UTF-32 data. Default is unsigned.
|
||||
C++11 may use char32_t instead. \note implements Encoding concept
|
||||
|
||||
\note For in-memory access, no need to concern endianness. The code units and code points are represented by CPU's endianness.
|
||||
For streaming, use UTF32LE and UTF32BE, which handle endianness.
|
||||
\note For in-memory access, no need to concern endianness. The code units
|
||||
and code points are represented by CPU's endianness. For streaming, use
|
||||
UTF32LE and UTF32BE, which handle endianness.
|
||||
*/
|
||||
template<typename CharType = unsigned>
|
||||
struct UTF32 {
|
||||
template <typename CharType = unsigned> struct UTF32 {
|
||||
typedef CharType Ch;
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(Ch) >= 4);
|
||||
|
||||
enum { supportUnicode = 1 };
|
||||
|
||||
template<typename OutputStream>
|
||||
static void Encode(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void Encode(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 4);
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
os.Put(codepoint);
|
||||
}
|
||||
|
||||
template<typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputStream::Ch) >= 4);
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x10FFFF);
|
||||
PutUnsafe(os, codepoint);
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
static bool Decode(InputStream& is, unsigned* codepoint) {
|
||||
static bool Decode(InputStream &is, unsigned *codepoint) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 4);
|
||||
Ch c = is.Take();
|
||||
*codepoint = c;
|
||||
@@ -444,7 +527,7 @@ struct UTF32 {
|
||||
}
|
||||
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static bool Validate(InputStream& is, OutputStream& os) {
|
||||
static bool Validate(InputStream &is, OutputStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputStream::Ch) >= 4);
|
||||
Ch c;
|
||||
os.Put(c = is.Take());
|
||||
@@ -453,17 +536,16 @@ struct UTF32 {
|
||||
};
|
||||
|
||||
//! UTF-32 little endian enocoding.
|
||||
template<typename CharType = unsigned>
|
||||
struct UTF32LE : UTF32<CharType> {
|
||||
template <typename CharType = unsigned> struct UTF32LE : UTF32<CharType> {
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
CharType c = Take(is);
|
||||
return static_cast<uint32_t>(c) == 0x0000FEFFu ? Take(is) : c;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType Take(InputByteStream& is) {
|
||||
static CharType Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
unsigned c = static_cast<uint8_t>(is.Take());
|
||||
c |= static_cast<unsigned>(static_cast<uint8_t>(is.Take())) << 8;
|
||||
@@ -473,7 +555,7 @@ struct UTF32LE : UTF32<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0xFEu));
|
||||
@@ -482,7 +564,7 @@ struct UTF32LE : UTF32<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, CharType c) {
|
||||
static void Put(OutputByteStream &os, CharType c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(c & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>((c >> 8) & 0xFFu));
|
||||
@@ -492,17 +574,16 @@ struct UTF32LE : UTF32<CharType> {
|
||||
};
|
||||
|
||||
//! UTF-32 big endian encoding.
|
||||
template<typename CharType = unsigned>
|
||||
struct UTF32BE : UTF32<CharType> {
|
||||
template <typename CharType = unsigned> struct UTF32BE : UTF32<CharType> {
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
CharType c = Take(is);
|
||||
return static_cast<uint32_t>(c) == 0x0000FEFFu ? Take(is) : c;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType Take(InputByteStream& is) {
|
||||
static CharType Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
unsigned c = static_cast<unsigned>(static_cast<uint8_t>(is.Take())) << 24;
|
||||
c |= static_cast<unsigned>(static_cast<uint8_t>(is.Take())) << 16;
|
||||
@@ -512,7 +593,7 @@ struct UTF32BE : UTF32<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0x00u));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(0x00u));
|
||||
@@ -521,7 +602,7 @@ struct UTF32BE : UTF32<CharType> {
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, CharType c) {
|
||||
static void Put(OutputByteStream &os, CharType c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>((c >> 24) & 0xFFu));
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>((c >> 16) & 0xFFu));
|
||||
@@ -538,59 +619,57 @@ struct UTF32BE : UTF32<CharType> {
|
||||
\tparam CharType Code unit for storing 7-bit ASCII data. Default is char.
|
||||
\note implements Encoding concept
|
||||
*/
|
||||
template<typename CharType = char>
|
||||
struct ASCII {
|
||||
template <typename CharType = char> struct ASCII {
|
||||
typedef CharType Ch;
|
||||
|
||||
enum { supportUnicode = 0 };
|
||||
|
||||
template<typename OutputStream>
|
||||
static void Encode(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void Encode(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x7F);
|
||||
os.Put(static_cast<Ch>(codepoint & 0xFF));
|
||||
}
|
||||
|
||||
template<typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream& os, unsigned codepoint) {
|
||||
template <typename OutputStream>
|
||||
static void EncodeUnsafe(OutputStream &os, unsigned codepoint) {
|
||||
RAPIDJSON_ASSERT(codepoint <= 0x7F);
|
||||
PutUnsafe(os, static_cast<Ch>(codepoint & 0xFF));
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
static bool Decode(InputStream& is, unsigned* codepoint) {
|
||||
static bool Decode(InputStream &is, unsigned *codepoint) {
|
||||
uint8_t c = static_cast<uint8_t>(is.Take());
|
||||
*codepoint = c;
|
||||
return c <= 0X7F;
|
||||
}
|
||||
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static bool Validate(InputStream& is, OutputStream& os) {
|
||||
static bool Validate(InputStream &is, OutputStream &os) {
|
||||
uint8_t c = static_cast<uint8_t>(is.Take());
|
||||
os.Put(static_cast<typename OutputStream::Ch>(c));
|
||||
return c <= 0x7F;
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static CharType TakeBOM(InputByteStream& is) {
|
||||
static CharType TakeBOM(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
uint8_t c = static_cast<uint8_t>(Take(is));
|
||||
return static_cast<Ch>(c);
|
||||
}
|
||||
|
||||
template <typename InputByteStream>
|
||||
static Ch Take(InputByteStream& is) {
|
||||
template <typename InputByteStream> static Ch Take(InputByteStream &is) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename InputByteStream::Ch) == 1);
|
||||
return static_cast<Ch>(is.Take());
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void PutBOM(OutputByteStream& os) {
|
||||
static void PutBOM(OutputByteStream &os) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
(void)os;
|
||||
}
|
||||
|
||||
template <typename OutputByteStream>
|
||||
static void Put(OutputByteStream& os, Ch c) {
|
||||
static void Put(OutputByteStream &os, Ch c) {
|
||||
RAPIDJSON_STATIC_ASSERT(sizeof(typename OutputByteStream::Ch) == 1);
|
||||
os.Put(static_cast<typename OutputByteStream::Ch>(c));
|
||||
}
|
||||
@@ -608,42 +687,48 @@ enum UTFType {
|
||||
kUTF32BE = 4 //!< UTF-32 big endian.
|
||||
};
|
||||
|
||||
//! Dynamically select encoding according to stream's runtime-specified UTF encoding type.
|
||||
/*! \note This class can be used with AutoUTFInputtStream and AutoUTFOutputStream, which provides GetType().
|
||||
*/
|
||||
template<typename CharType>
|
||||
struct AutoUTF {
|
||||
//! Dynamically select encoding according to stream's runtime-specified UTF
|
||||
//! encoding type.
|
||||
/*! \note This class can be used with AutoUTFInputtStream and
|
||||
* AutoUTFOutputStream, which provides GetType().
|
||||
*/
|
||||
template <typename CharType> struct AutoUTF {
|
||||
typedef CharType Ch;
|
||||
|
||||
enum { supportUnicode = 1 };
|
||||
|
||||
#define RAPIDJSON_ENCODINGS_FUNC(x) UTF8<Ch>::x, UTF16LE<Ch>::x, UTF16BE<Ch>::x, UTF32LE<Ch>::x, UTF32BE<Ch>::x
|
||||
#define RAPIDJSON_ENCODINGS_FUNC(x) \
|
||||
UTF8<Ch>::x, UTF16LE<Ch>::x, UTF16BE<Ch>::x, UTF32LE<Ch>::x, UTF32BE<Ch>::x
|
||||
|
||||
template<typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE void Encode(OutputStream& os, unsigned codepoint) {
|
||||
typedef void (*EncodeFunc)(OutputStream&, unsigned);
|
||||
static const EncodeFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(Encode) };
|
||||
template <typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE void Encode(OutputStream &os,
|
||||
unsigned codepoint) {
|
||||
typedef void (*EncodeFunc)(OutputStream &, unsigned);
|
||||
static const EncodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Encode)};
|
||||
(*f[os.GetType()])(os, codepoint);
|
||||
}
|
||||
|
||||
template<typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE void EncodeUnsafe(OutputStream& os, unsigned codepoint) {
|
||||
typedef void (*EncodeFunc)(OutputStream&, unsigned);
|
||||
static const EncodeFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(EncodeUnsafe) };
|
||||
template <typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE void EncodeUnsafe(OutputStream &os,
|
||||
unsigned codepoint) {
|
||||
typedef void (*EncodeFunc)(OutputStream &, unsigned);
|
||||
static const EncodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(EncodeUnsafe)};
|
||||
(*f[os.GetType()])(os, codepoint);
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Decode(InputStream& is, unsigned* codepoint) {
|
||||
typedef bool (*DecodeFunc)(InputStream&, unsigned*);
|
||||
static const DecodeFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(Decode) };
|
||||
static RAPIDJSON_FORCEINLINE bool Decode(InputStream &is,
|
||||
unsigned *codepoint) {
|
||||
typedef bool (*DecodeFunc)(InputStream &, unsigned *);
|
||||
static const DecodeFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Decode)};
|
||||
return (*f[is.GetType()])(is, codepoint);
|
||||
}
|
||||
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream& is, OutputStream& os) {
|
||||
typedef bool (*ValidateFunc)(InputStream&, OutputStream&);
|
||||
static const ValidateFunc f[] = { RAPIDJSON_ENCODINGS_FUNC(Validate) };
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is,
|
||||
OutputStream &os) {
|
||||
typedef bool (*ValidateFunc)(InputStream &, OutputStream &);
|
||||
static const ValidateFunc f[] = {RAPIDJSON_ENCODINGS_FUNC(Validate)};
|
||||
return (*f[is.GetType()])(is, os);
|
||||
}
|
||||
|
||||
@@ -654,11 +739,12 @@ struct AutoUTF {
|
||||
// Transcoder
|
||||
|
||||
//! Encoding conversion.
|
||||
template<typename SourceEncoding, typename TargetEncoding>
|
||||
struct Transcoder {
|
||||
//! Take one Unicode codepoint from source encoding, convert it to target encoding and put it to the output stream.
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Transcode(InputStream& is, OutputStream& os) {
|
||||
template <typename SourceEncoding, typename TargetEncoding> struct Transcoder {
|
||||
//! Take one Unicode codepoint from source encoding, convert it to target
|
||||
//! encoding and put it to the output stream.
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Transcode(InputStream &is,
|
||||
OutputStream &os) {
|
||||
unsigned codepoint;
|
||||
if (!SourceEncoding::Decode(is, &codepoint))
|
||||
return false;
|
||||
@@ -666,8 +752,9 @@ struct Transcoder {
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream& is, OutputStream& os) {
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream &is,
|
||||
OutputStream &os) {
|
||||
unsigned codepoint;
|
||||
if (!SourceEncoding::Decode(is, &codepoint))
|
||||
return false;
|
||||
@@ -676,33 +763,39 @@ struct Transcoder {
|
||||
}
|
||||
|
||||
//! Validate one Unicode codepoint from an encoded stream.
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream& is, OutputStream& os) {
|
||||
return Transcode(is, os); // Since source/target encoding is different, must transcode.
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is,
|
||||
OutputStream &os) {
|
||||
return Transcode(
|
||||
is, os); // Since source/target encoding is different, must transcode.
|
||||
}
|
||||
};
|
||||
|
||||
// Forward declaration.
|
||||
template<typename Stream>
|
||||
inline void PutUnsafe(Stream& stream, typename Stream::Ch c);
|
||||
template <typename Stream>
|
||||
inline void PutUnsafe(Stream &stream, typename Stream::Ch c);
|
||||
|
||||
//! Specialization of Transcoder with same source and target encoding.
|
||||
template<typename Encoding>
|
||||
struct Transcoder<Encoding, Encoding> {
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Transcode(InputStream& is, OutputStream& os) {
|
||||
os.Put(is.Take()); // Just copy one code unit. This semantic is different from primary template class.
|
||||
template <typename Encoding> struct Transcoder<Encoding, Encoding> {
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Transcode(InputStream &is,
|
||||
OutputStream &os) {
|
||||
os.Put(is.Take()); // Just copy one code unit. This semantic is different
|
||||
// from primary template class.
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream& is, OutputStream& os) {
|
||||
PutUnsafe(os, is.Take()); // Just copy one code unit. This semantic is different from primary template class.
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool TranscodeUnsafe(InputStream &is,
|
||||
OutputStream &os) {
|
||||
PutUnsafe(os, is.Take()); // Just copy one code unit. This semantic is
|
||||
// different from primary template class.
|
||||
return true;
|
||||
}
|
||||
|
||||
template<typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream& is, OutputStream& os) {
|
||||
template <typename InputStream, typename OutputStream>
|
||||
static RAPIDJSON_FORCEINLINE bool Validate(InputStream &is,
|
||||
OutputStream &os) {
|
||||
return Encoding::Validate(is, os); // source/target encoding are the same
|
||||
}
|
||||
};
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ERROR_EN_H_
|
||||
#define RAPIDJSON_ERROR_EN_H_
|
||||
@@ -19,8 +23,8 @@
|
||||
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(switch-enum)
|
||||
RAPIDJSON_DIAG_OFF(covered-switch-default)
|
||||
RAPIDJSON_DIAG_OFF(switch - enum)
|
||||
RAPIDJSON_DIAG_OFF(covered - switch - default)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -33,35 +37,61 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
\note User can make a copy of this function for localization.
|
||||
Using switch-case is safer for future modification of error codes.
|
||||
*/
|
||||
inline const RAPIDJSON_ERROR_CHARTYPE* GetParseError_En(ParseErrorCode parseErrorCode) {
|
||||
inline const RAPIDJSON_ERROR_CHARTYPE *
|
||||
GetParseError_En(ParseErrorCode parseErrorCode) {
|
||||
switch (parseErrorCode) {
|
||||
case kParseErrorNone: return RAPIDJSON_ERROR_STRING("No error.");
|
||||
case kParseErrorNone:
|
||||
return RAPIDJSON_ERROR_STRING("No error.");
|
||||
|
||||
case kParseErrorDocumentEmpty: return RAPIDJSON_ERROR_STRING("The document is empty.");
|
||||
case kParseErrorDocumentRootNotSingular: return RAPIDJSON_ERROR_STRING("The document root must not be followed by other values.");
|
||||
case kParseErrorDocumentEmpty:
|
||||
return RAPIDJSON_ERROR_STRING("The document is empty.");
|
||||
case kParseErrorDocumentRootNotSingular:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"The document root must not be followed by other values.");
|
||||
|
||||
case kParseErrorValueInvalid: return RAPIDJSON_ERROR_STRING("Invalid value.");
|
||||
case kParseErrorValueInvalid:
|
||||
return RAPIDJSON_ERROR_STRING("Invalid value.");
|
||||
|
||||
case kParseErrorObjectMissName: return RAPIDJSON_ERROR_STRING("Missing a name for object member.");
|
||||
case kParseErrorObjectMissColon: return RAPIDJSON_ERROR_STRING("Missing a colon after a name of object member.");
|
||||
case kParseErrorObjectMissCommaOrCurlyBracket: return RAPIDJSON_ERROR_STRING("Missing a comma or '}' after an object member.");
|
||||
case kParseErrorObjectMissName:
|
||||
return RAPIDJSON_ERROR_STRING("Missing a name for object member.");
|
||||
case kParseErrorObjectMissColon:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"Missing a colon after a name of object member.");
|
||||
case kParseErrorObjectMissCommaOrCurlyBracket:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"Missing a comma or '}' after an object member.");
|
||||
|
||||
case kParseErrorArrayMissCommaOrSquareBracket: return RAPIDJSON_ERROR_STRING("Missing a comma or ']' after an array element.");
|
||||
case kParseErrorArrayMissCommaOrSquareBracket:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"Missing a comma or ']' after an array element.");
|
||||
|
||||
case kParseErrorStringUnicodeEscapeInvalidHex: return RAPIDJSON_ERROR_STRING("Incorrect hex digit after \\u escape in string.");
|
||||
case kParseErrorStringUnicodeSurrogateInvalid: return RAPIDJSON_ERROR_STRING("The surrogate pair in string is invalid.");
|
||||
case kParseErrorStringEscapeInvalid: return RAPIDJSON_ERROR_STRING("Invalid escape character in string.");
|
||||
case kParseErrorStringMissQuotationMark: return RAPIDJSON_ERROR_STRING("Missing a closing quotation mark in string.");
|
||||
case kParseErrorStringInvalidEncoding: return RAPIDJSON_ERROR_STRING("Invalid encoding in string.");
|
||||
case kParseErrorStringUnicodeEscapeInvalidHex:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"Incorrect hex digit after \\u escape in string.");
|
||||
case kParseErrorStringUnicodeSurrogateInvalid:
|
||||
return RAPIDJSON_ERROR_STRING("The surrogate pair in string is invalid.");
|
||||
case kParseErrorStringEscapeInvalid:
|
||||
return RAPIDJSON_ERROR_STRING("Invalid escape character in string.");
|
||||
case kParseErrorStringMissQuotationMark:
|
||||
return RAPIDJSON_ERROR_STRING(
|
||||
"Missing a closing quotation mark in string.");
|
||||
case kParseErrorStringInvalidEncoding:
|
||||
return RAPIDJSON_ERROR_STRING("Invalid encoding in string.");
|
||||
|
||||
case kParseErrorNumberTooBig: return RAPIDJSON_ERROR_STRING("Number too big to be stored in double.");
|
||||
case kParseErrorNumberMissFraction: return RAPIDJSON_ERROR_STRING("Miss fraction part in number.");
|
||||
case kParseErrorNumberMissExponent: return RAPIDJSON_ERROR_STRING("Miss exponent in number.");
|
||||
case kParseErrorNumberTooBig:
|
||||
return RAPIDJSON_ERROR_STRING("Number too big to be stored in double.");
|
||||
case kParseErrorNumberMissFraction:
|
||||
return RAPIDJSON_ERROR_STRING("Miss fraction part in number.");
|
||||
case kParseErrorNumberMissExponent:
|
||||
return RAPIDJSON_ERROR_STRING("Miss exponent in number.");
|
||||
|
||||
case kParseErrorTermination: return RAPIDJSON_ERROR_STRING("Terminate parsing due to Handler error.");
|
||||
case kParseErrorUnspecificSyntaxError: return RAPIDJSON_ERROR_STRING("Unspecific syntax error.");
|
||||
case kParseErrorTermination:
|
||||
return RAPIDJSON_ERROR_STRING("Terminate parsing due to Handler error.");
|
||||
case kParseErrorUnspecificSyntaxError:
|
||||
return RAPIDJSON_ERROR_STRING("Unspecific syntax error.");
|
||||
|
||||
default: return RAPIDJSON_ERROR_STRING("Unknown error.");
|
||||
default:
|
||||
return RAPIDJSON_ERROR_STRING("Unknown error.");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ERROR_ERROR_H_
|
||||
#define RAPIDJSON_ERROR_ERROR_H_
|
||||
@@ -65,20 +69,27 @@ enum ParseErrorCode {
|
||||
kParseErrorNone = 0, //!< No error.
|
||||
|
||||
kParseErrorDocumentEmpty, //!< The document is empty.
|
||||
kParseErrorDocumentRootNotSingular, //!< The document root must not follow by other values.
|
||||
kParseErrorDocumentRootNotSingular, //!< The document root must not follow by
|
||||
//!< other values.
|
||||
|
||||
kParseErrorValueInvalid, //!< Invalid value.
|
||||
|
||||
kParseErrorObjectMissName, //!< Missing a name for object member.
|
||||
kParseErrorObjectMissColon, //!< Missing a colon after a name of object member.
|
||||
kParseErrorObjectMissCommaOrCurlyBracket, //!< Missing a comma or '}' after an object member.
|
||||
kParseErrorObjectMissColon, //!< Missing a colon after a name of object
|
||||
//!< member.
|
||||
kParseErrorObjectMissCommaOrCurlyBracket, //!< Missing a comma or '}' after an
|
||||
//!< object member.
|
||||
|
||||
kParseErrorArrayMissCommaOrSquareBracket, //!< Missing a comma or ']' after an array element.
|
||||
kParseErrorArrayMissCommaOrSquareBracket, //!< Missing a comma or ']' after an
|
||||
//!< array element.
|
||||
|
||||
kParseErrorStringUnicodeEscapeInvalidHex, //!< Incorrect hex digit after \\u escape in string.
|
||||
kParseErrorStringUnicodeSurrogateInvalid, //!< The surrogate pair in string is invalid.
|
||||
kParseErrorStringUnicodeEscapeInvalidHex, //!< Incorrect hex digit after \\u
|
||||
//!< escape in string.
|
||||
kParseErrorStringUnicodeSurrogateInvalid, //!< The surrogate pair in string is
|
||||
//!< invalid.
|
||||
kParseErrorStringEscapeInvalid, //!< Invalid escape character in string.
|
||||
kParseErrorStringMissQuotationMark, //!< Missing a closing quotation mark in string.
|
||||
kParseErrorStringMissQuotationMark, //!< Missing a closing quotation mark in
|
||||
//!< string.
|
||||
kParseErrorStringInvalidEncoding, //!< Invalid encoding in string.
|
||||
|
||||
kParseErrorNumberTooBig, //!< Number too big to be stored in double.
|
||||
@@ -106,11 +117,13 @@ enum ParseErrorCode {
|
||||
struct ParseResult {
|
||||
//!! Unspecified boolean type
|
||||
typedef bool (ParseResult::*BooleanType)() const;
|
||||
|
||||
public:
|
||||
//! Default constructor, no error.
|
||||
ParseResult() : code_(kParseErrorNone), offset_(0) {}
|
||||
//! Constructor to set an error.
|
||||
ParseResult(ParseErrorCode code, size_t offset) : code_(code), offset_(offset) {}
|
||||
ParseResult(ParseErrorCode code, size_t offset)
|
||||
: code_(code), offset_(offset) {}
|
||||
|
||||
//! Get the error code.
|
||||
ParseErrorCode Code() const { return code_; }
|
||||
@@ -118,22 +131,31 @@ public:
|
||||
size_t Offset() const { return offset_; }
|
||||
|
||||
//! Explicit conversion to \c bool, returns \c true, iff !\ref IsError().
|
||||
operator BooleanType() const { return !IsError() ? &ParseResult::IsError : NULL; }
|
||||
operator BooleanType() const {
|
||||
return !IsError() ? &ParseResult::IsError : NULL;
|
||||
}
|
||||
//! Whether the result is an error.
|
||||
bool IsError() const { return code_ != kParseErrorNone; }
|
||||
|
||||
bool operator==(const ParseResult& that) const { return code_ == that.code_; }
|
||||
bool operator==(const ParseResult &that) const { return code_ == that.code_; }
|
||||
bool operator==(ParseErrorCode code) const { return code_ == code; }
|
||||
friend bool operator==(ParseErrorCode code, const ParseResult & err) { return code == err.code_; }
|
||||
friend bool operator==(ParseErrorCode code, const ParseResult &err) {
|
||||
return code == err.code_;
|
||||
}
|
||||
|
||||
bool operator!=(const ParseResult& that) const { return !(*this == that); }
|
||||
bool operator!=(const ParseResult &that) const { return !(*this == that); }
|
||||
bool operator!=(ParseErrorCode code) const { return !(*this == code); }
|
||||
friend bool operator!=(ParseErrorCode code, const ParseResult & err) { return err != code; }
|
||||
friend bool operator!=(ParseErrorCode code, const ParseResult &err) {
|
||||
return err != code;
|
||||
}
|
||||
|
||||
//! Reset error code.
|
||||
void Clear() { Set(kParseErrorNone); }
|
||||
//! Update error code and offset.
|
||||
void Set(ParseErrorCode code, size_t offset = 0) { code_ = code; offset_ = offset; }
|
||||
void Set(ParseErrorCode code, size_t offset = 0) {
|
||||
code_ = code;
|
||||
offset_ = offset;
|
||||
}
|
||||
|
||||
private:
|
||||
ParseErrorCode code_;
|
||||
@@ -147,10 +169,10 @@ private:
|
||||
User can dynamically change locale in runtime, e.g.:
|
||||
\code
|
||||
GetParseErrorFunc GetParseError = GetParseError_En; // or whatever
|
||||
const RAPIDJSON_ERROR_CHARTYPE* s = GetParseError(document.GetParseErrorCode());
|
||||
\endcode
|
||||
const RAPIDJSON_ERROR_CHARTYPE* s =
|
||||
GetParseError(document.GetParseErrorCode()); \endcode
|
||||
*/
|
||||
typedef const RAPIDJSON_ERROR_CHARTYPE* (*GetParseErrorFunc)(ParseErrorCode);
|
||||
typedef const RAPIDJSON_ERROR_CHARTYPE *(*GetParseErrorFunc)(ParseErrorCode);
|
||||
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_FILEREADSTREAM_H_
|
||||
#define RAPIDJSON_FILEREADSTREAM_H_
|
||||
@@ -21,8 +25,8 @@
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(padded)
|
||||
RAPIDJSON_DIAG_OFF(unreachable-code)
|
||||
RAPIDJSON_DIAG_OFF(missing-noreturn)
|
||||
RAPIDJSON_DIAG_OFF(unreachable - code)
|
||||
RAPIDJSON_DIAG_OFF(missing - noreturn)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -41,24 +45,38 @@ public:
|
||||
\param buffer user-supplied buffer.
|
||||
\param bufferSize size of buffer in bytes. Must >=4 bytes.
|
||||
*/
|
||||
FileReadStream(std::FILE* fp, char* buffer, size_t bufferSize) : fp_(fp), buffer_(buffer), bufferSize_(bufferSize), bufferLast_(0), current_(buffer_), readCount_(0), count_(0), eof_(false) {
|
||||
FileReadStream(std::FILE *fp, char *buffer, size_t bufferSize)
|
||||
: fp_(fp), buffer_(buffer), bufferSize_(bufferSize), bufferLast_(0),
|
||||
current_(buffer_), readCount_(0), count_(0), eof_(false) {
|
||||
RAPIDJSON_ASSERT(fp_ != 0);
|
||||
RAPIDJSON_ASSERT(bufferSize >= 4);
|
||||
Read();
|
||||
}
|
||||
|
||||
Ch Peek() const { return *current_; }
|
||||
Ch Take() { Ch c = *current_; Read(); return c; }
|
||||
size_t Tell() const { return count_ + static_cast<size_t>(current_ - buffer_); }
|
||||
Ch Take() {
|
||||
Ch c = *current_;
|
||||
Read();
|
||||
return c;
|
||||
}
|
||||
size_t Tell() const {
|
||||
return count_ + static_cast<size_t>(current_ - buffer_);
|
||||
}
|
||||
|
||||
// Not implemented
|
||||
void Put(Ch) { RAPIDJSON_ASSERT(false); }
|
||||
void Flush() { RAPIDJSON_ASSERT(false); }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// For encoding detection only.
|
||||
const Ch* Peek4() const {
|
||||
const Ch *Peek4() const {
|
||||
return (current_ + 4 - !eof_ <= bufferLast_) ? current_ : 0;
|
||||
}
|
||||
|
||||
@@ -80,7 +98,7 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
std::FILE* fp_;
|
||||
std::FILE *fp_;
|
||||
Ch *buffer_;
|
||||
size_t bufferSize_;
|
||||
Ch *bufferLast_;
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_FILEWRITESTREAM_H_
|
||||
#define RAPIDJSON_FILEWRITESTREAM_H_
|
||||
@@ -20,7 +24,7 @@
|
||||
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(unreachable-code)
|
||||
RAPIDJSON_DIAG_OFF(unreachable - code)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -33,7 +37,9 @@ class FileWriteStream {
|
||||
public:
|
||||
typedef char Ch; //!< Character type. Only support char.
|
||||
|
||||
FileWriteStream(std::FILE* fp, char* buffer, size_t bufferSize) : fp_(fp), buffer_(buffer), bufferEnd_(buffer + bufferSize), current_(buffer_) {
|
||||
FileWriteStream(std::FILE *fp, char *buffer, size_t bufferSize)
|
||||
: fp_(fp), buffer_(buffer), bufferEnd_(buffer + bufferSize),
|
||||
current_(buffer_) {
|
||||
RAPIDJSON_ASSERT(fp_ != 0);
|
||||
}
|
||||
|
||||
@@ -62,7 +68,8 @@ public:
|
||||
|
||||
void Flush() {
|
||||
if (current_ != buffer_) {
|
||||
size_t result = std::fwrite(buffer_, 1, static_cast<size_t>(current_ - buffer_), fp_);
|
||||
size_t result =
|
||||
std::fwrite(buffer_, 1, static_cast<size_t>(current_ - buffer_), fp_);
|
||||
if (result < static_cast<size_t>(current_ - buffer_)) {
|
||||
// failure deliberately ignored at this time
|
||||
// added to avoid warn_unused_result build errors
|
||||
@@ -72,26 +79,41 @@ public:
|
||||
}
|
||||
|
||||
// Not implemented
|
||||
char Peek() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char Take() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t Tell() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(char*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char Peek() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
char Take() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t Tell() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
char *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(char *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
// Prohibit copy constructor & assignment operator.
|
||||
FileWriteStream(const FileWriteStream&);
|
||||
FileWriteStream& operator=(const FileWriteStream&);
|
||||
FileWriteStream(const FileWriteStream &);
|
||||
FileWriteStream &operator=(const FileWriteStream &);
|
||||
|
||||
std::FILE* fp_;
|
||||
std::FILE *fp_;
|
||||
char *buffer_;
|
||||
char *bufferEnd_;
|
||||
char *current_;
|
||||
};
|
||||
|
||||
//! Implement specialized version of PutN() with memset() for better performance.
|
||||
template<>
|
||||
inline void PutN(FileWriteStream& stream, char c, size_t n) {
|
||||
//! Implement specialized version of PutN() with memset() for better
|
||||
//! performance.
|
||||
template <> inline void PutN(FileWriteStream &stream, char c, size_t n) {
|
||||
stream.PutN(c, n);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_FWD_H_
|
||||
#define RAPIDJSON_FWD_H_
|
||||
@@ -21,42 +25,37 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
|
||||
// encodings.h
|
||||
|
||||
template<typename CharType> struct UTF8;
|
||||
template<typename CharType> struct UTF16;
|
||||
template<typename CharType> struct UTF16BE;
|
||||
template<typename CharType> struct UTF16LE;
|
||||
template<typename CharType> struct UTF32;
|
||||
template<typename CharType> struct UTF32BE;
|
||||
template<typename CharType> struct UTF32LE;
|
||||
template<typename CharType> struct ASCII;
|
||||
template<typename CharType> struct AutoUTF;
|
||||
template <typename CharType> struct UTF8;
|
||||
template <typename CharType> struct UTF16;
|
||||
template <typename CharType> struct UTF16BE;
|
||||
template <typename CharType> struct UTF16LE;
|
||||
template <typename CharType> struct UTF32;
|
||||
template <typename CharType> struct UTF32BE;
|
||||
template <typename CharType> struct UTF32LE;
|
||||
template <typename CharType> struct ASCII;
|
||||
template <typename CharType> struct AutoUTF;
|
||||
|
||||
template<typename SourceEncoding, typename TargetEncoding>
|
||||
struct Transcoder;
|
||||
template <typename SourceEncoding, typename TargetEncoding> struct Transcoder;
|
||||
|
||||
// allocators.h
|
||||
|
||||
class CrtAllocator;
|
||||
|
||||
template <typename BaseAllocator>
|
||||
class MemoryPoolAllocator;
|
||||
template <typename BaseAllocator> class MemoryPoolAllocator;
|
||||
|
||||
// stream.h
|
||||
|
||||
template <typename Encoding>
|
||||
struct GenericStringStream;
|
||||
template <typename Encoding> struct GenericStringStream;
|
||||
|
||||
typedef GenericStringStream<UTF8<char> > StringStream;
|
||||
typedef GenericStringStream<UTF8<char>> StringStream;
|
||||
|
||||
template <typename Encoding>
|
||||
struct GenericInsituStringStream;
|
||||
template <typename Encoding> struct GenericInsituStringStream;
|
||||
|
||||
typedef GenericInsituStringStream<UTF8<char> > InsituStringStream;
|
||||
typedef GenericInsituStringStream<UTF8<char>> InsituStringStream;
|
||||
|
||||
// stringbuffer.h
|
||||
|
||||
template <typename Encoding, typename Allocator>
|
||||
class GenericStringBuffer;
|
||||
template <typename Encoding, typename Allocator> class GenericStringBuffer;
|
||||
|
||||
typedef GenericStringBuffer<UTF8<char>, CrtAllocator> StringBuffer;
|
||||
|
||||
@@ -70,8 +69,7 @@ class FileWriteStream;
|
||||
|
||||
// memorybuffer.h
|
||||
|
||||
template <typename Allocator>
|
||||
struct GenericMemoryBuffer;
|
||||
template <typename Allocator> struct GenericMemoryBuffer;
|
||||
|
||||
typedef GenericMemoryBuffer<CrtAllocator> MemoryBuffer;
|
||||
|
||||
@@ -81,49 +79,49 @@ struct MemoryStream;
|
||||
|
||||
// reader.h
|
||||
|
||||
template<typename Encoding, typename Derived>
|
||||
struct BaseReaderHandler;
|
||||
template <typename Encoding, typename Derived> struct BaseReaderHandler;
|
||||
|
||||
template <typename SourceEncoding, typename TargetEncoding, typename StackAllocator>
|
||||
template <typename SourceEncoding, typename TargetEncoding,
|
||||
typename StackAllocator>
|
||||
class GenericReader;
|
||||
|
||||
typedef GenericReader<UTF8<char>, UTF8<char>, CrtAllocator> Reader;
|
||||
|
||||
// writer.h
|
||||
|
||||
template<typename OutputStream, typename SourceEncoding, typename TargetEncoding, typename StackAllocator, unsigned writeFlags>
|
||||
template <typename OutputStream, typename SourceEncoding,
|
||||
typename TargetEncoding, typename StackAllocator, unsigned writeFlags>
|
||||
class Writer;
|
||||
|
||||
// prettywriter.h
|
||||
|
||||
template<typename OutputStream, typename SourceEncoding, typename TargetEncoding, typename StackAllocator, unsigned writeFlags>
|
||||
template <typename OutputStream, typename SourceEncoding,
|
||||
typename TargetEncoding, typename StackAllocator, unsigned writeFlags>
|
||||
class PrettyWriter;
|
||||
|
||||
// document.h
|
||||
|
||||
template <typename Encoding, typename Allocator>
|
||||
class GenericMember;
|
||||
template <typename Encoding, typename Allocator> class GenericMember;
|
||||
|
||||
template <bool Const, typename Encoding, typename Allocator>
|
||||
class GenericMemberIterator;
|
||||
|
||||
template<typename CharType>
|
||||
struct GenericStringRef;
|
||||
template <typename CharType> struct GenericStringRef;
|
||||
|
||||
template <typename Encoding, typename Allocator>
|
||||
class GenericValue;
|
||||
template <typename Encoding, typename Allocator> class GenericValue;
|
||||
|
||||
typedef GenericValue<UTF8<char>, MemoryPoolAllocator<CrtAllocator> > Value;
|
||||
typedef GenericValue<UTF8<char>, MemoryPoolAllocator<CrtAllocator>> Value;
|
||||
|
||||
template <typename Encoding, typename Allocator, typename StackAllocator>
|
||||
class GenericDocument;
|
||||
|
||||
typedef GenericDocument<UTF8<char>, MemoryPoolAllocator<CrtAllocator>, CrtAllocator> Document;
|
||||
typedef GenericDocument<UTF8<char>, MemoryPoolAllocator<CrtAllocator>,
|
||||
CrtAllocator>
|
||||
Document;
|
||||
|
||||
// pointer.h
|
||||
|
||||
template <typename ValueType, typename Allocator>
|
||||
class GenericPointer;
|
||||
template <typename ValueType, typename Allocator> class GenericPointer;
|
||||
|
||||
typedef GenericPointer<Value, CrtAllocator> Pointer;
|
||||
|
||||
@@ -132,19 +130,19 @@ typedef GenericPointer<Value, CrtAllocator> Pointer;
|
||||
template <typename SchemaDocumentType>
|
||||
class IGenericRemoteSchemaDocumentProvider;
|
||||
|
||||
template <typename ValueT, typename Allocator>
|
||||
class GenericSchemaDocument;
|
||||
template <typename ValueT, typename Allocator> class GenericSchemaDocument;
|
||||
|
||||
typedef GenericSchemaDocument<Value, CrtAllocator> SchemaDocument;
|
||||
typedef IGenericRemoteSchemaDocumentProvider<SchemaDocument> IRemoteSchemaDocumentProvider;
|
||||
typedef IGenericRemoteSchemaDocumentProvider<SchemaDocument>
|
||||
IRemoteSchemaDocumentProvider;
|
||||
|
||||
template <
|
||||
typename SchemaDocumentType,
|
||||
typename OutputHandler,
|
||||
template <typename SchemaDocumentType, typename OutputHandler,
|
||||
typename StateAllocator>
|
||||
class GenericSchemaValidator;
|
||||
|
||||
typedef GenericSchemaValidator<SchemaDocument, BaseReaderHandler<UTF8<char>, void>, CrtAllocator> SchemaValidator;
|
||||
typedef GenericSchemaValidator<
|
||||
SchemaDocument, BaseReaderHandler<UTF8<char>, void>, CrtAllocator>
|
||||
SchemaValidator;
|
||||
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -29,19 +33,18 @@ class BigInteger {
|
||||
public:
|
||||
typedef uint64_t Type;
|
||||
|
||||
BigInteger(const BigInteger& rhs) : count_(rhs.count_) {
|
||||
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;
|
||||
}
|
||||
explicit BigInteger(uint64_t u) : count_(1) { digits_[0] = u; }
|
||||
|
||||
BigInteger(const char* decimals, size_t length) : count_(1) {
|
||||
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
|
||||
const size_t kMaxDigitPerIteration =
|
||||
19; // 2^64 = 18446744073709551616 > 10^19
|
||||
while (length >= kMaxDigitPerIteration) {
|
||||
AppendDecimal64(decimals + i, decimals + i + kMaxDigitPerIteration);
|
||||
length -= kMaxDigitPerIteration;
|
||||
@@ -52,8 +55,7 @@ public:
|
||||
AppendDecimal64(decimals + i, decimals + i + length);
|
||||
}
|
||||
|
||||
BigInteger& operator=(const BigInteger &rhs)
|
||||
{
|
||||
BigInteger &operator=(const BigInteger &rhs) {
|
||||
if (this != &rhs) {
|
||||
count_ = rhs.count_;
|
||||
std::memcpy(digits_, rhs.digits_, count_ * sizeof(Type));
|
||||
@@ -61,13 +63,13 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
BigInteger& operator=(uint64_t u) {
|
||||
BigInteger &operator=(uint64_t u) {
|
||||
digits_[0] = u;
|
||||
count_ = 1;
|
||||
return *this;
|
||||
}
|
||||
|
||||
BigInteger& operator+=(uint64_t u) {
|
||||
BigInteger &operator+=(uint64_t u) {
|
||||
Type backup = digits_[0];
|
||||
digits_[0] += u;
|
||||
for (size_t i = 0; i < count_ - 1; i++) {
|
||||
@@ -84,10 +86,13 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
BigInteger& operator*=(uint64_t u) {
|
||||
if (u == 0) return *this = 0;
|
||||
if (u == 1) return *this;
|
||||
if (*this == 1) return *this = u;
|
||||
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++) {
|
||||
@@ -102,10 +107,13 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
BigInteger& operator*=(uint32_t u) {
|
||||
if (u == 0) return *this = 0;
|
||||
if (u == 1) return *this;
|
||||
if (*this == 1) return *this = u;
|
||||
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++) {
|
||||
@@ -125,8 +133,9 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
BigInteger& operator<<=(size_t shift) {
|
||||
if (IsZero() || shift == 0) return *this;
|
||||
BigInteger &operator<<=(size_t shift) {
|
||||
if (IsZero() || shift == 0)
|
||||
return *this;
|
||||
|
||||
size_t offset = shift / kTypeBit;
|
||||
size_t interShift = shift % kTypeBit;
|
||||
@@ -135,11 +144,11 @@ public:
|
||||
if (interShift == 0) {
|
||||
std::memmove(digits_ + offset, digits_, count_ * sizeof(Type));
|
||||
count_ += offset;
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
digits_[count_] = 0;
|
||||
for (size_t i = count_; i > 0; i--)
|
||||
digits_[i + offset] = (digits_[i] << interShift) | (digits_[i - 1] >> (kTypeBit - interShift));
|
||||
digits_[i + offset] = (digits_[i] << interShift) |
|
||||
(digits_[i - 1] >> (kTypeBit - interShift));
|
||||
digits_[offset] = digits_[0] << interShift;
|
||||
count_ += offset;
|
||||
if (digits_[count_])
|
||||
@@ -151,15 +160,16 @@ public:
|
||||
return *this;
|
||||
}
|
||||
|
||||
bool operator==(const BigInteger& rhs) const {
|
||||
return count_ == rhs.count_ && std::memcmp(digits_, rhs.digits_, count_ * sizeof(Type)) == 0;
|
||||
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) {
|
||||
BigInteger &MultiplyPow5(unsigned exp) {
|
||||
static const uint32_t kPow5[12] = {
|
||||
5,
|
||||
5 * 5,
|
||||
@@ -172,24 +182,34 @@ public:
|
||||
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];
|
||||
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 {
|
||||
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; }
|
||||
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++) {
|
||||
@@ -205,7 +225,7 @@ public:
|
||||
return ret;
|
||||
}
|
||||
|
||||
int Compare(const BigInteger& rhs) const {
|
||||
int Compare(const BigInteger &rhs) const {
|
||||
if (count_ != rhs.count_)
|
||||
return count_ < rhs.count_ ? -1 : 1;
|
||||
|
||||
@@ -217,11 +237,14 @@ public:
|
||||
}
|
||||
|
||||
size_t GetCount() const { return count_; }
|
||||
Type GetDigit(size_t index) const { RAPIDJSON_ASSERT(index < count_); return digits_[index]; }
|
||||
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) {
|
||||
void AppendDecimal64(const char *begin, const char *end) {
|
||||
uint64_t u = ParseUint64(begin, end);
|
||||
if (IsZero())
|
||||
*this = u;
|
||||
@@ -236,9 +259,9 @@ private:
|
||||
digits_[count_++] = digit;
|
||||
}
|
||||
|
||||
static uint64_t ParseUint64(const char* begin, const char* end) {
|
||||
static uint64_t ParseUint64(const char *begin, const char *end) {
|
||||
uint64_t r = 0;
|
||||
for (const char* p = begin; p != end; ++p) {
|
||||
for (const char *p = begin; p != end; ++p) {
|
||||
RAPIDJSON_ASSERT(*p >= '0' && *p <= '9');
|
||||
r = r * 10u + static_cast<unsigned>(*p - '0');
|
||||
}
|
||||
@@ -246,20 +269,23 @@ private:
|
||||
}
|
||||
|
||||
// Assume a * b + k < 2^128
|
||||
static uint64_t MulAdd64(uint64_t a, uint64_t b, uint64_t k, uint64_t* outHigh) {
|
||||
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__)
|
||||
#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;
|
||||
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;
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -29,7 +33,8 @@
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
namespace internal {
|
||||
|
||||
#if (defined(__GNUC__) && __GNUC__ >= 4) || RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
|
||||
#if (defined(__GNUC__) && __GNUC__ >= 4) || \
|
||||
RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
|
||||
#define RAPIDJSON_CLZLL __builtin_clzll
|
||||
#else
|
||||
|
||||
@@ -64,7 +69,8 @@ inline uint32_t clzll(uint64_t x) {
|
||||
}
|
||||
|
||||
#define RAPIDJSON_CLZLL RAPIDJSON_NAMESPACE::internal::clzll
|
||||
#endif // (defined(__GNUC__) && __GNUC__ >= 4) || RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
|
||||
#endif // (defined(__GNUC__) && __GNUC__ >= 4) ||
|
||||
// RAPIDJSON_HAS_BUILTIN(__builtin_clzll)
|
||||
|
||||
} // namespace internal
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
@@ -1,20 +1,24 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -50,32 +54,31 @@ struct DiyFp {
|
||||
union {
|
||||
double d;
|
||||
uint64_t u64;
|
||||
} u = { d };
|
||||
} u = {d};
|
||||
|
||||
int biased_e = static_cast<int>((u.u64 & kDpExponentMask) >> kDpSignificandSize);
|
||||
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 {
|
||||
} else {
|
||||
f = significand;
|
||||
e = kDpMinExponent + 1;
|
||||
}
|
||||
}
|
||||
|
||||
DiyFp operator-(const DiyFp& rhs) const {
|
||||
return DiyFp(f - rhs.f, e);
|
||||
}
|
||||
DiyFp operator-(const DiyFp &rhs) const { return DiyFp(f - rhs.f, e); }
|
||||
|
||||
DiyFp operator*(const DiyFp& rhs) const {
|
||||
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__)
|
||||
#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);
|
||||
@@ -115,9 +118,10 @@ struct DiyFp {
|
||||
return res;
|
||||
}
|
||||
|
||||
void NormalizedBoundaries(DiyFp* minus, DiyFp* plus) const {
|
||||
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);
|
||||
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;
|
||||
@@ -128,7 +132,7 @@ struct DiyFp {
|
||||
union {
|
||||
double d;
|
||||
uint64_t u64;
|
||||
}u;
|
||||
} u;
|
||||
RAPIDJSON_ASSERT(f <= kDpHiddenBit + kDpSignificandMask);
|
||||
if (e < kDpDenormalExponent) {
|
||||
// Underflow.
|
||||
@@ -138,8 +142,9 @@ struct DiyFp {
|
||||
// Overflow.
|
||||
return std::numeric_limits<double>::infinity();
|
||||
}
|
||||
const uint64_t be = (e == kDpDenormalExponent && (f & kDpHiddenBit) == 0) ? 0 :
|
||||
static_cast<uint64_t>(e + kDpExponentBias);
|
||||
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;
|
||||
}
|
||||
@@ -150,9 +155,12 @@ struct DiyFp {
|
||||
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);
|
||||
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;
|
||||
@@ -161,76 +169,118 @@ struct DiyFp {
|
||||
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)
|
||||
};
|
||||
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
|
||||
};
|
||||
-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) {
|
||||
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>(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
|
||||
*K = -(-348 +
|
||||
static_cast<int>(index << 3)); // decimal exponent no need lookup table
|
||||
|
||||
return GetCachedPowerByIndex(index);
|
||||
}
|
||||
|
||||
@@ -1,27 +1,31 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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.
|
||||
// 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 "itoa.h" // GetDigitsLut()
|
||||
#include "diyfp.h"
|
||||
#include "ieee754.h"
|
||||
#include "itoa.h" // GetDigitsLut()
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
namespace internal {
|
||||
@@ -29,10 +33,13 @@ 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
|
||||
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) {
|
||||
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)) {
|
||||
@@ -42,23 +49,35 @@ inline void GrisuRound(char* buffer, int len, uint64_t delta, uint64_t rest, uin
|
||||
}
|
||||
|
||||
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;
|
||||
// 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;
|
||||
// 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 };
|
||||
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);
|
||||
@@ -69,15 +88,42 @@ inline void DigitGen(const DiyFp& W, const DiyFp& Mp, uint64_t delta, char* buff
|
||||
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;
|
||||
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)
|
||||
@@ -86,7 +132,8 @@ inline void DigitGen(const DiyFp& W, const DiyFp& Mp, uint64_t delta, char* buff
|
||||
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);
|
||||
GrisuRound(buffer, *len, delta, tmp,
|
||||
static_cast<uint64_t>(kPow10[kappa]) << -one.e, wp_w.f);
|
||||
return;
|
||||
}
|
||||
}
|
||||
@@ -103,13 +150,14 @@ inline void DigitGen(const DiyFp& W, const DiyFp& Mp, uint64_t delta, char* buff
|
||||
if (p2 < delta) {
|
||||
*K += kappa;
|
||||
int index = -kappa;
|
||||
GrisuRound(buffer, *len, delta, p2, one.f, wp_w.f * (index < 9 ? kPow10[index] : 0));
|
||||
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) {
|
||||
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);
|
||||
@@ -123,7 +171,7 @@ inline void Grisu2(double value, char* buffer, int* length, int* K) {
|
||||
DigitGen(W, Wp, Wp.f - Wm.f, buffer, length, K);
|
||||
}
|
||||
|
||||
inline char* WriteExponent(int K, char* buffer) {
|
||||
inline char *WriteExponent(int K, char *buffer) {
|
||||
if (K < 0) {
|
||||
*buffer++ = '-';
|
||||
K = -K;
|
||||
@@ -132,22 +180,20 @@ inline char* WriteExponent(int K, char* buffer) {
|
||||
if (K >= 100) {
|
||||
*buffer++ = static_cast<char>('0' + static_cast<char>(K / 100));
|
||||
K %= 100;
|
||||
const char* d = GetDigitsLut() + K * 2;
|
||||
const char *d = GetDigitsLut() + K * 2;
|
||||
*buffer++ = d[0];
|
||||
*buffer++ = d[1];
|
||||
}
|
||||
else if (K >= 10) {
|
||||
const char* d = GetDigitsLut() + K * 2;
|
||||
} else if (K >= 10) {
|
||||
const char *d = GetDigitsLut() + K * 2;
|
||||
*buffer++ = d[0];
|
||||
*buffer++ = d[1];
|
||||
}
|
||||
else
|
||||
} else
|
||||
*buffer++ = static_cast<char>('0' + static_cast<char>(K));
|
||||
|
||||
return buffer;
|
||||
}
|
||||
|
||||
inline char* Prettify(char* buffer, int length, int k, int maxDecimalPlaces) {
|
||||
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) {
|
||||
@@ -157,10 +203,10 @@ inline char* Prettify(char* buffer, int length, int k, int maxDecimalPlaces) {
|
||||
buffer[kk] = '.';
|
||||
buffer[kk + 1] = '0';
|
||||
return &buffer[kk + 2];
|
||||
}
|
||||
else if (0 < kk && kk <= 21) {
|
||||
} else if (0 < kk && kk <= 21) {
|
||||
// 1234e-2 -> 12.34
|
||||
std::memmove(&buffer[kk + 1], &buffer[kk], static_cast<size_t>(length - kk));
|
||||
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
|
||||
@@ -169,11 +215,9 @@ inline char* Prettify(char* buffer, int length, int k, int maxDecimalPlaces) {
|
||||
if (buffer[i] != '0')
|
||||
return &buffer[i + 1];
|
||||
return &buffer[kk + 2]; // Reserve one zero
|
||||
}
|
||||
else
|
||||
} else
|
||||
return &buffer[length + 1];
|
||||
}
|
||||
else if (-6 < kk && kk <= 0) {
|
||||
} 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));
|
||||
@@ -188,23 +232,19 @@ inline char* Prettify(char* buffer, int length, int k, int maxDecimalPlaces) {
|
||||
if (buffer[i] != '0')
|
||||
return &buffer[i + 1];
|
||||
return &buffer[3]; // Reserve one zero
|
||||
}
|
||||
else
|
||||
} else
|
||||
return &buffer[length + offset];
|
||||
}
|
||||
else if (kk < -maxDecimalPlaces) {
|
||||
} else if (kk < -maxDecimalPlaces) {
|
||||
// Truncate to zero
|
||||
buffer[0] = '0';
|
||||
buffer[1] = '.';
|
||||
buffer[2] = '0';
|
||||
return &buffer[3];
|
||||
}
|
||||
else if (length == 1) {
|
||||
} else if (length == 1) {
|
||||
// 1e30
|
||||
buffer[1] = 'e';
|
||||
return WriteExponent(kk - 1, &buffer[2]);
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
// 1234e30 -> 1.234e33
|
||||
std::memmove(&buffer[2], &buffer[1], static_cast<size_t>(length - 1));
|
||||
buffer[1] = '.';
|
||||
@@ -213,7 +253,7 @@ inline char* Prettify(char* buffer, int length, int k, int maxDecimalPlaces) {
|
||||
}
|
||||
}
|
||||
|
||||
inline char* dtoa(double value, char* buffer, int maxDecimalPlaces = 324) {
|
||||
inline char *dtoa(double value, char *buffer, int maxDecimalPlaces = 324) {
|
||||
RAPIDJSON_ASSERT(maxDecimalPlaces >= 1);
|
||||
Double d(value);
|
||||
if (d.IsZero()) {
|
||||
@@ -223,8 +263,7 @@ inline char* dtoa(double value, char* buffer, int maxDecimalPlaces = 324) {
|
||||
buffer[1] = '.';
|
||||
buffer[2] = '0';
|
||||
return &buffer[3];
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
if (value < 0) {
|
||||
*buffer++ = '-';
|
||||
value = -value;
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -36,17 +40,32 @@ public:
|
||||
|
||||
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); }
|
||||
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 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 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; }
|
||||
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)
|
||||
@@ -62,9 +81,12 @@ private:
|
||||
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);
|
||||
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_;
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -20,26 +24,29 @@
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
namespace internal {
|
||||
|
||||
inline const char* GetDigitsLut() {
|
||||
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'
|
||||
};
|
||||
'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) {
|
||||
inline char *u32toa(uint32_t value, char *buffer) {
|
||||
RAPIDJSON_ASSERT(buffer != 0);
|
||||
|
||||
const char* cDigitsLut = GetDigitsLut();
|
||||
const char *cDigitsLut = GetDigitsLut();
|
||||
|
||||
if (value < 10000) {
|
||||
const uint32_t d1 = (value / 100) << 1;
|
||||
@@ -52,8 +59,7 @@ inline char* u32toa(uint32_t value, char* buffer) {
|
||||
if (value >= 10)
|
||||
*buffer++ = cDigitsLut[d2];
|
||||
*buffer++ = cDigitsLut[d2 + 1];
|
||||
}
|
||||
else if (value < 100000000) {
|
||||
} else if (value < 100000000) {
|
||||
// value = bbbbcccc
|
||||
const uint32_t b = value / 10000;
|
||||
const uint32_t c = value % 10000;
|
||||
@@ -76,8 +82,7 @@ inline char* u32toa(uint32_t value, char* buffer) {
|
||||
*buffer++ = cDigitsLut[d3 + 1];
|
||||
*buffer++ = cDigitsLut[d4];
|
||||
*buffer++ = cDigitsLut[d4 + 1];
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
// value = aabbbbcccc in decimal
|
||||
|
||||
const uint32_t a = value / 100000000; // 1 to 42
|
||||
@@ -87,8 +92,7 @@ inline char* u32toa(uint32_t value, char* buffer) {
|
||||
const unsigned i = a << 1;
|
||||
*buffer++ = cDigitsLut[i];
|
||||
*buffer++ = cDigitsLut[i + 1];
|
||||
}
|
||||
else
|
||||
} else
|
||||
*buffer++ = static_cast<char>('0' + static_cast<char>(a));
|
||||
|
||||
const uint32_t b = value / 10000; // 0 to 9999
|
||||
@@ -112,7 +116,7 @@ inline char* u32toa(uint32_t value, char* buffer) {
|
||||
return buffer;
|
||||
}
|
||||
|
||||
inline char* i32toa(int32_t value, char* buffer) {
|
||||
inline char *i32toa(int32_t value, char *buffer) {
|
||||
RAPIDJSON_ASSERT(buffer != 0);
|
||||
uint32_t u = static_cast<uint32_t>(value);
|
||||
if (value < 0) {
|
||||
@@ -123,9 +127,9 @@ inline char* i32toa(int32_t value, char* buffer) {
|
||||
return u32toa(u, buffer);
|
||||
}
|
||||
|
||||
inline char* u64toa(uint64_t value, char* buffer) {
|
||||
inline char *u64toa(uint64_t value, char *buffer) {
|
||||
RAPIDJSON_ASSERT(buffer != 0);
|
||||
const char* cDigitsLut = GetDigitsLut();
|
||||
const char *cDigitsLut = GetDigitsLut();
|
||||
const uint64_t kTen8 = 100000000;
|
||||
const uint64_t kTen9 = kTen8 * 10;
|
||||
const uint64_t kTen10 = kTen8 * 100;
|
||||
@@ -149,8 +153,7 @@ inline char* u64toa(uint64_t value, char* buffer) {
|
||||
if (v >= 10)
|
||||
*buffer++ = cDigitsLut[d2];
|
||||
*buffer++ = cDigitsLut[d2 + 1];
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
// value = bbbbcccc
|
||||
const uint32_t b = v / 10000;
|
||||
const uint32_t c = v % 10000;
|
||||
@@ -174,8 +177,7 @@ inline char* u64toa(uint64_t value, char* buffer) {
|
||||
*buffer++ = cDigitsLut[d4];
|
||||
*buffer++ = cDigitsLut[d4 + 1];
|
||||
}
|
||||
}
|
||||
else if (value < kTen16) {
|
||||
} else if (value < kTen16) {
|
||||
const uint32_t v0 = static_cast<uint32_t>(value / kTen8);
|
||||
const uint32_t v1 = static_cast<uint32_t>(value % kTen8);
|
||||
|
||||
@@ -221,8 +223,7 @@ inline char* u64toa(uint64_t value, char* buffer) {
|
||||
*buffer++ = cDigitsLut[d7 + 1];
|
||||
*buffer++ = cDigitsLut[d8];
|
||||
*buffer++ = cDigitsLut[d8 + 1];
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
const uint32_t a = static_cast<uint32_t>(value / kTen16); // 1 to 1844
|
||||
value %= kTen16;
|
||||
|
||||
@@ -232,15 +233,13 @@ inline char* u64toa(uint64_t value, char* buffer) {
|
||||
const uint32_t i = a << 1;
|
||||
*buffer++ = cDigitsLut[i];
|
||||
*buffer++ = cDigitsLut[i + 1];
|
||||
}
|
||||
else if (a < 1000) {
|
||||
} 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 {
|
||||
} else {
|
||||
const uint32_t i = (a / 100) << 1;
|
||||
const uint32_t j = (a % 100) << 1;
|
||||
*buffer++ = cDigitsLut[i];
|
||||
@@ -291,7 +290,7 @@ inline char* u64toa(uint64_t value, char* buffer) {
|
||||
return buffer;
|
||||
}
|
||||
|
||||
inline char* i64toa(int64_t value, char* buffer) {
|
||||
inline char *i64toa(int64_t value, char *buffer) {
|
||||
RAPIDJSON_ASSERT(buffer != 0);
|
||||
uint64_t u = static_cast<uint64_t>(value);
|
||||
if (value < 0) {
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -35,7 +39,8 @@ RAPIDJSON_DIAG_OFF(6334)
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
namespace internal {
|
||||
|
||||
// Helper to wrap/convert arbitrary types to void, useful for arbitrary type matching
|
||||
// Helper to wrap/convert arbitrary types to void, useful for arbitrary type
|
||||
// matching
|
||||
template <typename T> struct Void { typedef void Type; };
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
@@ -48,35 +53,43 @@ template <bool Cond> struct BoolType {
|
||||
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 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 {};
|
||||
|
||||
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 <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
|
||||
//
|
||||
@@ -88,55 +101,60 @@ 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 {};
|
||||
: 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 {};
|
||||
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> {};
|
||||
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 {
|
||||
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];
|
||||
typedef char (&No)[2];
|
||||
|
||||
template <typename T>
|
||||
static Yes Check(const D*, T);
|
||||
static No Check(const B*, int);
|
||||
template <typename T> static Yes Check(const D *, T);
|
||||
static No Check(const B *, int);
|
||||
|
||||
struct Host {
|
||||
operator const B*() const;
|
||||
operator const D*();
|
||||
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 {};
|
||||
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 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 <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> {};
|
||||
@@ -147,29 +165,29 @@ 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; };
|
||||
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
|
||||
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
|
||||
typename ::RAPIDJSON_NAMESPACE::internal::EnableIf<RAPIDJSON_REMOVEFPTR_( \
|
||||
cond)>::Type * = NULL
|
||||
|
||||
#define RAPIDJSON_DISABLEIF(cond) \
|
||||
typename ::RAPIDJSON_NAMESPACE::internal::DisableIf \
|
||||
<RAPIDJSON_REMOVEFPTR_(cond)>::Type * = NULL
|
||||
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_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
|
||||
#define RAPIDJSON_DISABLEIF_RETURN(cond, returntype) \
|
||||
typename ::RAPIDJSON_NAMESPACE::internal::DisableIf< \
|
||||
RAPIDJSON_REMOVEFPTR_(cond), RAPIDJSON_REMOVEFPTR_(returntype)>::Type
|
||||
|
||||
} // namespace internal
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -26,25 +30,43 @@ namespace internal {
|
||||
\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
|
||||
};
|
||||
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];
|
||||
}
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -22,7 +26,7 @@
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(padded)
|
||||
RAPIDJSON_DIAG_OFF(switch-enum)
|
||||
RAPIDJSON_DIAG_OFF(switch - enum)
|
||||
#elif defined(_MSC_VER)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated
|
||||
@@ -43,10 +47,9 @@ namespace internal {
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// DecodedStream
|
||||
|
||||
template <typename SourceStream, typename Encoding>
|
||||
class DecodedStream {
|
||||
template <typename SourceStream, typename Encoding> class DecodedStream {
|
||||
public:
|
||||
DecodedStream(SourceStream& ss) : ss_(ss), codepoint_() { Decode(); }
|
||||
DecodedStream(SourceStream &ss) : ss_(ss), codepoint_() { Decode(); }
|
||||
unsigned Peek() { return codepoint_; }
|
||||
unsigned Take() {
|
||||
unsigned c = codepoint_;
|
||||
@@ -61,18 +64,18 @@ private:
|
||||
codepoint_ = 0;
|
||||
}
|
||||
|
||||
SourceStream& ss_;
|
||||
SourceStream &ss_;
|
||||
unsigned codepoint_;
|
||||
};
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// GenericRegex
|
||||
|
||||
static const SizeType kRegexInvalidState = ~SizeType(0); //!< Represents an invalid index in GenericRegex::State::out, out1
|
||||
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;
|
||||
template <typename Encoding, typename Allocator> class GenericRegexSearch;
|
||||
|
||||
//! Regular expression engine with subset of ECMAscript grammar.
|
||||
/*!
|
||||
@@ -103,7 +106,8 @@ class GenericRegexSearch;
|
||||
- \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,...).",
|
||||
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>
|
||||
@@ -113,24 +117,20 @@ public:
|
||||
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_()
|
||||
{
|
||||
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_);
|
||||
}
|
||||
~GenericRegex() { RAPIDJSON_DELETE(ownAllocator_); }
|
||||
|
||||
bool IsValid() const {
|
||||
return root_ != kRegexInvalidState;
|
||||
}
|
||||
bool IsValid() const { return root_ != kRegexInvalidState; }
|
||||
|
||||
private:
|
||||
enum Operator {
|
||||
@@ -166,31 +166,32 @@ private:
|
||||
SizeType minIndex;
|
||||
};
|
||||
|
||||
State& GetState(SizeType index) {
|
||||
State &GetState(SizeType index) {
|
||||
RAPIDJSON_ASSERT(index < stateCount_);
|
||||
return states_.template Bottom<State>()[index];
|
||||
}
|
||||
|
||||
const State& GetState(SizeType index) const {
|
||||
const State &GetState(SizeType index) const {
|
||||
RAPIDJSON_ASSERT(index < stateCount_);
|
||||
return states_.template Bottom<State>()[index];
|
||||
}
|
||||
|
||||
Range& GetRange(SizeType index) {
|
||||
Range &GetRange(SizeType index) {
|
||||
RAPIDJSON_ASSERT(index < rangeCount_);
|
||||
return ranges_.template Bottom<Range>()[index];
|
||||
}
|
||||
|
||||
const Range& GetRange(SizeType index) const {
|
||||
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) {
|
||||
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)
|
||||
Stack<Allocator> atomCountStack(allocator_,
|
||||
256); // unsigned (Atom per parenthesis)
|
||||
|
||||
*atomCountStack.template Push<unsigned>() = 0;
|
||||
|
||||
@@ -206,7 +207,8 @@ private:
|
||||
break;
|
||||
|
||||
case '|':
|
||||
while (!operatorStack.Empty() && *operatorStack.template Top<Operator>() < kAlternation)
|
||||
while (!operatorStack.Empty() &&
|
||||
*operatorStack.template Top<Operator>() < kAlternation)
|
||||
if (!Eval(operandStack, *operatorStack.template Pop<Operator>(1)))
|
||||
return;
|
||||
*operatorStack.template Push<Operator>() = kAlternation;
|
||||
@@ -219,7 +221,8 @@ private:
|
||||
break;
|
||||
|
||||
case ')':
|
||||
while (!operatorStack.Empty() && *operatorStack.template Top<Operator>() != kLeftParenthesis)
|
||||
while (!operatorStack.Empty() &&
|
||||
*operatorStack.template Top<Operator>() != kLeftParenthesis)
|
||||
if (!Eval(operandStack, *operatorStack.template Pop<Operator>(1)))
|
||||
return;
|
||||
if (operatorStack.Empty())
|
||||
@@ -244,8 +247,7 @@ private:
|
||||
return;
|
||||
break;
|
||||
|
||||
case '{':
|
||||
{
|
||||
case '{': {
|
||||
unsigned n, m;
|
||||
if (!ParseUnsigned(ds, &n))
|
||||
return;
|
||||
@@ -256,27 +258,25 @@ private:
|
||||
m = kInfinityQuantifier;
|
||||
else if (!ParseUnsigned(ds, &m) || m < n)
|
||||
return;
|
||||
}
|
||||
else
|
||||
} else
|
||||
m = n;
|
||||
|
||||
if (!EvalQuantifier(operandStack, n, m) || ds.Peek() != '}')
|
||||
return;
|
||||
ds.Take();
|
||||
}
|
||||
break;
|
||||
} break;
|
||||
|
||||
case '.':
|
||||
PushOperand(operandStack, kAnyCharacterClass);
|
||||
ImplicitConcatenation(atomCountStack, operatorStack);
|
||||
break;
|
||||
|
||||
case '[':
|
||||
{
|
||||
case '[': {
|
||||
SizeType range;
|
||||
if (!ParseRange(ds, &range))
|
||||
return;
|
||||
SizeType s = NewState(kRegexInvalidState, kRegexInvalidState, kRangeCharacterClass);
|
||||
SizeType s = NewState(kRegexInvalidState, kRegexInvalidState,
|
||||
kRangeCharacterClass);
|
||||
GetState(s).rangeStart = range;
|
||||
*operandStack.template Push<Frag>() = Frag(s, s, s);
|
||||
}
|
||||
@@ -301,15 +301,16 @@ private:
|
||||
|
||||
// Link the operand to matching state.
|
||||
if (operandStack.GetSize() == sizeof(Frag)) {
|
||||
Frag* e = operandStack.template Pop<Frag>(1);
|
||||
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);
|
||||
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
|
||||
@@ -317,7 +318,7 @@ private:
|
||||
}
|
||||
|
||||
SizeType NewState(SizeType out, SizeType out1, unsigned codepoint) {
|
||||
State* s = states_.template Push<State>();
|
||||
State *s = states_.template Push<State>();
|
||||
s->out = out;
|
||||
s->out1 = out1;
|
||||
s->codepoint = codepoint;
|
||||
@@ -325,12 +326,13 @@ private:
|
||||
return stateCount_++;
|
||||
}
|
||||
|
||||
void PushOperand(Stack<Allocator>& operandStack, unsigned codepoint) {
|
||||
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) {
|
||||
void ImplicitConcatenation(Stack<Allocator> &atomCountStack,
|
||||
Stack<Allocator> &operatorStack) {
|
||||
if (*atomCountStack.template Top<unsigned>())
|
||||
*operatorStack.template Push<Operator>() = kConcatenation;
|
||||
(*atomCountStack.template Top<unsigned>())++;
|
||||
@@ -351,7 +353,7 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
bool Eval(Stack<Allocator>& operandStack, Operator op) {
|
||||
bool Eval(Stack<Allocator> &operandStack, Operator op) {
|
||||
switch (op) {
|
||||
case kConcatenation:
|
||||
RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag) * 2);
|
||||
@@ -359,7 +361,8 @@ private:
|
||||
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));
|
||||
*operandStack.template Push<Frag>() =
|
||||
Frag(e1.start, e2.out, Min(e1.minIndex, e2.minIndex));
|
||||
}
|
||||
return true;
|
||||
|
||||
@@ -368,7 +371,8 @@ private:
|
||||
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));
|
||||
*operandStack.template Push<Frag>() =
|
||||
Frag(s, Append(e1.out, e2.out), Min(e1.minIndex, e2.minIndex));
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
@@ -377,7 +381,8 @@ private:
|
||||
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);
|
||||
*operandStack.template Push<Frag>() =
|
||||
Frag(s, Append(e.out, s), e.minIndex);
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
@@ -408,7 +413,7 @@ private:
|
||||
}
|
||||
}
|
||||
|
||||
bool EvalQuantifier(Stack<Allocator>& operandStack, unsigned n, unsigned m) {
|
||||
bool EvalQuantifier(Stack<Allocator> &operandStack, unsigned n, unsigned m) {
|
||||
RAPIDJSON_ASSERT(n <= m);
|
||||
RAPIDJSON_ASSERT(operandStack.GetSize() >= sizeof(Frag));
|
||||
|
||||
@@ -442,17 +447,22 @@ private:
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < n - 1; i++)
|
||||
Eval(operandStack, kConcatenation); // a{3} -> aaa, a{3,} -> aaa+, a{3.5} -> aaaa?a?
|
||||
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);
|
||||
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)
|
||||
@@ -460,12 +470,13 @@ private:
|
||||
if (s[j].out1 != kRegexInvalidState)
|
||||
s[j].out1 += count;
|
||||
}
|
||||
*operandStack.template Push<Frag>() = Frag(src.start + count, src.out + count, src.minIndex + 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) {
|
||||
bool ParseUnsigned(DecodedStream<InputStream, Encoding> &ds, unsigned *u) {
|
||||
unsigned r = 0;
|
||||
if (ds.Peek() < '0' || ds.Peek() > '9')
|
||||
return false;
|
||||
@@ -479,7 +490,7 @@ private:
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
bool ParseRange(DecodedStream<InputStream, Encoding>& ds, SizeType* range) {
|
||||
bool ParseRange(DecodedStream<InputStream, Encoding> &ds, SizeType *range) {
|
||||
bool isBegin = true;
|
||||
bool negate = false;
|
||||
int step = 0;
|
||||
@@ -513,8 +524,7 @@ private:
|
||||
if (ds.Peek() == 'b') {
|
||||
ds.Take();
|
||||
codepoint = 0x0008; // Escape backspace character
|
||||
}
|
||||
else if (!CharacterEscape(ds, &codepoint))
|
||||
} else if (!CharacterEscape(ds, &codepoint))
|
||||
return false;
|
||||
// fall through to default
|
||||
RAPIDJSON_DELIBERATE_FALLTHROUGH;
|
||||
@@ -529,8 +539,7 @@ private:
|
||||
// fall through to step 0 for other characters
|
||||
RAPIDJSON_DELIBERATE_FALLTHROUGH;
|
||||
|
||||
case 0:
|
||||
{
|
||||
case 0: {
|
||||
SizeType r = NewRange(codepoint);
|
||||
if (current != kRegexInvalidRange)
|
||||
GetRange(current).next = r;
|
||||
@@ -552,14 +561,15 @@ private:
|
||||
}
|
||||
|
||||
SizeType NewRange(unsigned codepoint) {
|
||||
Range* r = ranges_.template Push<Range>();
|
||||
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) {
|
||||
bool CharacterEscape(DecodedStream<InputStream, Encoding> &ds,
|
||||
unsigned *escapedCodepoint) {
|
||||
unsigned codepoint;
|
||||
switch (codepoint = ds.Take()) {
|
||||
case '^':
|
||||
@@ -576,19 +586,30 @@ private:
|
||||
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;
|
||||
*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_;
|
||||
Allocator *ownAllocator_;
|
||||
Allocator *allocator_;
|
||||
Stack<Allocator> states_;
|
||||
Stack<Allocator> ranges_;
|
||||
SizeType root_;
|
||||
@@ -608,14 +629,13 @@ 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_()
|
||||
{
|
||||
GenericRegexSearch(const RegexType ®ex, 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()));
|
||||
stateSet_ = static_cast<unsigned *>(allocator_->Malloc(GetStateSetSize()));
|
||||
state0_.template Reserve<SizeType>(regex_.stateCount_);
|
||||
state1_.template Reserve<SizeType>(regex_.stateCount_);
|
||||
}
|
||||
@@ -625,22 +645,20 @@ public:
|
||||
RAPIDJSON_DELETE(ownAllocator_);
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
bool Match(InputStream& is) {
|
||||
template <typename InputStream> bool Match(InputStream &is) {
|
||||
return SearchWithAnchoring(is, true, true);
|
||||
}
|
||||
|
||||
bool Match(const Ch* s) {
|
||||
bool Match(const Ch *s) {
|
||||
GenericStringStream<Encoding> is(s);
|
||||
return Match(is);
|
||||
}
|
||||
|
||||
template <typename InputStream>
|
||||
bool Search(InputStream& is) {
|
||||
template <typename InputStream> bool Search(InputStream &is) {
|
||||
return SearchWithAnchoring(is, regex_.anchorBegin_, regex_.anchorEnd_);
|
||||
}
|
||||
|
||||
bool Search(const Ch* s) {
|
||||
bool Search(const Ch *s) {
|
||||
GenericStringStream<Encoding> is(s);
|
||||
return Search(is);
|
||||
}
|
||||
@@ -650,7 +668,7 @@ private:
|
||||
typedef typename RegexType::Range Range;
|
||||
|
||||
template <typename InputStream>
|
||||
bool SearchWithAnchoring(InputStream& is, bool anchorBegin, bool anchorEnd) {
|
||||
bool SearchWithAnchoring(InputStream &is, bool anchorBegin, bool anchorEnd) {
|
||||
DecodedStream<InputStream, Encoding> ds(is);
|
||||
|
||||
state0_.Clear();
|
||||
@@ -664,12 +682,13 @@ private:
|
||||
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);
|
||||
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)))
|
||||
{
|
||||
(sr.codepoint == RegexType::kRangeCharacterClass &&
|
||||
MatchRange(sr.rangeStart, codepoint))) {
|
||||
matched = AddState(*next, sr.out) || matched;
|
||||
if (!anchorEnd && matched)
|
||||
return true;
|
||||
@@ -683,46 +702,47 @@ private:
|
||||
return matched;
|
||||
}
|
||||
|
||||
size_t GetStateSetSize() const {
|
||||
return (regex_.stateCount_ + 31) / 32 * 4;
|
||||
}
|
||||
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) {
|
||||
bool AddState(Stack<Allocator> &l, SizeType index) {
|
||||
RAPIDJSON_ASSERT(index != kRegexInvalidState);
|
||||
|
||||
const State& s = regex_.GetState(index);
|
||||
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)))) {
|
||||
} 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.
|
||||
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;
|
||||
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)
|
||||
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_;
|
||||
const RegexType ®ex_;
|
||||
Allocator *allocator_;
|
||||
Allocator *ownAllocator_;
|
||||
Stack<Allocator> state0_;
|
||||
Stack<Allocator> state1_;
|
||||
uint32_t* stateSet_;
|
||||
uint32_t *stateSet_;
|
||||
};
|
||||
|
||||
typedef GenericRegex<UTF8<> > Regex;
|
||||
typedef GenericRegex<UTF8<>> Regex;
|
||||
typedef GenericRegexSearch<Regex> RegexSearch;
|
||||
|
||||
} // namespace internal
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -21,7 +25,7 @@
|
||||
|
||||
#if defined(__clang__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(c++98-compat)
|
||||
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -32,24 +36,20 @@ namespace internal {
|
||||
|
||||
//! A type-unsafe stack for storing different types of data.
|
||||
/*! \tparam Allocator Allocator for allocating stack memory.
|
||||
*/
|
||||
template <typename Allocator>
|
||||
class Stack {
|
||||
*/
|
||||
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) {
|
||||
}
|
||||
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_)
|
||||
{
|
||||
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;
|
||||
@@ -59,14 +59,11 @@ public:
|
||||
}
|
||||
#endif
|
||||
|
||||
~Stack() {
|
||||
Destroy();
|
||||
}
|
||||
~Stack() { Destroy(); }
|
||||
|
||||
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
|
||||
Stack& operator=(Stack&& rhs) {
|
||||
if (&rhs != this)
|
||||
{
|
||||
Stack &operator=(Stack &&rhs) {
|
||||
if (&rhs != this) {
|
||||
Destroy();
|
||||
|
||||
allocator_ = rhs.allocator_;
|
||||
@@ -87,7 +84,7 @@ public:
|
||||
}
|
||||
#endif
|
||||
|
||||
void Swap(Stack& rhs) RAPIDJSON_NOEXCEPT {
|
||||
void Swap(Stack &rhs) RAPIDJSON_NOEXCEPT {
|
||||
internal::Swap(allocator_, rhs.allocator_);
|
||||
internal::Swap(ownAllocator_, rhs.ownAllocator_);
|
||||
internal::Swap(stack_, rhs.stack_);
|
||||
@@ -105,71 +102,65 @@ public:
|
||||
stack_ = 0;
|
||||
stackTop_ = 0;
|
||||
stackEnd_ = 0;
|
||||
}
|
||||
else
|
||||
} 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) {
|
||||
// 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_)))
|
||||
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) {
|
||||
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) {
|
||||
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_);
|
||||
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) {
|
||||
template <typename T> T *Pop(size_t count) {
|
||||
RAPIDJSON_ASSERT(GetSize() >= count * sizeof(T));
|
||||
stackTop_ -= count * sizeof(T);
|
||||
return reinterpret_cast<T*>(stackTop_);
|
||||
return reinterpret_cast<T *>(stackTop_);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
T* Top() {
|
||||
template <typename T> T *Top() {
|
||||
RAPIDJSON_ASSERT(GetSize() >= sizeof(T));
|
||||
return reinterpret_cast<T*>(stackTop_ - sizeof(T));
|
||||
return reinterpret_cast<T *>(stackTop_ - sizeof(T));
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
const T* Top() const {
|
||||
template <typename T> const T *Top() const {
|
||||
RAPIDJSON_ASSERT(GetSize() >= sizeof(T));
|
||||
return reinterpret_cast<T*>(stackTop_ - sizeof(T));
|
||||
return reinterpret_cast<T *>(stackTop_ - sizeof(T));
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
T* End() { return reinterpret_cast<T*>(stackTop_); }
|
||||
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;
|
||||
template <typename T> const T *End() const {
|
||||
return reinterpret_cast<T *>(stackTop_);
|
||||
}
|
||||
|
||||
Allocator& GetAllocator() {
|
||||
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_;
|
||||
}
|
||||
@@ -179,9 +170,9 @@ public:
|
||||
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.
|
||||
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_)
|
||||
@@ -200,7 +191,8 @@ private:
|
||||
|
||||
void Resize(size_t newCapacity) {
|
||||
const size_t size = GetSize(); // Backup the current size
|
||||
stack_ = static_cast<char*>(allocator_->Realloc(stack_, GetCapacity(), newCapacity));
|
||||
stack_ = static_cast<char *>(
|
||||
allocator_->Realloc(stack_, GetCapacity(), newCapacity));
|
||||
stackTop_ = stack_ + size;
|
||||
stackEnd_ = stack_ + newCapacity;
|
||||
}
|
||||
@@ -211,11 +203,11 @@ private:
|
||||
}
|
||||
|
||||
// Prohibit copy constructor & assignment operator.
|
||||
Stack(const Stack&);
|
||||
Stack& operator=(const Stack&);
|
||||
Stack(const Stack &);
|
||||
Stack &operator=(const Stack &);
|
||||
|
||||
Allocator* allocator_;
|
||||
Allocator* ownAllocator_;
|
||||
Allocator *allocator_;
|
||||
Allocator *ownAllocator_;
|
||||
char *stack_;
|
||||
char *stackTop_;
|
||||
char *stackEnd_;
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -25,33 +29,33 @@ namespace internal {
|
||||
/*! \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.
|
||||
\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) {
|
||||
template <typename Ch> inline SizeType StrLen(const Ch *s) {
|
||||
RAPIDJSON_ASSERT(s != 0);
|
||||
const Ch* p = s;
|
||||
while (*p) ++p;
|
||||
const Ch *p = s;
|
||||
while (*p)
|
||||
++p;
|
||||
return SizeType(p - s);
|
||||
}
|
||||
|
||||
template <>
|
||||
inline SizeType StrLen(const char* s) {
|
||||
template <> inline SizeType StrLen(const char *s) {
|
||||
return SizeType(std::strlen(s));
|
||||
}
|
||||
|
||||
template <>
|
||||
inline SizeType StrLen(const wchar_t* 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) {
|
||||
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;
|
||||
const typename Encoding::Ch *end = s + length;
|
||||
SizeType count = 0;
|
||||
while (is.src_ < end) {
|
||||
unsigned codepoint;
|
||||
|
||||
@@ -1,23 +1,27 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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 "ieee754.h"
|
||||
#include "biginteger.h"
|
||||
#include "diyfp.h"
|
||||
#include "ieee754.h"
|
||||
#include "pow10.h"
|
||||
#include <climits>
|
||||
#include <limits>
|
||||
@@ -39,34 +43,34 @@ inline double StrtodNormalPrecision(double d, int p) {
|
||||
// Prevent expSum < -308, making Pow10(p) = 0
|
||||
d = FastPath(d, -308);
|
||||
d = FastPath(d, p + 308);
|
||||
}
|
||||
else
|
||||
} else
|
||||
d = FastPath(d, p);
|
||||
return d;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline T Min3(T a, T b, T c) {
|
||||
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;
|
||||
if (m > b)
|
||||
m = b;
|
||||
if (m > c)
|
||||
m = c;
|
||||
return m;
|
||||
}
|
||||
|
||||
inline int CheckWithinHalfULP(double b, const BigInteger& d, int dExp) {
|
||||
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;
|
||||
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 {
|
||||
} else {
|
||||
bS_Exp2 -= dExp;
|
||||
bS_Exp5 -= dExp;
|
||||
hS_Exp2 -= dExp;
|
||||
@@ -96,13 +100,16 @@ inline int CheckWithinHalfULP(double b, const BigInteger& d, int dExp) {
|
||||
hS_Exp2 -= common_Exp2;
|
||||
|
||||
BigInteger dS = d;
|
||||
dS.MultiplyPow5(static_cast<unsigned>(dS_Exp5)) <<= static_cast<unsigned>(dS_Exp2);
|
||||
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);
|
||||
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);
|
||||
hS.MultiplyPow5(static_cast<unsigned>(hS_Exp5)) <<=
|
||||
static_cast<unsigned>(hS_Exp2);
|
||||
|
||||
BigInteger delta(0);
|
||||
dS.Difference(bS, &delta);
|
||||
@@ -110,9 +117,10 @@ inline int CheckWithinHalfULP(double b, const BigInteger& d, int dExp) {
|
||||
return delta.Compare(hS);
|
||||
}
|
||||
|
||||
inline bool StrtodFast(double d, int p, double* result) {
|
||||
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/
|
||||
// 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);
|
||||
@@ -122,18 +130,20 @@ inline bool StrtodFast(double d, int p, double* result) {
|
||||
if (p >= -22 && p <= 22 && d <= 9007199254740991.0) { // 2^53 - 1
|
||||
*result = FastPath(d, p);
|
||||
return true;
|
||||
}
|
||||
else
|
||||
} 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) {
|
||||
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
|
||||
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'))
|
||||
(significand == RAPIDJSON_UINT64_C2(0x19999999, 0x99999999) &&
|
||||
decimals[i] > '5'))
|
||||
break;
|
||||
significand = significand * 10u + static_cast<unsigned>(decimals[i] - '0');
|
||||
}
|
||||
@@ -179,7 +189,8 @@ inline bool StrtodDiyFp(const char* decimals, int dLen, int dExp, double* result
|
||||
v = v.Normalize();
|
||||
error <<= oldExp - v.e;
|
||||
|
||||
const int effectiveSignificandSize = Double::EffectiveSignificandSize(64 + v.e);
|
||||
const int effectiveSignificandSize =
|
||||
Double::EffectiveSignificandSize(64 + v.e);
|
||||
int precisionSize = 64 - effectiveSignificandSize;
|
||||
if (precisionSize + kUlpShift >= 64) {
|
||||
int scaleExp = (precisionSize + kUlpShift) - 63;
|
||||
@@ -190,11 +201,13 @@ inline bool StrtodDiyFp(const char* decimals, int dLen, int dExp, double* result
|
||||
}
|
||||
|
||||
DiyFp rounded(v.f >> precisionSize, v.e + precisionSize);
|
||||
const uint64_t precisionBits = (v.f & ((uint64_t(1) << precisionSize) - 1)) * kUlp;
|
||||
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)
|
||||
if (rounded.f & (DiyFp::kDpHiddenBit
|
||||
<< 1)) { // rounding overflows mantissa (issue #340)
|
||||
rounded.f >>= 1;
|
||||
rounded.e++;
|
||||
}
|
||||
@@ -202,10 +215,12 @@ inline bool StrtodDiyFp(const char* decimals, int dLen, int dExp, double* result
|
||||
|
||||
*result = rounded.ToDouble();
|
||||
|
||||
return halfWay - static_cast<unsigned>(error) >= precisionBits || precisionBits >= halfWay + static_cast<unsigned>(error);
|
||||
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) {
|
||||
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);
|
||||
@@ -218,12 +233,13 @@ inline double StrtodBigInteger(double approx, const char* decimals, int dLen, in
|
||||
return a.NextPositiveDouble();
|
||||
else
|
||||
return a.Value();
|
||||
}
|
||||
else // adjustment
|
||||
} else // adjustment
|
||||
return a.NextPositiveDouble();
|
||||
}
|
||||
|
||||
inline double StrtodFullPrecision(double d, int p, const char* decimals, size_t length, size_t decimalPosition, int exp) {
|
||||
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);
|
||||
|
||||
@@ -280,7 +296,8 @@ inline double StrtodFullPrecision(double d, int p, const char* decimals, size_t
|
||||
if (StrtodDiyFp(decimals, dLen, dExp, &result))
|
||||
return result;
|
||||
|
||||
// Use approximation from StrtodDiyFp and make adjustment with BigInteger comparison
|
||||
// Use approximation from StrtodDiyFp and make adjustment with BigInteger
|
||||
// comparison
|
||||
return StrtodBigInteger(result, decimals, dLen, dExp);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -19,18 +23,17 @@
|
||||
|
||||
#if defined(__clang__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(c++98-compat)
|
||||
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().
|
||||
/*! \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 {
|
||||
template <typename T> inline void Swap(T &a, T &b) RAPIDJSON_NOEXCEPT {
|
||||
T tmp = a;
|
||||
a = b;
|
||||
b = tmp;
|
||||
|
||||
@@ -1,30 +1,35 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_ISTREAMWRAPPER_H_
|
||||
#define RAPIDJSON_ISTREAMWRAPPER_H_
|
||||
|
||||
#include "stream.h"
|
||||
#include <iosfwd>
|
||||
#include <ios>
|
||||
#include <iosfwd>
|
||||
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(padded)
|
||||
#elif defined(_MSC_VER)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(4351) // new behavior: elements of array 'array' will be default initialized
|
||||
RAPIDJSON_DIAG_OFF(
|
||||
4351) // new behavior: elements of array 'array' will be default initialized
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -45,8 +50,7 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
\tparam StreamType Class derived from \c std::basic_istream.
|
||||
*/
|
||||
|
||||
template <typename StreamType>
|
||||
class BasicIStreamWrapper {
|
||||
template <typename StreamType> class BasicIStreamWrapper {
|
||||
public:
|
||||
typedef typename StreamType::char_type Ch;
|
||||
|
||||
@@ -54,7 +58,9 @@ public:
|
||||
/*!
|
||||
\param stream stream opened for read.
|
||||
*/
|
||||
BasicIStreamWrapper(StreamType &stream) : stream_(stream), buffer_(peekBuffer_), bufferSize_(4), bufferLast_(0), current_(buffer_), readCount_(0), count_(0), eof_(false) {
|
||||
BasicIStreamWrapper(StreamType &stream)
|
||||
: stream_(stream), buffer_(peekBuffer_), bufferSize_(4), bufferLast_(0),
|
||||
current_(buffer_), readCount_(0), count_(0), eof_(false) {
|
||||
Read();
|
||||
}
|
||||
|
||||
@@ -64,30 +70,45 @@ public:
|
||||
\param buffer user-supplied buffer.
|
||||
\param bufferSize size of buffer in bytes. Must >=4 bytes.
|
||||
*/
|
||||
BasicIStreamWrapper(StreamType &stream, char* buffer, size_t bufferSize) : stream_(stream), buffer_(buffer), bufferSize_(bufferSize), bufferLast_(0), current_(buffer_), readCount_(0), count_(0), eof_(false) {
|
||||
BasicIStreamWrapper(StreamType &stream, char *buffer, size_t bufferSize)
|
||||
: stream_(stream), buffer_(buffer), bufferSize_(bufferSize),
|
||||
bufferLast_(0), current_(buffer_), readCount_(0), count_(0),
|
||||
eof_(false) {
|
||||
RAPIDJSON_ASSERT(bufferSize >= 4);
|
||||
Read();
|
||||
}
|
||||
|
||||
Ch Peek() const { return *current_; }
|
||||
Ch Take() { Ch c = *current_; Read(); return c; }
|
||||
size_t Tell() const { return count_ + static_cast<size_t>(current_ - buffer_); }
|
||||
Ch Take() {
|
||||
Ch c = *current_;
|
||||
Read();
|
||||
return c;
|
||||
}
|
||||
size_t Tell() const {
|
||||
return count_ + static_cast<size_t>(current_ - buffer_);
|
||||
}
|
||||
|
||||
// Not implemented
|
||||
void Put(Ch) { RAPIDJSON_ASSERT(false); }
|
||||
void Flush() { RAPIDJSON_ASSERT(false); }
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(Ch*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
Ch *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// For encoding detection only.
|
||||
const Ch* Peek4() const {
|
||||
const Ch *Peek4() const {
|
||||
return (current_ + 4 - !eof_ <= bufferLast_) ? current_ : 0;
|
||||
}
|
||||
|
||||
private:
|
||||
BasicIStreamWrapper();
|
||||
BasicIStreamWrapper(const BasicIStreamWrapper&);
|
||||
BasicIStreamWrapper& operator=(const BasicIStreamWrapper&);
|
||||
BasicIStreamWrapper(const BasicIStreamWrapper &);
|
||||
BasicIStreamWrapper &operator=(const BasicIStreamWrapper &);
|
||||
|
||||
void Read() {
|
||||
if (current_ < bufferLast_)
|
||||
|
||||
@@ -1,55 +1,61 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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 "stream.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.
|
||||
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.
|
||||
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.
|
||||
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 {
|
||||
template <typename Allocator = CrtAllocator> struct GenericMemoryBuffer {
|
||||
typedef char Ch; // byte
|
||||
|
||||
GenericMemoryBuffer(Allocator* allocator = 0, size_t capacity = kDefaultCapacity) : stack_(allocator, capacity) {}
|
||||
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); }
|
||||
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>();
|
||||
}
|
||||
const Ch *GetBuffer() const { return stack_.template Bottom<Ch>(); }
|
||||
|
||||
size_t GetSize() const { return stack_.GetSize(); }
|
||||
|
||||
@@ -59,9 +65,9 @@ struct GenericMemoryBuffer {
|
||||
|
||||
typedef GenericMemoryBuffer<> MemoryBuffer;
|
||||
|
||||
//! Implement specialized version of PutN() with memset() for better performance.
|
||||
template<>
|
||||
inline void PutN(MemoryBuffer& memoryBuffer, char c, size_t n) {
|
||||
//! 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));
|
||||
}
|
||||
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_
|
||||
@@ -19,46 +23,55 @@
|
||||
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(unreachable-code)
|
||||
RAPIDJSON_DIAG_OFF(missing-noreturn)
|
||||
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.
|
||||
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.
|
||||
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
|
||||
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) {}
|
||||
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; }
|
||||
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;
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const Ch* src_; //!< Current read position.
|
||||
const Ch* begin_; //!< Original head of the string.
|
||||
const Ch* end_; //!< End of stream.
|
||||
// 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.
|
||||
};
|
||||
|
||||
|
||||
@@ -61,7 +61,8 @@ typedef struct {
|
||||
|
||||
// 7.8.1 Macros for format specifiers
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_FORMAT_MACROS) // [ See footnote 185 at page 198
|
||||
#if !defined(__cplusplus) || \
|
||||
defined(__STDC_FORMAT_MACROS) // [ See footnote 185 at page 198
|
||||
|
||||
// The fprintf macros for signed integers are:
|
||||
#define PRId8 "d"
|
||||
@@ -194,11 +195,11 @@ typedef struct {
|
||||
#define SCNiMAX "I64i"
|
||||
|
||||
#ifdef _WIN64 // [
|
||||
# define SCNdPTR "I64d"
|
||||
# define SCNiPTR "I64i"
|
||||
#define SCNdPTR "I64d"
|
||||
#define SCNiPTR "I64i"
|
||||
#else // _WIN64 ][
|
||||
# define SCNdPTR "ld"
|
||||
# define SCNiPTR "li"
|
||||
#define SCNdPTR "ld"
|
||||
#define SCNiPTR "li"
|
||||
#endif // _WIN64 ]
|
||||
|
||||
// The fscanf macros for unsigned integers are:
|
||||
@@ -260,15 +261,15 @@ typedef struct {
|
||||
#define SCNXMAX "I64X"
|
||||
|
||||
#ifdef _WIN64 // [
|
||||
# define SCNoPTR "I64o"
|
||||
# define SCNuPTR "I64u"
|
||||
# define SCNxPTR "I64x"
|
||||
# define SCNXPTR "I64X"
|
||||
#define SCNoPTR "I64o"
|
||||
#define SCNuPTR "I64u"
|
||||
#define SCNxPTR "I64x"
|
||||
#define SCNXPTR "I64X"
|
||||
#else // _WIN64 ][
|
||||
# define SCNoPTR "lo"
|
||||
# define SCNuPTR "lu"
|
||||
# define SCNxPTR "lx"
|
||||
# define SCNXPTR "lX"
|
||||
#define SCNoPTR "lo"
|
||||
#define SCNuPTR "lu"
|
||||
#define SCNxPTR "lx"
|
||||
#define SCNXPTR "lX"
|
||||
#endif // _WIN64 ]
|
||||
|
||||
#endif // __STDC_FORMAT_MACROS ]
|
||||
@@ -287,8 +288,7 @@ static
|
||||
#else // STATIC_IMAXDIV ][
|
||||
_inline
|
||||
#endif // STATIC_IMAXDIV ]
|
||||
imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom)
|
||||
{
|
||||
imaxdiv_t __cdecl imaxdiv(intmax_t numer, intmax_t denom) {
|
||||
imaxdiv_t result;
|
||||
|
||||
result.quot = numer / denom;
|
||||
|
||||
@@ -45,11 +45,13 @@
|
||||
#pragma once
|
||||
#endif
|
||||
|
||||
// miloyip: Originally Visual Studio 2010 uses its own stdint.h. However it generates warning with INT64_C(), so change to use this file for vs2010.
|
||||
// miloyip: Originally Visual Studio 2010 uses its own stdint.h. However it
|
||||
// generates warning with INT64_C(), so change to use this file for vs2010.
|
||||
#if _MSC_VER >= 1600 // [
|
||||
#include <stdint.h>
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260
|
||||
#if !defined(__cplusplus) || \
|
||||
defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260
|
||||
|
||||
#undef INT8_C
|
||||
#undef INT16_C
|
||||
@@ -76,10 +78,10 @@
|
||||
// These #ifndef's are needed to prevent collisions with <boost/cstdint.hpp>.
|
||||
// Check out Issue 9 for the details.
|
||||
#ifndef INTMAX_C // [
|
||||
# define INTMAX_C INT64_C
|
||||
#define INTMAX_C INT64_C
|
||||
#endif // INTMAX_C ]
|
||||
#ifndef UINTMAX_C // [
|
||||
# define UINTMAX_C UINT64_C
|
||||
#define UINTMAX_C UINT64_C
|
||||
#endif // UINTMAX_C ]
|
||||
|
||||
#endif // __STDC_CONSTANT_MACROS ]
|
||||
@@ -95,20 +97,19 @@
|
||||
#if defined(__cplusplus) && !defined(_M_ARM)
|
||||
extern "C" {
|
||||
#endif
|
||||
# include <wchar.h>
|
||||
#include <wchar.h>
|
||||
#if defined(__cplusplus) && !defined(_M_ARM)
|
||||
}
|
||||
#endif
|
||||
|
||||
// Define _W64 macros to mark types changing their size, like intptr_t.
|
||||
#ifndef _W64
|
||||
# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
|
||||
# define _W64 __w64
|
||||
# else
|
||||
# define _W64
|
||||
# endif
|
||||
#if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
|
||||
#define _W64 __w64
|
||||
#else
|
||||
#define _W64
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
// 7.18.1 Integer types
|
||||
|
||||
@@ -118,24 +119,23 @@ extern "C" {
|
||||
// realize that, e.g. char has the same size as __int8
|
||||
// so we give up on __intX for them.
|
||||
#if (_MSC_VER < 1300)
|
||||
typedef signed char int8_t;
|
||||
typedef signed short int16_t;
|
||||
typedef signed int int32_t;
|
||||
typedef unsigned char uint8_t;
|
||||
typedef unsigned short uint16_t;
|
||||
typedef unsigned int uint32_t;
|
||||
typedef signed char int8_t;
|
||||
typedef signed short int16_t;
|
||||
typedef signed int int32_t;
|
||||
typedef unsigned char uint8_t;
|
||||
typedef unsigned short uint16_t;
|
||||
typedef unsigned int uint32_t;
|
||||
#else
|
||||
typedef signed __int8 int8_t;
|
||||
typedef signed __int16 int16_t;
|
||||
typedef signed __int32 int32_t;
|
||||
typedef unsigned __int8 uint8_t;
|
||||
typedef unsigned __int16 uint16_t;
|
||||
typedef unsigned __int32 uint32_t;
|
||||
typedef signed __int8 int8_t;
|
||||
typedef signed __int16 int16_t;
|
||||
typedef signed __int32 int32_t;
|
||||
typedef unsigned __int8 uint8_t;
|
||||
typedef unsigned __int16 uint16_t;
|
||||
typedef unsigned __int32 uint32_t;
|
||||
#endif
|
||||
typedef signed __int64 int64_t;
|
||||
typedef unsigned __int64 uint64_t;
|
||||
|
||||
|
||||
// 7.18.1.2 Minimum-width integer types
|
||||
typedef int8_t int_least8_t;
|
||||
typedef int16_t int_least16_t;
|
||||
@@ -158,21 +158,22 @@ typedef uint64_t uint_fast64_t;
|
||||
|
||||
// 7.18.1.4 Integer types capable of holding object pointers
|
||||
#ifdef _WIN64 // [
|
||||
typedef signed __int64 intptr_t;
|
||||
typedef unsigned __int64 uintptr_t;
|
||||
typedef signed __int64 intptr_t;
|
||||
typedef unsigned __int64 uintptr_t;
|
||||
#else // _WIN64 ][
|
||||
typedef _W64 signed int intptr_t;
|
||||
typedef _W64 unsigned int uintptr_t;
|
||||
typedef _W64 signed int intptr_t;
|
||||
typedef _W64 unsigned int uintptr_t;
|
||||
#endif // _WIN64 ]
|
||||
|
||||
// 7.18.1.5 Greatest-width integer types
|
||||
typedef int64_t intmax_t;
|
||||
typedef uint64_t uintmax_t;
|
||||
|
||||
|
||||
// 7.18.2 Limits of specified-width integer types
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_LIMIT_MACROS) // [ See footnote 220 at page 257 and footnote 221 at page 259
|
||||
#if !defined(__cplusplus) || \
|
||||
defined(__STDC_LIMIT_MACROS) // [ See footnote 220 at page 257 and
|
||||
// footnote 221 at page 259
|
||||
|
||||
// 7.18.2.1 Limits of exact-width integer types
|
||||
#define INT8_MIN ((int8_t)_I8_MIN)
|
||||
@@ -218,13 +219,13 @@ typedef uint64_t uintmax_t;
|
||||
|
||||
// 7.18.2.4 Limits of integer types capable of holding object pointers
|
||||
#ifdef _WIN64 // [
|
||||
# define INTPTR_MIN INT64_MIN
|
||||
# define INTPTR_MAX INT64_MAX
|
||||
# define UINTPTR_MAX UINT64_MAX
|
||||
#define INTPTR_MIN INT64_MIN
|
||||
#define INTPTR_MAX INT64_MAX
|
||||
#define UINTPTR_MAX UINT64_MAX
|
||||
#else // _WIN64 ][
|
||||
# define INTPTR_MIN INT32_MIN
|
||||
# define INTPTR_MAX INT32_MAX
|
||||
# define UINTPTR_MAX UINT32_MAX
|
||||
#define INTPTR_MIN INT32_MIN
|
||||
#define INTPTR_MAX INT32_MAX
|
||||
#define UINTPTR_MAX UINT32_MAX
|
||||
#endif // _WIN64 ]
|
||||
|
||||
// 7.18.2.5 Limits of greatest-width integer types
|
||||
@@ -235,30 +236,30 @@ typedef uint64_t uintmax_t;
|
||||
// 7.18.3 Limits of other integer types
|
||||
|
||||
#ifdef _WIN64 // [
|
||||
# define PTRDIFF_MIN _I64_MIN
|
||||
# define PTRDIFF_MAX _I64_MAX
|
||||
#define PTRDIFF_MIN _I64_MIN
|
||||
#define PTRDIFF_MAX _I64_MAX
|
||||
#else // _WIN64 ][
|
||||
# define PTRDIFF_MIN _I32_MIN
|
||||
# define PTRDIFF_MAX _I32_MAX
|
||||
#define PTRDIFF_MIN _I32_MIN
|
||||
#define PTRDIFF_MAX _I32_MAX
|
||||
#endif // _WIN64 ]
|
||||
|
||||
#define SIG_ATOMIC_MIN INT_MIN
|
||||
#define SIG_ATOMIC_MAX INT_MAX
|
||||
|
||||
#ifndef SIZE_MAX // [
|
||||
# ifdef _WIN64 // [
|
||||
# define SIZE_MAX _UI64_MAX
|
||||
# else // _WIN64 ][
|
||||
# define SIZE_MAX _UI32_MAX
|
||||
# endif // _WIN64 ]
|
||||
#ifdef _WIN64 // [
|
||||
#define SIZE_MAX _UI64_MAX
|
||||
#else // _WIN64 ][
|
||||
#define SIZE_MAX _UI32_MAX
|
||||
#endif // _WIN64 ]
|
||||
#endif // SIZE_MAX ]
|
||||
|
||||
// WCHAR_MIN and WCHAR_MAX are also defined in <wchar.h>
|
||||
#ifndef WCHAR_MIN // [
|
||||
# define WCHAR_MIN 0
|
||||
#define WCHAR_MIN 0
|
||||
#endif // WCHAR_MIN ]
|
||||
#ifndef WCHAR_MAX // [
|
||||
# define WCHAR_MAX _UI16_MAX
|
||||
#define WCHAR_MAX _UI16_MAX
|
||||
#endif // WCHAR_MAX ]
|
||||
|
||||
#define WINT_MIN 0
|
||||
@@ -266,10 +267,10 @@ typedef uint64_t uintmax_t;
|
||||
|
||||
#endif // __STDC_LIMIT_MACROS ]
|
||||
|
||||
|
||||
// 7.18.4 Limits of other integer types
|
||||
|
||||
#if !defined(__cplusplus) || defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260
|
||||
#if !defined(__cplusplus) || \
|
||||
defined(__STDC_CONSTANT_MACROS) // [ See footnote 224 at page 260
|
||||
|
||||
// 7.18.4.1 Macros for minimum-width integer constants
|
||||
|
||||
@@ -287,10 +288,10 @@ typedef uint64_t uintmax_t;
|
||||
// These #ifndef's are needed to prevent collisions with <boost/cstdint.hpp>.
|
||||
// Check out Issue 9 for the details.
|
||||
#ifndef INTMAX_C // [
|
||||
# define INTMAX_C INT64_C
|
||||
#define INTMAX_C INT64_C
|
||||
#endif // INTMAX_C ]
|
||||
#ifndef UINTMAX_C // [
|
||||
# define UINTMAX_C UINT64_C
|
||||
#define UINTMAX_C UINT64_C
|
||||
#endif // UINTMAX_C ]
|
||||
|
||||
#endif // __STDC_CONSTANT_MACROS ]
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_OSTREAMWRAPPER_H_
|
||||
#define RAPIDJSON_OSTREAMWRAPPER_H_
|
||||
@@ -41,32 +45,42 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
\tparam StreamType Class derived from \c std::basic_ostream.
|
||||
*/
|
||||
|
||||
template <typename StreamType>
|
||||
class BasicOStreamWrapper {
|
||||
template <typename StreamType> class BasicOStreamWrapper {
|
||||
public:
|
||||
typedef typename StreamType::char_type Ch;
|
||||
BasicOStreamWrapper(StreamType& stream) : stream_(stream) {}
|
||||
BasicOStreamWrapper(StreamType &stream) : stream_(stream) {}
|
||||
|
||||
void Put(Ch c) {
|
||||
stream_.put(c);
|
||||
}
|
||||
void Put(Ch c) { stream_.put(c); }
|
||||
|
||||
void Flush() {
|
||||
stream_.flush();
|
||||
}
|
||||
void Flush() { stream_.flush(); }
|
||||
|
||||
// Not implemented
|
||||
char Peek() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char Take() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t Tell() const { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
size_t PutEnd(char*) { RAPIDJSON_ASSERT(false); return 0; }
|
||||
char Peek() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
char Take() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t Tell() const {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
char *PutBegin() {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
size_t PutEnd(char *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
BasicOStreamWrapper(const BasicOStreamWrapper&);
|
||||
BasicOStreamWrapper& operator=(const BasicOStreamWrapper&);
|
||||
BasicOStreamWrapper(const BasicOStreamWrapper &);
|
||||
BasicOStreamWrapper &operator=(const BasicOStreamWrapper &);
|
||||
|
||||
StreamType& stream_;
|
||||
StreamType &stream_;
|
||||
};
|
||||
|
||||
typedef BasicOStreamWrapper<std::ostream> OStreamWrapper;
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_PRETTYWRITER_H_
|
||||
#define RAPIDJSON_PRETTYWRITER_H_
|
||||
@@ -24,7 +28,7 @@ RAPIDJSON_DIAG_OFF(effc++)
|
||||
|
||||
#if defined(__clang__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(c++98-compat)
|
||||
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -44,36 +48,48 @@ enum PrettyFormatOptions {
|
||||
\tparam TargetEncoding Encoding of output stream.
|
||||
\tparam StackAllocator Type of allocator for allocating memory of stack.
|
||||
*/
|
||||
template<typename OutputStream, typename SourceEncoding = UTF8<>, typename TargetEncoding = UTF8<>, typename StackAllocator = CrtAllocator, unsigned writeFlags = kWriteDefaultFlags>
|
||||
class PrettyWriter : public Writer<OutputStream, SourceEncoding, TargetEncoding, StackAllocator, writeFlags> {
|
||||
template <typename OutputStream, typename SourceEncoding = UTF8<>,
|
||||
typename TargetEncoding = UTF8<>,
|
||||
typename StackAllocator = CrtAllocator,
|
||||
unsigned writeFlags = kWriteDefaultFlags>
|
||||
class PrettyWriter : public Writer<OutputStream, SourceEncoding, TargetEncoding,
|
||||
StackAllocator, writeFlags> {
|
||||
public:
|
||||
typedef Writer<OutputStream, SourceEncoding, TargetEncoding, StackAllocator, writeFlags> Base;
|
||||
typedef Writer<OutputStream, SourceEncoding, TargetEncoding, StackAllocator,
|
||||
writeFlags>
|
||||
Base;
|
||||
typedef typename Base::Ch Ch;
|
||||
|
||||
//! Constructor
|
||||
/*! \param os Output stream.
|
||||
\param allocator User supplied allocator. If it is null, it will create a private one.
|
||||
\param levelDepth Initial capacity of stack.
|
||||
\param allocator User supplied allocator. If it is null, it will create a
|
||||
private one. \param levelDepth Initial capacity of stack.
|
||||
*/
|
||||
explicit PrettyWriter(OutputStream& os, StackAllocator* allocator = 0, size_t levelDepth = Base::kDefaultLevelDepth) :
|
||||
Base(os, allocator, levelDepth), indentChar_(' '), indentCharCount_(4), formatOptions_(kFormatDefault) {}
|
||||
explicit PrettyWriter(OutputStream &os, StackAllocator *allocator = 0,
|
||||
size_t levelDepth = Base::kDefaultLevelDepth)
|
||||
: Base(os, allocator, levelDepth), indentChar_(' '), indentCharCount_(4),
|
||||
formatOptions_(kFormatDefault) {}
|
||||
|
||||
|
||||
explicit PrettyWriter(StackAllocator* allocator = 0, size_t levelDepth = Base::kDefaultLevelDepth) :
|
||||
Base(allocator, levelDepth), indentChar_(' '), indentCharCount_(4) {}
|
||||
explicit PrettyWriter(StackAllocator *allocator = 0,
|
||||
size_t levelDepth = Base::kDefaultLevelDepth)
|
||||
: Base(allocator, levelDepth), indentChar_(' '), indentCharCount_(4) {}
|
||||
|
||||
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
|
||||
PrettyWriter(PrettyWriter&& rhs) :
|
||||
Base(std::forward<PrettyWriter>(rhs)), indentChar_(rhs.indentChar_), indentCharCount_(rhs.indentCharCount_), formatOptions_(rhs.formatOptions_) {}
|
||||
PrettyWriter(PrettyWriter &&rhs)
|
||||
: Base(std::forward<PrettyWriter>(rhs)), indentChar_(rhs.indentChar_),
|
||||
indentCharCount_(rhs.indentCharCount_),
|
||||
formatOptions_(rhs.formatOptions_) {}
|
||||
#endif
|
||||
|
||||
//! Set custom indentation.
|
||||
/*! \param indentChar Character for indentation. Must be whitespace character (' ', '\\t', '\\n', '\\r').
|
||||
\param indentCharCount Number of indent characters for each indentation level.
|
||||
\note The default indentation is 4 spaces.
|
||||
/*! \param indentChar Character for indentation. Must be whitespace
|
||||
character (' ', '\\t', '\\n', '\\r'). \param indentCharCount Number of
|
||||
indent characters for each indentation level. \note The default indentation
|
||||
is 4 spaces.
|
||||
*/
|
||||
PrettyWriter& SetIndent(Ch indentChar, unsigned indentCharCount) {
|
||||
RAPIDJSON_ASSERT(indentChar == ' ' || indentChar == '\t' || indentChar == '\n' || indentChar == '\r');
|
||||
PrettyWriter &SetIndent(Ch indentChar, unsigned indentCharCount) {
|
||||
RAPIDJSON_ASSERT(indentChar == ' ' || indentChar == '\t' ||
|
||||
indentChar == '\n' || indentChar == '\r');
|
||||
indentChar_ = indentChar;
|
||||
indentCharCount_ = indentCharCount;
|
||||
return *this;
|
||||
@@ -82,7 +98,7 @@ public:
|
||||
//! Set pretty writer formatting options.
|
||||
/*! \param options Formatting options.
|
||||
*/
|
||||
PrettyWriter& SetFormatOptions(PrettyFormatOptions options) {
|
||||
PrettyWriter &SetFormatOptions(PrettyFormatOptions options) {
|
||||
formatOptions_ = options;
|
||||
return *this;
|
||||
}
|
||||
@@ -92,22 +108,43 @@ public:
|
||||
*/
|
||||
//@{
|
||||
|
||||
bool Null() { PrettyPrefix(kNullType); return Base::EndValue(Base::WriteNull()); }
|
||||
bool Bool(bool b) { PrettyPrefix(b ? kTrueType : kFalseType); return Base::EndValue(Base::WriteBool(b)); }
|
||||
bool Int(int i) { PrettyPrefix(kNumberType); return Base::EndValue(Base::WriteInt(i)); }
|
||||
bool Uint(unsigned u) { PrettyPrefix(kNumberType); return Base::EndValue(Base::WriteUint(u)); }
|
||||
bool Int64(int64_t i64) { PrettyPrefix(kNumberType); return Base::EndValue(Base::WriteInt64(i64)); }
|
||||
bool Uint64(uint64_t u64) { PrettyPrefix(kNumberType); return Base::EndValue(Base::WriteUint64(u64)); }
|
||||
bool Double(double d) { PrettyPrefix(kNumberType); return Base::EndValue(Base::WriteDouble(d)); }
|
||||
bool Null() {
|
||||
PrettyPrefix(kNullType);
|
||||
return Base::EndValue(Base::WriteNull());
|
||||
}
|
||||
bool Bool(bool b) {
|
||||
PrettyPrefix(b ? kTrueType : kFalseType);
|
||||
return Base::EndValue(Base::WriteBool(b));
|
||||
}
|
||||
bool Int(int i) {
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteInt(i));
|
||||
}
|
||||
bool Uint(unsigned u) {
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteUint(u));
|
||||
}
|
||||
bool Int64(int64_t i64) {
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteInt64(i64));
|
||||
}
|
||||
bool Uint64(uint64_t u64) {
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteUint64(u64));
|
||||
}
|
||||
bool Double(double d) {
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteDouble(d));
|
||||
}
|
||||
|
||||
bool RawNumber(const Ch* str, SizeType length, bool copy = false) {
|
||||
bool RawNumber(const Ch *str, SizeType length, bool copy = false) {
|
||||
RAPIDJSON_ASSERT(str != 0);
|
||||
(void)copy;
|
||||
PrettyPrefix(kNumberType);
|
||||
return Base::EndValue(Base::WriteString(str, length));
|
||||
}
|
||||
|
||||
bool String(const Ch* str, SizeType length, bool copy = false) {
|
||||
bool String(const Ch *str, SizeType length, bool copy = false) {
|
||||
RAPIDJSON_ASSERT(str != 0);
|
||||
(void)copy;
|
||||
PrettyPrefix(kStringType);
|
||||
@@ -115,32 +152,42 @@ public:
|
||||
}
|
||||
|
||||
#if RAPIDJSON_HAS_STDSTRING
|
||||
bool String(const std::basic_string<Ch>& str) {
|
||||
bool String(const std::basic_string<Ch> &str) {
|
||||
return String(str.data(), SizeType(str.size()));
|
||||
}
|
||||
#endif
|
||||
|
||||
bool StartObject() {
|
||||
PrettyPrefix(kObjectType);
|
||||
new (Base::level_stack_.template Push<typename Base::Level>()) typename Base::Level(false);
|
||||
new (Base::level_stack_.template Push<typename Base::Level>())
|
||||
typename Base::Level(false);
|
||||
return Base::WriteStartObject();
|
||||
}
|
||||
|
||||
bool Key(const Ch* str, SizeType length, bool copy = false) { return String(str, length, copy); }
|
||||
bool Key(const Ch *str, SizeType length, bool copy = false) {
|
||||
return String(str, length, copy);
|
||||
}
|
||||
|
||||
#if RAPIDJSON_HAS_STDSTRING
|
||||
bool Key(const std::basic_string<Ch>& str) {
|
||||
bool Key(const std::basic_string<Ch> &str) {
|
||||
return Key(str.data(), SizeType(str.size()));
|
||||
}
|
||||
#endif
|
||||
|
||||
bool EndObject(SizeType memberCount = 0) {
|
||||
(void)memberCount;
|
||||
RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= sizeof(typename Base::Level)); // not inside an Object
|
||||
RAPIDJSON_ASSERT(!Base::level_stack_.template Top<typename Base::Level>()->inArray); // currently inside an Array, not Object
|
||||
RAPIDJSON_ASSERT(0 == Base::level_stack_.template Top<typename Base::Level>()->valueCount % 2); // Object has a Key without a Value
|
||||
RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >=
|
||||
sizeof(typename Base::Level)); // not inside an Object
|
||||
RAPIDJSON_ASSERT(!Base::level_stack_.template Top<typename Base::Level>()
|
||||
->inArray); // currently inside an Array, not Object
|
||||
RAPIDJSON_ASSERT(
|
||||
0 ==
|
||||
Base::level_stack_.template Top<typename Base::Level>()->valueCount %
|
||||
2); // Object has a Key without a Value
|
||||
|
||||
bool empty = Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount == 0;
|
||||
bool empty =
|
||||
Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount ==
|
||||
0;
|
||||
|
||||
if (!empty) {
|
||||
Base::os_->Put('\n');
|
||||
@@ -156,15 +203,20 @@ public:
|
||||
|
||||
bool StartArray() {
|
||||
PrettyPrefix(kArrayType);
|
||||
new (Base::level_stack_.template Push<typename Base::Level>()) typename Base::Level(true);
|
||||
new (Base::level_stack_.template Push<typename Base::Level>())
|
||||
typename Base::Level(true);
|
||||
return Base::WriteStartArray();
|
||||
}
|
||||
|
||||
bool EndArray(SizeType memberCount = 0) {
|
||||
(void)memberCount;
|
||||
RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >= sizeof(typename Base::Level));
|
||||
RAPIDJSON_ASSERT(Base::level_stack_.template Top<typename Base::Level>()->inArray);
|
||||
bool empty = Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount == 0;
|
||||
RAPIDJSON_ASSERT(Base::level_stack_.GetSize() >=
|
||||
sizeof(typename Base::Level));
|
||||
RAPIDJSON_ASSERT(
|
||||
Base::level_stack_.template Top<typename Base::Level>()->inArray);
|
||||
bool empty =
|
||||
Base::level_stack_.template Pop<typename Base::Level>(1)->valueCount ==
|
||||
0;
|
||||
|
||||
if (!empty && !(formatOptions_ & kFormatSingleLineArray)) {
|
||||
Base::os_->Put('\n');
|
||||
@@ -184,8 +236,8 @@ public:
|
||||
//@{
|
||||
|
||||
//! Simpler but slower overload.
|
||||
bool String(const Ch* str) { return String(str, internal::StrLen(str)); }
|
||||
bool Key(const Ch* str) { return Key(str, internal::StrLen(str)); }
|
||||
bool String(const Ch *str) { return String(str, internal::StrLen(str)); }
|
||||
bool Key(const Ch *str) { return Key(str, internal::StrLen(str)); }
|
||||
|
||||
//@}
|
||||
|
||||
@@ -193,12 +245,12 @@ public:
|
||||
/*!
|
||||
For user to write a stringified JSON as a value.
|
||||
|
||||
\param json A well-formed JSON value. It should not contain null character within [0, length - 1] range.
|
||||
\param length Length of the json.
|
||||
\param type Type of the root of json.
|
||||
\note When using PrettyWriter::RawValue(), the result json may not be indented correctly.
|
||||
\param json A well-formed JSON value. It should not contain null character
|
||||
within [0, length - 1] range. \param length Length of the json. \param type
|
||||
Type of the root of json. \note When using PrettyWriter::RawValue(), the
|
||||
result json may not be indented correctly.
|
||||
*/
|
||||
bool RawValue(const Ch* json, size_t length, Type type) {
|
||||
bool RawValue(const Ch *json, size_t length, Type type) {
|
||||
RAPIDJSON_ASSERT(json != 0);
|
||||
PrettyPrefix(type);
|
||||
return Base::EndValue(Base::WriteRawValue(json, length));
|
||||
@@ -208,11 +260,13 @@ protected:
|
||||
void PrettyPrefix(Type type) {
|
||||
(void)type;
|
||||
if (Base::level_stack_.GetSize() != 0) { // this value is not at root
|
||||
typename Base::Level* level = Base::level_stack_.template Top<typename Base::Level>();
|
||||
typename Base::Level *level =
|
||||
Base::level_stack_.template Top<typename Base::Level>();
|
||||
|
||||
if (level->inArray) {
|
||||
if (level->valueCount > 0) {
|
||||
Base::os_->Put(','); // add comma if it is not the first element in array
|
||||
Base::os_->Put(
|
||||
','); // add comma if it is not the first element in array
|
||||
if (formatOptions_ & kFormatSingleLineArray)
|
||||
Base::os_->Put(' ');
|
||||
}
|
||||
@@ -221,37 +275,38 @@ protected:
|
||||
Base::os_->Put('\n');
|
||||
WriteIndent();
|
||||
}
|
||||
}
|
||||
else { // in object
|
||||
} else { // in object
|
||||
if (level->valueCount > 0) {
|
||||
if (level->valueCount % 2 == 0) {
|
||||
Base::os_->Put(',');
|
||||
Base::os_->Put('\n');
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
Base::os_->Put(':');
|
||||
Base::os_->Put(' ');
|
||||
}
|
||||
}
|
||||
else
|
||||
} else
|
||||
Base::os_->Put('\n');
|
||||
|
||||
if (level->valueCount % 2 == 0)
|
||||
WriteIndent();
|
||||
}
|
||||
if (!level->inArray && level->valueCount % 2 == 0)
|
||||
RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even number should be a name
|
||||
RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even
|
||||
// number should be a name
|
||||
level->valueCount++;
|
||||
}
|
||||
else {
|
||||
RAPIDJSON_ASSERT(!Base::hasRoot_); // Should only has one and only one root.
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(
|
||||
!Base::hasRoot_); // Should only has one and only one root.
|
||||
Base::hasRoot_ = true;
|
||||
}
|
||||
}
|
||||
|
||||
void WriteIndent() {
|
||||
size_t count = (Base::level_stack_.GetSize() / sizeof(typename Base::Level)) * indentCharCount_;
|
||||
PutN(*Base::os_, static_cast<typename OutputStream::Ch>(indentChar_), count);
|
||||
size_t count =
|
||||
(Base::level_stack_.GetSize() / sizeof(typename Base::Level)) *
|
||||
indentCharCount_;
|
||||
PutN(*Base::os_, static_cast<typename OutputStream::Ch>(indentChar_),
|
||||
count);
|
||||
}
|
||||
|
||||
Ch indentChar_;
|
||||
@@ -260,8 +315,8 @@ protected:
|
||||
|
||||
private:
|
||||
// Prohibit copy constructor & assignment operator.
|
||||
PrettyWriter(const PrettyWriter&);
|
||||
PrettyWriter& operator=(const PrettyWriter&);
|
||||
PrettyWriter(const PrettyWriter &);
|
||||
PrettyWriter &operator=(const PrettyWriter &);
|
||||
};
|
||||
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_RAPIDJSON_H_
|
||||
#define RAPIDJSON_RAPIDJSON_H_
|
||||
@@ -29,7 +33,8 @@
|
||||
features can be configured in terms of overridden or predefined
|
||||
preprocessor macros at compile-time.
|
||||
|
||||
Some additional customization is available in the \ref RAPIDJSON_ERRORS APIs.
|
||||
Some additional customization is available in the \ref RAPIDJSON_ERRORS
|
||||
APIs.
|
||||
|
||||
\note These macros should be given on the compiler command-line
|
||||
(where applicable) to avoid inconsistent values when compiling
|
||||
@@ -42,7 +47,8 @@
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// RAPIDJSON_VERSION_STRING
|
||||
//
|
||||
// ALWAYS synchronize the following 3 macros with corresponding variables in /CMakeLists.txt.
|
||||
// ALWAYS synchronize the following 3 macros with corresponding variables in
|
||||
// /CMakeLists.txt.
|
||||
//
|
||||
|
||||
//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN
|
||||
@@ -76,7 +82,8 @@
|
||||
#define RAPIDJSON_MINOR_VERSION 1
|
||||
#define RAPIDJSON_PATCH_VERSION 0
|
||||
#define RAPIDJSON_VERSION_STRING \
|
||||
RAPIDJSON_STRINGIFY(RAPIDJSON_MAJOR_VERSION.RAPIDJSON_MINOR_VERSION.RAPIDJSON_PATCH_VERSION)
|
||||
RAPIDJSON_STRINGIFY( \
|
||||
RAPIDJSON_MAJOR_VERSION.RAPIDJSON_MINOR_VERSION.RAPIDJSON_PATCH_VERSION)
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// RAPIDJSON_NAMESPACE_(BEGIN|END)
|
||||
@@ -137,9 +144,9 @@
|
||||
\ingroup RAPIDJSON_CONFIG
|
||||
\brief Enable RapidJSON support for \c std::string
|
||||
|
||||
By defining this preprocessor symbol to \c 1, several convenience functions for using
|
||||
\ref rapidjson::GenericValue with \c std::string are enabled, especially
|
||||
for construction and comparison.
|
||||
By defining this preprocessor symbol to \c 1, several convenience functions
|
||||
for using \ref rapidjson::GenericValue with \c std::string are enabled,
|
||||
especially for construction and comparison.
|
||||
|
||||
\hideinitializer
|
||||
*/
|
||||
@@ -156,8 +163,8 @@
|
||||
\ingroup RAPIDJSON_CONFIG
|
||||
\brief Use external 64-bit integer types.
|
||||
|
||||
RapidJSON requires the 64-bit integer types \c int64_t and \c uint64_t types
|
||||
to be available at global scope.
|
||||
RapidJSON requires the 64-bit integer types \c int64_t and \c uint64_t
|
||||
types to be available at global scope.
|
||||
|
||||
If users have their own definition, define RAPIDJSON_NO_INT64DEFINE to
|
||||
prevent RapidJSON from defining its own types.
|
||||
@@ -165,12 +172,12 @@
|
||||
#ifndef RAPIDJSON_NO_INT64DEFINE
|
||||
//!@cond RAPIDJSON_HIDDEN_FROM_DOXYGEN
|
||||
#if defined(_MSC_VER) && (_MSC_VER < 1800) // Visual Studio 2013
|
||||
#include "msinttypes/stdint.h"
|
||||
#include "msinttypes/inttypes.h"
|
||||
#include "msinttypes/stdint.h"
|
||||
#else
|
||||
// Other compilers should have this.
|
||||
#include <stdint.h>
|
||||
#include <inttypes.h>
|
||||
#include <stdint.h>
|
||||
#endif
|
||||
//!@endcond
|
||||
#ifdef RAPIDJSON_DOXYGEN_RUNNING
|
||||
@@ -203,51 +210,59 @@
|
||||
\def RAPIDJSON_ENDIAN
|
||||
\ingroup RAPIDJSON_CONFIG
|
||||
|
||||
GCC 4.6 provided macro for detecting endianness of the target machine. But other
|
||||
compilers may not have this. User can define RAPIDJSON_ENDIAN to either
|
||||
GCC 4.6 provided macro for detecting endianness of the target machine. But
|
||||
other compilers may not have this. User can define RAPIDJSON_ENDIAN to either
|
||||
\ref RAPIDJSON_LITTLEENDIAN or \ref RAPIDJSON_BIGENDIAN.
|
||||
|
||||
Default detection implemented with reference to
|
||||
\li https://gcc.gnu.org/onlinedocs/gcc-4.6.0/cpp/Common-Predefined-Macros.html
|
||||
\li
|
||||
https://gcc.gnu.org/onlinedocs/gcc-4.6.0/cpp/Common-Predefined-Macros.html
|
||||
\li http://www.boost.org/doc/libs/1_42_0/boost/detail/endian.hpp
|
||||
*/
|
||||
#ifndef RAPIDJSON_ENDIAN
|
||||
// Detect with GCC 4.6's macro
|
||||
# ifdef __BYTE_ORDER__
|
||||
# if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
# elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
# else
|
||||
#ifdef __BYTE_ORDER__
|
||||
#if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
#elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
#else
|
||||
# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN.
|
||||
# endif // __BYTE_ORDER__
|
||||
#endif // __BYTE_ORDER__
|
||||
// Detect with GLIBC's endian.h
|
||||
# elif defined(__GLIBC__)
|
||||
# include <endian.h>
|
||||
# if (__BYTE_ORDER == __LITTLE_ENDIAN)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
# elif (__BYTE_ORDER == __BIG_ENDIAN)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
# else
|
||||
#elif defined(__GLIBC__)
|
||||
#include <endian.h>
|
||||
#if (__BYTE_ORDER == __LITTLE_ENDIAN)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
#elif (__BYTE_ORDER == __BIG_ENDIAN)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
#else
|
||||
# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN.
|
||||
# endif // __GLIBC__
|
||||
#endif // __GLIBC__
|
||||
// Detect with _LITTLE_ENDIAN and _BIG_ENDIAN macro
|
||||
# elif defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
# elif defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
#elif defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
#elif defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
// Detect with architecture macros
|
||||
# elif defined(__sparc) || defined(__sparc__) || defined(_POWER) || defined(__powerpc__) || defined(__ppc__) || defined(__hpux) || defined(__hppa) || defined(_MIPSEB) || defined(_POWER) || defined(__s390__)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
# elif defined(__i386__) || defined(__alpha__) || defined(__ia64) || defined(__ia64__) || defined(_M_IX86) || defined(_M_IA64) || defined(_M_ALPHA) || defined(__amd64) || defined(__amd64__) || defined(_M_AMD64) || defined(__x86_64) || defined(__x86_64__) || defined(_M_X64) || defined(__bfin__)
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
# elif defined(_MSC_VER) && (defined(_M_ARM) || defined(_M_ARM64))
|
||||
# define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
# elif defined(RAPIDJSON_DOXYGEN_RUNNING)
|
||||
# define RAPIDJSON_ENDIAN
|
||||
# else
|
||||
#elif defined(__sparc) || defined(__sparc__) || defined(_POWER) || \
|
||||
defined(__powerpc__) || defined(__ppc__) || defined(__hpux) || \
|
||||
defined(__hppa) || defined(_MIPSEB) || defined(_POWER) || \
|
||||
defined(__s390__)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_BIGENDIAN
|
||||
#elif defined(__i386__) || defined(__alpha__) || defined(__ia64) || \
|
||||
defined(__ia64__) || defined(_M_IX86) || defined(_M_IA64) || \
|
||||
defined(_M_ALPHA) || defined(__amd64) || defined(__amd64__) || \
|
||||
defined(_M_AMD64) || defined(__x86_64) || defined(__x86_64__) || \
|
||||
defined(_M_X64) || defined(__bfin__)
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
#elif defined(_MSC_VER) && (defined(_M_ARM) || defined(_M_ARM64))
|
||||
#define RAPIDJSON_ENDIAN RAPIDJSON_LITTLEENDIAN
|
||||
#elif defined(RAPIDJSON_DOXYGEN_RUNNING)
|
||||
#define RAPIDJSON_ENDIAN
|
||||
#else
|
||||
# error Unknown machine endianness detected. User needs to define RAPIDJSON_ENDIAN.
|
||||
# endif
|
||||
#endif
|
||||
#endif // RAPIDJSON_ENDIAN
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
@@ -255,7 +270,8 @@
|
||||
|
||||
//! Whether using 64-bit architecture
|
||||
#ifndef RAPIDJSON_64BIT
|
||||
#if defined(__LP64__) || (defined(__x86_64__) && defined(__ILP32__)) || defined(_WIN64) || defined(__EMSCRIPTEN__)
|
||||
#if defined(__LP64__) || (defined(__x86_64__) && defined(__ILP32__)) || \
|
||||
defined(_WIN64) || defined(__EMSCRIPTEN__)
|
||||
#define RAPIDJSON_64BIT 1
|
||||
#else
|
||||
#define RAPIDJSON_64BIT 0
|
||||
@@ -273,7 +289,8 @@
|
||||
User can customize by defining the RAPIDJSON_ALIGN function macro.
|
||||
*/
|
||||
#ifndef RAPIDJSON_ALIGN
|
||||
#define RAPIDJSON_ALIGN(x) (((x) + static_cast<size_t>(7u)) & ~static_cast<size_t>(7u))
|
||||
#define RAPIDJSON_ALIGN(x) \
|
||||
(((x) + static_cast<size_t>(7u)) & ~static_cast<size_t>(7u))
|
||||
#endif
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
@@ -286,7 +303,8 @@
|
||||
Use this macro to define 64-bit constants by a pair of 32-bit integer.
|
||||
*/
|
||||
#ifndef RAPIDJSON_UINT64_C2
|
||||
#define RAPIDJSON_UINT64_C2(high32, low32) ((static_cast<uint64_t>(high32) << 32) | static_cast<uint64_t>(low32))
|
||||
#define RAPIDJSON_UINT64_C2(high32, low32) \
|
||||
((static_cast<uint64_t>(high32) << 32) | static_cast<uint64_t>(low32))
|
||||
#endif
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
@@ -296,12 +314,14 @@
|
||||
/*!
|
||||
\ingroup RAPIDJSON_CONFIG
|
||||
|
||||
This optimization uses the fact that current X86-64 architecture only implement lower 48-bit virtual address.
|
||||
The higher 16-bit can be used for storing other data.
|
||||
\c GenericValue uses this optimization to reduce its size form 24 bytes to 16 bytes in 64-bit architecture.
|
||||
This optimization uses the fact that current X86-64 architecture only
|
||||
implement lower 48-bit virtual address. The higher 16-bit can be used for
|
||||
storing other data. \c GenericValue uses this optimization to reduce its size
|
||||
form 24 bytes to 16 bytes in 64-bit architecture.
|
||||
*/
|
||||
#ifndef RAPIDJSON_48BITPOINTER_OPTIMIZATION
|
||||
#if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64) || defined(_M_X64) || defined(_M_AMD64)
|
||||
#if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || \
|
||||
defined(__x86_64) || defined(_M_X64) || defined(_M_AMD64)
|
||||
#define RAPIDJSON_48BITPOINTER_OPTIMIZATION 1
|
||||
#else
|
||||
#define RAPIDJSON_48BITPOINTER_OPTIMIZATION 0
|
||||
@@ -312,8 +332,15 @@
|
||||
#if RAPIDJSON_64BIT != 1
|
||||
#error RAPIDJSON_48BITPOINTER_OPTIMIZATION can only be set to 1 when RAPIDJSON_64BIT=1
|
||||
#endif
|
||||
#define RAPIDJSON_SETPOINTER(type, p, x) (p = reinterpret_cast<type *>((reinterpret_cast<uintptr_t>(p) & static_cast<uintptr_t>(RAPIDJSON_UINT64_C2(0xFFFF0000, 0x00000000))) | reinterpret_cast<uintptr_t>(reinterpret_cast<const void*>(x))))
|
||||
#define RAPIDJSON_GETPOINTER(type, p) (reinterpret_cast<type *>(reinterpret_cast<uintptr_t>(p) & static_cast<uintptr_t>(RAPIDJSON_UINT64_C2(0x0000FFFF, 0xFFFFFFFF))))
|
||||
#define RAPIDJSON_SETPOINTER(type, p, x) \
|
||||
(p = reinterpret_cast<type *>( \
|
||||
(reinterpret_cast<uintptr_t>(p) & \
|
||||
static_cast<uintptr_t>(RAPIDJSON_UINT64_C2(0xFFFF0000, 0x00000000))) | \
|
||||
reinterpret_cast<uintptr_t>(reinterpret_cast<const void *>(x))))
|
||||
#define RAPIDJSON_GETPOINTER(type, p) \
|
||||
(reinterpret_cast<type *>( \
|
||||
reinterpret_cast<uintptr_t>(p) & \
|
||||
static_cast<uintptr_t>(RAPIDJSON_UINT64_C2(0x0000FFFF, 0xFFFFFFFF))))
|
||||
#else
|
||||
#define RAPIDJSON_SETPOINTER(type, p, x) (p = (x))
|
||||
#define RAPIDJSON_GETPOINTER(type, p) (p)
|
||||
@@ -348,8 +375,8 @@
|
||||
If any of these symbols is defined, RapidJSON defines the macro
|
||||
\c RAPIDJSON_SIMD to indicate the availability of the optimized code.
|
||||
*/
|
||||
#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42) \
|
||||
|| defined(RAPIDJSON_NEON) || defined(RAPIDJSON_DOXYGEN_RUNNING)
|
||||
#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42) || \
|
||||
defined(RAPIDJSON_NEON) || defined(RAPIDJSON_DOXYGEN_RUNNING)
|
||||
#define RAPIDJSON_SIMD
|
||||
#endif
|
||||
|
||||
@@ -411,9 +438,8 @@ RAPIDJSON_NAMESPACE_END
|
||||
|
||||
// Prefer C++11 static_assert, if available
|
||||
#ifndef RAPIDJSON_STATIC_ASSERT
|
||||
#if __cplusplus >= 201103L || ( defined(_MSC_VER) && _MSC_VER >= 1800 )
|
||||
#define RAPIDJSON_STATIC_ASSERT(x) \
|
||||
static_assert(x, RAPIDJSON_STRINGIFY(x))
|
||||
#if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1800)
|
||||
#define RAPIDJSON_STATIC_ASSERT(x) static_assert(x, RAPIDJSON_STRINGIFY(x))
|
||||
#endif // C++11
|
||||
#endif // RAPIDJSON_STATIC_ASSERT
|
||||
|
||||
@@ -424,7 +450,9 @@ RAPIDJSON_NAMESPACE_END
|
||||
#endif
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
template <bool x> struct STATIC_ASSERTION_FAILURE;
|
||||
template <> struct STATIC_ASSERTION_FAILURE<true> { enum { value = 1 }; };
|
||||
template <> struct STATIC_ASSERTION_FAILURE<true> {
|
||||
enum { value = 1 };
|
||||
};
|
||||
template <size_t x> struct StaticAssertTest {};
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
@@ -443,9 +471,10 @@ RAPIDJSON_NAMESPACE_END
|
||||
\hideinitializer
|
||||
*/
|
||||
#define RAPIDJSON_STATIC_ASSERT(x) \
|
||||
typedef ::RAPIDJSON_NAMESPACE::StaticAssertTest< \
|
||||
sizeof(::RAPIDJSON_NAMESPACE::STATIC_ASSERTION_FAILURE<bool(x) >)> \
|
||||
RAPIDJSON_JOIN(StaticAssertTypedef, __LINE__) RAPIDJSON_STATIC_ASSERT_UNUSED_ATTRIBUTE
|
||||
typedef ::RAPIDJSON_NAMESPACE::StaticAssertTest<sizeof( \
|
||||
::RAPIDJSON_NAMESPACE::STATIC_ASSERTION_FAILURE<bool(x)>)> \
|
||||
RAPIDJSON_JOIN(StaticAssertTypedef, __LINE__) \
|
||||
RAPIDJSON_STATIC_ASSERT_UNUSED_ATTRIBUTE
|
||||
#endif // RAPIDJSON_STATIC_ASSERT
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
@@ -484,11 +513,11 @@ RAPIDJSON_NAMESPACE_END
|
||||
|
||||
#define RAPIDJSON_MULTILINEMACRO_BEGIN do {
|
||||
#define RAPIDJSON_MULTILINEMACRO_END \
|
||||
} while((void)0, 0)
|
||||
} \
|
||||
while ((void)0, 0)
|
||||
|
||||
// adopted from Boost
|
||||
#define RAPIDJSON_VERSION_CODE(x,y,z) \
|
||||
(((x)*100000) + ((y)*100) + (z))
|
||||
#define RAPIDJSON_VERSION_CODE(x, y, z) (((x)*100000) + ((y)*100) + (z))
|
||||
|
||||
#if defined(__has_builtin)
|
||||
#define RAPIDJSON_HAS_BUILTIN(x) __has_builtin(x)
|
||||
@@ -501,18 +530,20 @@ RAPIDJSON_NAMESPACE_END
|
||||
|
||||
#if defined(__GNUC__)
|
||||
#define RAPIDJSON_GNUC \
|
||||
RAPIDJSON_VERSION_CODE(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__)
|
||||
RAPIDJSON_VERSION_CODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
|
||||
#endif
|
||||
|
||||
#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4,2,0))
|
||||
#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && \
|
||||
RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 2, 0))
|
||||
|
||||
#define RAPIDJSON_PRAGMA(x) _Pragma(RAPIDJSON_STRINGIFY(x))
|
||||
#define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(GCC diagnostic x)
|
||||
#define RAPIDJSON_DIAG_OFF(x) \
|
||||
RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W,x)))
|
||||
RAPIDJSON_DIAG_PRAGMA(ignored RAPIDJSON_STRINGIFY(RAPIDJSON_JOIN(-W, x)))
|
||||
|
||||
// push/pop support in Clang and GCC>=4.6
|
||||
#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4,6,0))
|
||||
#if defined(__clang__) || (defined(RAPIDJSON_GNUC) && \
|
||||
RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0))
|
||||
#define RAPIDJSON_DIAG_PUSH RAPIDJSON_DIAG_PRAGMA(push)
|
||||
#define RAPIDJSON_DIAG_POP RAPIDJSON_DIAG_PRAGMA(pop)
|
||||
#else // GCC >= 4.2, < 4.6
|
||||
@@ -526,7 +557,7 @@ RAPIDJSON_NAMESPACE_END
|
||||
#define RAPIDJSON_PRAGMA(x) __pragma(x)
|
||||
#define RAPIDJSON_DIAG_PRAGMA(x) RAPIDJSON_PRAGMA(warning(x))
|
||||
|
||||
#define RAPIDJSON_DIAG_OFF(x) RAPIDJSON_DIAG_PRAGMA(disable: x)
|
||||
#define RAPIDJSON_DIAG_OFF(x) RAPIDJSON_DIAG_PRAGMA(disable : x)
|
||||
#define RAPIDJSON_DIAG_PUSH RAPIDJSON_DIAG_PRAGMA(push)
|
||||
#define RAPIDJSON_DIAG_POP RAPIDJSON_DIAG_PRAGMA(pop)
|
||||
|
||||
@@ -544,14 +575,18 @@ RAPIDJSON_NAMESPACE_END
|
||||
#ifndef RAPIDJSON_HAS_CXX11_RVALUE_REFS
|
||||
#if defined(__clang__)
|
||||
#if __has_feature(cxx_rvalue_references) && \
|
||||
(defined(_MSC_VER) || defined(_LIBCPP_VERSION) || defined(__GLIBCXX__) && __GLIBCXX__ >= 20080306)
|
||||
(defined(_MSC_VER) || defined(_LIBCPP_VERSION) || \
|
||||
defined(__GLIBCXX__) && __GLIBCXX__ >= 20080306)
|
||||
#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 1
|
||||
#else
|
||||
#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 0
|
||||
#endif
|
||||
#elif (defined(RAPIDJSON_GNUC) && (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4,3,0)) && defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
#elif (defined(RAPIDJSON_GNUC) && \
|
||||
(RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 3, 0)) && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
(defined(_MSC_VER) && _MSC_VER >= 1600) || \
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
|
||||
#define RAPIDJSON_HAS_CXX11_RVALUE_REFS 1
|
||||
#else
|
||||
@@ -562,9 +597,12 @@ RAPIDJSON_NAMESPACE_END
|
||||
#ifndef RAPIDJSON_HAS_CXX11_NOEXCEPT
|
||||
#if defined(__clang__)
|
||||
#define RAPIDJSON_HAS_CXX11_NOEXCEPT __has_feature(cxx_noexcept)
|
||||
#elif (defined(RAPIDJSON_GNUC) && (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4,6,0)) && defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
#elif (defined(RAPIDJSON_GNUC) && \
|
||||
(RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0)) && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
(defined(_MSC_VER) && _MSC_VER >= 1900) || \
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
#define RAPIDJSON_HAS_CXX11_NOEXCEPT 1
|
||||
#else
|
||||
#define RAPIDJSON_HAS_CXX11_NOEXCEPT 0
|
||||
@@ -588,9 +626,12 @@ RAPIDJSON_NAMESPACE_END
|
||||
#ifndef RAPIDJSON_HAS_CXX11_RANGE_FOR
|
||||
#if defined(__clang__)
|
||||
#define RAPIDJSON_HAS_CXX11_RANGE_FOR __has_feature(cxx_range_for)
|
||||
#elif (defined(RAPIDJSON_GNUC) && (RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4,6,0)) && defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
#elif (defined(RAPIDJSON_GNUC) && \
|
||||
(RAPIDJSON_GNUC >= RAPIDJSON_VERSION_CODE(4, 6, 0)) && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__)) || \
|
||||
(defined(_MSC_VER) && _MSC_VER >= 1700) || \
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
(defined(__SUNPRO_CC) && __SUNPRO_CC >= 0x5140 && \
|
||||
defined(__GXX_EXPERIMENTAL_CXX0X__))
|
||||
#define RAPIDJSON_HAS_CXX11_RANGE_FOR 1
|
||||
#else
|
||||
#define RAPIDJSON_HAS_CXX11_RANGE_FOR 0
|
||||
@@ -601,19 +642,19 @@ RAPIDJSON_NAMESPACE_END
|
||||
// C++17 features
|
||||
|
||||
#if defined(__has_cpp_attribute)
|
||||
# if __has_cpp_attribute(fallthrough)
|
||||
# define RAPIDJSON_DELIBERATE_FALLTHROUGH [[fallthrough]]
|
||||
# else
|
||||
# define RAPIDJSON_DELIBERATE_FALLTHROUGH
|
||||
# endif
|
||||
#if __has_cpp_attribute(fallthrough)
|
||||
#define RAPIDJSON_DELIBERATE_FALLTHROUGH [[fallthrough]]
|
||||
#else
|
||||
# define RAPIDJSON_DELIBERATE_FALLTHROUGH
|
||||
#define RAPIDJSON_DELIBERATE_FALLTHROUGH
|
||||
#endif
|
||||
#else
|
||||
#define RAPIDJSON_DELIBERATE_FALLTHROUGH
|
||||
#endif
|
||||
|
||||
//!@endcond
|
||||
|
||||
//! Assertion (in non-throwing contexts).
|
||||
/*! \ingroup RAPIDJSON_CONFIG
|
||||
/*! \ingroup RAPIDJSON_CONFIG
|
||||
Some functions provide a \c noexcept guarantee, if the compiler supports it.
|
||||
In these cases, the \ref RAPIDJSON_ASSERT macro cannot be overridden to
|
||||
throw an exception. This macro adds a separate customization point for
|
||||
@@ -621,7 +662,7 @@ RAPIDJSON_NAMESPACE_END
|
||||
|
||||
Defaults to C \c assert() (as \ref RAPIDJSON_ASSERT), if \c noexcept is
|
||||
supported, and to \ref RAPIDJSON_ASSERT otherwise.
|
||||
*/
|
||||
*/
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// RAPIDJSON_NOEXCEPT_ASSERT
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,16 +1,20 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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.
|
||||
|
||||
#include "rapidjson.h"
|
||||
|
||||
@@ -27,7 +31,8 @@ RAPIDJSON_NAMESPACE_BEGIN
|
||||
/*! \class rapidjson::Stream
|
||||
\brief Concept for reading and writing characters.
|
||||
|
||||
For read-only stream, no need to implement PutBegin(), Put(), Flush() and PutEnd().
|
||||
For read-only stream, no need to implement PutBegin(), Put(), Flush() and
|
||||
PutEnd().
|
||||
|
||||
For write-only stream, only need to implement Put() and Flush().
|
||||
|
||||
@@ -38,8 +43,8 @@ concept Stream {
|
||||
//! Read the current character from stream without moving the read cursor.
|
||||
Ch Peek() const;
|
||||
|
||||
//! Read the current character from stream and moving the read cursor to next character.
|
||||
Ch Take();
|
||||
//! Read the current character from stream and moving the read cursor to
|
||||
next character. Ch Take();
|
||||
|
||||
//! Get the current read cursor.
|
||||
//! \return Number of characters read from start.
|
||||
@@ -65,36 +70,37 @@ concept Stream {
|
||||
|
||||
//! Provides additional information for stream.
|
||||
/*!
|
||||
By using traits pattern, this type provides a default configuration for stream.
|
||||
For custom stream, this type can be specialized for other configuration.
|
||||
See TEST(Reader, CustomStringStream) in readertest.cpp for example.
|
||||
By using traits pattern, this type provides a default configuration for
|
||||
stream. For custom stream, this type can be specialized for other
|
||||
configuration. See TEST(Reader, CustomStringStream) in readertest.cpp for
|
||||
example.
|
||||
*/
|
||||
template<typename Stream>
|
||||
struct StreamTraits {
|
||||
template <typename Stream> struct StreamTraits {
|
||||
//! Whether to make local copy of stream for optimization during parsing.
|
||||
/*!
|
||||
By default, for safety, streams do not use local copy optimization.
|
||||
Stream that can be copied fast should specialize this, like StreamTraits<StringStream>.
|
||||
Stream that can be copied fast should specialize this, like
|
||||
StreamTraits<StringStream>.
|
||||
*/
|
||||
enum { copyOptimization = 0 };
|
||||
};
|
||||
|
||||
//! Reserve n characters for writing to a stream.
|
||||
template<typename Stream>
|
||||
inline void PutReserve(Stream& stream, size_t count) {
|
||||
template <typename Stream>
|
||||
inline void PutReserve(Stream &stream, size_t count) {
|
||||
(void)stream;
|
||||
(void)count;
|
||||
}
|
||||
|
||||
//! Write character to a stream, presuming buffer is reserved.
|
||||
template<typename Stream>
|
||||
inline void PutUnsafe(Stream& stream, typename Stream::Ch c) {
|
||||
template <typename Stream>
|
||||
inline void PutUnsafe(Stream &stream, typename Stream::Ch c) {
|
||||
stream.Put(c);
|
||||
}
|
||||
|
||||
//! Put N copies of a character to a stream.
|
||||
template<typename Stream, typename Ch>
|
||||
inline void PutN(Stream& stream, Ch c, size_t n) {
|
||||
template <typename Stream, typename Ch>
|
||||
inline void PutN(Stream &stream, Ch c, size_t n) {
|
||||
PutReserve(stream, n);
|
||||
for (size_t i = 0; i < n; i++)
|
||||
PutUnsafe(stream, c);
|
||||
@@ -115,29 +121,29 @@ RAPIDJSON_DIAG_OFF(4702) // unreachable code
|
||||
RAPIDJSON_DIAG_OFF(4512) // assignment operator could not be generated
|
||||
#endif
|
||||
|
||||
template <typename InputStream, typename Encoding = UTF8<> >
|
||||
template <typename InputStream, typename Encoding = UTF8<>>
|
||||
class GenericStreamWrapper {
|
||||
public:
|
||||
typedef typename Encoding::Ch Ch;
|
||||
GenericStreamWrapper(InputStream& is): is_(is) {}
|
||||
GenericStreamWrapper(InputStream &is) : is_(is) {}
|
||||
|
||||
Ch Peek() const { return is_.Peek(); }
|
||||
Ch Take() { return is_.Take(); }
|
||||
size_t Tell() { return is_.Tell(); }
|
||||
Ch* PutBegin() { return is_.PutBegin(); }
|
||||
Ch *PutBegin() { return is_.PutBegin(); }
|
||||
void Put(Ch ch) { is_.Put(ch); }
|
||||
void Flush() { is_.Flush(); }
|
||||
size_t PutEnd(Ch* ch) { return is_.PutEnd(ch); }
|
||||
size_t PutEnd(Ch *ch) { return is_.PutEnd(ch); }
|
||||
|
||||
// wrapper for MemoryStream
|
||||
const Ch* Peek4() const { return is_.Peek4(); }
|
||||
const Ch *Peek4() const { return is_.Peek4(); }
|
||||
|
||||
// wrapper for AutoUTFInputStream
|
||||
UTFType GetType() const { return is_.GetType(); }
|
||||
bool HasBOM() const { return is_.HasBOM(); }
|
||||
|
||||
protected:
|
||||
InputStream& is_;
|
||||
InputStream &is_;
|
||||
};
|
||||
|
||||
#if defined(_MSC_VER) && _MSC_VER <= 1800
|
||||
@@ -149,9 +155,8 @@ RAPIDJSON_DIAG_POP
|
||||
|
||||
//! Read-only string stream.
|
||||
/*! \note implements Stream concept
|
||||
*/
|
||||
template <typename Encoding>
|
||||
struct GenericStringStream {
|
||||
*/
|
||||
template <typename Encoding> struct GenericStringStream {
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
GenericStringStream(const Ch *src) : src_(src), head_(src) {}
|
||||
@@ -160,22 +165,28 @@ struct GenericStringStream {
|
||||
Ch Take() { return *src_++; }
|
||||
size_t Tell() const { return static_cast<size_t>(src_ - head_); }
|
||||
|
||||
Ch* PutBegin() { RAPIDJSON_ASSERT(false); return 0; }
|
||||
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; }
|
||||
size_t PutEnd(Ch *) {
|
||||
RAPIDJSON_ASSERT(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const Ch* src_; //!< Current read position.
|
||||
const Ch* head_; //!< Original head of the string.
|
||||
const Ch *src_; //!< Current read position.
|
||||
const Ch *head_; //!< Original head of the string.
|
||||
};
|
||||
|
||||
template <typename Encoding>
|
||||
struct StreamTraits<GenericStringStream<Encoding> > {
|
||||
struct StreamTraits<GenericStringStream<Encoding>> {
|
||||
enum { copyOptimization = 1 };
|
||||
};
|
||||
|
||||
//! String stream with UTF8 encoding.
|
||||
typedef GenericStringStream<UTF8<> > StringStream;
|
||||
typedef GenericStringStream<UTF8<>> StringStream;
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////
|
||||
// InsituStringStream
|
||||
@@ -184,8 +195,7 @@ typedef GenericStringStream<UTF8<> > StringStream;
|
||||
/*! This string stream is particularly designed for in-situ parsing.
|
||||
\note implements Stream concept
|
||||
*/
|
||||
template <typename Encoding>
|
||||
struct GenericInsituStringStream {
|
||||
template <typename Encoding> struct GenericInsituStringStream {
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
GenericInsituStringStream(Ch *src) : src_(src), dst_(0), head_(src) {}
|
||||
@@ -196,27 +206,34 @@ struct GenericInsituStringStream {
|
||||
size_t Tell() { return static_cast<size_t>(src_ - head_); }
|
||||
|
||||
// Write
|
||||
void Put(Ch c) { RAPIDJSON_ASSERT(dst_ != 0); *dst_++ = c; }
|
||||
void Put(Ch c) {
|
||||
RAPIDJSON_ASSERT(dst_ != 0);
|
||||
*dst_++ = c;
|
||||
}
|
||||
|
||||
Ch* PutBegin() { return dst_ = src_; }
|
||||
size_t PutEnd(Ch* begin) { return static_cast<size_t>(dst_ - begin); }
|
||||
Ch *PutBegin() { return dst_ = src_; }
|
||||
size_t PutEnd(Ch *begin) { return static_cast<size_t>(dst_ - begin); }
|
||||
void Flush() {}
|
||||
|
||||
Ch* Push(size_t count) { Ch* begin = dst_; dst_ += count; return begin; }
|
||||
Ch *Push(size_t count) {
|
||||
Ch *begin = dst_;
|
||||
dst_ += count;
|
||||
return begin;
|
||||
}
|
||||
void Pop(size_t count) { dst_ -= count; }
|
||||
|
||||
Ch* src_;
|
||||
Ch* dst_;
|
||||
Ch* head_;
|
||||
Ch *src_;
|
||||
Ch *dst_;
|
||||
Ch *head_;
|
||||
};
|
||||
|
||||
template <typename Encoding>
|
||||
struct StreamTraits<GenericInsituStringStream<Encoding> > {
|
||||
struct StreamTraits<GenericInsituStringStream<Encoding>> {
|
||||
enum { copyOptimization = 1 };
|
||||
};
|
||||
|
||||
//! Insitu string stream with UTF8 encoding.
|
||||
typedef GenericInsituStringStream<UTF8<> > InsituStringStream;
|
||||
typedef GenericInsituStringStream<UTF8<>> InsituStringStream;
|
||||
|
||||
RAPIDJSON_NAMESPACE_END
|
||||
|
||||
|
||||
@@ -1,22 +1,26 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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 "stream.h"
|
||||
#include "internal/stack.h"
|
||||
#include "stream.h"
|
||||
|
||||
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
|
||||
#include <utility> // std::move
|
||||
@@ -26,7 +30,7 @@
|
||||
|
||||
#if defined(__clang__)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(c++98-compat)
|
||||
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
|
||||
#endif
|
||||
|
||||
RAPIDJSON_NAMESPACE_BEGIN
|
||||
@@ -42,11 +46,14 @@ class GenericStringBuffer {
|
||||
public:
|
||||
typedef typename Encoding::Ch Ch;
|
||||
|
||||
GenericStringBuffer(Allocator* allocator = 0, size_t capacity = kDefaultCapacity) : stack_(allocator, capacity) {}
|
||||
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) {
|
||||
GenericStringBuffer(GenericStringBuffer &&rhs)
|
||||
: stack_(std::move(rhs.stack_)) {}
|
||||
GenericStringBuffer &operator=(GenericStringBuffer &&rhs) {
|
||||
if (&rhs != this)
|
||||
stack_ = std::move(rhs.stack_);
|
||||
return *this;
|
||||
@@ -66,11 +73,11 @@ public:
|
||||
}
|
||||
|
||||
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); }
|
||||
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 {
|
||||
const Ch *GetString() const {
|
||||
// Push and pop a null terminator. This is safe.
|
||||
*stack_.template Push<Ch>() = '\0';
|
||||
stack_.template Pop<Ch>(1);
|
||||
@@ -89,26 +96,29 @@ public:
|
||||
|
||||
private:
|
||||
// Prohibit copy constructor & assignment operator.
|
||||
GenericStringBuffer(const GenericStringBuffer&);
|
||||
GenericStringBuffer& operator=(const GenericStringBuffer&);
|
||||
GenericStringBuffer(const GenericStringBuffer &);
|
||||
GenericStringBuffer &operator=(const GenericStringBuffer &);
|
||||
};
|
||||
|
||||
//! String buffer with UTF8 encoding
|
||||
typedef GenericStringBuffer<UTF8<> > StringBuffer;
|
||||
typedef GenericStringBuffer<UTF8<>> StringBuffer;
|
||||
|
||||
template<typename Encoding, typename Allocator>
|
||||
inline void PutReserve(GenericStringBuffer<Encoding, Allocator>& stream, size_t count) {
|
||||
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) {
|
||||
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) {
|
||||
//! 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));
|
||||
}
|
||||
|
||||
|
||||
@@ -1,27 +1,31 @@
|
||||
// Tencent is pleased to support the open source community by making RapidJSON available.
|
||||
// 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.
|
||||
// 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
|
||||
// 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.
|
||||
// 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_WRITER_H_
|
||||
#define RAPIDJSON_WRITER_H_
|
||||
|
||||
#include "stream.h"
|
||||
#include "internal/clzll.h"
|
||||
#include "internal/dtoa.h"
|
||||
#include "internal/itoa.h"
|
||||
#include "internal/meta.h"
|
||||
#include "internal/stack.h"
|
||||
#include "internal/strfunc.h"
|
||||
#include "internal/dtoa.h"
|
||||
#include "internal/itoa.h"
|
||||
#include "stream.h"
|
||||
#include "stringbuffer.h"
|
||||
#include <new> // placement new
|
||||
|
||||
@@ -40,8 +44,8 @@
|
||||
#ifdef __clang__
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(padded)
|
||||
RAPIDJSON_DIAG_OFF(unreachable-code)
|
||||
RAPIDJSON_DIAG_OFF(c++98-compat)
|
||||
RAPIDJSON_DIAG_OFF(unreachable - code)
|
||||
RAPIDJSON_DIAG_OFF(c++ 98 - compat)
|
||||
#elif defined(_MSC_VER)
|
||||
RAPIDJSON_DIAG_PUSH
|
||||
RAPIDJSON_DIAG_OFF(4127) // conditional expression is constant
|
||||
@@ -67,16 +71,21 @@ enum WriteFlag {
|
||||
kWriteNoFlags = 0, //!< No flags are set.
|
||||
kWriteValidateEncodingFlag = 1, //!< Validate encoding of JSON strings.
|
||||
kWriteNanAndInfFlag = 2, //!< Allow writing of Infinity, -Infinity and NaN.
|
||||
kWriteDefaultFlags = RAPIDJSON_WRITE_DEFAULT_FLAGS //!< Default write flags. Can be customized by defining RAPIDJSON_WRITE_DEFAULT_FLAGS
|
||||
kWriteDefaultFlags =
|
||||
RAPIDJSON_WRITE_DEFAULT_FLAGS //!< Default write flags. Can be customized
|
||||
//!< by defining
|
||||
//!< RAPIDJSON_WRITE_DEFAULT_FLAGS
|
||||
};
|
||||
|
||||
//! JSON writer
|
||||
/*! Writer implements the concept Handler.
|
||||
It generates JSON text by events to an output os.
|
||||
|
||||
User may programmatically calls the functions of a writer to generate JSON text.
|
||||
User may programmatically calls the functions of a writer to generate JSON
|
||||
text.
|
||||
|
||||
On the other side, a writer can also be passed to objects that generates events,
|
||||
On the other side, a writer can also be passed to objects that generates
|
||||
events,
|
||||
|
||||
for example Reader::Parse() and Document::Accept().
|
||||
|
||||
@@ -86,7 +95,10 @@ enum WriteFlag {
|
||||
\tparam StackAllocator Type of allocator for allocating memory of stack.
|
||||
\note implements Handler concept
|
||||
*/
|
||||
template<typename OutputStream, typename SourceEncoding = UTF8<>, typename TargetEncoding = UTF8<>, typename StackAllocator = CrtAllocator, unsigned writeFlags = kWriteDefaultFlags>
|
||||
template <typename OutputStream, typename SourceEncoding = UTF8<>,
|
||||
typename TargetEncoding = UTF8<>,
|
||||
typename StackAllocator = CrtAllocator,
|
||||
unsigned writeFlags = kWriteDefaultFlags>
|
||||
class Writer {
|
||||
public:
|
||||
typedef typename SourceEncoding::Ch Ch;
|
||||
@@ -95,20 +107,23 @@ public:
|
||||
|
||||
//! Constructor
|
||||
/*! \param os Output stream.
|
||||
\param stackAllocator User supplied allocator. If it is null, it will create a private one.
|
||||
\param levelDepth Initial capacity of stack.
|
||||
\param stackAllocator User supplied allocator. If it is null, it will
|
||||
create a private one. \param levelDepth Initial capacity of stack.
|
||||
*/
|
||||
explicit
|
||||
Writer(OutputStream& os, StackAllocator* stackAllocator = 0, size_t levelDepth = kDefaultLevelDepth) :
|
||||
os_(&os), level_stack_(stackAllocator, levelDepth * sizeof(Level)), maxDecimalPlaces_(kDefaultMaxDecimalPlaces), hasRoot_(false) {}
|
||||
explicit Writer(OutputStream &os, StackAllocator *stackAllocator = 0,
|
||||
size_t levelDepth = kDefaultLevelDepth)
|
||||
: os_(&os), level_stack_(stackAllocator, levelDepth * sizeof(Level)),
|
||||
maxDecimalPlaces_(kDefaultMaxDecimalPlaces), hasRoot_(false) {}
|
||||
|
||||
explicit
|
||||
Writer(StackAllocator* allocator = 0, size_t levelDepth = kDefaultLevelDepth) :
|
||||
os_(0), level_stack_(allocator, levelDepth * sizeof(Level)), maxDecimalPlaces_(kDefaultMaxDecimalPlaces), hasRoot_(false) {}
|
||||
explicit Writer(StackAllocator *allocator = 0,
|
||||
size_t levelDepth = kDefaultLevelDepth)
|
||||
: os_(0), level_stack_(allocator, levelDepth * sizeof(Level)),
|
||||
maxDecimalPlaces_(kDefaultMaxDecimalPlaces), hasRoot_(false) {}
|
||||
|
||||
#if RAPIDJSON_HAS_CXX11_RVALUE_REFS
|
||||
Writer(Writer&& rhs) :
|
||||
os_(rhs.os_), level_stack_(std::move(rhs.level_stack_)), maxDecimalPlaces_(rhs.maxDecimalPlaces_), hasRoot_(rhs.hasRoot_) {
|
||||
Writer(Writer &&rhs)
|
||||
: os_(rhs.os_), level_stack_(std::move(rhs.level_stack_)),
|
||||
maxDecimalPlaces_(rhs.maxDecimalPlaces_), hasRoot_(rhs.hasRoot_) {
|
||||
rhs.os_ = 0;
|
||||
}
|
||||
#endif
|
||||
@@ -131,7 +146,7 @@ public:
|
||||
writer.EndObject();
|
||||
\endcode
|
||||
*/
|
||||
void Reset(OutputStream& os) {
|
||||
void Reset(OutputStream &os) {
|
||||
os_ = &os;
|
||||
hasRoot_ = false;
|
||||
level_stack_.Clear();
|
||||
@@ -141,13 +156,9 @@ public:
|
||||
/*!
|
||||
A complete JSON has a complete root object or array.
|
||||
*/
|
||||
bool IsComplete() const {
|
||||
return hasRoot_ && level_stack_.Empty();
|
||||
}
|
||||
bool IsComplete() const { return hasRoot_ && level_stack_.Empty(); }
|
||||
|
||||
int GetMaxDecimalPlaces() const {
|
||||
return maxDecimalPlaces_;
|
||||
}
|
||||
int GetMaxDecimalPlaces() const { return maxDecimalPlaces_; }
|
||||
|
||||
//! Sets the maximum number of decimal places for double output.
|
||||
/*!
|
||||
@@ -160,13 +171,14 @@ public:
|
||||
writer.StartArray();
|
||||
writer.Double(0.12345); // "0.123"
|
||||
writer.Double(0.0001); // "0.0"
|
||||
writer.Double(1.234567890123456e30); // "1.234567890123456e30" (do not truncate significand for positive exponent)
|
||||
writer.Double(1.23e-4); // "0.0" (do truncate significand for negative exponent)
|
||||
writer.Double(1.234567890123456e30); // "1.234567890123456e30" (do not
|
||||
truncate significand for positive exponent) writer.Double(1.23e-4); //
|
||||
"0.0" (do truncate significand for negative exponent)
|
||||
writer.EndArray();
|
||||
\endcode
|
||||
|
||||
The default setting does not truncate any decimal places. You can restore to this setting by calling
|
||||
\code
|
||||
The default setting does not truncate any decimal places. You can restore
|
||||
to this setting by calling \code
|
||||
writer.SetMaxDecimalPlaces(Writer::kDefaultMaxDecimalPlaces);
|
||||
\endcode
|
||||
*/
|
||||
@@ -179,28 +191,49 @@ public:
|
||||
*/
|
||||
//@{
|
||||
|
||||
bool Null() { Prefix(kNullType); return EndValue(WriteNull()); }
|
||||
bool Bool(bool b) { Prefix(b ? kTrueType : kFalseType); return EndValue(WriteBool(b)); }
|
||||
bool Int(int i) { Prefix(kNumberType); return EndValue(WriteInt(i)); }
|
||||
bool Uint(unsigned u) { Prefix(kNumberType); return EndValue(WriteUint(u)); }
|
||||
bool Int64(int64_t i64) { Prefix(kNumberType); return EndValue(WriteInt64(i64)); }
|
||||
bool Uint64(uint64_t u64) { Prefix(kNumberType); return EndValue(WriteUint64(u64)); }
|
||||
bool Null() {
|
||||
Prefix(kNullType);
|
||||
return EndValue(WriteNull());
|
||||
}
|
||||
bool Bool(bool b) {
|
||||
Prefix(b ? kTrueType : kFalseType);
|
||||
return EndValue(WriteBool(b));
|
||||
}
|
||||
bool Int(int i) {
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteInt(i));
|
||||
}
|
||||
bool Uint(unsigned u) {
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteUint(u));
|
||||
}
|
||||
bool Int64(int64_t i64) {
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteInt64(i64));
|
||||
}
|
||||
bool Uint64(uint64_t u64) {
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteUint64(u64));
|
||||
}
|
||||
|
||||
//! Writes the given \c double value to the stream
|
||||
/*!
|
||||
\param d The value to be written.
|
||||
\return Whether it is succeed.
|
||||
*/
|
||||
bool Double(double d) { Prefix(kNumberType); return EndValue(WriteDouble(d)); }
|
||||
bool Double(double d) {
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteDouble(d));
|
||||
}
|
||||
|
||||
bool RawNumber(const Ch* str, SizeType length, bool copy = false) {
|
||||
bool RawNumber(const Ch *str, SizeType length, bool copy = false) {
|
||||
RAPIDJSON_ASSERT(str != 0);
|
||||
(void)copy;
|
||||
Prefix(kNumberType);
|
||||
return EndValue(WriteString(str, length));
|
||||
}
|
||||
|
||||
bool String(const Ch* str, SizeType length, bool copy = false) {
|
||||
bool String(const Ch *str, SizeType length, bool copy = false) {
|
||||
RAPIDJSON_ASSERT(str != 0);
|
||||
(void)copy;
|
||||
Prefix(kStringType);
|
||||
@@ -208,7 +241,7 @@ public:
|
||||
}
|
||||
|
||||
#if RAPIDJSON_HAS_STDSTRING
|
||||
bool String(const std::basic_string<Ch>& str) {
|
||||
bool String(const std::basic_string<Ch> &str) {
|
||||
return String(str.data(), SizeType(str.size()));
|
||||
}
|
||||
#endif
|
||||
@@ -219,20 +252,24 @@ public:
|
||||
return WriteStartObject();
|
||||
}
|
||||
|
||||
bool Key(const Ch* str, SizeType length, bool copy = false) { return String(str, length, copy); }
|
||||
bool Key(const Ch *str, SizeType length, bool copy = false) {
|
||||
return String(str, length, copy);
|
||||
}
|
||||
|
||||
#if RAPIDJSON_HAS_STDSTRING
|
||||
bool Key(const std::basic_string<Ch>& str)
|
||||
{
|
||||
bool Key(const std::basic_string<Ch> &str) {
|
||||
return Key(str.data(), SizeType(str.size()));
|
||||
}
|
||||
#endif
|
||||
|
||||
bool EndObject(SizeType memberCount = 0) {
|
||||
(void)memberCount;
|
||||
RAPIDJSON_ASSERT(level_stack_.GetSize() >= sizeof(Level)); // not inside an Object
|
||||
RAPIDJSON_ASSERT(!level_stack_.template Top<Level>()->inArray); // currently inside an Array, not Object
|
||||
RAPIDJSON_ASSERT(0 == level_stack_.template Top<Level>()->valueCount % 2); // Object has a Key without a Value
|
||||
RAPIDJSON_ASSERT(level_stack_.GetSize() >=
|
||||
sizeof(Level)); // not inside an Object
|
||||
RAPIDJSON_ASSERT(!level_stack_.template Top<Level>()
|
||||
->inArray); // currently inside an Array, not Object
|
||||
RAPIDJSON_ASSERT(0 == level_stack_.template Top<Level>()->valueCount %
|
||||
2); // Object has a Key without a Value
|
||||
level_stack_.template Pop<Level>(1);
|
||||
return EndValue(WriteEndObject());
|
||||
}
|
||||
@@ -256,8 +293,10 @@ public:
|
||||
//@{
|
||||
|
||||
//! Simpler but slower overload.
|
||||
bool String(const Ch* const& str) { return String(str, internal::StrLen(str)); }
|
||||
bool Key(const Ch* const& str) { return Key(str, internal::StrLen(str)); }
|
||||
bool String(const Ch *const &str) {
|
||||
return String(str, internal::StrLen(str));
|
||||
}
|
||||
bool Key(const Ch *const &str) { return Key(str, internal::StrLen(str)); }
|
||||
|
||||
//@}
|
||||
|
||||
@@ -265,11 +304,11 @@ public:
|
||||
/*!
|
||||
For user to write a stringified JSON as a value.
|
||||
|
||||
\param json A well-formed JSON value. It should not contain null character within [0, length - 1] range.
|
||||
\param length Length of the json.
|
||||
\param type Type of the root of json.
|
||||
\param json A well-formed JSON value. It should not contain null character
|
||||
within [0, length - 1] range. \param length Length of the json. \param type
|
||||
Type of the root of json.
|
||||
*/
|
||||
bool RawValue(const Ch* json, size_t length, Type type) {
|
||||
bool RawValue(const Ch *json, size_t length, Type type) {
|
||||
RAPIDJSON_ASSERT(json != 0);
|
||||
Prefix(type);
|
||||
return EndValue(WriteRawValue(json, length));
|
||||
@@ -279,9 +318,7 @@ public:
|
||||
/*!
|
||||
Allows the user to flush the output stream immediately.
|
||||
*/
|
||||
void Flush() {
|
||||
os_->Flush();
|
||||
}
|
||||
void Flush() { os_->Flush(); }
|
||||
|
||||
protected:
|
||||
//! Information for each nested level
|
||||
@@ -295,53 +332,63 @@ protected:
|
||||
|
||||
bool WriteNull() {
|
||||
PutReserve(*os_, 4);
|
||||
PutUnsafe(*os_, 'n'); PutUnsafe(*os_, 'u'); PutUnsafe(*os_, 'l'); PutUnsafe(*os_, 'l'); return true;
|
||||
PutUnsafe(*os_, 'n');
|
||||
PutUnsafe(*os_, 'u');
|
||||
PutUnsafe(*os_, 'l');
|
||||
PutUnsafe(*os_, 'l');
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteBool(bool b) {
|
||||
if (b) {
|
||||
PutReserve(*os_, 4);
|
||||
PutUnsafe(*os_, 't'); PutUnsafe(*os_, 'r'); PutUnsafe(*os_, 'u'); PutUnsafe(*os_, 'e');
|
||||
}
|
||||
else {
|
||||
PutUnsafe(*os_, 't');
|
||||
PutUnsafe(*os_, 'r');
|
||||
PutUnsafe(*os_, 'u');
|
||||
PutUnsafe(*os_, 'e');
|
||||
} else {
|
||||
PutReserve(*os_, 5);
|
||||
PutUnsafe(*os_, 'f'); PutUnsafe(*os_, 'a'); PutUnsafe(*os_, 'l'); PutUnsafe(*os_, 's'); PutUnsafe(*os_, 'e');
|
||||
PutUnsafe(*os_, 'f');
|
||||
PutUnsafe(*os_, 'a');
|
||||
PutUnsafe(*os_, 'l');
|
||||
PutUnsafe(*os_, 's');
|
||||
PutUnsafe(*os_, 'e');
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteInt(int i) {
|
||||
char buffer[11];
|
||||
const char* end = internal::i32toa(i, buffer);
|
||||
const char *end = internal::i32toa(i, buffer);
|
||||
PutReserve(*os_, static_cast<size_t>(end - buffer));
|
||||
for (const char* p = buffer; p != end; ++p)
|
||||
for (const char *p = buffer; p != end; ++p)
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(*p));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteUint(unsigned u) {
|
||||
char buffer[10];
|
||||
const char* end = internal::u32toa(u, buffer);
|
||||
const char *end = internal::u32toa(u, buffer);
|
||||
PutReserve(*os_, static_cast<size_t>(end - buffer));
|
||||
for (const char* p = buffer; p != end; ++p)
|
||||
for (const char *p = buffer; p != end; ++p)
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(*p));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteInt64(int64_t i64) {
|
||||
char buffer[21];
|
||||
const char* end = internal::i64toa(i64, buffer);
|
||||
const char *end = internal::i64toa(i64, buffer);
|
||||
PutReserve(*os_, static_cast<size_t>(end - buffer));
|
||||
for (const char* p = buffer; p != end; ++p)
|
||||
for (const char *p = buffer; p != end; ++p)
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(*p));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteUint64(uint64_t u64) {
|
||||
char buffer[20];
|
||||
char* end = internal::u64toa(u64, buffer);
|
||||
char *end = internal::u64toa(u64, buffer);
|
||||
PutReserve(*os_, static_cast<size_t>(end - buffer));
|
||||
for (char* p = buffer; p != end; ++p)
|
||||
for (char *p = buffer; p != end; ++p)
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(*p));
|
||||
return true;
|
||||
}
|
||||
@@ -352,38 +399,52 @@ protected:
|
||||
return false;
|
||||
if (internal::Double(d).IsNan()) {
|
||||
PutReserve(*os_, 3);
|
||||
PutUnsafe(*os_, 'N'); PutUnsafe(*os_, 'a'); PutUnsafe(*os_, 'N');
|
||||
PutUnsafe(*os_, 'N');
|
||||
PutUnsafe(*os_, 'a');
|
||||
PutUnsafe(*os_, 'N');
|
||||
return true;
|
||||
}
|
||||
if (internal::Double(d).Sign()) {
|
||||
PutReserve(*os_, 9);
|
||||
PutUnsafe(*os_, '-');
|
||||
}
|
||||
else
|
||||
} else
|
||||
PutReserve(*os_, 8);
|
||||
PutUnsafe(*os_, 'I'); PutUnsafe(*os_, 'n'); PutUnsafe(*os_, 'f');
|
||||
PutUnsafe(*os_, 'i'); PutUnsafe(*os_, 'n'); PutUnsafe(*os_, 'i'); PutUnsafe(*os_, 't'); PutUnsafe(*os_, 'y');
|
||||
PutUnsafe(*os_, 'I');
|
||||
PutUnsafe(*os_, 'n');
|
||||
PutUnsafe(*os_, 'f');
|
||||
PutUnsafe(*os_, 'i');
|
||||
PutUnsafe(*os_, 'n');
|
||||
PutUnsafe(*os_, 'i');
|
||||
PutUnsafe(*os_, 't');
|
||||
PutUnsafe(*os_, 'y');
|
||||
return true;
|
||||
}
|
||||
|
||||
char buffer[25];
|
||||
char* end = internal::dtoa(d, buffer, maxDecimalPlaces_);
|
||||
char *end = internal::dtoa(d, buffer, maxDecimalPlaces_);
|
||||
PutReserve(*os_, static_cast<size_t>(end - buffer));
|
||||
for (char* p = buffer; p != end; ++p)
|
||||
for (char *p = buffer; p != end; ++p)
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(*p));
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteString(const Ch* str, SizeType length) {
|
||||
static const typename OutputStream::Ch hexDigits[16] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
|
||||
bool WriteString(const Ch *str, SizeType length) {
|
||||
static const typename OutputStream::Ch hexDigits[16] = {
|
||||
'0', '1', '2', '3', '4', '5', '6', '7',
|
||||
'8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
|
||||
static const char escape[256] = {
|
||||
#define Z16 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
//0 1 2 3 4 5 6 7 8 9 A B C D E F
|
||||
'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'b', 't', 'n', 'u', 'f', 'r', 'u', 'u', // 00
|
||||
'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', // 10
|
||||
0, 0, '"', 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20
|
||||
#define Z16 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
|
||||
// 0 1 2 3 4 5 6 7 8 9 A B C D E
|
||||
// F
|
||||
'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'b', 't',
|
||||
'n', 'u', 'f', 'r', 'u', 'u', // 00
|
||||
'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u', 'u',
|
||||
'u', 'u', 'u', 'u', 'u', 'u', // 10
|
||||
0, 0, '"', 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, // 20
|
||||
Z16, Z16, // 30~4F
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,'\\', 0, 0, 0, // 50
|
||||
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, '\\', 0, 0, 0, // 50
|
||||
Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16, Z16 // 60~FF
|
||||
#undef Z16
|
||||
};
|
||||
@@ -404,13 +465,13 @@ protected:
|
||||
return false;
|
||||
PutUnsafe(*os_, '\\');
|
||||
PutUnsafe(*os_, 'u');
|
||||
if (codepoint <= 0xD7FF || (codepoint >= 0xE000 && codepoint <= 0xFFFF)) {
|
||||
if (codepoint <= 0xD7FF ||
|
||||
(codepoint >= 0xE000 && codepoint <= 0xFFFF)) {
|
||||
PutUnsafe(*os_, hexDigits[(codepoint >> 12) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(codepoint >> 8) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(codepoint >> 4) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(codepoint ) & 15]);
|
||||
}
|
||||
else {
|
||||
PutUnsafe(*os_, hexDigits[(codepoint)&15]);
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(codepoint >= 0x010000 && codepoint <= 0x10FFFF);
|
||||
// Surrogate pair
|
||||
unsigned s = codepoint - 0x010000;
|
||||
@@ -419,52 +480,72 @@ protected:
|
||||
PutUnsafe(*os_, hexDigits[(lead >> 12) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(lead >> 8) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(lead >> 4) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(lead ) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(lead)&15]);
|
||||
PutUnsafe(*os_, '\\');
|
||||
PutUnsafe(*os_, 'u');
|
||||
PutUnsafe(*os_, hexDigits[(trail >> 12) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(trail >> 8) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(trail >> 4) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(trail ) & 15]);
|
||||
PutUnsafe(*os_, hexDigits[(trail)&15]);
|
||||
}
|
||||
}
|
||||
else if ((sizeof(Ch) == 1 || static_cast<unsigned>(c) < 256) && RAPIDJSON_UNLIKELY(escape[static_cast<unsigned char>(c)])) {
|
||||
} else if ((sizeof(Ch) == 1 || static_cast<unsigned>(c) < 256) &&
|
||||
RAPIDJSON_UNLIKELY(escape[static_cast<unsigned char>(c)])) {
|
||||
is.Take();
|
||||
PutUnsafe(*os_, '\\');
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(escape[static_cast<unsigned char>(c)]));
|
||||
PutUnsafe(*os_, static_cast<typename OutputStream::Ch>(
|
||||
escape[static_cast<unsigned char>(c)]));
|
||||
if (escape[static_cast<unsigned char>(c)] == 'u') {
|
||||
PutUnsafe(*os_, '0');
|
||||
PutUnsafe(*os_, '0');
|
||||
PutUnsafe(*os_, hexDigits[static_cast<unsigned char>(c) >> 4]);
|
||||
PutUnsafe(*os_, hexDigits[static_cast<unsigned char>(c) & 0xF]);
|
||||
}
|
||||
}
|
||||
else if (RAPIDJSON_UNLIKELY(!(writeFlags & kWriteValidateEncodingFlag ?
|
||||
Transcoder<SourceEncoding, TargetEncoding>::Validate(is, *os_) :
|
||||
Transcoder<SourceEncoding, TargetEncoding>::TranscodeUnsafe(is, *os_))))
|
||||
} else if (RAPIDJSON_UNLIKELY(!(
|
||||
writeFlags & kWriteValidateEncodingFlag
|
||||
? Transcoder<SourceEncoding, TargetEncoding>::Validate(
|
||||
is, *os_)
|
||||
: Transcoder<SourceEncoding,
|
||||
TargetEncoding>::TranscodeUnsafe(is,
|
||||
*os_))))
|
||||
return false;
|
||||
}
|
||||
PutUnsafe(*os_, '\"');
|
||||
return true;
|
||||
}
|
||||
|
||||
bool ScanWriteUnescapedString(GenericStringStream<SourceEncoding>& is, size_t length) {
|
||||
bool ScanWriteUnescapedString(GenericStringStream<SourceEncoding> &is,
|
||||
size_t length) {
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
}
|
||||
|
||||
bool WriteStartObject() { os_->Put('{'); return true; }
|
||||
bool WriteEndObject() { os_->Put('}'); return true; }
|
||||
bool WriteStartArray() { os_->Put('['); return true; }
|
||||
bool WriteEndArray() { os_->Put(']'); return true; }
|
||||
bool WriteStartObject() {
|
||||
os_->Put('{');
|
||||
return true;
|
||||
}
|
||||
bool WriteEndObject() {
|
||||
os_->Put('}');
|
||||
return true;
|
||||
}
|
||||
bool WriteStartArray() {
|
||||
os_->Put('[');
|
||||
return true;
|
||||
}
|
||||
bool WriteEndArray() {
|
||||
os_->Put(']');
|
||||
return true;
|
||||
}
|
||||
|
||||
bool WriteRawValue(const Ch* json, size_t length) {
|
||||
bool WriteRawValue(const Ch *json, size_t length) {
|
||||
PutReserve(*os_, length);
|
||||
GenericStringStream<SourceEncoding> is(json);
|
||||
while (RAPIDJSON_LIKELY(is.Tell() < length)) {
|
||||
RAPIDJSON_ASSERT(is.Peek() != '\0');
|
||||
if (RAPIDJSON_UNLIKELY(!(writeFlags & kWriteValidateEncodingFlag ?
|
||||
Transcoder<SourceEncoding, TargetEncoding>::Validate(is, *os_) :
|
||||
Transcoder<SourceEncoding, TargetEncoding>::TranscodeUnsafe(is, *os_))))
|
||||
if (RAPIDJSON_UNLIKELY(!(
|
||||
writeFlags & kWriteValidateEncodingFlag
|
||||
? Transcoder<SourceEncoding, TargetEncoding>::Validate(is,
|
||||
*os_)
|
||||
: Transcoder<SourceEncoding, TargetEncoding>::TranscodeUnsafe(
|
||||
is, *os_))))
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
@@ -472,8 +553,9 @@ protected:
|
||||
|
||||
void Prefix(Type type) {
|
||||
(void)type;
|
||||
if (RAPIDJSON_LIKELY(level_stack_.GetSize() != 0)) { // this value is not at root
|
||||
Level* level = level_stack_.template Top<Level>();
|
||||
if (RAPIDJSON_LIKELY(level_stack_.GetSize() !=
|
||||
0)) { // this value is not at root
|
||||
Level *level = level_stack_.template Top<Level>();
|
||||
if (level->valueCount > 0) {
|
||||
if (level->inArray)
|
||||
os_->Put(','); // add comma if it is not the first element in array
|
||||
@@ -481,10 +563,10 @@ protected:
|
||||
os_->Put((level->valueCount % 2 == 0) ? ',' : ':');
|
||||
}
|
||||
if (!level->inArray && level->valueCount % 2 == 0)
|
||||
RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even number should be a name
|
||||
RAPIDJSON_ASSERT(type == kStringType); // if it's in object, then even
|
||||
// number should be a name
|
||||
level->valueCount++;
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
RAPIDJSON_ASSERT(!hasRoot_); // Should only has one and only one root.
|
||||
hasRoot_ = true;
|
||||
}
|
||||
@@ -497,92 +579,98 @@ protected:
|
||||
return ret;
|
||||
}
|
||||
|
||||
OutputStream* os_;
|
||||
OutputStream *os_;
|
||||
internal::Stack<StackAllocator> level_stack_;
|
||||
int maxDecimalPlaces_;
|
||||
bool hasRoot_;
|
||||
|
||||
private:
|
||||
// Prohibit copy constructor & assignment operator.
|
||||
Writer(const Writer&);
|
||||
Writer& operator=(const Writer&);
|
||||
Writer(const Writer &);
|
||||
Writer &operator=(const Writer &);
|
||||
};
|
||||
|
||||
// Full specialization for StringStream to prevent memory copying
|
||||
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::WriteInt(int i) {
|
||||
template <> inline bool Writer<StringBuffer>::WriteInt(int i) {
|
||||
char *buffer = os_->Push(11);
|
||||
const char* end = internal::i32toa(i, buffer);
|
||||
const char *end = internal::i32toa(i, buffer);
|
||||
os_->Pop(static_cast<size_t>(11 - (end - buffer)));
|
||||
return true;
|
||||
}
|
||||
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::WriteUint(unsigned u) {
|
||||
template <> inline bool Writer<StringBuffer>::WriteUint(unsigned u) {
|
||||
char *buffer = os_->Push(10);
|
||||
const char* end = internal::u32toa(u, buffer);
|
||||
const char *end = internal::u32toa(u, buffer);
|
||||
os_->Pop(static_cast<size_t>(10 - (end - buffer)));
|
||||
return true;
|
||||
}
|
||||
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::WriteInt64(int64_t i64) {
|
||||
template <> inline bool Writer<StringBuffer>::WriteInt64(int64_t i64) {
|
||||
char *buffer = os_->Push(21);
|
||||
const char* end = internal::i64toa(i64, buffer);
|
||||
const char *end = internal::i64toa(i64, buffer);
|
||||
os_->Pop(static_cast<size_t>(21 - (end - buffer)));
|
||||
return true;
|
||||
}
|
||||
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::WriteUint64(uint64_t u) {
|
||||
template <> inline bool Writer<StringBuffer>::WriteUint64(uint64_t u) {
|
||||
char *buffer = os_->Push(20);
|
||||
const char* end = internal::u64toa(u, buffer);
|
||||
const char *end = internal::u64toa(u, buffer);
|
||||
os_->Pop(static_cast<size_t>(20 - (end - buffer)));
|
||||
return true;
|
||||
}
|
||||
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::WriteDouble(double d) {
|
||||
template <> inline bool Writer<StringBuffer>::WriteDouble(double d) {
|
||||
if (internal::Double(d).IsNanOrInf()) {
|
||||
// Note: This code path can only be reached if (RAPIDJSON_WRITE_DEFAULT_FLAGS & kWriteNanAndInfFlag).
|
||||
// Note: This code path can only be reached if
|
||||
// (RAPIDJSON_WRITE_DEFAULT_FLAGS & kWriteNanAndInfFlag).
|
||||
if (!(kWriteDefaultFlags & kWriteNanAndInfFlag))
|
||||
return false;
|
||||
if (internal::Double(d).IsNan()) {
|
||||
PutReserve(*os_, 3);
|
||||
PutUnsafe(*os_, 'N'); PutUnsafe(*os_, 'a'); PutUnsafe(*os_, 'N');
|
||||
PutUnsafe(*os_, 'N');
|
||||
PutUnsafe(*os_, 'a');
|
||||
PutUnsafe(*os_, 'N');
|
||||
return true;
|
||||
}
|
||||
if (internal::Double(d).Sign()) {
|
||||
PutReserve(*os_, 9);
|
||||
PutUnsafe(*os_, '-');
|
||||
}
|
||||
else
|
||||
} else
|
||||
PutReserve(*os_, 8);
|
||||
PutUnsafe(*os_, 'I'); PutUnsafe(*os_, 'n'); PutUnsafe(*os_, 'f');
|
||||
PutUnsafe(*os_, 'i'); PutUnsafe(*os_, 'n'); PutUnsafe(*os_, 'i'); PutUnsafe(*os_, 't'); PutUnsafe(*os_, 'y');
|
||||
PutUnsafe(*os_, 'I');
|
||||
PutUnsafe(*os_, 'n');
|
||||
PutUnsafe(*os_, 'f');
|
||||
PutUnsafe(*os_, 'i');
|
||||
PutUnsafe(*os_, 'n');
|
||||
PutUnsafe(*os_, 'i');
|
||||
PutUnsafe(*os_, 't');
|
||||
PutUnsafe(*os_, 'y');
|
||||
return true;
|
||||
}
|
||||
|
||||
char *buffer = os_->Push(25);
|
||||
char* end = internal::dtoa(d, buffer, maxDecimalPlaces_);
|
||||
char *end = internal::dtoa(d, buffer, maxDecimalPlaces_);
|
||||
os_->Pop(static_cast<size_t>(25 - (end - buffer)));
|
||||
return true;
|
||||
}
|
||||
|
||||
#if defined(RAPIDJSON_SSE2) || defined(RAPIDJSON_SSE42)
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, size_t length) {
|
||||
template <>
|
||||
inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream &is,
|
||||
size_t length) {
|
||||
if (length < 16)
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
|
||||
if (!RAPIDJSON_LIKELY(is.Tell() < length))
|
||||
return false;
|
||||
|
||||
const char* p = is.src_;
|
||||
const char* end = is.head_ + length;
|
||||
const char* nextAligned = reinterpret_cast<const char*>((reinterpret_cast<size_t>(p) + 15) & static_cast<size_t>(~15));
|
||||
const char* endAligned = reinterpret_cast<const char*>(reinterpret_cast<size_t>(end) & static_cast<size_t>(~15));
|
||||
const char *p = is.src_;
|
||||
const char *end = is.head_ + length;
|
||||
const char *nextAligned = reinterpret_cast<const char *>(
|
||||
(reinterpret_cast<size_t>(p) + 15) & static_cast<size_t>(~15));
|
||||
const char *endAligned = reinterpret_cast<const char *>(
|
||||
reinterpret_cast<size_t>(end) & static_cast<size_t>(~15));
|
||||
if (nextAligned > end)
|
||||
return true;
|
||||
|
||||
@@ -590,23 +678,32 @@ inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, siz
|
||||
if (*p < 0x20 || *p == '\"' || *p == '\\') {
|
||||
is.src_ = p;
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
}
|
||||
else
|
||||
} else
|
||||
os_->PutUnsafe(*p++);
|
||||
|
||||
// The rest of string using SIMD
|
||||
static const char dquote[16] = { '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"', '\"' };
|
||||
static const char bslash[16] = { '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\', '\\' };
|
||||
static const char space[16] = { 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F };
|
||||
const __m128i dq = _mm_loadu_si128(reinterpret_cast<const __m128i *>(&dquote[0]));
|
||||
const __m128i bs = _mm_loadu_si128(reinterpret_cast<const __m128i *>(&bslash[0]));
|
||||
const __m128i sp = _mm_loadu_si128(reinterpret_cast<const __m128i *>(&space[0]));
|
||||
static const char dquote[16] = {'\"', '\"', '\"', '\"', '\"', '\"',
|
||||
'\"', '\"', '\"', '\"', '\"', '\"',
|
||||
'\"', '\"', '\"', '\"'};
|
||||
static const char bslash[16] = {'\\', '\\', '\\', '\\', '\\', '\\',
|
||||
'\\', '\\', '\\', '\\', '\\', '\\',
|
||||
'\\', '\\', '\\', '\\'};
|
||||
static const char space[16] = {0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F,
|
||||
0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F,
|
||||
0x1F, 0x1F, 0x1F, 0x1F};
|
||||
const __m128i dq =
|
||||
_mm_loadu_si128(reinterpret_cast<const __m128i *>(&dquote[0]));
|
||||
const __m128i bs =
|
||||
_mm_loadu_si128(reinterpret_cast<const __m128i *>(&bslash[0]));
|
||||
const __m128i sp =
|
||||
_mm_loadu_si128(reinterpret_cast<const __m128i *>(&space[0]));
|
||||
|
||||
for (; p != endAligned; p += 16) {
|
||||
const __m128i s = _mm_load_si128(reinterpret_cast<const __m128i *>(p));
|
||||
const __m128i t1 = _mm_cmpeq_epi8(s, dq);
|
||||
const __m128i t2 = _mm_cmpeq_epi8(s, bs);
|
||||
const __m128i t3 = _mm_cmpeq_epi8(_mm_max_epu8(s, sp), sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F
|
||||
const __m128i t3 = _mm_cmpeq_epi8(_mm_max_epu8(s, sp),
|
||||
sp); // s < 0x20 <=> max(s, 0x1F) == 0x1F
|
||||
const __m128i x = _mm_or_si128(_mm_or_si128(t1, t2), t3);
|
||||
unsigned short r = static_cast<unsigned short>(_mm_movemask_epi8(x));
|
||||
if (RAPIDJSON_UNLIKELY(r != 0)) { // some of characters is escaped
|
||||
@@ -618,7 +715,7 @@ inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, siz
|
||||
#else
|
||||
len = static_cast<SizeType>(__builtin_ffs(r) - 1);
|
||||
#endif
|
||||
char* q = reinterpret_cast<char*>(os_->PushUnsafe(len));
|
||||
char *q = reinterpret_cast<char *>(os_->PushUnsafe(len));
|
||||
for (size_t i = 0; i < len; i++)
|
||||
q[i] = p[i];
|
||||
|
||||
@@ -632,18 +729,21 @@ inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, siz
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
}
|
||||
#elif defined(RAPIDJSON_NEON)
|
||||
template<>
|
||||
inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, size_t length) {
|
||||
template <>
|
||||
inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream &is,
|
||||
size_t length) {
|
||||
if (length < 16)
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
|
||||
if (!RAPIDJSON_LIKELY(is.Tell() < length))
|
||||
return false;
|
||||
|
||||
const char* p = is.src_;
|
||||
const char* end = is.head_ + length;
|
||||
const char* nextAligned = reinterpret_cast<const char*>((reinterpret_cast<size_t>(p) + 15) & static_cast<size_t>(~15));
|
||||
const char* endAligned = reinterpret_cast<const char*>(reinterpret_cast<size_t>(end) & static_cast<size_t>(~15));
|
||||
const char *p = is.src_;
|
||||
const char *end = is.head_ + length;
|
||||
const char *nextAligned = reinterpret_cast<const char *>(
|
||||
(reinterpret_cast<size_t>(p) + 15) & static_cast<size_t>(~15));
|
||||
const char *endAligned = reinterpret_cast<const char *>(
|
||||
reinterpret_cast<size_t>(end) & static_cast<size_t>(~15));
|
||||
if (nextAligned > end)
|
||||
return true;
|
||||
|
||||
@@ -651,8 +751,7 @@ inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, siz
|
||||
if (*p < 0x20 || *p == '\"' || *p == '\\') {
|
||||
is.src_ = p;
|
||||
return RAPIDJSON_LIKELY(is.Tell() < length);
|
||||
}
|
||||
else
|
||||
} else
|
||||
os_->PutUnsafe(*p++);
|
||||
|
||||
// The rest of string using SIMD
|
||||
@@ -686,7 +785,7 @@ inline bool Writer<StringBuffer>::ScanWriteUnescapedString(StringStream& is, siz
|
||||
escaped = true;
|
||||
}
|
||||
if (RAPIDJSON_UNLIKELY(escaped)) { // some of characters is escaped
|
||||
char* q = reinterpret_cast<char*>(os_->PushUnsafe(len));
|
||||
char *q = reinterpret_cast<char *>(os_->PushUnsafe(len));
|
||||
for (size_t i = 0; i < len; i++)
|
||||
q[i] = p[i];
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -8,167 +8,125 @@
|
||||
|
||||
#include "rapidxml.hpp"
|
||||
|
||||
namespace rapidxml
|
||||
{
|
||||
namespace rapidxml {
|
||||
|
||||
//! Iterator of child nodes of xml_node
|
||||
template<class Ch>
|
||||
class node_iterator
|
||||
{
|
||||
|
||||
public:
|
||||
//! Iterator of child nodes of xml_node
|
||||
template <class Ch> class node_iterator {
|
||||
|
||||
public:
|
||||
typedef typename xml_node<Ch> value_type;
|
||||
typedef typename xml_node<Ch> &reference;
|
||||
typedef typename xml_node<Ch> *pointer;
|
||||
typedef std::ptrdiff_t difference_type;
|
||||
typedef std::bidirectional_iterator_tag iterator_category;
|
||||
|
||||
node_iterator()
|
||||
: m_node(0)
|
||||
{
|
||||
}
|
||||
node_iterator() : m_node(0) {}
|
||||
|
||||
node_iterator(xml_node<Ch> *node)
|
||||
: m_node(node->first_node())
|
||||
{
|
||||
}
|
||||
node_iterator(xml_node<Ch> *node) : m_node(node->first_node()) {}
|
||||
|
||||
reference operator *() const
|
||||
{
|
||||
reference operator*() const {
|
||||
assert(m_node);
|
||||
return *m_node;
|
||||
}
|
||||
|
||||
pointer operator->() const
|
||||
{
|
||||
pointer operator->() const {
|
||||
assert(m_node);
|
||||
return m_node;
|
||||
}
|
||||
|
||||
node_iterator& operator++()
|
||||
{
|
||||
node_iterator &operator++() {
|
||||
assert(m_node);
|
||||
m_node = m_node->next_sibling();
|
||||
return *this;
|
||||
}
|
||||
|
||||
node_iterator operator++(int)
|
||||
{
|
||||
node_iterator operator++(int) {
|
||||
node_iterator tmp = *this;
|
||||
++this;
|
||||
return tmp;
|
||||
}
|
||||
|
||||
node_iterator& operator--()
|
||||
{
|
||||
node_iterator &operator--() {
|
||||
assert(m_node && m_node->previous_sibling());
|
||||
m_node = m_node->previous_sibling();
|
||||
return *this;
|
||||
}
|
||||
|
||||
node_iterator operator--(int)
|
||||
{
|
||||
node_iterator operator--(int) {
|
||||
node_iterator tmp = *this;
|
||||
++this;
|
||||
return tmp;
|
||||
}
|
||||
|
||||
bool operator ==(const node_iterator<Ch> &rhs)
|
||||
{
|
||||
return m_node == rhs.m_node;
|
||||
}
|
||||
bool operator==(const node_iterator<Ch> &rhs) { return m_node == rhs.m_node; }
|
||||
|
||||
bool operator !=(const node_iterator<Ch> &rhs)
|
||||
{
|
||||
return m_node != rhs.m_node;
|
||||
}
|
||||
|
||||
private:
|
||||
bool operator!=(const node_iterator<Ch> &rhs) { return m_node != rhs.m_node; }
|
||||
|
||||
private:
|
||||
xml_node<Ch> *m_node;
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
//! Iterator of child attributes of xml_node
|
||||
template<class Ch>
|
||||
class attribute_iterator
|
||||
{
|
||||
|
||||
public:
|
||||
//! Iterator of child attributes of xml_node
|
||||
template <class Ch> class attribute_iterator {
|
||||
|
||||
public:
|
||||
typedef typename xml_attribute<Ch> value_type;
|
||||
typedef typename xml_attribute<Ch> &reference;
|
||||
typedef typename xml_attribute<Ch> *pointer;
|
||||
typedef std::ptrdiff_t difference_type;
|
||||
typedef std::bidirectional_iterator_tag iterator_category;
|
||||
|
||||
attribute_iterator()
|
||||
: m_attribute(0)
|
||||
{
|
||||
}
|
||||
attribute_iterator() : m_attribute(0) {}
|
||||
|
||||
attribute_iterator(xml_node<Ch> *node)
|
||||
: m_attribute(node->first_attribute())
|
||||
{
|
||||
}
|
||||
: m_attribute(node->first_attribute()) {}
|
||||
|
||||
reference operator *() const
|
||||
{
|
||||
reference operator*() const {
|
||||
assert(m_attribute);
|
||||
return *m_attribute;
|
||||
}
|
||||
|
||||
pointer operator->() const
|
||||
{
|
||||
pointer operator->() const {
|
||||
assert(m_attribute);
|
||||
return m_attribute;
|
||||
}
|
||||
|
||||
attribute_iterator& operator++()
|
||||
{
|
||||
attribute_iterator &operator++() {
|
||||
assert(m_attribute);
|
||||
m_attribute = m_attribute->next_attribute();
|
||||
return *this;
|
||||
}
|
||||
|
||||
attribute_iterator operator++(int)
|
||||
{
|
||||
attribute_iterator operator++(int) {
|
||||
attribute_iterator tmp = *this;
|
||||
++this;
|
||||
return tmp;
|
||||
}
|
||||
|
||||
attribute_iterator& operator--()
|
||||
{
|
||||
attribute_iterator &operator--() {
|
||||
assert(m_attribute && m_attribute->previous_attribute());
|
||||
m_attribute = m_attribute->previous_attribute();
|
||||
return *this;
|
||||
}
|
||||
|
||||
attribute_iterator operator--(int)
|
||||
{
|
||||
attribute_iterator operator--(int) {
|
||||
attribute_iterator tmp = *this;
|
||||
++this;
|
||||
return tmp;
|
||||
}
|
||||
|
||||
bool operator ==(const attribute_iterator<Ch> &rhs)
|
||||
{
|
||||
bool operator==(const attribute_iterator<Ch> &rhs) {
|
||||
return m_attribute == rhs.m_attribute;
|
||||
}
|
||||
|
||||
bool operator !=(const attribute_iterator<Ch> &rhs)
|
||||
{
|
||||
bool operator!=(const attribute_iterator<Ch> &rhs) {
|
||||
return m_attribute != rhs.m_attribute;
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
private:
|
||||
xml_attribute<Ch> *m_attribute;
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace rapidxml
|
||||
|
||||
#endif
|
||||
|
||||
@@ -10,66 +10,80 @@
|
||||
|
||||
// Only include streams if not disabled
|
||||
#ifndef RAPIDXML_NO_STREAMS
|
||||
#include <ostream>
|
||||
#include <iterator>
|
||||
#include <iterator>
|
||||
#include <ostream>
|
||||
#endif
|
||||
|
||||
namespace rapidxml
|
||||
{
|
||||
namespace rapidxml {
|
||||
|
||||
///////////////////////////////////////////////////////////////////////
|
||||
// Printing flags
|
||||
///////////////////////////////////////////////////////////////////////
|
||||
// Printing flags
|
||||
|
||||
const int print_no_indenting = 0x1; //!< Printer flag instructing the printer to suppress indenting of XML. See print() function.
|
||||
const int print_no_indenting =
|
||||
0x1; //!< Printer flag instructing the printer to suppress indenting of XML.
|
||||
//!< See print() function.
|
||||
|
||||
///////////////////////////////////////////////////////////////////////
|
||||
// Internal
|
||||
///////////////////////////////////////////////////////////////////////
|
||||
// Internal
|
||||
|
||||
//! \cond internal
|
||||
namespace internal
|
||||
{
|
||||
//! \cond internal
|
||||
namespace internal {
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Internal character operations
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Internal character operations
|
||||
|
||||
// Copy characters from given range to given output iterator
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt copy_chars(const Ch *begin, const Ch *end, OutIt out)
|
||||
{
|
||||
// Copy characters from given range to given output iterator
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt copy_chars(const Ch *begin, const Ch *end, OutIt out) {
|
||||
while (begin != end)
|
||||
*out++ = *begin++;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Copy characters from given range to given output iterator and expand
|
||||
// characters into references (< > ' " &)
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt copy_and_expand_chars(const Ch *begin, const Ch *end, Ch noexpand, OutIt out)
|
||||
{
|
||||
while (begin != end)
|
||||
{
|
||||
if (*begin == noexpand)
|
||||
{
|
||||
// Copy characters from given range to given output iterator and expand
|
||||
// characters into references (< > ' " &)
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt copy_and_expand_chars(const Ch *begin, const Ch *end, Ch noexpand,
|
||||
OutIt out) {
|
||||
while (begin != end) {
|
||||
if (*begin == noexpand) {
|
||||
*out++ = *begin; // No expansion, copy character
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (*begin)
|
||||
{
|
||||
} else {
|
||||
switch (*begin) {
|
||||
case Ch('<'):
|
||||
*out++ = Ch('&'); *out++ = Ch('l'); *out++ = Ch('t'); *out++ = Ch(';');
|
||||
*out++ = Ch('&');
|
||||
*out++ = Ch('l');
|
||||
*out++ = Ch('t');
|
||||
*out++ = Ch(';');
|
||||
break;
|
||||
case Ch('>'):
|
||||
*out++ = Ch('&'); *out++ = Ch('g'); *out++ = Ch('t'); *out++ = Ch(';');
|
||||
*out++ = Ch('&');
|
||||
*out++ = Ch('g');
|
||||
*out++ = Ch('t');
|
||||
*out++ = Ch(';');
|
||||
break;
|
||||
case Ch('\''):
|
||||
*out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('p'); *out++ = Ch('o'); *out++ = Ch('s'); *out++ = Ch(';');
|
||||
*out++ = Ch('&');
|
||||
*out++ = Ch('a');
|
||||
*out++ = Ch('p');
|
||||
*out++ = Ch('o');
|
||||
*out++ = Ch('s');
|
||||
*out++ = Ch(';');
|
||||
break;
|
||||
case Ch('"'):
|
||||
*out++ = Ch('&'); *out++ = Ch('q'); *out++ = Ch('u'); *out++ = Ch('o'); *out++ = Ch('t'); *out++ = Ch(';');
|
||||
*out++ = Ch('&');
|
||||
*out++ = Ch('q');
|
||||
*out++ = Ch('u');
|
||||
*out++ = Ch('o');
|
||||
*out++ = Ch('t');
|
||||
*out++ = Ch(';');
|
||||
break;
|
||||
case Ch('&'):
|
||||
*out++ = Ch('&'); *out++ = Ch('a'); *out++ = Ch('m'); *out++ = Ch('p'); *out++ = Ch(';');
|
||||
*out++ = Ch('&');
|
||||
*out++ = Ch('a');
|
||||
*out++ = Ch('m');
|
||||
*out++ = Ch('p');
|
||||
*out++ = Ch(';');
|
||||
break;
|
||||
default:
|
||||
*out++ = *begin; // No expansion, copy character
|
||||
@@ -78,37 +92,34 @@ namespace rapidxml
|
||||
++begin; // Step to next character
|
||||
}
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Fill given output iterator with repetitions of the same character
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt fill_chars(OutIt out, int n, Ch ch)
|
||||
{
|
||||
// Fill given output iterator with repetitions of the same character
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt fill_chars(OutIt out, int n, Ch ch) {
|
||||
for (int i = 0; i < n; ++i)
|
||||
*out++ = ch;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Find character
|
||||
template<class Ch, Ch ch>
|
||||
inline bool find_char(const Ch *begin, const Ch *end)
|
||||
{
|
||||
// Find character
|
||||
template <class Ch, Ch ch>
|
||||
inline bool find_char(const Ch *begin, const Ch *end) {
|
||||
while (begin != end)
|
||||
if (*begin++ == ch)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Internal printing operations
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Internal printing operations
|
||||
|
||||
// Print node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
// Print proper node type
|
||||
switch (node->type())
|
||||
{
|
||||
switch (node->type()) {
|
||||
|
||||
// Document
|
||||
case node_document:
|
||||
@@ -162,85 +173,101 @@ namespace rapidxml
|
||||
|
||||
// Return modified iterator
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print children of the node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_children(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
for (xml_node<Ch> *child = node->first_node(); child; child = child->next_sibling())
|
||||
// Print children of the node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_children(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
for (xml_node<Ch> *child = node->first_node(); child;
|
||||
child = child->next_sibling())
|
||||
out = print_node(out, child, flags, indent);
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print attributes of the node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_attributes(OutIt out, const xml_node<Ch> *node, int flags)
|
||||
{
|
||||
for (xml_attribute<Ch> *attribute = node->first_attribute(); attribute; attribute = attribute->next_attribute())
|
||||
{
|
||||
if (attribute->name() && attribute->value())
|
||||
{
|
||||
// Print attributes of the node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_attributes(OutIt out, const xml_node<Ch> *node, int flags) {
|
||||
for (xml_attribute<Ch> *attribute = node->first_attribute(); attribute;
|
||||
attribute = attribute->next_attribute()) {
|
||||
if (attribute->name() && attribute->value()) {
|
||||
// Print attribute name
|
||||
*out = Ch(' '), ++out;
|
||||
out = copy_chars(attribute->name(), attribute->name() + attribute->name_size(), out);
|
||||
out = copy_chars(attribute->name(),
|
||||
attribute->name() + attribute->name_size(), out);
|
||||
*out = Ch('='), ++out;
|
||||
// Print attribute value using appropriate quote type
|
||||
if (find_char<Ch, Ch('"')>(attribute->value(), attribute->value() + attribute->value_size()))
|
||||
{
|
||||
if (find_char<Ch, Ch('"')>(attribute->value(),
|
||||
attribute->value() +
|
||||
attribute->value_size())) {
|
||||
*out = Ch('\''), ++out;
|
||||
out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('"'), out);
|
||||
out = copy_and_expand_chars(
|
||||
attribute->value(), attribute->value() + attribute->value_size(),
|
||||
Ch('"'), out);
|
||||
*out = Ch('\''), ++out;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
*out = Ch('"'), ++out;
|
||||
out = copy_and_expand_chars(attribute->value(), attribute->value() + attribute->value_size(), Ch('\''), out);
|
||||
out = copy_and_expand_chars(
|
||||
attribute->value(), attribute->value() + attribute->value_size(),
|
||||
Ch('\''), out);
|
||||
*out = Ch('"'), ++out;
|
||||
}
|
||||
}
|
||||
}
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print data node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_data_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print data node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_data_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_data);
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
|
||||
out = copy_and_expand_chars(node->value(), node->value() + node->value_size(),
|
||||
Ch(0), out);
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print data node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_cdata_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print data node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_cdata_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_cdata);
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
*out = Ch('<'); ++out;
|
||||
*out = Ch('!'); ++out;
|
||||
*out = Ch('['); ++out;
|
||||
*out = Ch('C'); ++out;
|
||||
*out = Ch('D'); ++out;
|
||||
*out = Ch('A'); ++out;
|
||||
*out = Ch('T'); ++out;
|
||||
*out = Ch('A'); ++out;
|
||||
*out = Ch('['); ++out;
|
||||
*out = Ch('<');
|
||||
++out;
|
||||
*out = Ch('!');
|
||||
++out;
|
||||
*out = Ch('[');
|
||||
++out;
|
||||
*out = Ch('C');
|
||||
++out;
|
||||
*out = Ch('D');
|
||||
++out;
|
||||
*out = Ch('A');
|
||||
++out;
|
||||
*out = Ch('T');
|
||||
++out;
|
||||
*out = Ch('A');
|
||||
++out;
|
||||
*out = Ch('[');
|
||||
++out;
|
||||
out = copy_chars(node->value(), node->value() + node->value_size(), out);
|
||||
*out = Ch(']'); ++out;
|
||||
*out = Ch(']'); ++out;
|
||||
*out = Ch('>'); ++out;
|
||||
*out = Ch(']');
|
||||
++out;
|
||||
*out = Ch(']');
|
||||
++out;
|
||||
*out = Ch('>');
|
||||
++out;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print element node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_element_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print element node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_element_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_element);
|
||||
|
||||
// Print element name and attributes, if any
|
||||
@@ -251,31 +278,25 @@ namespace rapidxml
|
||||
out = print_attributes(out, node, flags);
|
||||
|
||||
// If node is childless
|
||||
if (node->value_size() == 0 && !node->first_node())
|
||||
{
|
||||
if (node->value_size() == 0 && !node->first_node()) {
|
||||
// Print childless node tag ending
|
||||
*out = Ch('/'), ++out;
|
||||
*out = Ch('>'), ++out;
|
||||
}
|
||||
else
|
||||
{
|
||||
} else {
|
||||
// Print normal node tag ending
|
||||
*out = Ch('>'), ++out;
|
||||
|
||||
// Test if node contains a single data node only (and no other nodes)
|
||||
xml_node<Ch> *child = node->first_node();
|
||||
if (!child)
|
||||
{
|
||||
if (!child) {
|
||||
// If node has no children, only print its value without indenting
|
||||
out = copy_and_expand_chars(node->value(), node->value() + node->value_size(), Ch(0), out);
|
||||
}
|
||||
else if (child->next_sibling() == 0 && child->type() == node_data)
|
||||
{
|
||||
out = copy_and_expand_chars(
|
||||
node->value(), node->value() + node->value_size(), Ch(0), out);
|
||||
} else if (child->next_sibling() == 0 && child->type() == node_data) {
|
||||
// If node has a sole data child, only print its value without indenting
|
||||
out = copy_and_expand_chars(child->value(), child->value() + child->value_size(), Ch(0), out);
|
||||
}
|
||||
else
|
||||
{
|
||||
out = copy_and_expand_chars(
|
||||
child->value(), child->value() + child->value_size(), Ch(0), out);
|
||||
} else {
|
||||
// Print all children with full indenting
|
||||
if (!(flags & print_no_indenting))
|
||||
*out = Ch('\n'), ++out;
|
||||
@@ -291,12 +312,12 @@ namespace rapidxml
|
||||
*out = Ch('>'), ++out;
|
||||
}
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print declaration node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_declaration_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print declaration node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_declaration_node(OutIt out, const xml_node<Ch> *node,
|
||||
int flags, int indent) {
|
||||
// Print declaration start
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
@@ -314,12 +335,12 @@ namespace rapidxml
|
||||
*out = Ch('>'), ++out;
|
||||
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print comment node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_comment_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print comment node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_comment_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_comment);
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
@@ -332,12 +353,12 @@ namespace rapidxml
|
||||
*out = Ch('-'), ++out;
|
||||
*out = Ch('>'), ++out;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print doctype node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_doctype_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print doctype node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_doctype_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_doctype);
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
@@ -354,12 +375,12 @@ namespace rapidxml
|
||||
out = copy_chars(node->value(), node->value() + node->value_size(), out);
|
||||
*out = Ch('>'), ++out;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
// Print pi node
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print_pi_node(OutIt out, const xml_node<Ch> *node, int flags, int indent)
|
||||
{
|
||||
// Print pi node
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print_pi_node(OutIt out, const xml_node<Ch> *node, int flags,
|
||||
int indent) {
|
||||
assert(node->type() == node_pi);
|
||||
if (!(flags & print_no_indenting))
|
||||
out = fill_chars(out, indent, Ch('\t'));
|
||||
@@ -371,51 +392,50 @@ namespace rapidxml
|
||||
*out = Ch('?'), ++out;
|
||||
*out = Ch('>'), ++out;
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
//! \endcond
|
||||
} // namespace internal
|
||||
//! \endcond
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Printing
|
||||
///////////////////////////////////////////////////////////////////////////
|
||||
// Printing
|
||||
|
||||
//! Prints XML to given output iterator.
|
||||
//! \param out Output iterator to print to.
|
||||
//! \param node Node to be printed. Pass xml_document to print entire document.
|
||||
//! \param flags Flags controlling how XML is printed.
|
||||
//! \return Output iterator pointing to position immediately after last character of printed text.
|
||||
template<class OutIt, class Ch>
|
||||
inline OutIt print(OutIt out, const xml_node<Ch> &node, int flags = 0)
|
||||
{
|
||||
//! Prints XML to given output iterator.
|
||||
//! \param out Output iterator to print to.
|
||||
//! \param node Node to be printed. Pass xml_document to print entire document.
|
||||
//! \param flags Flags controlling how XML is printed.
|
||||
//! \return Output iterator pointing to position immediately after last
|
||||
//! character of printed text.
|
||||
template <class OutIt, class Ch>
|
||||
inline OutIt print(OutIt out, const xml_node<Ch> &node, int flags = 0) {
|
||||
return internal::print_node(out, &node, flags, 0);
|
||||
}
|
||||
}
|
||||
|
||||
#ifndef RAPIDXML_NO_STREAMS
|
||||
|
||||
//! Prints XML to given output stream.
|
||||
//! \param out Output stream to print to.
|
||||
//! \param node Node to be printed. Pass xml_document to print entire document.
|
||||
//! \param flags Flags controlling how XML is printed.
|
||||
//! \return Output stream.
|
||||
template<class Ch>
|
||||
inline std::basic_ostream<Ch> &print(std::basic_ostream<Ch> &out, const xml_node<Ch> &node, int flags = 0)
|
||||
{
|
||||
//! Prints XML to given output stream.
|
||||
//! \param out Output stream to print to.
|
||||
//! \param node Node to be printed. Pass xml_document to print entire document.
|
||||
//! \param flags Flags controlling how XML is printed.
|
||||
//! \return Output stream.
|
||||
template <class Ch>
|
||||
inline std::basic_ostream<Ch> &print(std::basic_ostream<Ch> &out,
|
||||
const xml_node<Ch> &node, int flags = 0) {
|
||||
print(std::ostream_iterator<Ch>(out), node, flags);
|
||||
return out;
|
||||
}
|
||||
}
|
||||
|
||||
//! Prints formatted XML to given output stream. Uses default printing flags. Use print() function to customize printing process.
|
||||
//! \param out Output stream to print to.
|
||||
//! \param node Node to be printed.
|
||||
//! \return Output stream.
|
||||
template<class Ch>
|
||||
inline std::basic_ostream<Ch> &operator <<(std::basic_ostream<Ch> &out, const xml_node<Ch> &node)
|
||||
{
|
||||
//! Prints formatted XML to given output stream. Uses default printing flags.
|
||||
//! Use print() function to customize printing process. \param out Output stream
|
||||
//! to print to. \param node Node to be printed. \return Output stream.
|
||||
template <class Ch>
|
||||
inline std::basic_ostream<Ch> &operator<<(std::basic_ostream<Ch> &out,
|
||||
const xml_node<Ch> &node) {
|
||||
return print(out, node);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace rapidxml
|
||||
|
||||
#endif
|
||||
|
||||
@@ -4,29 +4,25 @@
|
||||
// Copyright (C) 2006, 2009 Marcin Kalicinski
|
||||
// Version 1.13
|
||||
// Revision $DateTime: 2009/05/13 01:46:17 $
|
||||
//! \file rapidxml_utils.hpp This file contains high-level rapidxml utilities that can be useful
|
||||
//! in certain simple scenarios. They should probably not be used if maximizing performance is the main objective.
|
||||
//! \file rapidxml_utils.hpp This file contains high-level rapidxml utilities
|
||||
//! that can be useful in certain simple scenarios. They should probably not be
|
||||
//! used if maximizing performance is the main objective.
|
||||
|
||||
#include "rapidxml.hpp"
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <stdexcept>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
namespace rapidxml
|
||||
{
|
||||
namespace rapidxml {
|
||||
|
||||
//! Represents data loaded from a file
|
||||
template<class Ch = char>
|
||||
class file
|
||||
{
|
||||
//! Represents data loaded from a file
|
||||
template <class Ch = char> class file {
|
||||
|
||||
public:
|
||||
|
||||
//! Loads file into the memory. Data will be automatically destroyed by the destructor.
|
||||
//! \param filename Filename to load.
|
||||
file(const char *filename)
|
||||
{
|
||||
public:
|
||||
//! Loads file into the memory. Data will be automatically destroyed by the
|
||||
//! destructor. \param filename Filename to load.
|
||||
file(const char *filename) {
|
||||
using namespace std;
|
||||
|
||||
// Open stream
|
||||
@@ -46,10 +42,9 @@ namespace rapidxml
|
||||
m_data[size] = 0;
|
||||
}
|
||||
|
||||
//! Loads file into the memory. Data will be automatically destroyed by the destructor
|
||||
//! \param stream Stream to load from
|
||||
file(std::basic_istream<Ch> &stream)
|
||||
{
|
||||
//! Loads file into the memory. Data will be automatically destroyed by the
|
||||
//! destructor \param stream Stream to load from
|
||||
file(std::basic_istream<Ch> &stream) {
|
||||
using namespace std;
|
||||
|
||||
// Load data and add terminating 0
|
||||
@@ -62,61 +57,44 @@ namespace rapidxml
|
||||
|
||||
//! Gets file data.
|
||||
//! \return Pointer to data of file.
|
||||
Ch *data()
|
||||
{
|
||||
return &m_data.front();
|
||||
}
|
||||
Ch *data() { return &m_data.front(); }
|
||||
|
||||
//! Gets file data.
|
||||
//! \return Pointer to data of file.
|
||||
const Ch *data() const
|
||||
{
|
||||
return &m_data.front();
|
||||
}
|
||||
const Ch *data() const { return &m_data.front(); }
|
||||
|
||||
//! Gets file data size.
|
||||
//! \return Size of file data, in characters.
|
||||
std::size_t size() const
|
||||
{
|
||||
return m_data.size();
|
||||
}
|
||||
|
||||
private:
|
||||
std::size_t size() const { return m_data.size(); }
|
||||
|
||||
private:
|
||||
std::vector<Ch> m_data; // File data
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
//! Counts children of node. Time complexity is O(n).
|
||||
//! \return Number of children of node
|
||||
template<class Ch>
|
||||
inline std::size_t count_children(xml_node<Ch> *node)
|
||||
{
|
||||
//! Counts children of node. Time complexity is O(n).
|
||||
//! \return Number of children of node
|
||||
template <class Ch> inline std::size_t count_children(xml_node<Ch> *node) {
|
||||
xml_node<Ch> *child = node->first_node();
|
||||
std::size_t count = 0;
|
||||
while (child)
|
||||
{
|
||||
while (child) {
|
||||
++count;
|
||||
child = child->next_sibling();
|
||||
}
|
||||
return count;
|
||||
}
|
||||
}
|
||||
|
||||
//! Counts attributes of node. Time complexity is O(n).
|
||||
//! \return Number of attributes of node
|
||||
template<class Ch>
|
||||
inline std::size_t count_attributes(xml_node<Ch> *node)
|
||||
{
|
||||
//! Counts attributes of node. Time complexity is O(n).
|
||||
//! \return Number of attributes of node
|
||||
template <class Ch> inline std::size_t count_attributes(xml_node<Ch> *node) {
|
||||
xml_attribute<Ch> *attr = node->first_attribute();
|
||||
std::size_t count = 0;
|
||||
while (attr)
|
||||
{
|
||||
while (attr) {
|
||||
++count;
|
||||
attr = attr->next_attribute();
|
||||
}
|
||||
return count;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
} // namespace rapidxml
|
||||
|
||||
#endif
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
<arg name="xfer_format" default="0"/>
|
||||
<arg name="multi_topic" default="0"/>
|
||||
<arg name="data_src" default="2"/>
|
||||
<arg name="publish_freq" default="2000.0"/>
|
||||
<arg name="publish_freq" default="20.0"/>
|
||||
<arg name="output_type" default="1"/>
|
||||
<arg name="rviz_enable" default="false"/>
|
||||
<arg name="rosbag_enable" default="false"/>
|
||||
|
||||
@@ -27,16 +27,14 @@
|
||||
|
||||
#define LIVOX_ROS_DRIVER_VER_MAJOR 2
|
||||
#define LIVOX_ROS_DRIVER_VER_MINOR 0
|
||||
#define LIVOX_ROS_DRIVER_VER_PATCH 0
|
||||
#define LIVOX_ROS_DRIVER_VER_PATCH 1
|
||||
|
||||
#define GET_STRING(n) GET_STRING_DIRECT(n)
|
||||
#define GET_STRING_DIRECT(n) #n
|
||||
|
||||
#define LIVOX_ROS_DRIVER_VERSION_STRING \
|
||||
GET_STRING(LIVOX_ROS_DRIVER_VER_MAJOR) "." \
|
||||
GET_STRING(LIVOX_ROS_DRIVER_VER_MINOR) "." \
|
||||
GET_STRING(LIVOX_ROS_DRIVER_VER_PATCH)
|
||||
|
||||
GET_STRING(LIVOX_ROS_DRIVER_VER_MAJOR) \
|
||||
"." GET_STRING(LIVOX_ROS_DRIVER_VER_MINOR) "." GET_STRING( \
|
||||
LIVOX_ROS_DRIVER_VER_PATCH)
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -24,30 +24,33 @@
|
||||
|
||||
#include "lddc.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include <inttypes.h>
|
||||
#include <math.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "lds_lvx.h"
|
||||
#include "lds_lidar.h"
|
||||
#include <ros/ros.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/Imu.h>
|
||||
#include <rosbag/bag.h>
|
||||
#include <livox_ros_driver/CustomPoint.h>
|
||||
#include <livox_ros_driver/CustomMsg.h>
|
||||
#include <pcl_ros/point_cloud.h>
|
||||
#include <ros/ros.h>
|
||||
#include <rosbag/bag.h>
|
||||
#include <sensor_msgs/Imu.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
|
||||
#include "lds_lidar.h"
|
||||
#include "lds_lvx.h"
|
||||
#include <livox_ros_driver/CustomMsg.h>
|
||||
#include <livox_ros_driver/CustomPoint.h>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
typedef pcl::PointCloud<pcl::PointXYZI> PointCloud;
|
||||
|
||||
/** Lidar Data Distribute Control ----------------------------------------------------------------*/
|
||||
Lddc::Lddc(int format, int multi_topic, int data_src, int output_type, double frq) : \
|
||||
transfer_format_(format), use_multi_topic_(multi_topic),\
|
||||
/** Lidar Data Distribute Control
|
||||
* ----------------------------------------------------------------*/
|
||||
Lddc::Lddc(int format, int multi_topic, int data_src, int output_type,
|
||||
double frq)
|
||||
: transfer_format_(format), use_multi_topic_(multi_topic),
|
||||
data_src_(data_src), output_type_(output_type), publish_frq_(frq) {
|
||||
|
||||
publish_interval_ms_ = 1000/publish_frq_;
|
||||
publish_interval_ms_ = 1000 / publish_frq_;
|
||||
lds_ = nullptr;
|
||||
memset(private_pub_, 0, sizeof(private_pub_));
|
||||
memset(private_imu_pub_, 0, sizeof(private_imu_pub_));
|
||||
@@ -72,20 +75,21 @@ Lddc::~Lddc() {
|
||||
lds_->PrepareExit();
|
||||
}
|
||||
|
||||
for (uint32_t i=0; i<kMaxSourceLidar; i++) {
|
||||
for (uint32_t i = 0; i < kMaxSourceLidar; i++) {
|
||||
if (private_pub_[i]) {
|
||||
delete private_pub_[i];
|
||||
}
|
||||
}
|
||||
|
||||
for (uint32_t i=0; i<kMaxSourceLidar; i++) {
|
||||
for (uint32_t i = 0; i < kMaxSourceLidar; i++) {
|
||||
if (private_imu_pub_[i]) {
|
||||
delete private_imu_pub_[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t Lddc::PublishPointcloud2(LidarDataQueue* queue, uint32_t packet_num, uint8_t handle) {
|
||||
uint32_t Lddc::PublishPointcloud2(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle) {
|
||||
uint64_t timestamp = 0;
|
||||
uint64_t last_timestamp = 0;
|
||||
uint32_t published_packet = 0;
|
||||
@@ -121,42 +125,61 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue* queue, uint32_t packet_num, ui
|
||||
cloud.fields[5].count = 1;
|
||||
cloud.fields[5].datatype = sensor_msgs::PointField::UINT8;
|
||||
|
||||
cloud.data.resize(packet_num * kMaxPointPerEthPacket * sizeof(LivoxPointXyzrtl));
|
||||
cloud.data.resize(packet_num * kMaxPointPerEthPacket *
|
||||
sizeof(LivoxPointXyzrtl));
|
||||
cloud.point_step = sizeof(LivoxPointXyzrtl);
|
||||
uint8_t *point_base = cloud.data.data();
|
||||
uint8_t data_source = lds_->lidars_[handle].data_src;
|
||||
StoragePacket storage_packet;
|
||||
while (published_packet < packet_num) {
|
||||
QueueProPop(queue, &storage_packet);
|
||||
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
LivoxEthPacket *raw_packet =
|
||||
reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
|
||||
uint32_t packet_interval = GetPacketInterval(raw_packet->data_type);
|
||||
int64_t packet_loss_threshold_lower = packet_interval + packet_interval / 2;
|
||||
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
|
||||
if (published_packet && \
|
||||
((timestamp - last_timestamp) > kMaxPacketTimeGap)) {
|
||||
int64_t packet_gap = timestamp - last_timestamp;
|
||||
if (published_packet && (packet_gap > packet_loss_threshold_lower) &&
|
||||
lds_->lidars_[handle].data_is_pubulished) {
|
||||
ROS_INFO("Lidar[%d] packet loss, interval is %ldus", handle, packet_gap);
|
||||
if (kSourceLvxFile != data_source) {
|
||||
ROS_INFO("Lidar[%d] packet loss", handle);
|
||||
// ROS_INFO("Lidar[%d] packet loss %ld %d %d", handle,
|
||||
// packet_loss_threshold_lower, packet_interval, raw_packet->data_type);
|
||||
int64_t packet_loss_threshold_upper = packet_interval * packet_num;
|
||||
if (packet_gap >
|
||||
packet_loss_threshold_upper) { // skip when gap is too large
|
||||
break;
|
||||
}
|
||||
point_base = FillZeroPointXyzrtl(point_base, storage_packet.point_num);
|
||||
cloud.width += storage_packet.point_num;
|
||||
last_timestamp = last_timestamp + packet_interval;
|
||||
++published_packet;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
if (!published_packet) {
|
||||
cloud.header.stamp = ros::Time(timestamp/1000000000.0); // to ros time stamp
|
||||
if (!published_packet) { // use the first packet timestamp as pointcloud2
|
||||
// msg timestamp
|
||||
cloud.header.stamp = ros::Time(timestamp / 1000000000.0);
|
||||
}
|
||||
cloud.width += storage_packet.point_num;
|
||||
|
||||
if (kSourceLvxFile != data_source) {
|
||||
PointConvertHandler pf_point_convert = GetConvertHandler(raw_packet->data_type);
|
||||
PointConvertHandler pf_point_convert =
|
||||
GetConvertHandler(raw_packet->data_type);
|
||||
if (pf_point_convert) {
|
||||
point_base = pf_point_convert(point_base, raw_packet, \
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
point_base = pf_point_convert(
|
||||
point_base, raw_packet, lds_->lidars_[handle].extrinsic_parameter);
|
||||
} else {
|
||||
/* Skip the packet */
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle, raw_packet->data_type);
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle,
|
||||
raw_packet->data_type);
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
point_base = LivoxPointToPxyzrtl(point_base, raw_packet, \
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
point_base = LivoxPointToPxyzrtl(
|
||||
point_base, raw_packet, lds_->lidars_[handle].extrinsic_parameter);
|
||||
}
|
||||
|
||||
QueuePopUpdate(queue);
|
||||
@@ -169,28 +192,34 @@ uint32_t Lddc::PublishPointcloud2(LidarDataQueue* queue, uint32_t packet_num, ui
|
||||
cloud.is_dense = true;
|
||||
cloud.data.resize(cloud.row_step); // adjust to the real size
|
||||
|
||||
ros::Publisher* p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
if (kOutputToRos == output_type_) {
|
||||
p_publisher->publish(cloud);
|
||||
} else {
|
||||
if (bag_) {
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp/1000000000.0), cloud);
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
|
||||
cloud);
|
||||
}
|
||||
}
|
||||
|
||||
if (!lds_->lidars_[handle].data_is_pubulished) {
|
||||
lds_->lidars_[handle].data_is_pubulished = true;
|
||||
}
|
||||
|
||||
return published_packet;
|
||||
}
|
||||
|
||||
/* for pcl::pxyzi */
|
||||
uint32_t Lddc::PublishPointcloudData(LidarDataQueue* queue, uint32_t packet_num, uint8_t handle) {
|
||||
uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle) {
|
||||
uint64_t timestamp = 0;
|
||||
uint64_t last_timestamp = 0;
|
||||
uint32_t published_packet = 0;
|
||||
|
||||
/* init point cloud data struct */
|
||||
PointCloud::Ptr cloud (new PointCloud);
|
||||
PointCloud::Ptr cloud(new PointCloud);
|
||||
cloud->header.frame_id = "livox_frame";
|
||||
//cloud->header.stamp = ros::Time::now();
|
||||
// cloud->header.stamp = ros::Time::now();
|
||||
cloud->height = 1;
|
||||
cloud->width = 0;
|
||||
|
||||
@@ -198,35 +227,53 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue* queue, uint32_t packet_num,
|
||||
StoragePacket storage_packet;
|
||||
while (published_packet < packet_num) {
|
||||
QueueProPop(queue, &storage_packet);
|
||||
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
LivoxEthPacket *raw_packet =
|
||||
reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
|
||||
uint32_t packet_interval = GetPacketInterval(raw_packet->data_type);
|
||||
int64_t packet_loss_threshold_lower = packet_interval + packet_interval / 2;
|
||||
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
|
||||
if (published_packet && \
|
||||
((timestamp - last_timestamp) > kMaxPacketTimeGap)) {
|
||||
ROS_INFO("Lidar[%d] packet loss", handle);
|
||||
int64_t packet_gap = timestamp - last_timestamp;
|
||||
if ((packet_gap > packet_loss_threshold_lower) && published_packet &&
|
||||
lds_->lidars_[handle].data_is_pubulished) {
|
||||
ROS_INFO("Lidar[%d] packet loss, interval is %ldus", handle, packet_gap);
|
||||
int64_t packet_loss_threshold_upper = packet_interval * packet_num;
|
||||
if (packet_gap >
|
||||
packet_loss_threshold_upper) { // skip when gap is too large
|
||||
break;
|
||||
}
|
||||
pcl::PointXYZI point = {0}; // fill zero points
|
||||
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
|
||||
cloud->points.push_back(point);
|
||||
}
|
||||
last_timestamp = last_timestamp + packet_interval;
|
||||
++published_packet;
|
||||
continue;
|
||||
}
|
||||
if (!published_packet) {
|
||||
cloud->header.stamp = timestamp/1000.0; // to pcl ros time stamp
|
||||
cloud->header.stamp = timestamp / 1000.0; // to pcl ros time stamp
|
||||
}
|
||||
cloud->width += storage_packet.point_num;
|
||||
|
||||
uint8_t point_buf[2048];
|
||||
if (kSourceLvxFile != data_source) {
|
||||
PointConvertHandler pf_point_convert = GetConvertHandler(raw_packet->data_type);
|
||||
PointConvertHandler pf_point_convert =
|
||||
GetConvertHandler(raw_packet->data_type);
|
||||
if (pf_point_convert) {
|
||||
pf_point_convert(point_buf, raw_packet, \
|
||||
pf_point_convert(point_buf, raw_packet,
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
} else {
|
||||
/* Skip the packet */
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle, raw_packet->data_type);
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle,
|
||||
raw_packet->data_type);
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
LivoxPointToPxyzrtl(point_buf, raw_packet, \
|
||||
LivoxPointToPxyzrtl(point_buf, raw_packet,
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
}
|
||||
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl*)point_buf;
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
|
||||
pcl::PointXYZI point;
|
||||
point.x = dst_point->x;
|
||||
@@ -242,20 +289,25 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue* queue, uint32_t packet_num,
|
||||
++published_packet;
|
||||
}
|
||||
|
||||
ros::Publisher* p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
if (kOutputToRos == output_type_) {
|
||||
p_publisher->publish(cloud);
|
||||
} else {
|
||||
if (bag_) {
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp/1000000000.0), cloud);
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
|
||||
cloud);
|
||||
}
|
||||
}
|
||||
|
||||
if (!lds_->lidars_[handle].data_is_pubulished) {
|
||||
lds_->lidars_[handle].data_is_pubulished = true;
|
||||
}
|
||||
|
||||
return published_packet;
|
||||
}
|
||||
|
||||
uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_num, \
|
||||
uint8_t handle) {
|
||||
uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue *queue,
|
||||
uint32_t packet_num, uint8_t handle) {
|
||||
static uint32_t msg_seq = 0;
|
||||
uint64_t timestamp = 0;
|
||||
uint64_t last_timestamp = 0;
|
||||
@@ -267,7 +319,7 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_nu
|
||||
livox_msg.header.frame_id = "livox_frame";
|
||||
livox_msg.header.seq = msg_seq;
|
||||
++msg_seq;
|
||||
//livox_msg.header.stamp = ros::Time::now();
|
||||
// livox_msg.header.stamp = ros::Time::now();
|
||||
livox_msg.timebase = 0;
|
||||
livox_msg.point_num = 0;
|
||||
livox_msg.lidar_id = handle;
|
||||
@@ -276,25 +328,27 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_nu
|
||||
StoragePacket storage_packet;
|
||||
while (published_packet < packet_num) {
|
||||
QueueProPop(queue, &storage_packet);
|
||||
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
LivoxEthPacket *raw_packet =
|
||||
reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
uint32_t point_interval = GetPointInterval(raw_packet->data_type);
|
||||
uint32_t dual_point = 0;
|
||||
if ((raw_packet->data_type == kDualExtendCartesian) || \
|
||||
if ((raw_packet->data_type == kDualExtendCartesian) ||
|
||||
(raw_packet->data_type == kDualExtendSpherical)) {
|
||||
dual_point = 1;
|
||||
}
|
||||
|
||||
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
|
||||
if (published_packet && \
|
||||
((timestamp - last_timestamp) > kDeviceDisconnectThreshold)) {
|
||||
if (((timestamp - last_timestamp) > kDeviceDisconnectThreshold) &&
|
||||
published_packet && lds_->lidars_[handle].data_is_pubulished) {
|
||||
ROS_INFO("Lidar[%d] packet loss", handle);
|
||||
break;
|
||||
}
|
||||
if (!published_packet) {
|
||||
livox_msg.timebase = timestamp; // to us
|
||||
packet_offset_time = 0; // first packet
|
||||
livox_msg.header.stamp = ros::Time(timestamp/1000000000.0); // to ros time stamp
|
||||
//ROS_DEBUG("[%d]:%ld %d", handle, livox_msg.timebase, point_interval);
|
||||
livox_msg.header.stamp =
|
||||
ros::Time(timestamp / 1000000000.0); // to ros time stamp
|
||||
// ROS_DEBUG("[%d]:%ld %d", handle, livox_msg.timebase, point_interval);
|
||||
} else {
|
||||
packet_offset_time = (uint32_t)(timestamp - livox_msg.timebase);
|
||||
}
|
||||
@@ -302,27 +356,29 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_nu
|
||||
|
||||
uint8_t point_buf[2048];
|
||||
if (kSourceLvxFile != data_source) {
|
||||
PointConvertHandler pf_point_convert = GetConvertHandler(raw_packet->data_type);
|
||||
PointConvertHandler pf_point_convert =
|
||||
GetConvertHandler(raw_packet->data_type);
|
||||
if (pf_point_convert) {
|
||||
pf_point_convert(point_buf, raw_packet, \
|
||||
pf_point_convert(point_buf, raw_packet,
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
} else {
|
||||
/* Skip the packet */
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle, raw_packet->data_type);
|
||||
ROS_INFO("Lidar[%d] unkown packet type[%d]", handle,
|
||||
raw_packet->data_type);
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
LivoxPointToPxyzrtl(point_buf, raw_packet, \
|
||||
LivoxPointToPxyzrtl(point_buf, raw_packet,
|
||||
lds_->lidars_[handle].extrinsic_parameter);
|
||||
}
|
||||
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl*)point_buf;
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
for (uint32_t i = 0; i < storage_packet.point_num; i++) {
|
||||
livox_ros_driver::CustomPoint point;
|
||||
if (!dual_point) { /** dual return mode */
|
||||
point.offset_time = packet_offset_time + i*point_interval;
|
||||
point.offset_time = packet_offset_time + i * point_interval;
|
||||
} else {
|
||||
point.offset_time = packet_offset_time + (i/2)*point_interval;
|
||||
point.offset_time = packet_offset_time + (i / 2) * point_interval;
|
||||
}
|
||||
point.x = dst_point->x;
|
||||
point.y = dst_point->y;
|
||||
@@ -339,19 +395,24 @@ uint32_t Lddc::PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_nu
|
||||
++published_packet;
|
||||
}
|
||||
|
||||
ros::Publisher* p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
ros::Publisher *p_publisher = Lddc::GetCurrentPublisher(handle);
|
||||
if (kOutputToRos == output_type_) {
|
||||
p_publisher->publish(livox_msg);
|
||||
} else {
|
||||
if (bag_) {
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp/1000000000.0), livox_msg);
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
|
||||
livox_msg);
|
||||
}
|
||||
}
|
||||
|
||||
if (!lds_->lidars_[handle].data_is_pubulished) {
|
||||
lds_->lidars_[handle].data_is_pubulished = true;
|
||||
}
|
||||
|
||||
return published_packet;
|
||||
}
|
||||
|
||||
uint32_t Lddc::PublishImuData(LidarDataQueue* queue, uint32_t packet_num,
|
||||
uint32_t Lddc::PublishImuData(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle) {
|
||||
uint64_t timestamp = 0;
|
||||
uint32_t published_packet = 0;
|
||||
@@ -362,14 +423,18 @@ uint32_t Lddc::PublishImuData(LidarDataQueue* queue, uint32_t packet_num,
|
||||
uint8_t data_source = lds_->lidars_[handle].data_src;
|
||||
StoragePacket storage_packet;
|
||||
QueueProPop(queue, &storage_packet);
|
||||
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
LivoxEthPacket *raw_packet =
|
||||
reinterpret_cast<LivoxEthPacket *>(storage_packet.raw_data);
|
||||
timestamp = GetStoragePacketTimestamp(&storage_packet, data_source);
|
||||
imu_data.header.stamp = ros::Time(timestamp/1000000000.0); // to ros time stamp
|
||||
if (timestamp >= 0) {
|
||||
imu_data.header.stamp =
|
||||
ros::Time(timestamp / 1000000000.0); // to ros time stamp
|
||||
}
|
||||
|
||||
uint8_t point_buf[2048];
|
||||
LivoxImuDataProcess(point_buf, raw_packet);
|
||||
|
||||
LivoxImuPoint* imu = (LivoxImuPoint*)point_buf;
|
||||
LivoxImuPoint *imu = (LivoxImuPoint *)point_buf;
|
||||
imu_data.angular_velocity.x = imu->gyro_x;
|
||||
imu_data.angular_velocity.y = imu->gyro_y;
|
||||
imu_data.angular_velocity.z = imu->gyro_z;
|
||||
@@ -380,20 +445,20 @@ uint32_t Lddc::PublishImuData(LidarDataQueue* queue, uint32_t packet_num,
|
||||
QueuePopUpdate(queue);
|
||||
++published_packet;
|
||||
|
||||
ros::Publisher* p_publisher = Lddc::GetCurrentImuPublisher(handle);
|
||||
ros::Publisher *p_publisher = Lddc::GetCurrentImuPublisher(handle);
|
||||
if (kOutputToRos == output_type_) {
|
||||
p_publisher->publish(imu_data);
|
||||
} else {
|
||||
if (bag_) {
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp/1000000000.0), imu_data);
|
||||
bag_->write(p_publisher->getTopic(), ros::Time(timestamp / 1000000000.0),
|
||||
imu_data);
|
||||
}
|
||||
}
|
||||
|
||||
return published_packet;
|
||||
}
|
||||
|
||||
|
||||
int Lddc::RegisterLds(Lds* lds) {
|
||||
int Lddc::RegisterLds(Lds *lds) {
|
||||
if (lds_ == nullptr) {
|
||||
lds_ = lds;
|
||||
return 0;
|
||||
@@ -402,41 +467,32 @@ int Lddc::RegisterLds(Lds* lds) {
|
||||
}
|
||||
}
|
||||
|
||||
void Lddc::PollingLidarPointCloudData(uint8_t handle, LidarDevice* lidar) {
|
||||
LidarDataQueue* p_queue = &lidar->data;
|
||||
void Lddc::PollingLidarPointCloudData(uint8_t handle, LidarDevice *lidar) {
|
||||
LidarDataQueue *p_queue = &lidar->data;
|
||||
if (p_queue == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
while (!QueueIsEmpty(p_queue)) {
|
||||
uint32_t used_size = QueueUsedSize(p_queue);
|
||||
uint32_t publish_packet_upper_limit = GetPacketNumPerSec(lidar->info.type);
|
||||
uint32_t publish_packet_lower_limit = publish_packet_upper_limit / 2 / ((uint32_t)publish_frq_);
|
||||
/** increase margin */
|
||||
publish_packet_upper_limit = publish_packet_upper_limit + publish_packet_upper_limit / 10;
|
||||
if (used_size < publish_packet_lower_limit) {
|
||||
uint32_t onetime_publish_packets =
|
||||
GetPacketNumPerSec(lidar->info.type) / publish_frq_;
|
||||
if (used_size < onetime_publish_packets) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (used_size > publish_packet_upper_limit) {
|
||||
used_size = publish_packet_upper_limit;
|
||||
}
|
||||
|
||||
if (kPointCloud2Msg == transfer_format_) {
|
||||
if (used_size == PublishPointcloud2(p_queue, used_size, handle)) {
|
||||
}
|
||||
PublishPointcloud2(p_queue, onetime_publish_packets, handle);
|
||||
} else if (kLivoxCustomMsg == transfer_format_) {
|
||||
if (used_size == PublishCustomPointcloud(p_queue, used_size, handle)) {
|
||||
}
|
||||
PublishCustomPointcloud(p_queue, onetime_publish_packets, handle);
|
||||
} else if (kPclPxyziMsg == transfer_format_) {
|
||||
if (used_size == PublishPointcloudData(p_queue, used_size, handle)) {
|
||||
}
|
||||
PublishPointcloudData(p_queue, onetime_publish_packets, handle);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Lddc::PollingLidarImuData(uint8_t handle, LidarDevice* lidar) {
|
||||
LidarDataQueue* p_queue = &lidar->imu_data;
|
||||
void Lddc::PollingLidarImuData(uint8_t handle, LidarDevice *lidar) {
|
||||
LidarDataQueue *p_queue = &lidar->imu_data;
|
||||
if (p_queue == nullptr) {
|
||||
return;
|
||||
}
|
||||
@@ -453,9 +509,10 @@ void Lddc::DistributeLidarData(void) {
|
||||
|
||||
for (uint32_t i = 0; i < lds_->lidar_count_; i++) {
|
||||
uint32_t lidar_id = i;
|
||||
LidarDevice* lidar = &lds_->lidars_[lidar_id];
|
||||
LidarDataQueue* p_queue = &lidar->data;
|
||||
if ((kConnectStateSampling!= lidar->connect_state) || (p_queue == nullptr)) {
|
||||
LidarDevice *lidar = &lds_->lidars_[lidar_id];
|
||||
LidarDataQueue *p_queue = &lidar->data;
|
||||
if ((kConnectStateSampling != lidar->connect_state) ||
|
||||
(p_queue == nullptr)) {
|
||||
continue;
|
||||
}
|
||||
|
||||
@@ -468,22 +525,22 @@ void Lddc::DistributeLidarData(void) {
|
||||
}
|
||||
}
|
||||
|
||||
ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
|
||||
ros::Publisher** pub = nullptr;
|
||||
uint32_t queue_size = kMinEthPacketQueueSize * 4;
|
||||
ros::Publisher *Lddc::GetCurrentPublisher(uint8_t handle) {
|
||||
ros::Publisher **pub = nullptr;
|
||||
uint32_t queue_size = kMinEthPacketQueueSize;
|
||||
|
||||
if (use_multi_topic_) {
|
||||
pub = &private_pub_[handle];
|
||||
} else {
|
||||
pub = &global_pub_;
|
||||
queue_size = queue_size * 32;
|
||||
queue_size = queue_size * 8;
|
||||
}
|
||||
|
||||
if (*pub == nullptr) {
|
||||
char name_str[48];
|
||||
memset(name_str, 0, sizeof(name_str));
|
||||
if (use_multi_topic_) {
|
||||
snprintf(name_str, sizeof(name_str), "livox/lidar_%s", \
|
||||
snprintf(name_str, sizeof(name_str), "livox/lidar_%s",
|
||||
lds_->lidars_[handle].info.broadcast_code);
|
||||
ROS_INFO("Support multi topics.");
|
||||
} else {
|
||||
@@ -493,19 +550,21 @@ ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
|
||||
|
||||
*pub = new ros::Publisher;
|
||||
if (kPointCloud2Msg == transfer_format_) {
|
||||
**pub = cur_node_->advertise<sensor_msgs::PointCloud2>(name_str,\
|
||||
queue_size);
|
||||
ROS_INFO("%s publish use PointCloud2 format, publisher queue size [%d]", \
|
||||
**pub =
|
||||
cur_node_->advertise<sensor_msgs::PointCloud2>(name_str, queue_size);
|
||||
ROS_INFO(
|
||||
"%s publish use PointCloud2 format, set ROS publisher queue size %d",
|
||||
name_str, queue_size);
|
||||
} else if (kLivoxCustomMsg == transfer_format_) {
|
||||
**pub = cur_node_->advertise<livox_ros_driver::CustomMsg>(name_str,\
|
||||
**pub = cur_node_->advertise<livox_ros_driver::CustomMsg>(name_str,
|
||||
queue_size);
|
||||
ROS_INFO("%s publish use livox custom format, publisher queue size [%d]", \
|
||||
ROS_INFO(
|
||||
"%s publish use livox custom format, set ROS publisher queue size %d",
|
||||
name_str, queue_size);
|
||||
} else if (kPclPxyziMsg == transfer_format_) {
|
||||
**pub = cur_node_->advertise<PointCloud>(name_str,\
|
||||
queue_size);
|
||||
ROS_INFO("%s publish use pcl PointXYZI format, publisher queue size [%d]", \
|
||||
**pub = cur_node_->advertise<PointCloud>(name_str, queue_size);
|
||||
ROS_INFO("%s publish use pcl PointXYZI format, set ROS publisher queue "
|
||||
"size %d",
|
||||
name_str, queue_size);
|
||||
}
|
||||
}
|
||||
@@ -513,15 +572,15 @@ ros::Publisher* Lddc::GetCurrentPublisher(uint8_t handle) {
|
||||
return *pub;
|
||||
}
|
||||
|
||||
ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) {
|
||||
ros::Publisher** pub = nullptr;
|
||||
uint32_t queue_size = kMinEthPacketQueueSize * 4;
|
||||
ros::Publisher *Lddc::GetCurrentImuPublisher(uint8_t handle) {
|
||||
ros::Publisher **pub = nullptr;
|
||||
uint32_t queue_size = kMinEthPacketQueueSize;
|
||||
|
||||
if (use_multi_topic_) {
|
||||
pub = &private_imu_pub_[handle];
|
||||
} else {
|
||||
pub = &global_imu_pub_;
|
||||
queue_size = queue_size * 32;
|
||||
queue_size = queue_size * 4;
|
||||
}
|
||||
|
||||
if (*pub == nullptr) {
|
||||
@@ -529,7 +588,7 @@ ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) {
|
||||
memset(name_str, 0, sizeof(name_str));
|
||||
if (use_multi_topic_) {
|
||||
ROS_INFO("Support multi topics.");
|
||||
snprintf(name_str, sizeof(name_str), "livox/imu_%s", \
|
||||
snprintf(name_str, sizeof(name_str), "livox/imu_%s",
|
||||
lds_->lidars_[handle].info.broadcast_code);
|
||||
} else {
|
||||
ROS_INFO("Support only one topic.");
|
||||
@@ -538,14 +597,14 @@ ros::Publisher* Lddc::GetCurrentImuPublisher(uint8_t handle) {
|
||||
|
||||
*pub = new ros::Publisher;
|
||||
**pub = cur_node_->advertise<sensor_msgs::Imu>(name_str, queue_size);
|
||||
ROS_INFO("%s publish imu data, Publisher QueueSize[%d]", name_str, queue_size);
|
||||
ROS_INFO("%s publish imu data, set ROS publisher queue size %d", name_str,
|
||||
queue_size);
|
||||
}
|
||||
|
||||
return *pub;
|
||||
}
|
||||
|
||||
|
||||
void Lddc::CreateBagFile(const std::string& file_name) {
|
||||
void Lddc::CreateBagFile(const std::string &file_name) {
|
||||
if (!bag_) {
|
||||
bag_ = new rosbag::Bag;
|
||||
bag_->open(file_name, rosbag::bagmode::Write);
|
||||
@@ -566,4 +625,4 @@ void Lddc::PrepareExit(void) {
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -24,8 +24,8 @@
|
||||
#ifndef LIVOX_ROS_DRIVER_LDDC_H_
|
||||
#define LIVOX_ROS_DRIVER_LDDC_H_
|
||||
|
||||
#include "livox_sdk.h"
|
||||
#include "lds.h"
|
||||
#include "livox_sdk.h"
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <rosbag/bag.h>
|
||||
@@ -44,34 +44,34 @@ public:
|
||||
Lddc(int format, int multi_topic, int data_src, int output_type, double frq);
|
||||
~Lddc();
|
||||
|
||||
int RegisterLds(Lds* lds);
|
||||
int RegisterLds(Lds *lds);
|
||||
void DistributeLidarData(void);
|
||||
void CreateBagFile(const std::string& file_name);
|
||||
void CreateBagFile(const std::string &file_name);
|
||||
void PrepareExit(void);
|
||||
|
||||
uint8_t GetTransferFormat(void) { return transfer_format_; }
|
||||
uint8_t IsMultiTopic(void) { return use_multi_topic_; }
|
||||
void SetRosNode(ros::NodeHandle* node) { cur_node_ = node; }
|
||||
void SetRosNode(ros::NodeHandle *node) { cur_node_ = node; }
|
||||
|
||||
void SetRosPub(ros::Publisher* pub) { global_pub_ = pub; };
|
||||
void SetRosPub(ros::Publisher *pub) { global_pub_ = pub; };
|
||||
void SetPublishFrq(uint32_t frq) { publish_frq_ = frq; }
|
||||
|
||||
Lds* lds_;
|
||||
Lds *lds_;
|
||||
|
||||
private:
|
||||
uint32_t PublishPointcloud2(LidarDataQueue* queue, uint32_t packet_num, \
|
||||
uint32_t PublishPointcloud2(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle);
|
||||
uint32_t PublishPointcloudData(LidarDataQueue* queue, uint32_t packet_num, \
|
||||
uint32_t PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle);
|
||||
uint32_t PublishCustomPointcloud(LidarDataQueue* queue, uint32_t packet_num,\
|
||||
uint32_t PublishCustomPointcloud(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle);
|
||||
uint32_t PublishImuData(LidarDataQueue* queue, uint32_t packet_num,\
|
||||
uint32_t PublishImuData(LidarDataQueue *queue, uint32_t packet_num,
|
||||
uint8_t handle);
|
||||
|
||||
ros::Publisher* GetCurrentPublisher(uint8_t handle);
|
||||
ros::Publisher* GetCurrentImuPublisher(uint8_t handle);
|
||||
void PollingLidarPointCloudData(uint8_t handle, LidarDevice* lidar);
|
||||
void PollingLidarImuData(uint8_t handle, LidarDevice* lidar);
|
||||
ros::Publisher *GetCurrentPublisher(uint8_t handle);
|
||||
ros::Publisher *GetCurrentImuPublisher(uint8_t handle);
|
||||
void PollingLidarPointCloudData(uint8_t handle, LidarDevice *lidar);
|
||||
void PollingLidarImuData(uint8_t handle, LidarDevice *lidar);
|
||||
|
||||
uint8_t transfer_format_;
|
||||
uint8_t use_multi_topic_;
|
||||
@@ -79,14 +79,14 @@ private:
|
||||
uint8_t output_type_;
|
||||
double publish_frq_;
|
||||
int32_t publish_interval_ms_;
|
||||
ros::Publisher* private_pub_[kMaxSourceLidar];
|
||||
ros::Publisher* global_pub_;
|
||||
ros::Publisher* private_imu_pub_[kMaxSourceLidar];
|
||||
ros::Publisher* global_imu_pub_;
|
||||
ros::Publisher *private_pub_[kMaxSourceLidar];
|
||||
ros::Publisher *global_pub_;
|
||||
ros::Publisher *private_imu_pub_[kMaxSourceLidar];
|
||||
ros::Publisher *global_imu_pub_;
|
||||
|
||||
ros::NodeHandle* cur_node_;
|
||||
rosbag::Bag* bag_;
|
||||
ros::NodeHandle *cur_node_;
|
||||
rosbag::Bag *bag_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,24 +24,24 @@
|
||||
|
||||
#include "ldq.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
/* for pointcloud queue process */
|
||||
int InitQueue(LidarDataQueue* queue, uint32_t queue_size) {
|
||||
int InitQueue(LidarDataQueue *queue, uint32_t queue_size) {
|
||||
|
||||
if (queue == nullptr) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if(IsPowerOf2(queue_size) != true) {
|
||||
if (IsPowerOf2(queue_size) != true) {
|
||||
queue_size = RoundupPowerOf2(queue_size);
|
||||
}
|
||||
|
||||
queue->storage_packet = new StoragePacket[queue_size];
|
||||
if(queue->storage_packet == nullptr) {
|
||||
if (queue->storage_packet == nullptr) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -53,14 +53,14 @@ int InitQueue(LidarDataQueue* queue, uint32_t queue_size) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int DeInitQueue(LidarDataQueue* queue) {
|
||||
int DeInitQueue(LidarDataQueue *queue) {
|
||||
|
||||
if (queue == nullptr) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (queue->storage_packet) {
|
||||
delete [] queue->storage_packet;
|
||||
delete[] queue->storage_packet;
|
||||
}
|
||||
|
||||
queue->rd_idx = 0;
|
||||
@@ -71,49 +71,47 @@ int DeInitQueue(LidarDataQueue* queue) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ResetQueue(LidarDataQueue* queue) {
|
||||
void ResetQueue(LidarDataQueue *queue) {
|
||||
queue->rd_idx = 0;
|
||||
queue->wr_idx = 0;
|
||||
}
|
||||
|
||||
void QueueProPop(LidarDataQueue* queue, StoragePacket* storage_packet) {
|
||||
void QueueProPop(LidarDataQueue *queue, StoragePacket *storage_packet) {
|
||||
uint32_t rd_idx = queue->rd_idx & queue->mask;
|
||||
|
||||
memcpy(storage_packet, &(queue->storage_packet[rd_idx]), sizeof(StoragePacket));
|
||||
memcpy(storage_packet, &(queue->storage_packet[rd_idx]),
|
||||
sizeof(StoragePacket));
|
||||
}
|
||||
|
||||
void QueuePopUpdate(LidarDataQueue* queue) {
|
||||
queue->rd_idx++;
|
||||
}
|
||||
void QueuePopUpdate(LidarDataQueue *queue) { queue->rd_idx++; }
|
||||
|
||||
uint32_t QueuePop(LidarDataQueue* queue, StoragePacket* storage_packet) {
|
||||
uint32_t QueuePop(LidarDataQueue *queue, StoragePacket *storage_packet) {
|
||||
QueueProPop(queue, storage_packet);
|
||||
QueuePopUpdate(queue);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint32_t QueueUsedSize(LidarDataQueue* queue) {
|
||||
uint32_t QueueUsedSize(LidarDataQueue *queue) {
|
||||
return queue->wr_idx - queue->rd_idx;
|
||||
}
|
||||
|
||||
uint32_t QueueUnusedSize(LidarDataQueue* queue) {
|
||||
uint32_t QueueUnusedSize(LidarDataQueue *queue) {
|
||||
return (queue->size - (queue->wr_idx - queue->rd_idx));
|
||||
}
|
||||
|
||||
uint32_t QueueIsFull(LidarDataQueue* queue) {
|
||||
uint32_t QueueIsFull(LidarDataQueue *queue) {
|
||||
return ((queue->wr_idx - queue->rd_idx) > queue->mask);
|
||||
}
|
||||
|
||||
uint32_t QueueIsEmpty(LidarDataQueue* queue) {
|
||||
uint32_t QueueIsEmpty(LidarDataQueue *queue) {
|
||||
return (queue->rd_idx == queue->wr_idx);
|
||||
}
|
||||
|
||||
uint32_t QueuePush(LidarDataQueue* queue, StoragePacket* storage_packet) {
|
||||
uint32_t QueuePush(LidarDataQueue *queue, StoragePacket *storage_packet) {
|
||||
uint32_t wr_idx = queue->wr_idx & queue->mask;
|
||||
|
||||
memcpy((void *)(&(queue->storage_packet[wr_idx])), \
|
||||
(void *)(storage_packet), \
|
||||
memcpy((void *)(&(queue->storage_packet[wr_idx])), (void *)(storage_packet),
|
||||
sizeof(StoragePacket));
|
||||
|
||||
queue->wr_idx++;
|
||||
@@ -121,7 +119,7 @@ uint32_t QueuePush(LidarDataQueue* queue, StoragePacket* storage_packet) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint32_t QueuePushAny(LidarDataQueue* queue, uint8_t *data, uint32_t length, \
|
||||
uint32_t QueuePushAny(LidarDataQueue *queue, uint8_t *data, uint32_t length,
|
||||
uint64_t time_rcv, uint32_t point_num) {
|
||||
uint32_t wr_idx = queue->wr_idx & queue->mask;
|
||||
|
||||
@@ -134,4 +132,4 @@ uint32_t QueuePushAny(LidarDataQueue* queue, uint8_t *data, uint32_t length, \
|
||||
return 1;
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -33,7 +33,6 @@ namespace livox_ros {
|
||||
|
||||
const uint32_t KEthPacketMaxLength = 1500;
|
||||
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
typedef struct {
|
||||
@@ -58,9 +57,9 @@ inline static bool IsPowerOf2(uint32_t size) {
|
||||
|
||||
inline static uint32_t RoundupPowerOf2(uint32_t size) {
|
||||
uint32_t power2_val = 0;
|
||||
for(int i = 0; i < 32; i++) {
|
||||
for (int i = 0; i < 32; i++) {
|
||||
power2_val = ((uint32_t)1) << i;
|
||||
if(size <= power2_val) {
|
||||
if (size <= power2_val) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -69,19 +68,19 @@ inline static uint32_t RoundupPowerOf2(uint32_t size) {
|
||||
}
|
||||
|
||||
/** queue operate function */
|
||||
int InitQueue(LidarDataQueue* queue, uint32_t queue_size);
|
||||
int DeInitQueue(LidarDataQueue* queue);
|
||||
void ResetQueue(LidarDataQueue* queue);
|
||||
void QueueProPop(LidarDataQueue* queue, StoragePacket* storage_packet);
|
||||
void QueuePopUpdate(LidarDataQueue* queue);
|
||||
uint32_t QueuePop(LidarDataQueue* queue, StoragePacket* storage_packet);
|
||||
uint32_t QueueUsedSize(LidarDataQueue* queue);
|
||||
uint32_t QueueUnusedSize(LidarDataQueue* queue);
|
||||
uint32_t QueueIsFull(LidarDataQueue* queue);
|
||||
uint32_t QueueIsEmpty(LidarDataQueue* queue);
|
||||
uint32_t QueuePush(LidarDataQueue* queue, StoragePacket* storage_packet);
|
||||
uint32_t QueuePushAny(LidarDataQueue* queue, uint8_t *data, uint32_t length, \
|
||||
int InitQueue(LidarDataQueue *queue, uint32_t queue_size);
|
||||
int DeInitQueue(LidarDataQueue *queue);
|
||||
void ResetQueue(LidarDataQueue *queue);
|
||||
void QueueProPop(LidarDataQueue *queue, StoragePacket *storage_packet);
|
||||
void QueuePopUpdate(LidarDataQueue *queue);
|
||||
uint32_t QueuePop(LidarDataQueue *queue, StoragePacket *storage_packet);
|
||||
uint32_t QueueUsedSize(LidarDataQueue *queue);
|
||||
uint32_t QueueUnusedSize(LidarDataQueue *queue);
|
||||
uint32_t QueueIsFull(LidarDataQueue *queue);
|
||||
uint32_t QueueIsEmpty(LidarDataQueue *queue);
|
||||
uint32_t QueuePush(LidarDataQueue *queue, StoragePacket *storage_packet);
|
||||
uint32_t QueuePushAny(LidarDataQueue *queue, uint8_t *data, uint32_t length,
|
||||
uint64_t time_rcv, uint32_t point_num);
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,16 +24,17 @@
|
||||
|
||||
#include "lds.h"
|
||||
|
||||
#include <chrono>
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <chrono>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
/** Common function ------ ----------------------------------------------------------------------- */
|
||||
bool IsFilePathValid(const char* path_str) {
|
||||
/** Common function ------
|
||||
* ----------------------------------------------------------------------- */
|
||||
bool IsFilePathValid(const char *path_str) {
|
||||
int str_len = strlen(path_str);
|
||||
|
||||
if ((str_len > kPathStrMinSize) && (str_len < kPathStrMaxSize)) {
|
||||
@@ -43,9 +44,10 @@ bool IsFilePathValid(const char* path_str) {
|
||||
}
|
||||
}
|
||||
|
||||
uint64_t GetStoragePacketTimestamp(StoragePacket* packet, uint8_t data_src_) {
|
||||
uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src_) {
|
||||
|
||||
LivoxEthPacket* raw_packet = reinterpret_cast<LivoxEthPacket *>(packet->raw_data);
|
||||
LivoxEthPacket *raw_packet =
|
||||
reinterpret_cast<LivoxEthPacket *>(packet->raw_data);
|
||||
LdsStamp timestamp;
|
||||
memcpy(timestamp.stamp_bytes, raw_packet->timestamp, sizeof(timestamp));
|
||||
|
||||
@@ -92,17 +94,17 @@ uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint32_t data_type) {
|
||||
return queue_size;
|
||||
}
|
||||
|
||||
void ParseCommandlineInputBdCode(const char* cammandline_str,
|
||||
std::vector<std::string>& bd_code_list) {
|
||||
char* strs = new char[strlen(cammandline_str) + 1];
|
||||
void ParseCommandlineInputBdCode(const char *cammandline_str,
|
||||
std::vector<std::string> &bd_code_list) {
|
||||
char *strs = new char[strlen(cammandline_str) + 1];
|
||||
strcpy(strs, cammandline_str);
|
||||
|
||||
std::string pattern = "&";
|
||||
char* bd_str = strtok(strs, pattern.c_str());
|
||||
char *bd_str = strtok(strs, pattern.c_str());
|
||||
std::string invalid_bd = "000000000";
|
||||
while (bd_str != NULL) {
|
||||
printf("Commandline input bd:%s\n", bd_str);
|
||||
if ((kBdCodeSize == strlen(bd_str)) && \
|
||||
if ((kBdCodeSize == strlen(bd_str)) &&
|
||||
(NULL == strstr(bd_str, invalid_bd.c_str()))) {
|
||||
bd_code_list.push_back(bd_str);
|
||||
} else {
|
||||
@@ -111,7 +113,7 @@ void ParseCommandlineInputBdCode(const char* cammandline_str,
|
||||
bd_str = strtok(NULL, pattern.c_str());
|
||||
}
|
||||
|
||||
delete [] strs;
|
||||
delete[] strs;
|
||||
}
|
||||
|
||||
void EulerAnglesToRotationMatrix(EulerAngle euler, RotationMatrix matrix) {
|
||||
@@ -134,56 +136,55 @@ void EulerAnglesToRotationMatrix(EulerAngle euler, RotationMatrix matrix) {
|
||||
matrix[2][1] = sin_roll * cos_pitch;
|
||||
matrix[2][2] = cos_roll * cos_pitch;
|
||||
|
||||
/*
|
||||
/*
|
||||
float rotate[3][3] = {
|
||||
{
|
||||
std::cos(info.pitch) * std::cos(info.yaw),
|
||||
std::sin(info.roll) * std::sin(info.pitch) * std::cos(info.yaw) - std::cos(info.roll) * std::sin(info.yaw),
|
||||
std::cos(info.roll) * std::sin(info.pitch) * std::cos(info.yaw) + std::sin(info.roll) * std::sin(info.yaw) },
|
||||
std::sin(info.roll) * std::sin(info.pitch) * std::cos(info.yaw) -
|
||||
std::cos(info.roll) * std::sin(info.yaw), std::cos(info.roll) *
|
||||
std::sin(info.pitch) * std::cos(info.yaw) + std::sin(info.roll) *
|
||||
std::sin(info.yaw) },
|
||||
{
|
||||
std::cos(info.pitch) * std::sin(info.yaw),
|
||||
std::sin(info.roll) * std::sin(info.pitch) * std::sin(info.yaw) + std::cos(info.roll) * std::cos(info.yaw),
|
||||
std::cos(info.roll) * std::sin(info.pitch) * std::sin(info.yaw) - std::sin(info.roll) * std::cos(info.yaw) },
|
||||
std::sin(info.roll) * std::sin(info.pitch) * std::sin(info.yaw) +
|
||||
std::cos(info.roll) * std::cos(info.yaw), std::cos(info.roll) *
|
||||
std::sin(info.pitch) * std::sin(info.yaw) - std::sin(info.roll) *
|
||||
std::cos(info.yaw) },
|
||||
{
|
||||
-std::sin(info.pitch),
|
||||
std::sin(info.roll) * std::cos(info.pitch),
|
||||
std::cos(info.roll) * std::cos(info.pitch)
|
||||
}
|
||||
};
|
||||
*/
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
void PointExtrisincCompensation(PointXyz* dst_point, const PointXyz& src_point, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
dst_point->x = src_point.x * extrinsic.rotation[0][0] + \
|
||||
src_point.y * extrinsic.rotation[0][1] + \
|
||||
src_point.z * extrinsic.rotation[0][2] + \
|
||||
extrinsic.trans[0];
|
||||
dst_point->y = src_point.x * extrinsic.rotation[1][0] + \
|
||||
src_point.y * extrinsic.rotation[1][1] + \
|
||||
src_point.z * extrinsic.rotation[1][2] + \
|
||||
extrinsic.trans[1];
|
||||
dst_point->z = src_point.x * extrinsic.rotation[2][0] + \
|
||||
src_point.y * extrinsic.rotation[2][1] + \
|
||||
src_point.z * extrinsic.rotation[2][2] +
|
||||
extrinsic.trans[2];
|
||||
void PointExtrisincCompensation(PointXyz *dst_point, const PointXyz &src_point,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
dst_point->x = src_point.x * extrinsic.rotation[0][0] +
|
||||
src_point.y * extrinsic.rotation[0][1] +
|
||||
src_point.z * extrinsic.rotation[0][2] + extrinsic.trans[0];
|
||||
dst_point->y = src_point.x * extrinsic.rotation[1][0] +
|
||||
src_point.y * extrinsic.rotation[1][1] +
|
||||
src_point.z * extrinsic.rotation[1][2] + extrinsic.trans[1];
|
||||
dst_point->z = src_point.x * extrinsic.rotation[2][0] +
|
||||
src_point.y * extrinsic.rotation[2][1] +
|
||||
src_point.z * extrinsic.rotation[2][2] + extrinsic.trans[2];
|
||||
}
|
||||
|
||||
|
||||
/** Livox point procees for different raw data format --------------------------------------------*/
|
||||
uint8_t* LivoxPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
/** Livox point procees for different raw data format
|
||||
* --------------------------------------------*/
|
||||
uint8_t *LivoxPointToPxyzrtl(uint8_t *point_buf, LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxPoint* raw_point = reinterpret_cast<LivoxPoint *>(eth_packet->data);
|
||||
LivoxPoint *raw_point = reinterpret_cast<LivoxPoint *>(eth_packet->data);
|
||||
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = 0;
|
||||
dst_point->line = 0;
|
||||
@@ -195,17 +196,18 @@ uint8_t* LivoxPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxRawPointToPxyzrtl(uint8_t *point_buf, LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxRawPoint* raw_point = reinterpret_cast<LivoxRawPoint *>(eth_packet->data);
|
||||
LivoxRawPoint *raw_point =
|
||||
reinterpret_cast<LivoxRawPoint *>(eth_packet->data);
|
||||
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = 0;
|
||||
dst_point->line = 0;
|
||||
@@ -217,17 +219,19 @@ uint8_t* LivoxRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet,
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxSpherPointToPxyzrtl(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxSpherPoint* raw_point = reinterpret_cast<LivoxSpherPoint *>(eth_packet->data);
|
||||
LivoxSpherPoint *raw_point =
|
||||
reinterpret_cast<LivoxSpherPoint *>(eth_packet->data);
|
||||
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = 0;
|
||||
dst_point->line = 0;
|
||||
@@ -239,19 +243,20 @@ uint8_t* LivoxSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxExtendRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxExtendRawPointToPxyzrtl(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxExtendRawPoint* raw_point = \
|
||||
LivoxExtendRawPoint *raw_point =
|
||||
reinterpret_cast<LivoxExtendRawPoint *>(eth_packet->data);
|
||||
|
||||
uint8_t line_id = 0;
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, (LivoxRawPoint *)raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, (LivoxRawPoint *)raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = raw_point->tag;
|
||||
dst_point->line = line_id;
|
||||
@@ -265,18 +270,20 @@ uint8_t* LivoxExtendRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_p
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxExtendSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxExtendSpherPointToPxyzrtl(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxExtendSpherPoint* raw_point = reinterpret_cast<LivoxExtendSpherPoint *>(eth_packet->data);
|
||||
LivoxExtendSpherPoint *raw_point =
|
||||
reinterpret_cast<LivoxExtendSpherPoint *>(eth_packet->data);
|
||||
|
||||
uint8_t line_id = 0;
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, (LivoxSpherPoint *)raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, (LivoxSpherPoint *)raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = raw_point->tag;
|
||||
dst_point->line = line_id;
|
||||
@@ -290,22 +297,24 @@ uint8_t* LivoxExtendSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxDualExtendRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxDualExtendRawPointToPxyzrtl(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxExtendRawPoint* raw_point = \
|
||||
LivoxExtendRawPoint *raw_point =
|
||||
reinterpret_cast<LivoxExtendRawPoint *>(eth_packet->data);
|
||||
|
||||
uint8_t line_id = 0;
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, (LivoxRawPoint *)raw_point);
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point, (LivoxRawPoint *)raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = raw_point->tag;
|
||||
dst_point->line = line_id / 2; /* LivoxDualExtendRawPoint = 2*LivoxExtendRawPoint */
|
||||
dst_point->line =
|
||||
line_id / 2; /* LivoxDualExtendRawPoint = 2*LivoxExtendRawPoint */
|
||||
dst_point->line = dst_point->line % 6;
|
||||
++raw_point;
|
||||
++dst_point;
|
||||
@@ -316,20 +325,22 @@ uint8_t* LivoxDualExtendRawPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* et
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxDualExtendSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic) {
|
||||
LivoxPointXyzrtl* dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint8_t *LivoxDualExtendSpherPointToPxyzrtl(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = GetPointsPerPacket(eth_packet->data_type);
|
||||
LivoxDualExtendSpherPoint* raw_point = \
|
||||
LivoxDualExtendSpherPoint *raw_point =
|
||||
reinterpret_cast<LivoxDualExtendSpherPoint *>(eth_packet->data);
|
||||
|
||||
uint8_t line_id = 0;
|
||||
while(points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr*)dst_point, (LivoxPointXyzr *)(dst_point + 1), \
|
||||
while (points_per_packet) {
|
||||
RawPointConvert((LivoxPointXyzr *)dst_point,
|
||||
(LivoxPointXyzr *)(dst_point + 1),
|
||||
(LivoxDualExtendSpherPoint *)raw_point);
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = raw_point->tag1;
|
||||
dst_point->line = line_id;
|
||||
@@ -337,8 +348,8 @@ uint8_t* LivoxDualExtendSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket*
|
||||
++dst_point;
|
||||
|
||||
if (extrinsic.enable) {
|
||||
PointXyz src_point = *((PointXyz*)dst_point);
|
||||
PointExtrisincCompensation((PointXyz*)dst_point, src_point, extrinsic);
|
||||
PointXyz src_point = *((PointXyz *)dst_point);
|
||||
PointExtrisincCompensation((PointXyz *)dst_point, src_point, extrinsic);
|
||||
}
|
||||
dst_point->tag = raw_point->tag2;
|
||||
dst_point->line = line_id;
|
||||
@@ -353,7 +364,7 @@ uint8_t* LivoxDualExtendSpherPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket*
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
uint8_t* LivoxImuDataProcess(uint8_t* point_buf, LivoxEthPacket* eth_packet) {
|
||||
uint8_t *LivoxImuDataProcess(uint8_t *point_buf, LivoxEthPacket *eth_packet) {
|
||||
memcpy(point_buf, eth_packet->data, sizeof(LivoxImuPoint));
|
||||
return point_buf;
|
||||
}
|
||||
@@ -365,8 +376,7 @@ const PointConvertHandler to_pxyzi_handler_table[kMaxPointDataType] = {
|
||||
LivoxExtendSpherPointToPxyzrtl,
|
||||
LivoxDualExtendRawPointToPxyzrtl,
|
||||
LivoxDualExtendSpherPointToPxyzrtl,
|
||||
nullptr
|
||||
};
|
||||
nullptr};
|
||||
|
||||
PointConvertHandler GetConvertHandler(uint8_t data_type) {
|
||||
if (data_type < kMaxPointDataType)
|
||||
@@ -375,7 +385,23 @@ PointConvertHandler GetConvertHandler(uint8_t data_type) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
uint8_t *FillZeroPointXyzrtl(uint8_t *point_buf, uint32_t num) {
|
||||
LivoxPointXyzrtl *dst_point = (LivoxPointXyzrtl *)point_buf;
|
||||
uint32_t points_per_packet = num;
|
||||
|
||||
while (points_per_packet) {
|
||||
dst_point->x = 0;
|
||||
dst_point->y = 0;
|
||||
dst_point->z = 0;
|
||||
dst_point->reflectivity = 0;
|
||||
dst_point->tag = 0;
|
||||
dst_point->line = 0;
|
||||
++dst_point;
|
||||
--points_per_packet;
|
||||
}
|
||||
|
||||
return (uint8_t *)dst_point;
|
||||
}
|
||||
|
||||
#if 0
|
||||
|
||||
@@ -388,7 +414,8 @@ static void PointCloudConvert(LivoxPoint *p_dpoint, LivoxRawPoint *p_raw_point)
|
||||
|
||||
#endif
|
||||
|
||||
/* Member function ------ ----------------------------------------------------------------------- */
|
||||
/* Member function ------
|
||||
* ----------------------------------------------------------------------- */
|
||||
|
||||
Lds::Lds(uint32_t buffer_time_ms, uint8_t data_src)
|
||||
: buffer_time_ms_(buffer_time_ms), data_src_(data_src) {
|
||||
@@ -402,7 +429,7 @@ Lds::~Lds() {
|
||||
ResetLds(0);
|
||||
};
|
||||
|
||||
void Lds::ResetLidar(LidarDevice* lidar, uint8_t data_src) {
|
||||
void Lds::ResetLidar(LidarDevice *lidar, uint8_t data_src) {
|
||||
DeInitQueue(&lidar->data);
|
||||
DeInitQueue(&lidar->imu_data);
|
||||
|
||||
@@ -410,17 +437,18 @@ void Lds::ResetLidar(LidarDevice* lidar, uint8_t data_src) {
|
||||
|
||||
/** unallocated state */
|
||||
lidar->handle = kMaxSourceLidar;
|
||||
lidar->connect_state = kConnectStateOff;
|
||||
lidar->data_src = data_src;
|
||||
lidar->data_is_pubulished = false;
|
||||
lidar->connect_state = kConnectStateOff;
|
||||
}
|
||||
|
||||
void Lds::SetLidarDataSrc(LidarDevice* lidar, uint8_t data_src) {
|
||||
void Lds::SetLidarDataSrc(LidarDevice *lidar, uint8_t data_src) {
|
||||
lidar->data_src = data_src;
|
||||
}
|
||||
|
||||
void Lds::ResetLds(uint8_t data_src) {
|
||||
lidar_count_ = kMaxSourceLidar;
|
||||
for (uint32_t i=0; i<kMaxSourceLidar; i++) {
|
||||
for (uint32_t i = 0; i < kMaxSourceLidar; i++) {
|
||||
ResetLidar(&lidars_[i], data_src);
|
||||
}
|
||||
}
|
||||
@@ -433,8 +461,6 @@ uint8_t Lds::GetDeviceType(uint8_t handle) {
|
||||
}
|
||||
}
|
||||
|
||||
void Lds::PrepareExit(void) {
|
||||
void Lds::PrepareExit(void) {}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -27,12 +27,12 @@
|
||||
#ifndef LIVOX_ROS_DRIVER_LDS_H_
|
||||
#define LIVOX_ROS_DRIVER_LDS_H_
|
||||
|
||||
#include <math.h>
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "ldq.h"
|
||||
|
||||
@@ -50,13 +50,15 @@ const uint32_t kMaxEthPacketQueueSize = 8192; /**< must be 2^n */
|
||||
const uint32_t kImuEthPacketQueueSize = 256;
|
||||
|
||||
const uint32_t KEthPacketHeaderLength = 18; /**< (sizeof(LivoxEthPacket) - 1) */
|
||||
//const uint32_t KEthPacketMaxLength = 1500;
|
||||
// const uint32_t KEthPacketMaxLength = 1500;
|
||||
const uint32_t KCartesianPointSize = 13;
|
||||
const uint32_t KSphericalPointSzie = 9;
|
||||
|
||||
const int64_t kPacketTimeGap = 1000000; /**< 1ms = 1000000ns */
|
||||
const int64_t kMaxPacketTimeGap = 1700000; /**< the threshold of packet continuous */
|
||||
const int64_t kDeviceDisconnectThreshold = 1000000000; /**< the threshold of device disconect */
|
||||
const int64_t kMaxPacketTimeGap =
|
||||
1700000; /**< the threshold of packet continuous */
|
||||
const int64_t kDeviceDisconnectThreshold =
|
||||
1000000000; /**< the threshold of device disconect */
|
||||
const int64_t kNsPerSecond = 1000000000; /**< 1s = 1000000000ns */
|
||||
|
||||
const int kPathStrMinSize = 4; /**< Must more than 4 char */
|
||||
@@ -90,10 +92,7 @@ typedef enum {
|
||||
kOutputToRosBagFile = 1,
|
||||
} LidarDataOutputType;
|
||||
|
||||
typedef enum {
|
||||
kCoordinateCartesian = 0,
|
||||
kCoordinateSpherical
|
||||
} CoordinateType;
|
||||
typedef enum { kCoordinateCartesian = 0, kCoordinateSpherical } CoordinateType;
|
||||
|
||||
typedef enum {
|
||||
kConfigFan = 1,
|
||||
@@ -167,6 +166,8 @@ typedef struct {
|
||||
typedef struct {
|
||||
uint8_t handle; /**< Lidar access handle. */
|
||||
uint8_t data_src; /**< From raw lidar or livox file. */
|
||||
bool data_is_pubulished; /**< Indicate the data of lidar whether is
|
||||
pubulished. */
|
||||
volatile LidarConnectState connect_state;
|
||||
DeviceInfo info;
|
||||
LidarPacketStatistic statistic_info;
|
||||
@@ -179,27 +180,28 @@ typedef struct {
|
||||
|
||||
typedef struct {
|
||||
uint32_t points_per_packet;
|
||||
uint32_t points_per_second; /**< unit:ns */
|
||||
uint32_t point_interval;
|
||||
uint32_t points_per_second;
|
||||
uint32_t point_interval; /**< unit:ns */
|
||||
uint32_t packet_interval; /**< unit:ns */
|
||||
uint32_t packet_length;
|
||||
} PacketInfoPair;
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
typedef struct{
|
||||
typedef struct {
|
||||
float x; /**< X axis, Unit:m */
|
||||
float y; /**< Y axis, Unit:m */
|
||||
float z; /**< Z axis, Unit:m */
|
||||
} PointXyz;
|
||||
|
||||
typedef struct{
|
||||
typedef struct {
|
||||
float x; /**< X axis, Unit:m */
|
||||
float y; /**< Y axis, Unit:m */
|
||||
float z; /**< Z axis, Unit:m */
|
||||
float reflectivity; /**< Reflectivity */
|
||||
} LivoxPointXyzr;
|
||||
|
||||
typedef struct{
|
||||
typedef struct {
|
||||
float x; /**< X axis, Unit:m */
|
||||
float y; /**< Y axis, Unit:m */
|
||||
float z; /**< Z axis, Unit:m */
|
||||
@@ -210,67 +212,71 @@ typedef struct{
|
||||
|
||||
#pragma pack()
|
||||
|
||||
|
||||
typedef uint8_t* (* PointConvertHandler)(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic);
|
||||
typedef uint8_t *(*PointConvertHandler)(uint8_t *point_buf,
|
||||
LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic);
|
||||
|
||||
const PacketInfoPair packet_info_pair_table[kMaxPointDataType] = {
|
||||
{100, 100000, 10000 , 1318},
|
||||
{100, 100000, 10000 , 918},
|
||||
{96, 240000, 4167 , 1362},
|
||||
{96, 240000, 4167 , 978},
|
||||
{96, 480000, 4167 , 1362},
|
||||
{48, 480000, 4167 , 978},
|
||||
{1, 100, 10000000, 42}
|
||||
};
|
||||
{100, 100000, 10000, 1000000, 1318}, {100, 100000, 10000, 1000000, 918},
|
||||
{96, 240000, 4167, 400000, 1362}, {96, 240000, 4167, 400000, 978},
|
||||
{96, 480000, 4167, 400000, 1362}, {48, 480000, 4167, 400000, 978},
|
||||
{1, 100, 10000000, 10000000, 42}};
|
||||
|
||||
/**
|
||||
* Global function for general use.
|
||||
*/
|
||||
bool IsFilePathValid(const char* path_str);
|
||||
uint64_t GetStoragePacketTimestamp(StoragePacket* packet, uint8_t data_src_);
|
||||
bool IsFilePathValid(const char *path_str);
|
||||
uint64_t GetStoragePacketTimestamp(StoragePacket *packet, uint8_t data_src_);
|
||||
uint32_t CalculatePacketQueueSize(uint32_t interval_ms, uint32_t data_type);
|
||||
void ParseCommandlineInputBdCode(const char* cammandline_str,
|
||||
std::vector<std::string>& bd_code_list);
|
||||
void ParseCommandlineInputBdCode(const char *cammandline_str,
|
||||
std::vector<std::string> &bd_code_list);
|
||||
PointConvertHandler GetConvertHandler(uint8_t data_type);
|
||||
uint8_t* LivoxPointToPxyzrtl(uint8_t* point_buf, LivoxEthPacket* eth_packet, \
|
||||
ExtrinsicParameter& extrinsic);
|
||||
uint8_t* LivoxImuDataProcess(uint8_t* point_buf, LivoxEthPacket* eth_packet);
|
||||
uint8_t *LivoxPointToPxyzrtl(uint8_t *point_buf, LivoxEthPacket *eth_packet,
|
||||
ExtrinsicParameter &extrinsic);
|
||||
uint8_t *FillZeroPointXyzrtl(uint8_t *point_buf, uint32_t num);
|
||||
uint8_t *LivoxImuDataProcess(uint8_t *point_buf, LivoxEthPacket *eth_packet);
|
||||
void EulerAnglesToRotationMatrix(EulerAngle euler, RotationMatrix matrix);
|
||||
void PointExtrisincCompensation(PointXyz* dst_point, ExtrinsicParameter& extrinsic);
|
||||
|
||||
void PointExtrisincCompensation(PointXyz *dst_point,
|
||||
ExtrinsicParameter &extrinsic);
|
||||
|
||||
inline uint32_t GetPointInterval(uint32_t data_type) {
|
||||
return packet_info_pair_table[data_type].point_interval;
|
||||
}
|
||||
|
||||
inline uint32_t GetPacketNumPerSec(uint32_t data_type) {
|
||||
return packet_info_pair_table[data_type].points_per_second / packet_info_pair_table[data_type].points_per_packet;
|
||||
return packet_info_pair_table[data_type].points_per_second /
|
||||
packet_info_pair_table[data_type].points_per_packet;
|
||||
}
|
||||
|
||||
inline uint32_t GetPointsPerPacket(uint32_t data_type) {
|
||||
return packet_info_pair_table[data_type].points_per_packet;
|
||||
}
|
||||
|
||||
inline uint32_t GetPacketInterval(uint32_t data_type) {
|
||||
return packet_info_pair_table[data_type].packet_interval;
|
||||
}
|
||||
|
||||
inline uint32_t GetEthPacketLen(uint32_t data_type) {
|
||||
return packet_info_pair_table[data_type].packet_length;
|
||||
}
|
||||
|
||||
inline void RawPointConvert(LivoxPointXyzr* dst_point, LivoxPoint* raw_point) {
|
||||
inline void RawPointConvert(LivoxPointXyzr *dst_point, LivoxPoint *raw_point) {
|
||||
dst_point->x = raw_point->x;
|
||||
dst_point->y = raw_point->y;
|
||||
dst_point->z = raw_point->z;
|
||||
dst_point->reflectivity = (float)raw_point->reflectivity;
|
||||
}
|
||||
|
||||
inline void RawPointConvert(LivoxPointXyzr* dst_point, LivoxRawPoint* raw_point) {
|
||||
dst_point->x = raw_point->x/1000.0f;
|
||||
dst_point->y = raw_point->y/1000.0f;
|
||||
dst_point->z = raw_point->z/1000.0f;
|
||||
inline void RawPointConvert(LivoxPointXyzr *dst_point,
|
||||
LivoxRawPoint *raw_point) {
|
||||
dst_point->x = raw_point->x / 1000.0f;
|
||||
dst_point->y = raw_point->y / 1000.0f;
|
||||
dst_point->z = raw_point->z / 1000.0f;
|
||||
dst_point->reflectivity = (float)raw_point->reflectivity;
|
||||
}
|
||||
|
||||
inline void RawPointConvert(LivoxPointXyzr* dst_point, LivoxSpherPoint* raw_point) {
|
||||
inline void RawPointConvert(LivoxPointXyzr *dst_point,
|
||||
LivoxSpherPoint *raw_point) {
|
||||
double radius = raw_point->depth / 1000.0;
|
||||
double theta = raw_point->theta / 100.0 / 180 * PI;
|
||||
double phi = raw_point->phi / 100.0 / 180 * PI;
|
||||
@@ -280,9 +286,9 @@ inline void RawPointConvert(LivoxPointXyzr* dst_point, LivoxSpherPoint* raw_poin
|
||||
dst_point->reflectivity = (float)raw_point->reflectivity;
|
||||
}
|
||||
|
||||
|
||||
inline void RawPointConvert(LivoxPointXyzr* dst_point1, LivoxPointXyzr* dst_point2, \
|
||||
LivoxDualExtendSpherPoint* raw_point) {
|
||||
inline void RawPointConvert(LivoxPointXyzr *dst_point1,
|
||||
LivoxPointXyzr *dst_point2,
|
||||
LivoxDualExtendSpherPoint *raw_point) {
|
||||
double radius1 = raw_point->depth1 / 1000.0;
|
||||
double radius2 = raw_point->depth2 / 1000.0;
|
||||
double theta = raw_point->theta / 100.0 / 180 * PI;
|
||||
@@ -307,8 +313,8 @@ public:
|
||||
virtual ~Lds();
|
||||
|
||||
uint8_t GetDeviceType(uint8_t handle);
|
||||
static void ResetLidar(LidarDevice* lidar, uint8_t data_src);
|
||||
static void SetLidarDataSrc(LidarDevice* lidar, uint8_t data_src);
|
||||
static void ResetLidar(LidarDevice *lidar, uint8_t data_src);
|
||||
static void SetLidarDataSrc(LidarDevice *lidar, uint8_t data_src);
|
||||
void ResetLds(uint8_t data_src);
|
||||
void RequestExit() { request_exit_ = true; }
|
||||
void CleanRequestExit() { request_exit_ = false; }
|
||||
@@ -321,9 +327,10 @@ public:
|
||||
protected:
|
||||
uint32_t buffer_time_ms_; /**< Buffer time before data in queue is read */
|
||||
uint8_t data_src_;
|
||||
|
||||
private:
|
||||
volatile bool request_exit_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,26 +24,29 @@
|
||||
|
||||
#include "lds_hub.h"
|
||||
|
||||
#include <memory>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <thread>
|
||||
#include <memory>
|
||||
|
||||
#include "rapidjson/document.h"
|
||||
#include "rapidjson/stringbuffer.h"
|
||||
#include "rapidjson/filereadstream.h"
|
||||
#include "rapidjson/stringbuffer.h"
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
/** Const varible ------------------------------------------------------------------------------- */
|
||||
/** Const varible
|
||||
* -------------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
/** For callback use only */
|
||||
static LdsHub* g_lds_hub = nullptr;
|
||||
static LdsHub *g_lds_hub = nullptr;
|
||||
|
||||
/** Global function for common use
|
||||
* ---------------------------------------------------------------*/
|
||||
|
||||
/** Global function for common use ---------------------------------------------------------------*/
|
||||
|
||||
/** Lds hub function -----------------------------------------------------------------------------*/
|
||||
/** Lds hub function
|
||||
* -----------------------------------------------------------------------------*/
|
||||
LdsHub::LdsHub(uint32_t interval_ms) : Lds(interval_ms, kSourceRawHub) {
|
||||
auto_connect_mode_ = true;
|
||||
whitelist_count_ = 0;
|
||||
@@ -55,15 +58,14 @@ LdsHub::LdsHub(uint32_t interval_ms) : Lds(interval_ms, kSourceRawHub) {
|
||||
ResetLdsHub();
|
||||
}
|
||||
|
||||
LdsHub::~LdsHub() {
|
||||
}
|
||||
LdsHub::~LdsHub() {}
|
||||
|
||||
void LdsHub::ResetLdsHub(void) {
|
||||
ResetLds(kSourceRawHub);
|
||||
ResetLidar(&hub_, kSourceRawHub);
|
||||
}
|
||||
|
||||
int LdsHub::InitLdsHub(std::vector<std::string>& broadcast_code_strs,\
|
||||
int LdsHub::InitLdsHub(std::vector<std::string> &broadcast_code_strs,
|
||||
const char *user_config_path) {
|
||||
|
||||
if (is_initialized_) {
|
||||
@@ -79,7 +81,8 @@ int LdsHub::InitLdsHub(std::vector<std::string>& broadcast_code_strs,\
|
||||
|
||||
LivoxSdkVersion _sdkversion;
|
||||
GetLivoxSdkVersion(&_sdkversion);
|
||||
printf("Livox SDK version %d.%d.%d\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
|
||||
printf("Livox SDK version %d.%d.%d\n", _sdkversion.major, _sdkversion.minor,
|
||||
_sdkversion.patch);
|
||||
|
||||
SetBroadcastCallback(LdsHub::OnDeviceBroadcast);
|
||||
SetDeviceStateUpdateCallback(LdsHub::OnDeviceChange);
|
||||
@@ -96,12 +99,13 @@ int LdsHub::InitLdsHub(std::vector<std::string>& broadcast_code_strs,\
|
||||
printf("Disable auto connect mode!\n");
|
||||
|
||||
printf("List all broadcast code in whiltelist:\n");
|
||||
for (uint32_t i=0; i<whitelist_count_; i++) {
|
||||
for (uint32_t i = 0; i < whitelist_count_; i++) {
|
||||
printf("%s\n", broadcast_code_whitelist_[i]);
|
||||
}
|
||||
} else {
|
||||
EnableAutoConnectMode();
|
||||
printf("No broadcast code was added to whitelist, swith to automatic connection mode!\n");
|
||||
printf("No broadcast code was added to whitelist, swith to automatic "
|
||||
"connection mode!\n");
|
||||
}
|
||||
|
||||
/** Start livox sdk to receive lidar data */
|
||||
@@ -115,7 +119,7 @@ int LdsHub::InitLdsHub(std::vector<std::string>& broadcast_code_strs,\
|
||||
if (g_lds_hub == nullptr) {
|
||||
g_lds_hub = this;
|
||||
}
|
||||
is_initialized_= true;
|
||||
is_initialized_ = true;
|
||||
printf("Livox-SDK init success!\n");
|
||||
|
||||
return 0;
|
||||
@@ -134,15 +138,13 @@ int LdsHub::DeInitLdsHub(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
void LdsHub::PrepareExit(void) {
|
||||
DeInitLdsHub();
|
||||
}
|
||||
void LdsHub::PrepareExit(void) { DeInitLdsHub(); }
|
||||
|
||||
/** Static function in LdsLidar for callback */
|
||||
void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
|
||||
uint32_t data_num, void *client_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(client_data);
|
||||
LivoxEthPacket* eth_packet = data;
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(client_data);
|
||||
LivoxEthPacket *eth_packet = data;
|
||||
|
||||
if (!data || !data_num) {
|
||||
return;
|
||||
@@ -153,15 +155,16 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_lidar = &lds_hub->lidars_[handle];
|
||||
LidarDevice *p_lidar = &lds_hub->lidars_[handle];
|
||||
LidarPacketStatistic *packet_statistic = &p_lidar->statistic_info;
|
||||
LdsStamp cur_timestamp;
|
||||
memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp, sizeof(cur_timestamp));
|
||||
memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp,
|
||||
sizeof(cur_timestamp));
|
||||
|
||||
if (kImu != eth_packet->data_type) {
|
||||
if (eth_packet->timestamp_type == kTimestampTypePps) {
|
||||
/** Whether a new sync frame */
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_timestamp) && \
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_timestamp) &&
|
||||
(cur_timestamp.stamp < kPacketTimeGap)) {
|
||||
auto cur_time = std::chrono::high_resolution_clock::now();
|
||||
int64_t sync_time = cur_time.time_since_epoch().count();
|
||||
@@ -173,22 +176,23 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
|
||||
|
||||
LidarDataQueue *p_queue = &p_lidar->data;
|
||||
if (nullptr == p_queue->storage_packet) {
|
||||
uint32_t queue_size = CalculatePacketQueueSize(lds_hub->buffer_time_ms_, \
|
||||
uint32_t queue_size = CalculatePacketQueueSize(lds_hub->buffer_time_ms_,
|
||||
eth_packet->data_type);
|
||||
queue_size = queue_size * 16; /* 16 multiple the min size */
|
||||
InitQueue(p_queue, queue_size);
|
||||
printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle, p_lidar->info.broadcast_code, \
|
||||
queue_size, p_queue->size);
|
||||
printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle,
|
||||
p_lidar->info.broadcast_code, queue_size, p_queue->size);
|
||||
}
|
||||
if (!QueueIsFull(p_queue)) {
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,\
|
||||
GetEthPacketLen(eth_packet->data_type), packet_statistic->timebase, \
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(eth_packet->data_type),
|
||||
packet_statistic->timebase,
|
||||
GetPointsPerPacket(eth_packet->data_type));
|
||||
}
|
||||
} else {
|
||||
if (eth_packet->timestamp_type == kTimestampTypePps) {
|
||||
/** Whether a new sync frame */
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_imu_timestamp) && \
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_imu_timestamp) &&
|
||||
(cur_timestamp.stamp < kPacketTimeGap)) {
|
||||
auto cur_time = std::chrono::high_resolution_clock::now();
|
||||
int64_t sync_time = cur_time.time_since_epoch().count();
|
||||
@@ -202,13 +206,14 @@ void LdsHub::OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
|
||||
if (nullptr == p_queue->storage_packet) {
|
||||
uint32_t queue_size = 256;
|
||||
InitQueue(p_queue, queue_size);
|
||||
printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle,\
|
||||
printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle,
|
||||
p_lidar->info.broadcast_code, queue_size, p_queue->size);
|
||||
}
|
||||
|
||||
if (!QueueIsFull(p_queue) && (cur_timestamp.stamp >= 0)) {
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,\
|
||||
GetEthPacketLen(eth_packet->data_type), packet_statistic->imu_timebase, \
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(eth_packet->data_type),
|
||||
packet_statistic->imu_timebase,
|
||||
GetPointsPerPacket(eth_packet->data_type));
|
||||
}
|
||||
}
|
||||
@@ -225,16 +230,17 @@ void LdsHub::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
|
||||
}
|
||||
|
||||
if (g_lds_hub->IsAutoConnectMode()) {
|
||||
printf("In automatic connection mode, will connect %s\n", info->broadcast_code);
|
||||
printf("In automatic connection mode, will connect %s\n",
|
||||
info->broadcast_code);
|
||||
} else {
|
||||
if (!g_lds_hub->IsBroadcastCodeExistInWhitelist(info->broadcast_code)) {
|
||||
printf("Not in the whitelist, please add %s to if want to connect!\n",\
|
||||
printf("Not in the whitelist, please add %s to if want to connect!\n",
|
||||
info->broadcast_code);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
LidarDevice* p_hub = &g_lds_hub->hub_;
|
||||
LidarDevice *p_hub = &g_lds_hub->hub_;
|
||||
if (p_hub->connect_state == kConnectStateOff) {
|
||||
bool result = false;
|
||||
uint8_t handle = 0;
|
||||
@@ -247,7 +253,8 @@ void LdsHub::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
|
||||
printf("add to connect\n");
|
||||
|
||||
UserRawConfig config;
|
||||
if (strncmp(info->broadcast_code, g_lds_hub->hub_raw_config_.broadcast_code, \
|
||||
if (strncmp(info->broadcast_code,
|
||||
g_lds_hub->hub_raw_config_.broadcast_code,
|
||||
sizeof(info->broadcast_code)) != 0) {
|
||||
printf("Could not find hub raw config, set config to default!\n");
|
||||
config.enable_fan = 1;
|
||||
@@ -278,7 +285,7 @@ void LdsHub::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_hub = &g_lds_hub->hub_;
|
||||
LidarDevice *p_hub = &g_lds_hub->hub_;
|
||||
if (type == kEventHubConnectionChange) {
|
||||
if (p_hub->connect_state == kConnectStateOff) {
|
||||
p_hub->connect_state = kConnectStateOn;
|
||||
@@ -294,10 +301,9 @@ void LdsHub::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
}
|
||||
|
||||
if (p_hub->connect_state == kConnectStateOn) {
|
||||
printf("Hub[%s] status_code[%d] working state[%d] feature[%d]\n", \
|
||||
p_hub->info.broadcast_code,\
|
||||
p_hub->info.status.status_code.error_code,\
|
||||
p_hub->info.state,\
|
||||
printf("Hub[%s] status_code[%d] working state[%d] feature[%d]\n",
|
||||
p_hub->info.broadcast_code,
|
||||
p_hub->info.status.status_code.error_code, p_hub->info.state,
|
||||
p_hub->info.feature);
|
||||
SetErrorMessageCallback(p_hub->handle, LdsHub::HubErrorStatusCb);
|
||||
if (p_hub->info.state == kLidarStateNormal) {
|
||||
@@ -306,10 +312,10 @@ void LdsHub::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
|
||||
HubQueryLidarInformationResponse *response,\
|
||||
void LdsHub::HubQueryLidarInfoCb(livox_status status, uint8_t handle,
|
||||
HubQueryLidarInformationResponse *response,
|
||||
void *client_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(client_data);
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(client_data);
|
||||
if ((handle >= kMaxLidarCount) || !response) {
|
||||
return;
|
||||
}
|
||||
@@ -318,25 +324,24 @@ void LdsHub::HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
|
||||
if (response->count) {
|
||||
printf("Hub have %d lidars:\n", response->count);
|
||||
for (int i = 0; i < response->count; i++) {
|
||||
uint32_t index = HubGetLidarHandle(response->device_info_list[i].slot,\
|
||||
uint32_t index = HubGetLidarHandle(response->device_info_list[i].slot,
|
||||
response->device_info_list[i].id);
|
||||
if (index < kMaxLidarCount) {
|
||||
LidarDevice* p_lidar = &lds_hub->lidars_[index];
|
||||
LidarDevice *p_lidar = &lds_hub->lidars_[index];
|
||||
p_lidar->handle = index;
|
||||
p_lidar->info.handle = index;
|
||||
p_lidar->info.slot = response->device_info_list[i].slot;
|
||||
p_lidar->info.id = response->device_info_list[i].id;
|
||||
p_lidar->info.type = response->device_info_list[i].dev_type;
|
||||
p_lidar->connect_state = kConnectStateSampling;
|
||||
strncpy(p_lidar->info.broadcast_code, \
|
||||
response->device_info_list[i].broadcast_code, \
|
||||
strncpy(p_lidar->info.broadcast_code,
|
||||
response->device_info_list[i].broadcast_code,
|
||||
sizeof(p_lidar->info.broadcast_code));
|
||||
printf("[%d]%s DeviceType[%d] Slot[%d] Ver[%d.%d.%d.%d]\n", index, \
|
||||
p_lidar->info.broadcast_code,\
|
||||
p_lidar->info.type, p_lidar->info.slot,\
|
||||
response->device_info_list[i].version[0],\
|
||||
response->device_info_list[i].version[1],\
|
||||
response->device_info_list[i].version[2],\
|
||||
printf("[%d]%s DeviceType[%d] Slot[%d] Ver[%d.%d.%d.%d]\n", index,
|
||||
p_lidar->info.broadcast_code, p_lidar->info.type,
|
||||
p_lidar->info.slot, response->device_info_list[i].version[0],
|
||||
response->device_info_list[i].version[1],
|
||||
response->device_info_list[i].version[2],
|
||||
response->device_info_list[i].version[3]);
|
||||
}
|
||||
}
|
||||
@@ -352,7 +357,8 @@ void LdsHub::HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
|
||||
/** Callback function of hub error message. */
|
||||
void LdsHub::HubErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message) {
|
||||
void LdsHub::HubErrorStatusCb(livox_status status, uint8_t handle,
|
||||
ErrorMessage *message) {
|
||||
static uint32_t error_message_count = 0;
|
||||
if (message != NULL) {
|
||||
++error_message_count;
|
||||
@@ -361,23 +367,21 @@ void LdsHub::HubErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage
|
||||
printf("sync_status : %u\n", message->hub_error_code.sync_status);
|
||||
printf("temp_status : %u\n", message->hub_error_code.temp_status);
|
||||
printf("lidar_status :%u\n", message->hub_error_code.lidar_status);
|
||||
printf("lidar_link_status : %u\n", message->hub_error_code.lidar_link_status);
|
||||
printf("lidar_link_status : %u\n",
|
||||
message->hub_error_code.lidar_link_status);
|
||||
printf("firmware_err : %u\n", message->hub_error_code.firmware_err);
|
||||
printf("system_status : %u\n", message->hub_error_code.system_status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::ControlFanCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void *clent_data) {
|
||||
void LdsHub::ControlFanCb(livox_status status, uint8_t handle, uint8_t response,
|
||||
void *clent_data) {}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void LdsHub::HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
HubSetPointCloudReturnModeResponse* response,\
|
||||
void *clent_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
void LdsHub::HubSetPointCloudReturnModeCb(
|
||||
livox_status status, uint8_t handle,
|
||||
HubSetPointCloudReturnModeResponse *response, void *clent_data) {
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
if ((handle >= kMaxLidarCount) || !response) {
|
||||
return;
|
||||
}
|
||||
@@ -395,15 +399,15 @@ void LdsHub::HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
void LdsHub::SetCoordinateCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_hub = &(lds_hub->hub_);
|
||||
LidarDevice *p_hub = &(lds_hub->hub_);
|
||||
if (status == kStatusSuccess) {
|
||||
p_hub->config.set_bits &= ~((uint32_t)(kConfigCoordinate));
|
||||
printf("Set coordinate success!\n");
|
||||
@@ -422,10 +426,10 @@ void LdsHub::SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
HubSetImuPushFrequencyResponse* response,\
|
||||
void *clent_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
void LdsHub::HubSetImuRatePushFrequencyCb(
|
||||
livox_status status, uint8_t handle,
|
||||
HubSetImuPushFrequencyResponse *response, void *clent_data) {
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
if ((handle >= kMaxLidarCount) || !response) {
|
||||
return;
|
||||
}
|
||||
@@ -444,21 +448,21 @@ void LdsHub::HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
|
||||
/** Callback function of starting sampling. */
|
||||
void LdsHub::StartSampleCb(livox_status status, uint8_t handle, \
|
||||
void LdsHub::StartSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsHub* lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
LdsHub *lds_hub = static_cast<LdsHub *>(clent_data);
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_hub = &lds_hub->hub_;
|
||||
LidarDevice *p_hub = &lds_hub->hub_;
|
||||
if ((status != kStatusSuccess) || (response != 0)) {
|
||||
p_hub->connect_state = kConnectStateOn;
|
||||
printf("Hub start sample fail : state[%d] handle[%d] res[%d]\n", \
|
||||
status, handle, response);
|
||||
printf("Hub start sample fail : state[%d] handle[%d] res[%d]\n", status,
|
||||
handle, response);
|
||||
|
||||
for (int i = 0; i < kMaxLidarCount; i++) {
|
||||
LidarDevice* p_lidar = &(lds_hub->lidars_[i]);
|
||||
LidarDevice *p_lidar = &(lds_hub->lidars_[i]);
|
||||
if (p_lidar->connect_state == kConnectStateSampling) {
|
||||
p_lidar->connect_state = kConnectStateOn;
|
||||
}
|
||||
@@ -469,18 +473,18 @@ void LdsHub::StartSampleCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
|
||||
/** Callback function of stopping sampling. */
|
||||
void LdsHub::StopSampleCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void *clent_data) {
|
||||
}
|
||||
void LdsHub::StopSampleCb(livox_status status, uint8_t handle, uint8_t response,
|
||||
void *clent_data) {}
|
||||
|
||||
void LdsHub::ConfigPointCloudReturnMode(LdsHub* lds_hub) {
|
||||
void LdsHub::ConfigPointCloudReturnMode(LdsHub *lds_hub) {
|
||||
uint8_t req_buf[1024];
|
||||
HubSetPointCloudReturnModeRequest* req = (HubSetPointCloudReturnModeRequest *)req_buf;
|
||||
HubSetPointCloudReturnModeRequest *req =
|
||||
(HubSetPointCloudReturnModeRequest *)req_buf;
|
||||
req->count = 0;
|
||||
for (int i = 0; i < kMaxLidarCount; i++) {
|
||||
LidarDevice* p_lidar = &(lds_hub->lidars_[i]);
|
||||
LidarDevice *p_lidar = &(lds_hub->lidars_[i]);
|
||||
|
||||
if ((p_lidar->info.type != kDeviceTypeLidarMid40) && \
|
||||
if ((p_lidar->info.type != kDeviceTypeLidarMid40) &&
|
||||
(p_lidar->connect_state == kConnectStateSampling)) {
|
||||
UserRawConfig config;
|
||||
if (lds_hub->GetRawConfig(p_lidar->info.broadcast_code, config)) {
|
||||
@@ -490,8 +494,8 @@ void LdsHub::ConfigPointCloudReturnMode(LdsHub* lds_hub) {
|
||||
config.coordinate = kCoordinateCartesian;
|
||||
config.imu_rate = kImuFreq200Hz;
|
||||
}
|
||||
strncpy(req->lidar_cfg_list[req->count].broadcast_code, \
|
||||
p_lidar->info.broadcast_code, \
|
||||
strncpy(req->lidar_cfg_list[req->count].broadcast_code,
|
||||
p_lidar->info.broadcast_code,
|
||||
sizeof(req->lidar_cfg_list[req->count].broadcast_code));
|
||||
req->lidar_cfg_list[req->count].mode = config.return_mode;
|
||||
req->count++;
|
||||
@@ -499,21 +503,22 @@ void LdsHub::ConfigPointCloudReturnMode(LdsHub* lds_hub) {
|
||||
}
|
||||
|
||||
if (req->count) {
|
||||
uint32_t length = 1 + sizeof(SetPointCloudReturnModeRequestItem) * req->count;
|
||||
HubSetPointCloudReturnMode(req, length,\
|
||||
uint32_t length =
|
||||
1 + sizeof(SetPointCloudReturnModeRequestItem) * req->count;
|
||||
HubSetPointCloudReturnMode(req, length,
|
||||
LdsHub::HubSetPointCloudReturnModeCb, lds_hub);
|
||||
lds_hub->hub_.config.set_bits |= kConfigReturnMode;
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::ConfigImuPushFrequency(LdsHub* lds_hub) {
|
||||
void LdsHub::ConfigImuPushFrequency(LdsHub *lds_hub) {
|
||||
uint8_t req_buf[1024];
|
||||
HubSetImuPushFrequencyRequest* req = (HubSetImuPushFrequencyRequest *)req_buf;
|
||||
HubSetImuPushFrequencyRequest *req = (HubSetImuPushFrequencyRequest *)req_buf;
|
||||
req->count = 0;
|
||||
for (int i = 0; i < kMaxLidarCount; i++) {
|
||||
LidarDevice* p_lidar = &(lds_hub->lidars_[i]);
|
||||
LidarDevice *p_lidar = &(lds_hub->lidars_[i]);
|
||||
|
||||
if ((p_lidar->info.type != kDeviceTypeLidarMid40) && \
|
||||
if ((p_lidar->info.type != kDeviceTypeLidarMid40) &&
|
||||
(p_lidar->connect_state == kConnectStateSampling)) {
|
||||
UserRawConfig config;
|
||||
if (lds_hub->GetRawConfig(p_lidar->info.broadcast_code, config)) {
|
||||
@@ -523,8 +528,8 @@ void LdsHub::ConfigImuPushFrequency(LdsHub* lds_hub) {
|
||||
config.coordinate = kCoordinateCartesian;
|
||||
config.imu_rate = kImuFreq200Hz;
|
||||
}
|
||||
strncpy(req->lidar_cfg_list[req->count].broadcast_code, \
|
||||
p_lidar->info.broadcast_code, \
|
||||
strncpy(req->lidar_cfg_list[req->count].broadcast_code,
|
||||
p_lidar->info.broadcast_code,
|
||||
sizeof(req->lidar_cfg_list[req->count].broadcast_code));
|
||||
req->lidar_cfg_list[req->count].freq = config.imu_rate;
|
||||
req->count++;
|
||||
@@ -533,22 +538,24 @@ void LdsHub::ConfigImuPushFrequency(LdsHub* lds_hub) {
|
||||
|
||||
if (req->count) {
|
||||
uint32_t length = 1 + sizeof(SetImuPushFrequencyRequestItem) * req->count;
|
||||
HubSetImuPushFrequency(req, length,\
|
||||
LdsHub::HubSetImuRatePushFrequencyCb, lds_hub);
|
||||
HubSetImuPushFrequency(req, length, LdsHub::HubSetImuRatePushFrequencyCb,
|
||||
lds_hub);
|
||||
lds_hub->hub_.config.set_bits |= kConfigImuRate;
|
||||
}
|
||||
}
|
||||
|
||||
void LdsHub::ConfigLidarsOfHub(LdsHub* lds_hub) {
|
||||
void LdsHub::ConfigLidarsOfHub(LdsHub *lds_hub) {
|
||||
ConfigPointCloudReturnMode(lds_hub);
|
||||
ConfigImuPushFrequency(lds_hub);
|
||||
|
||||
if (lds_hub->hub_.config.coordinate != 0) {
|
||||
SetSphericalCoordinate(lds_hub->hub_.handle, LdsHub::SetCoordinateCb, lds_hub);
|
||||
SetSphericalCoordinate(lds_hub->hub_.handle, LdsHub::SetCoordinateCb,
|
||||
lds_hub);
|
||||
printf("Hub set coordinate spherical\n");
|
||||
} else {
|
||||
printf("Hub set coordinate cartesian\n");
|
||||
SetCartesianCoordinate(lds_hub->hub_.handle, LdsHub::SetCoordinateCb, lds_hub);
|
||||
SetCartesianCoordinate(lds_hub->hub_.handle, LdsHub::SetCoordinateCb,
|
||||
lds_hub);
|
||||
}
|
||||
lds_hub->hub_.config.set_bits |= kConfigCoordinate;
|
||||
|
||||
@@ -556,8 +563,8 @@ void LdsHub::ConfigLidarsOfHub(LdsHub* lds_hub) {
|
||||
}
|
||||
|
||||
/** Add broadcast code to whitelist */
|
||||
int LdsHub::AddBroadcastCodeToWhitelist(const char* broadcast_code) {
|
||||
if (!broadcast_code || (strlen(broadcast_code) > kBroadcastCodeSize) || \
|
||||
int LdsHub::AddBroadcastCodeToWhitelist(const char *broadcast_code) {
|
||||
if (!broadcast_code || (strlen(broadcast_code) > kBroadcastCodeSize) ||
|
||||
(whitelist_count_ >= kMaxLidarCount)) {
|
||||
return -1;
|
||||
}
|
||||
@@ -573,13 +580,14 @@ int LdsHub::AddBroadcastCodeToWhitelist(const char* broadcast_code) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool LdsHub::IsBroadcastCodeExistInWhitelist(const char* broadcast_code) {
|
||||
bool LdsHub::IsBroadcastCodeExistInWhitelist(const char *broadcast_code) {
|
||||
if (!broadcast_code) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (uint32_t i=0; i<whitelist_count_; i++) {
|
||||
if (strncmp(broadcast_code, broadcast_code_whitelist_[i], kBroadcastCodeSize) == 0) {
|
||||
for (uint32_t i = 0; i < whitelist_count_; i++) {
|
||||
if (strncmp(broadcast_code, broadcast_code_whitelist_[i],
|
||||
kBroadcastCodeSize) == 0) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -589,7 +597,8 @@ bool LdsHub::IsBroadcastCodeExistInWhitelist(const char* broadcast_code) {
|
||||
|
||||
/** Get and update LiDAR info */
|
||||
void LdsHub::UpdateHubLidarinfo(void) {
|
||||
DeviceInfo *_lidars = (DeviceInfo *) malloc(sizeof(DeviceInfo) * kMaxLidarCount);
|
||||
DeviceInfo *_lidars =
|
||||
(DeviceInfo *)malloc(sizeof(DeviceInfo) * kMaxLidarCount);
|
||||
|
||||
uint8_t count = kMaxLidarCount;
|
||||
uint8_t status = GetConnectedDevices(_lidars, &count);
|
||||
@@ -612,48 +621,51 @@ void LdsHub::UpdateHubLidarinfo(void) {
|
||||
}
|
||||
|
||||
/** Config file process */
|
||||
int LdsHub::ParseConfigFile(const char* pathname) {
|
||||
FILE* raw_file = std::fopen(pathname, "rb");
|
||||
if(!raw_file) {
|
||||
int LdsHub::ParseConfigFile(const char *pathname) {
|
||||
FILE *raw_file = std::fopen(pathname, "rb");
|
||||
if (!raw_file) {
|
||||
printf("Open json config file fail!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
char read_buffer[32768];
|
||||
rapidjson::FileReadStream config_file(raw_file, read_buffer, sizeof(read_buffer));
|
||||
rapidjson::FileReadStream config_file(raw_file, read_buffer,
|
||||
sizeof(read_buffer));
|
||||
|
||||
rapidjson::Document doc;
|
||||
if(!doc.ParseStream(config_file).HasParseError()) {
|
||||
if(doc.HasMember("hub_config") && doc["hub_config"].IsObject()) {
|
||||
const rapidjson::Value& object = doc["hub_config"];
|
||||
if (!doc.ParseStream(config_file).HasParseError()) {
|
||||
if (doc.HasMember("hub_config") && doc["hub_config"].IsObject()) {
|
||||
const rapidjson::Value &object = doc["hub_config"];
|
||||
UserRawConfig hub_config;
|
||||
memset(&hub_config, 0, sizeof(hub_config));
|
||||
if(object.HasMember("broadcast_code") && \
|
||||
if (object.HasMember("broadcast_code") &&
|
||||
object["broadcast_code"].IsString()) {
|
||||
std::string broadcast_code = object["broadcast_code"].GetString();
|
||||
std::memcpy(hub_config.broadcast_code, broadcast_code.c_str(),\
|
||||
std::memcpy(hub_config.broadcast_code, broadcast_code.c_str(),
|
||||
sizeof(hub_config.broadcast_code));
|
||||
|
||||
if(object.HasMember("enable_connect") && \
|
||||
if (object.HasMember("enable_connect") &&
|
||||
object["enable_connect"].IsBool()) {
|
||||
hub_config.enable_connect = object["enable_connect"].GetBool();
|
||||
}
|
||||
if(object.HasMember("coordinate") && object["coordinate"].IsInt()) {
|
||||
if (object.HasMember("coordinate") && object["coordinate"].IsInt()) {
|
||||
hub_config.coordinate = object["coordinate"].GetInt();
|
||||
}
|
||||
|
||||
printf("Hub[%s] : %d %d %d %d %d\n", hub_config.broadcast_code, \
|
||||
hub_config.enable_connect, hub_config.enable_fan, hub_config.return_mode,\
|
||||
hub_config.coordinate, hub_config.imu_rate);
|
||||
printf("Hub[%s] : %d %d %d %d %d\n", hub_config.broadcast_code,
|
||||
hub_config.enable_connect, hub_config.enable_fan,
|
||||
hub_config.return_mode, hub_config.coordinate,
|
||||
hub_config.imu_rate);
|
||||
|
||||
if (hub_config.enable_connect) {
|
||||
if (!AddBroadcastCodeToWhitelist(hub_config.broadcast_code)) {
|
||||
hub_raw_config_ = hub_config;
|
||||
printf("Add hub[%s] [%d] to whitelist\n", hub_raw_config_.broadcast_code, \
|
||||
hub_raw_config_.coordinate);
|
||||
printf("Add hub[%s] [%d] to whitelist\n",
|
||||
hub_raw_config_.broadcast_code, hub_raw_config_.coordinate);
|
||||
} else {
|
||||
memset(&hub_raw_config_, 0, sizeof(hub_raw_config_));
|
||||
printf("Add hub[%s] to whitelist fail\n", hub_raw_config_.broadcast_code);
|
||||
printf("Add hub[%s] to whitelist fail\n",
|
||||
hub_raw_config_.broadcast_code);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
@@ -661,32 +673,32 @@ int LdsHub::ParseConfigFile(const char* pathname) {
|
||||
}
|
||||
}
|
||||
|
||||
if(doc.HasMember("lidar_config") && doc["lidar_config"].IsArray()) {
|
||||
const rapidjson::Value& array = doc["lidar_config"];
|
||||
if (doc.HasMember("lidar_config") && doc["lidar_config"].IsArray()) {
|
||||
const rapidjson::Value &array = doc["lidar_config"];
|
||||
size_t len = array.Size();
|
||||
for(size_t i=0; i<len; i++) {
|
||||
const rapidjson::Value& object = array[i];
|
||||
if(object.IsObject()) {
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
const rapidjson::Value &object = array[i];
|
||||
if (object.IsObject()) {
|
||||
UserRawConfig config;
|
||||
memset(&config, 0, sizeof(config));
|
||||
if(object.HasMember("broadcast_code") && \
|
||||
if (object.HasMember("broadcast_code") &&
|
||||
object["broadcast_code"].IsString()) {
|
||||
std::string broadcast_code = object["broadcast_code"].GetString();
|
||||
std::memcpy(config.broadcast_code, broadcast_code.c_str(),\
|
||||
std::memcpy(config.broadcast_code, broadcast_code.c_str(),
|
||||
sizeof(config.broadcast_code));
|
||||
} else {
|
||||
printf("User config file parse error\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
if(object.HasMember("enable_fan") && \
|
||||
object["enable_fan"].IsBool()) {
|
||||
if (object.HasMember("enable_fan") && object["enable_fan"].IsBool()) {
|
||||
config.enable_fan = object["enable_fan"].GetBool();
|
||||
}
|
||||
if(object.HasMember("return_mode") && object["return_mode"].IsInt()) {
|
||||
if (object.HasMember("return_mode") &&
|
||||
object["return_mode"].IsInt()) {
|
||||
config.return_mode = object["return_mode"].GetInt();
|
||||
}
|
||||
if(object.HasMember("imu_rate") && object["imu_rate"].IsInt()) {
|
||||
if (object.HasMember("imu_rate") && object["imu_rate"].IsInt()) {
|
||||
config.imu_rate = object["imu_rate"].GetInt();
|
||||
}
|
||||
if (hub_raw_config_.enable_connect) {
|
||||
@@ -694,18 +706,20 @@ int LdsHub::ParseConfigFile(const char* pathname) {
|
||||
} else {
|
||||
config.coordinate = 0;
|
||||
}
|
||||
printf("Lidar[%s] : %d %d %d %d %d\n", config.broadcast_code, \
|
||||
config.enable_connect, config.enable_fan, config.return_mode,\
|
||||
printf("Lidar[%s] : %d %d %d %d %d\n", config.broadcast_code,
|
||||
config.enable_connect, config.enable_fan, config.return_mode,
|
||||
config.coordinate, config.imu_rate);
|
||||
|
||||
if (AddRawUserConfig(config)) {
|
||||
printf("Lidar Raw config is already exist : %s \n", config.broadcast_code);
|
||||
printf("Lidar Raw config is already exist : %s \n",
|
||||
config.broadcast_code);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
printf("User config file parse error[%d]\n", doc.ParseStream(config_file).HasParseError());
|
||||
printf("User config file parse error[%d]\n",
|
||||
doc.ParseStream(config_file).HasParseError());
|
||||
}
|
||||
|
||||
std::fclose(raw_file);
|
||||
@@ -713,7 +727,7 @@ int LdsHub::ParseConfigFile(const char* pathname) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int LdsHub::AddRawUserConfig(UserRawConfig& config) {
|
||||
int LdsHub::AddRawUserConfig(UserRawConfig &config) {
|
||||
if (IsExistInRawConfig(config.broadcast_code)) {
|
||||
return -1;
|
||||
}
|
||||
@@ -724,13 +738,14 @@ int LdsHub::AddRawUserConfig(UserRawConfig& config) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool LdsHub::IsExistInRawConfig(const char* broadcast_code) {
|
||||
bool LdsHub::IsExistInRawConfig(const char *broadcast_code) {
|
||||
if (broadcast_code == nullptr) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (auto ite_config : lidar_raw_config_) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code, kBroadcastCodeSize) == 0) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code,
|
||||
kBroadcastCodeSize) == 0) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -738,14 +753,14 @@ bool LdsHub::IsExistInRawConfig(const char* broadcast_code) {
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
int LdsHub::GetRawConfig(const char* broadcast_code, UserRawConfig& config) {
|
||||
int LdsHub::GetRawConfig(const char *broadcast_code, UserRawConfig &config) {
|
||||
if (broadcast_code == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (auto ite_config : lidar_raw_config_) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code, kBroadcastCodeSize) == 0) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code,
|
||||
kBroadcastCodeSize) == 0) {
|
||||
config.enable_fan = ite_config.enable_fan;
|
||||
config.return_mode = ite_config.return_mode;
|
||||
config.coordinate = ite_config.coordinate;
|
||||
@@ -757,4 +772,4 @@ int LdsHub::GetRawConfig(const char* broadcast_code, UserRawConfig& config) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -39,60 +39,67 @@ namespace livox_ros {
|
||||
* LiDAR data source, data from hub.
|
||||
*/
|
||||
class LdsHub : public Lds {
|
||||
public:
|
||||
static LdsHub* GetInstance(uint32_t interval_ms) {
|
||||
public:
|
||||
static LdsHub *GetInstance(uint32_t interval_ms) {
|
||||
static LdsHub lds_hub(interval_ms);
|
||||
return &lds_hub;
|
||||
}
|
||||
|
||||
int InitLdsHub(std::vector<std::string>& broadcast_code_strs, const char *user_config_path);
|
||||
int InitLdsHub(std::vector<std::string> &broadcast_code_strs,
|
||||
const char *user_config_path);
|
||||
int DeInitLdsHub(void);
|
||||
|
||||
private:
|
||||
private:
|
||||
LdsHub(uint32_t interval_ms);
|
||||
LdsHub(const LdsHub&) = delete;
|
||||
LdsHub(const LdsHub &) = delete;
|
||||
~LdsHub();
|
||||
LdsHub& operator=(const LdsHub&) = delete;
|
||||
LdsHub &operator=(const LdsHub &) = delete;
|
||||
virtual void PrepareExit(void);
|
||||
|
||||
static void OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,\
|
||||
static void OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,
|
||||
uint32_t data_num, void *client_data);
|
||||
static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
|
||||
static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
|
||||
static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
||||
static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
||||
static void HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
|
||||
HubQueryLidarInformationResponse *response, void *client_data);
|
||||
static void ControlFanCb(livox_status status, uint8_t handle, \
|
||||
static void StartSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
HubSetPointCloudReturnModeResponse* response,\
|
||||
void *clent_data);
|
||||
static void SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
static void StopSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
HubSetImuPushFrequencyResponse* response,\
|
||||
static void HubQueryLidarInfoCb(livox_status status, uint8_t handle,
|
||||
HubQueryLidarInformationResponse *response,
|
||||
void *client_data);
|
||||
static void ControlFanCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void
|
||||
HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle,
|
||||
HubSetPointCloudReturnModeResponse *response,
|
||||
void *clent_data);
|
||||
static void HubErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
|
||||
static void ConfigPointCloudReturnMode(LdsHub* lds_hub);
|
||||
static void ConfigImuPushFrequency(LdsHub* lds_hub);
|
||||
static void ConfigLidarsOfHub(LdsHub* lds_hub);
|
||||
static void SetCoordinateCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void
|
||||
HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle,
|
||||
HubSetImuPushFrequencyResponse *response,
|
||||
void *clent_data);
|
||||
static void HubErrorStatusCb(livox_status status, uint8_t handle,
|
||||
ErrorMessage *message);
|
||||
static void ConfigPointCloudReturnMode(LdsHub *lds_hub);
|
||||
static void ConfigImuPushFrequency(LdsHub *lds_hub);
|
||||
static void ConfigLidarsOfHub(LdsHub *lds_hub);
|
||||
|
||||
void ResetLdsHub(void);
|
||||
void StateReset(void);
|
||||
int AddBroadcastCodeToWhitelist(const char* broadcast_code);
|
||||
bool IsBroadcastCodeExistInWhitelist(const char* broadcast_code);
|
||||
int AddBroadcastCodeToWhitelist(const char *broadcast_code);
|
||||
bool IsBroadcastCodeExistInWhitelist(const char *broadcast_code);
|
||||
void UpdateHubLidarinfo(void);
|
||||
|
||||
void EnableAutoConnectMode(void) { auto_connect_mode_ = true; }
|
||||
void DisableAutoConnectMode(void) { auto_connect_mode_ = false; }
|
||||
bool IsAutoConnectMode(void) { return auto_connect_mode_; }
|
||||
int ParseConfigFile(const char* pathname);
|
||||
int AddRawUserConfig(UserRawConfig& config);
|
||||
bool IsExistInRawConfig(const char* broadcast_code);
|
||||
int GetRawConfig(const char* broadcast_code, UserRawConfig& config);
|
||||
int ParseConfigFile(const char *pathname);
|
||||
int AddRawUserConfig(UserRawConfig &config);
|
||||
bool IsExistInRawConfig(const char *broadcast_code);
|
||||
int GetRawConfig(const char *broadcast_code, UserRawConfig &config);
|
||||
bool IsAllLidarSetBitsClear() {
|
||||
for(int i=0; i<kMaxLidarCount; i++) {
|
||||
for (int i = 0; i < kMaxLidarCount; i++) {
|
||||
if (lidars_[i].config.set_bits) {
|
||||
return false;
|
||||
}
|
||||
@@ -111,5 +118,5 @@ class LdsHub : public Lds {
|
||||
UserRawConfig hub_raw_config_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,25 +24,28 @@
|
||||
|
||||
#include "lds_lidar.h"
|
||||
|
||||
#include <memory>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <thread>
|
||||
#include <memory>
|
||||
|
||||
#include "rapidjson/document.h"
|
||||
#include "rapidjson/stringbuffer.h"
|
||||
#include "rapidjson/filereadstream.h"
|
||||
#include "rapidjson/stringbuffer.h"
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
/** Const varible ------------------------------------------------------------------------------- */
|
||||
/** Const varible
|
||||
* -------------------------------------------------------------------------------
|
||||
*/
|
||||
/** For callback use only */
|
||||
LdsLidar* g_lds_ldiar = nullptr;
|
||||
LdsLidar *g_lds_ldiar = nullptr;
|
||||
|
||||
/** Global function for common use
|
||||
* ---------------------------------------------------------------*/
|
||||
|
||||
/** Global function for common use ---------------------------------------------------------------*/
|
||||
|
||||
/** Lds lidar function ---------------------------------------------------------------------------*/
|
||||
/** Lds lidar function
|
||||
* ---------------------------------------------------------------------------*/
|
||||
LdsLidar::LdsLidar(uint32_t interval_ms) : Lds(interval_ms, kSourceRawLidar) {
|
||||
auto_connect_mode_ = true;
|
||||
is_initialized_ = false;
|
||||
@@ -53,15 +56,11 @@ LdsLidar::LdsLidar(uint32_t interval_ms) : Lds(interval_ms, kSourceRawLidar) {
|
||||
ResetLdsLidar();
|
||||
}
|
||||
|
||||
LdsLidar::~LdsLidar() {
|
||||
LdsLidar::~LdsLidar() {}
|
||||
|
||||
}
|
||||
void LdsLidar::ResetLdsLidar(void) { ResetLds(kSourceRawLidar); }
|
||||
|
||||
void LdsLidar::ResetLdsLidar(void) {
|
||||
ResetLds(kSourceRawLidar);
|
||||
}
|
||||
|
||||
int LdsLidar::InitLdsLidar(std::vector<std::string>& broadcast_code_strs,\
|
||||
int LdsLidar::InitLdsLidar(std::vector<std::string> &broadcast_code_strs,
|
||||
const char *user_config_path) {
|
||||
if (is_initialized_) {
|
||||
printf("LiDAR data source is already inited!\n");
|
||||
@@ -76,7 +75,8 @@ int LdsLidar::InitLdsLidar(std::vector<std::string>& broadcast_code_strs,\
|
||||
|
||||
LivoxSdkVersion _sdkversion;
|
||||
GetLivoxSdkVersion(&_sdkversion);
|
||||
printf("Livox SDK version %d.%d.%d\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
|
||||
printf("Livox SDK version %d.%d.%d\n", _sdkversion.major, _sdkversion.minor,
|
||||
_sdkversion.patch);
|
||||
|
||||
SetBroadcastCallback(OnDeviceBroadcast);
|
||||
SetDeviceStateUpdateCallback(OnDeviceChange);
|
||||
@@ -93,12 +93,13 @@ int LdsLidar::InitLdsLidar(std::vector<std::string>& broadcast_code_strs,\
|
||||
printf("Disable auto connect mode!\n");
|
||||
|
||||
printf("List all broadcast code in whiltelist:\n");
|
||||
for (uint32_t i=0; i<whitelist_count_; i++) {
|
||||
for (uint32_t i = 0; i < whitelist_count_; i++) {
|
||||
printf("%s\n", broadcast_code_whitelist_[i]);
|
||||
}
|
||||
} else {
|
||||
EnableAutoConnectMode();
|
||||
printf("No broadcast code was added to whitelist, swith to automatic connection mode!\n");
|
||||
printf("No broadcast code was added to whitelist, swith to automatic "
|
||||
"connection mode!\n");
|
||||
}
|
||||
|
||||
if (enable_timesync_) {
|
||||
@@ -127,7 +128,7 @@ int LdsLidar::InitLdsLidar(std::vector<std::string>& broadcast_code_strs,\
|
||||
if (g_lds_ldiar == nullptr) {
|
||||
g_lds_ldiar = this;
|
||||
}
|
||||
is_initialized_= true;
|
||||
is_initialized_ = true;
|
||||
printf("Livox-SDK init success!\n");
|
||||
|
||||
return 0;
|
||||
@@ -150,33 +151,32 @@ int LdsLidar::DeInitLdsLidar(void) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
void LdsLidar::PrepareExit(void) {
|
||||
DeInitLdsLidar();
|
||||
}
|
||||
void LdsLidar::PrepareExit(void) { DeInitLdsLidar(); }
|
||||
|
||||
/** Static function in LdsLidar for callback or event process ------------------------------------*/
|
||||
/** Static function in LdsLidar for callback or event process
|
||||
* ------------------------------------*/
|
||||
|
||||
/** Receiving point cloud data from Livox LiDAR. */
|
||||
void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
|
||||
uint32_t data_num, void *client_data) {
|
||||
using namespace std;
|
||||
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(client_data);
|
||||
LivoxEthPacket* eth_packet = data;
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(client_data);
|
||||
LivoxEthPacket *eth_packet = data;
|
||||
|
||||
if (!data || !data_num || (handle >= kMaxLidarCount)) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_lidar = &lds_lidar->lidars_[handle];
|
||||
LidarDevice *p_lidar = &lds_lidar->lidars_[handle];
|
||||
LidarPacketStatistic *packet_statistic = &p_lidar->statistic_info;
|
||||
LdsStamp cur_timestamp;
|
||||
memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp, sizeof(cur_timestamp));
|
||||
|
||||
memcpy(cur_timestamp.stamp_bytes, eth_packet->timestamp,
|
||||
sizeof(cur_timestamp));
|
||||
|
||||
if (kImu != eth_packet->data_type) {
|
||||
if (eth_packet->timestamp_type == kTimestampTypePps) {
|
||||
if ((cur_timestamp.stamp< packet_statistic->last_timestamp) && \
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_timestamp) &&
|
||||
(cur_timestamp.stamp < kPacketTimeGap)) { // whether a new sync frame
|
||||
|
||||
auto cur_time = std::chrono::high_resolution_clock::now();
|
||||
@@ -189,28 +189,30 @@ void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
|
||||
|
||||
LidarDataQueue *p_queue = &p_lidar->data;
|
||||
if (nullptr == p_queue->storage_packet) {
|
||||
uint32_t queue_size = CalculatePacketQueueSize(lds_lidar->buffer_time_ms_, \
|
||||
uint32_t queue_size = CalculatePacketQueueSize(lds_lidar->buffer_time_ms_,
|
||||
eth_packet->data_type);
|
||||
queue_size = queue_size * 16; /* 16 multiple the min size */
|
||||
InitQueue(p_queue, queue_size);
|
||||
printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle, p_lidar->info.broadcast_code, \
|
||||
queue_size, p_queue->size);
|
||||
printf("Lidar%02d[%s] queue size : %d %d\n", p_lidar->handle,
|
||||
p_lidar->info.broadcast_code, queue_size, p_queue->size);
|
||||
}
|
||||
|
||||
if (!QueueIsFull(p_queue)) {
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,\
|
||||
GetEthPacketLen(eth_packet->data_type), packet_statistic->timebase, \
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(eth_packet->data_type),
|
||||
packet_statistic->timebase,
|
||||
GetPointsPerPacket(eth_packet->data_type));
|
||||
}
|
||||
} else {
|
||||
if (eth_packet->timestamp_type == kTimestampTypePps) {
|
||||
if ((cur_timestamp.stamp< packet_statistic->last_imu_timestamp) && \
|
||||
if ((cur_timestamp.stamp < packet_statistic->last_imu_timestamp) &&
|
||||
(cur_timestamp.stamp < kPacketTimeGap)) { // whether a new sync frame
|
||||
|
||||
auto cur_time = std::chrono::high_resolution_clock::now();
|
||||
int64_t sync_time = cur_time.time_since_epoch().count();
|
||||
|
||||
packet_statistic->imu_timebase = sync_time; // used receive time as timebase
|
||||
packet_statistic->imu_timebase =
|
||||
sync_time; // used receive time as timebase
|
||||
}
|
||||
}
|
||||
packet_statistic->last_imu_timestamp = cur_timestamp.stamp;
|
||||
@@ -219,13 +221,14 @@ void LdsLidar::OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
|
||||
if (nullptr == p_queue->storage_packet) {
|
||||
uint32_t queue_size = 256;
|
||||
InitQueue(p_queue, queue_size);
|
||||
printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle, \
|
||||
printf("Lidar%02d[%s] imu queue size : %d %d\n", p_lidar->handle,
|
||||
p_lidar->info.broadcast_code, queue_size, p_queue->size);
|
||||
}
|
||||
|
||||
if (!QueueIsFull(p_queue) && (cur_timestamp.stamp >= 0)) {
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,\
|
||||
GetEthPacketLen(eth_packet->data_type), packet_statistic->timebase, \
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(eth_packet->data_type),
|
||||
packet_statistic->timebase,
|
||||
GetPointsPerPacket(eth_packet->data_type));
|
||||
}
|
||||
}
|
||||
@@ -237,15 +240,17 @@ void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
|
||||
}
|
||||
|
||||
if (info->dev_type == kDeviceTypeHub) {
|
||||
printf("In lidar mode, couldn't connect a hub : %s\n", info->broadcast_code);
|
||||
printf("In lidar mode, couldn't connect a hub : %s\n",
|
||||
info->broadcast_code);
|
||||
return;
|
||||
}
|
||||
|
||||
if (g_lds_ldiar->IsAutoConnectMode()) {
|
||||
printf("In automatic connection mode, will connect %s\n", info->broadcast_code);
|
||||
printf("In automatic connection mode, will connect %s\n",
|
||||
info->broadcast_code);
|
||||
} else {
|
||||
if (!g_lds_ldiar->IsBroadcastCodeExistInWhitelist(info->broadcast_code)) {
|
||||
printf("Not in the whitelist, please add %s to if want to connect!\n",\
|
||||
printf("Not in the whitelist, please add %s to if want to connect!\n",
|
||||
info->broadcast_code);
|
||||
return;
|
||||
}
|
||||
@@ -257,7 +262,7 @@ void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
|
||||
if (result == kStatusSuccess && handle < kMaxLidarCount) {
|
||||
SetDataCallback(handle, OnLidarDataCb, (void *)g_lds_ldiar);
|
||||
|
||||
LidarDevice* p_lidar = &(g_lds_ldiar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(g_lds_ldiar->lidars_[handle]);
|
||||
p_lidar->handle = handle;
|
||||
p_lidar->connect_state = kConnectStateOff;
|
||||
|
||||
@@ -275,7 +280,8 @@ void LdsLidar::OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
|
||||
p_lidar->config.return_mode = config.return_mode;
|
||||
p_lidar->config.coordinate = config.coordinate;
|
||||
p_lidar->config.imu_rate = config.imu_rate;
|
||||
p_lidar->config.extrinsic_parameter_source = config.extrinsic_parameter_source;
|
||||
p_lidar->config.extrinsic_parameter_source =
|
||||
config.extrinsic_parameter_source;
|
||||
} else {
|
||||
printf("Add lidar to connect is failed : %d %d \n", result, handle);
|
||||
}
|
||||
@@ -292,7 +298,7 @@ void LdsLidar::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_lidar = &(g_lds_ldiar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(g_lds_ldiar->lidars_[handle]);
|
||||
if (type == kEventConnect) {
|
||||
QueryDeviceInformation(handle, DeviceInformationCb, g_lds_ldiar);
|
||||
if (p_lidar->connect_state == kConnectStateOff) {
|
||||
@@ -307,10 +313,9 @@ void LdsLidar::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
}
|
||||
|
||||
if (p_lidar->connect_state == kConnectStateOn) {
|
||||
printf("Lidar[%s] status_code[%d] working state[%d] feature[%d]\n", \
|
||||
p_lidar->info.broadcast_code,\
|
||||
p_lidar->info.status.status_code.error_code,\
|
||||
p_lidar->info.state,\
|
||||
printf("Lidar[%s] status_code[%d] working state[%d] feature[%d]\n",
|
||||
p_lidar->info.broadcast_code,
|
||||
p_lidar->info.status.status_code.error_code, p_lidar->info.state,
|
||||
p_lidar->info.feature);
|
||||
SetErrorMessageCallback(handle, LidarErrorStatusCb);
|
||||
|
||||
@@ -324,19 +329,22 @@ void LdsLidar::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
p_lidar->config.set_bits |= kConfigCoordinate;
|
||||
|
||||
if (kDeviceTypeLidarMid40 != info->type) {
|
||||
LidarSetPointCloudReturnMode(handle, (PointCloudReturnMode)(p_lidar->config.return_mode),\
|
||||
LidarSetPointCloudReturnMode(
|
||||
handle, (PointCloudReturnMode)(p_lidar->config.return_mode),
|
||||
SetPointCloudReturnModeCb, g_lds_ldiar);
|
||||
p_lidar->config.set_bits |= kConfigReturnMode;
|
||||
}
|
||||
|
||||
if (kDeviceTypeLidarMid40 != info->type) {
|
||||
LidarSetImuPushFrequency(handle, (ImuFreq)(p_lidar->config.imu_rate),\
|
||||
LidarSetImuPushFrequency(handle, (ImuFreq)(p_lidar->config.imu_rate),
|
||||
SetImuRatePushFrequencyCb, g_lds_ldiar);
|
||||
p_lidar->config.set_bits |= kConfigImuRate;
|
||||
}
|
||||
|
||||
if (p_lidar->config.extrinsic_parameter_source == kExtrinsicParameterFromLidar) {
|
||||
LidarGetExtrinsicParameter(handle, GetLidarExtrinsicParameterCb, g_lds_ldiar);
|
||||
if (p_lidar->config.extrinsic_parameter_source ==
|
||||
kExtrinsicParameterFromLidar) {
|
||||
LidarGetExtrinsicParameter(handle, GetLidarExtrinsicParameterCb,
|
||||
g_lds_ldiar);
|
||||
}
|
||||
|
||||
p_lidar->connect_state = kConnectStateConfig;
|
||||
@@ -345,22 +353,22 @@ void LdsLidar::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
|
||||
}
|
||||
|
||||
/** Query the firmware version of Livox LiDAR. */
|
||||
void LdsLidar::DeviceInformationCb(livox_status status, uint8_t handle, \
|
||||
DeviceInformationResponse *ack, void *clent_data) {
|
||||
void LdsLidar::DeviceInformationCb(livox_status status, uint8_t handle,
|
||||
DeviceInformationResponse *ack,
|
||||
void *clent_data) {
|
||||
if (status != kStatusSuccess) {
|
||||
printf("Device Query Informations Failed : %d\n", status);
|
||||
}
|
||||
if (ack) {
|
||||
printf("firmware version: %d.%d.%d.%d\n",
|
||||
ack->firmware_version[0],
|
||||
ack->firmware_version[1],
|
||||
ack->firmware_version[2],
|
||||
printf("firmware version: %d.%d.%d.%d\n", ack->firmware_version[0],
|
||||
ack->firmware_version[1], ack->firmware_version[2],
|
||||
ack->firmware_version[3]);
|
||||
}
|
||||
}
|
||||
|
||||
/** Callback function of Lidar error message. */
|
||||
void LdsLidar::LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message) {
|
||||
void LdsLidar::LidarErrorStatusCb(livox_status status, uint8_t handle,
|
||||
ErrorMessage *message) {
|
||||
static uint32_t error_message_count = 0;
|
||||
if (message != NULL) {
|
||||
++error_message_count;
|
||||
@@ -375,25 +383,24 @@ void LdsLidar::LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMess
|
||||
printf("fan_status : %u\n", message->lidar_error_code.fan_status);
|
||||
printf("self_heating : %u\n", message->lidar_error_code.self_heating);
|
||||
printf("ptp_status : %u\n", message->lidar_error_code.ptp_status);
|
||||
printf("time_sync_status : %u\n", message->lidar_error_code.time_sync_status);
|
||||
printf("time_sync_status : %u\n",
|
||||
message->lidar_error_code.time_sync_status);
|
||||
printf("system_status : %u\n", message->lidar_error_code.system_status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void LdsLidar::ControlFanCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void *clent_data) {
|
||||
void LdsLidar::ControlFanCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {}
|
||||
|
||||
}
|
||||
|
||||
void LdsLidar::SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
void LdsLidar::SetPointCloudReturnModeCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
LidarDevice* p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
|
||||
if (status == kStatusSuccess) {
|
||||
p_lidar->config.set_bits &= ~((uint32_t)(kConfigReturnMode));
|
||||
@@ -405,20 +412,21 @@ void LdsLidar::SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
|
||||
} else {
|
||||
LidarSetPointCloudReturnMode(handle, (PointCloudReturnMode)(p_lidar->config.return_mode),\
|
||||
LidarSetPointCloudReturnMode(
|
||||
handle, (PointCloudReturnMode)(p_lidar->config.return_mode),
|
||||
SetPointCloudReturnModeCb, lds_lidar);
|
||||
printf("Set return mode fail, try again!\n");
|
||||
}
|
||||
}
|
||||
|
||||
void LdsLidar::SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
void LdsLidar::SetCoordinateCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
LidarDevice* p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
|
||||
if (status == kStatusSuccess) {
|
||||
p_lidar->config.set_bits &= ~((uint32_t)(kConfigCoordinate));
|
||||
@@ -439,14 +447,14 @@ void LdsLidar::SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
}
|
||||
|
||||
void LdsLidar::SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
void LdsLidar::SetImuRatePushFrequencyCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
LidarDevice* p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
|
||||
if (status == kStatusSuccess) {
|
||||
p_lidar->config.set_bits &= ~((uint32_t)(kConfigImuRate));
|
||||
@@ -458,28 +466,28 @@ void LdsLidar::SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
}
|
||||
|
||||
} else {
|
||||
LidarSetImuPushFrequency(handle, (ImuFreq)(p_lidar->config.imu_rate),\
|
||||
LidarSetImuPushFrequency(handle, (ImuFreq)(p_lidar->config.imu_rate),
|
||||
SetImuRatePushFrequencyCb, g_lds_ldiar);
|
||||
printf("Set imu rate fail, try again!\n");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/** Callback function of get LiDARs' extrinsic parameter. */
|
||||
void LdsLidar::GetLidarExtrinsicParameterCb(livox_status status, uint8_t handle, \
|
||||
void LdsLidar::GetLidarExtrinsicParameterCb(
|
||||
livox_status status, uint8_t handle,
|
||||
LidarGetExtrinsicParameterResponse *response, void *clent_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (status == kStatusSuccess) {
|
||||
if (response != nullptr) {
|
||||
printf("Lidar[%d] get ExtrinsicParameter status[%d] response[%d]\n", \
|
||||
printf("Lidar[%d] get ExtrinsicParameter status[%d] response[%d]\n",
|
||||
handle, status, response->ret_code);
|
||||
LidarDevice* p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
ExtrinsicParameter* p_extrinsic = &p_lidar->extrinsic_parameter;
|
||||
p_extrinsic->euler[0] = static_cast<float>(response->roll* PI / 180.0);
|
||||
LidarDevice *p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
ExtrinsicParameter *p_extrinsic = &p_lidar->extrinsic_parameter;
|
||||
p_extrinsic->euler[0] = static_cast<float>(response->roll * PI / 180.0);
|
||||
p_extrinsic->euler[1] = static_cast<float>(response->pitch * PI / 180.0);
|
||||
p_extrinsic->euler[2] = static_cast<float>(response->yaw * PI / 180.0);
|
||||
p_extrinsic->trans[0] = static_cast<float>(response->x / 1000.0);
|
||||
@@ -504,65 +512,65 @@ void LdsLidar::GetLidarExtrinsicParameterCb(livox_status status, uint8_t handle,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/** Callback function of starting sampling. */
|
||||
void LdsLidar::StartSampleCb(livox_status status, uint8_t handle, \
|
||||
void LdsLidar::StartSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(clent_data);
|
||||
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
|
||||
LidarDevice* p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
LidarDevice *p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
if (status == kStatusSuccess) {
|
||||
if (response != 0) {
|
||||
p_lidar->connect_state = kConnectStateOn;
|
||||
printf("Lidar start sample fail : state[%d] handle[%d] res[%d]\n", \
|
||||
status, handle, response);
|
||||
printf("Lidar start sample fail : state[%d] handle[%d] res[%d]\n", status,
|
||||
handle, response);
|
||||
} else {
|
||||
printf("Lidar start sample success\n");
|
||||
}
|
||||
} else if (status == kStatusTimeout) {
|
||||
p_lidar->connect_state = kConnectStateOn;
|
||||
printf("Lidar start sample timeout : state[%d] handle[%d] res[%d]\n", \
|
||||
printf("Lidar start sample timeout : state[%d] handle[%d] res[%d]\n",
|
||||
status, handle, response);
|
||||
}
|
||||
}
|
||||
|
||||
/** Callback function of stopping sampling. */
|
||||
void LdsLidar::StopSampleCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void *clent_data) {
|
||||
}
|
||||
void LdsLidar::StopSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data) {}
|
||||
|
||||
void LdsLidar::SetRmcSyncTimeCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void* client_data) {
|
||||
void LdsLidar::SetRmcSyncTimeCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *client_data) {
|
||||
if (handle >= kMaxLidarCount) {
|
||||
return;
|
||||
}
|
||||
printf("Set lidar[%d] sync time status[%d] response[%d]\n", handle, status, response);
|
||||
printf("Set lidar[%d] sync time status[%d] response[%d]\n", handle, status,
|
||||
response);
|
||||
}
|
||||
|
||||
void LdsLidar::ReceiveSyncTimeCallback(const char* rmc, uint32_t rmc_length, void* client_data) {
|
||||
LdsLidar* lds_lidar = static_cast<LdsLidar *>(client_data);
|
||||
//std::unique_lock<std::mutex> lock(mtx);
|
||||
LidarDevice* p_lidar = nullptr;
|
||||
void LdsLidar::ReceiveSyncTimeCallback(const char *rmc, uint32_t rmc_length,
|
||||
void *client_data) {
|
||||
LdsLidar *lds_lidar = static_cast<LdsLidar *>(client_data);
|
||||
// std::unique_lock<std::mutex> lock(mtx);
|
||||
LidarDevice *p_lidar = nullptr;
|
||||
for (uint8_t handle = 0; handle < kMaxLidarCount; handle++) {
|
||||
p_lidar = &(lds_lidar->lidars_[handle]);
|
||||
if (p_lidar->connect_state == kConnectStateSampling && \
|
||||
if (p_lidar->connect_state == kConnectStateSampling &&
|
||||
p_lidar->info.state == kLidarStateNormal) {
|
||||
livox_status status = LidarSetRmcSyncTime(handle, rmc, rmc_length, \
|
||||
livox_status status = LidarSetRmcSyncTime(handle, rmc, rmc_length,
|
||||
SetRmcSyncTimeCb, lds_lidar);
|
||||
if (status != kStatusSuccess) {
|
||||
printf("Set GPRMC synchronization time error code: %d.\n",status);
|
||||
printf("Set GPRMC synchronization time error code: %d.\n", status);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/** Add broadcast code to whitelist */
|
||||
int LdsLidar::AddBroadcastCodeToWhitelist(const char* broadcast_code) {
|
||||
if (!broadcast_code || (strlen(broadcast_code) > kBroadcastCodeSize) || \
|
||||
int LdsLidar::AddBroadcastCodeToWhitelist(const char *broadcast_code) {
|
||||
if (!broadcast_code || (strlen(broadcast_code) > kBroadcastCodeSize) ||
|
||||
(whitelist_count_ >= kMaxLidarCount)) {
|
||||
return -1;
|
||||
}
|
||||
@@ -578,13 +586,14 @@ int LdsLidar::AddBroadcastCodeToWhitelist(const char* broadcast_code) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool LdsLidar::IsBroadcastCodeExistInWhitelist(const char* broadcast_code) {
|
||||
bool LdsLidar::IsBroadcastCodeExistInWhitelist(const char *broadcast_code) {
|
||||
if (!broadcast_code) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (uint32_t i=0; i<whitelist_count_; i++) {
|
||||
if (strncmp(broadcast_code, broadcast_code_whitelist_[i], kBroadcastCodeSize) == 0) {
|
||||
for (uint32_t i = 0; i < whitelist_count_; i++) {
|
||||
if (strncmp(broadcast_code, broadcast_code_whitelist_[i],
|
||||
kBroadcastCodeSize) == 0) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -592,106 +601,125 @@ bool LdsLidar::IsBroadcastCodeExistInWhitelist(const char* broadcast_code) {
|
||||
return false;
|
||||
}
|
||||
|
||||
int LdsLidar::ParseTimesyncConfig(rapidjson::Document& doc) {
|
||||
int LdsLidar::ParseTimesyncConfig(rapidjson::Document &doc) {
|
||||
do {
|
||||
if (!doc.HasMember("timesync_config") || !doc["timesync_config"].IsObject()) break;
|
||||
if (!doc.HasMember("timesync_config") || !doc["timesync_config"].IsObject())
|
||||
break;
|
||||
|
||||
const rapidjson::Value& object = doc["timesync_config"];
|
||||
if (!object.IsObject()) break;
|
||||
const rapidjson::Value &object = doc["timesync_config"];
|
||||
if (!object.IsObject())
|
||||
break;
|
||||
|
||||
if(!object.HasMember("enable_timesync") || !object["enable_timesync"].IsBool()) break;
|
||||
if (!object.HasMember("enable_timesync") ||
|
||||
!object["enable_timesync"].IsBool())
|
||||
break;
|
||||
enable_timesync_ = object["enable_timesync"].GetBool();
|
||||
|
||||
if(!object.HasMember("device_name") || !object["device_name"].IsString()) break;
|
||||
if (!object.HasMember("device_name") || !object["device_name"].IsString())
|
||||
break;
|
||||
std::string device_name = object["device_name"].GetString();
|
||||
std::strncpy(timesync_config_.dev_config.name, device_name.c_str(),\
|
||||
std::strncpy(timesync_config_.dev_config.name, device_name.c_str(),
|
||||
sizeof(timesync_config_.dev_config.name));
|
||||
|
||||
if(!object.HasMember("comm_device_type") || !object["comm_device_type"].IsInt()) break;
|
||||
if (!object.HasMember("comm_device_type") ||
|
||||
!object["comm_device_type"].IsInt())
|
||||
break;
|
||||
timesync_config_.dev_config.type = object["comm_device_type"].GetInt();
|
||||
|
||||
if (timesync_config_.dev_config.type == kCommDevUart) {
|
||||
if(!object.HasMember("baudrate_index") || !object["baudrate_index"].IsInt()) break;
|
||||
timesync_config_.dev_config.config.uart.baudrate = object["baudrate_index"].GetInt();
|
||||
if (!object.HasMember("baudrate_index") ||
|
||||
!object["baudrate_index"].IsInt())
|
||||
break;
|
||||
timesync_config_.dev_config.config.uart.baudrate =
|
||||
object["baudrate_index"].GetInt();
|
||||
|
||||
if(!object.HasMember("parity_index") || !object["parity_index"].IsInt()) break;
|
||||
timesync_config_.dev_config.config.uart.parity = object["parity_index"].GetInt();
|
||||
if (!object.HasMember("parity_index") || !object["parity_index"].IsInt())
|
||||
break;
|
||||
timesync_config_.dev_config.config.uart.parity =
|
||||
object["parity_index"].GetInt();
|
||||
}
|
||||
|
||||
if (enable_timesync_) {
|
||||
printf("Enable timesync : \n");
|
||||
if (timesync_config_.dev_config.type == kCommDevUart) {
|
||||
printf("Uart[%s],baudrate index[%d],parity index[%d]\n", timesync_config_.dev_config.name,\
|
||||
timesync_config_.dev_config.config.uart.baudrate,\
|
||||
printf("Uart[%s],baudrate index[%d],parity index[%d]\n",
|
||||
timesync_config_.dev_config.name,
|
||||
timesync_config_.dev_config.config.uart.baudrate,
|
||||
timesync_config_.dev_config.config.uart.parity);
|
||||
}
|
||||
} else {
|
||||
printf("Disable timesync\n");
|
||||
}
|
||||
return 0;
|
||||
}while(0);
|
||||
} while (0);
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
/** Config file process */
|
||||
int LdsLidar::ParseConfigFile(const char* pathname) {
|
||||
FILE* raw_file = std::fopen(pathname, "rb");
|
||||
if(!raw_file) {
|
||||
int LdsLidar::ParseConfigFile(const char *pathname) {
|
||||
FILE *raw_file = std::fopen(pathname, "rb");
|
||||
if (!raw_file) {
|
||||
printf("Open json config file fail!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
char read_buffer[32768];
|
||||
rapidjson::FileReadStream config_file(raw_file, read_buffer, sizeof(read_buffer));
|
||||
rapidjson::FileReadStream config_file(raw_file, read_buffer,
|
||||
sizeof(read_buffer));
|
||||
|
||||
rapidjson::Document doc;
|
||||
if(!doc.ParseStream(config_file).HasParseError()) {
|
||||
if(doc.HasMember("lidar_config") && doc["lidar_config"].IsArray()) {
|
||||
const rapidjson::Value& array = doc["lidar_config"];
|
||||
if (!doc.ParseStream(config_file).HasParseError()) {
|
||||
if (doc.HasMember("lidar_config") && doc["lidar_config"].IsArray()) {
|
||||
const rapidjson::Value &array = doc["lidar_config"];
|
||||
size_t len = array.Size();
|
||||
for(size_t i=0; i<len; i++) {
|
||||
const rapidjson::Value& object = array[i];
|
||||
if(object.IsObject()) {
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
const rapidjson::Value &object = array[i];
|
||||
if (object.IsObject()) {
|
||||
UserRawConfig config;
|
||||
memset(&config, 0, sizeof(config));
|
||||
if(object.HasMember("broadcast_code") && object["broadcast_code"].IsString()) {
|
||||
if (object.HasMember("broadcast_code") &&
|
||||
object["broadcast_code"].IsString()) {
|
||||
std::string broadcast_code = object["broadcast_code"].GetString();
|
||||
std::strncpy(config.broadcast_code, broadcast_code.c_str(),\
|
||||
std::strncpy(config.broadcast_code, broadcast_code.c_str(),
|
||||
sizeof(config.broadcast_code));
|
||||
} else {
|
||||
printf("User config file parse error\n");
|
||||
continue;
|
||||
}
|
||||
|
||||
if(object.HasMember("enable_connect") && object["enable_connect"].IsBool()) {
|
||||
if (object.HasMember("enable_connect") &&
|
||||
object["enable_connect"].IsBool()) {
|
||||
config.enable_connect = object["enable_connect"].GetBool();
|
||||
}
|
||||
if(object.HasMember("enable_fan") && object["enable_fan"].IsBool()) {
|
||||
if (object.HasMember("enable_fan") && object["enable_fan"].IsBool()) {
|
||||
config.enable_fan = object["enable_fan"].GetBool();
|
||||
}
|
||||
if(object.HasMember("return_mode") && object["return_mode"].IsInt()) {
|
||||
if (object.HasMember("return_mode") &&
|
||||
object["return_mode"].IsInt()) {
|
||||
config.return_mode = object["return_mode"].GetInt();
|
||||
}
|
||||
if(object.HasMember("coordinate") && object["coordinate"].IsInt()) {
|
||||
if (object.HasMember("coordinate") && object["coordinate"].IsInt()) {
|
||||
config.coordinate = object["coordinate"].GetInt();
|
||||
}
|
||||
if(object.HasMember("imu_rate") && object["imu_rate"].IsInt()) {
|
||||
if (object.HasMember("imu_rate") && object["imu_rate"].IsInt()) {
|
||||
config.imu_rate = object["imu_rate"].GetInt();
|
||||
}
|
||||
if(object.HasMember("extrinsic_parameter_source") && \
|
||||
if (object.HasMember("extrinsic_parameter_source") &&
|
||||
object["extrinsic_parameter_source"].IsInt()) {
|
||||
config.extrinsic_parameter_source = object["extrinsic_parameter_source"].GetInt();
|
||||
config.extrinsic_parameter_source =
|
||||
object["extrinsic_parameter_source"].GetInt();
|
||||
}
|
||||
|
||||
printf("broadcast code[%s] : %d %d %d %d %d %d\n", config.broadcast_code, \
|
||||
config.enable_connect, config.enable_fan, config.return_mode,\
|
||||
config.coordinate, config.imu_rate, config.extrinsic_parameter_source);
|
||||
printf("broadcast code[%s] : %d %d %d %d %d %d\n",
|
||||
config.broadcast_code, config.enable_connect,
|
||||
config.enable_fan, config.return_mode, config.coordinate,
|
||||
config.imu_rate, config.extrinsic_parameter_source);
|
||||
if (config.enable_connect) {
|
||||
if (!AddBroadcastCodeToWhitelist(config.broadcast_code)) {
|
||||
if (AddRawUserConfig(config)) {
|
||||
printf("Raw config is already exist : %s \n", config.broadcast_code);
|
||||
printf("Raw config is already exist : %s \n",
|
||||
config.broadcast_code);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -704,7 +732,8 @@ int LdsLidar::ParseConfigFile(const char* pathname) {
|
||||
enable_timesync_ = false;
|
||||
}
|
||||
} else {
|
||||
printf("User config file parse error[%d]\n", doc.ParseStream(config_file).HasParseError());
|
||||
printf("User config file parse error[%d]\n",
|
||||
doc.ParseStream(config_file).HasParseError());
|
||||
}
|
||||
|
||||
std::fclose(raw_file);
|
||||
@@ -712,7 +741,7 @@ int LdsLidar::ParseConfigFile(const char* pathname) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
int LdsLidar::AddRawUserConfig(UserRawConfig& config) {
|
||||
int LdsLidar::AddRawUserConfig(UserRawConfig &config) {
|
||||
if (IsExistInRawConfig(config.broadcast_code)) {
|
||||
return -1;
|
||||
}
|
||||
@@ -723,13 +752,14 @@ int LdsLidar::AddRawUserConfig(UserRawConfig& config) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool LdsLidar::IsExistInRawConfig(const char* broadcast_code) {
|
||||
bool LdsLidar::IsExistInRawConfig(const char *broadcast_code) {
|
||||
if (broadcast_code == nullptr) {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (auto ite_config : raw_config_) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code, kBroadcastCodeSize) == 0) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code,
|
||||
kBroadcastCodeSize) == 0) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
@@ -737,13 +767,14 @@ bool LdsLidar::IsExistInRawConfig(const char* broadcast_code) {
|
||||
return false;
|
||||
}
|
||||
|
||||
int LdsLidar::GetRawConfig(const char* broadcast_code, UserRawConfig& config) {
|
||||
int LdsLidar::GetRawConfig(const char *broadcast_code, UserRawConfig &config) {
|
||||
if (broadcast_code == nullptr) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
for (auto ite_config : raw_config_) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code, kBroadcastCodeSize) == 0) {
|
||||
if (strncmp(ite_config.broadcast_code, broadcast_code,
|
||||
kBroadcastCodeSize) == 0) {
|
||||
config.enable_fan = ite_config.enable_fan;
|
||||
config.return_mode = ite_config.return_mode;
|
||||
config.coordinate = ite_config.coordinate;
|
||||
@@ -756,4 +787,4 @@ int LdsLidar::GetRawConfig(const char* broadcast_code, UserRawConfig& config) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -32,9 +32,8 @@
|
||||
|
||||
#include "lds.h"
|
||||
#include "livox_sdk.h"
|
||||
#include "timesync.h"
|
||||
#include "rapidjson/document.h"
|
||||
|
||||
#include "timesync.h"
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
@@ -42,57 +41,65 @@ namespace livox_ros {
|
||||
* LiDAR data source, data from dependent lidar.
|
||||
*/
|
||||
class LdsLidar : public Lds {
|
||||
public:
|
||||
static LdsLidar* GetInstance(uint32_t interval_ms) {
|
||||
public:
|
||||
static LdsLidar *GetInstance(uint32_t interval_ms) {
|
||||
static LdsLidar lds_lidar(interval_ms);
|
||||
return &lds_lidar;
|
||||
}
|
||||
|
||||
int InitLdsLidar(std::vector<std::string>& broadcast_code_strs, const char *user_config_path);
|
||||
int InitLdsLidar(std::vector<std::string> &broadcast_code_strs,
|
||||
const char *user_config_path);
|
||||
int DeInitLdsLidar(void);
|
||||
|
||||
private:
|
||||
private:
|
||||
LdsLidar(uint32_t interval_ms);
|
||||
LdsLidar(const LdsLidar&) = delete;
|
||||
LdsLidar(const LdsLidar &) = delete;
|
||||
~LdsLidar();
|
||||
LdsLidar& operator=(const LdsLidar&) = delete;
|
||||
LdsLidar &operator=(const LdsLidar &) = delete;
|
||||
virtual void PrepareExit(void);
|
||||
|
||||
static void OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,\
|
||||
static void OnLidarDataCb(uint8_t handle, LivoxEthPacket *data,
|
||||
uint32_t data_num, void *client_data);
|
||||
static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
|
||||
static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
|
||||
static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
||||
static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
||||
static void DeviceInformationCb(livox_status status, uint8_t handle, \
|
||||
DeviceInformationResponse *ack, void *clent_data);
|
||||
static void LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
|
||||
static void ControlFanCb(livox_status status, uint8_t handle, \
|
||||
static void StartSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
||||
static void StopSampleCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetCoordinateCb(livox_status status, uint8_t handle, \
|
||||
static void DeviceInformationCb(livox_status status, uint8_t handle,
|
||||
DeviceInformationResponse *ack,
|
||||
void *clent_data);
|
||||
static void LidarErrorStatusCb(livox_status status, uint8_t handle,
|
||||
ErrorMessage *message);
|
||||
static void ControlFanCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
||||
static void SetPointCloudReturnModeCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetRmcSyncTimeCb(livox_status status, uint8_t handle, \
|
||||
uint8_t response, void* client_data);
|
||||
static void ReceiveSyncTimeCallback(const char* rmc, uint32_t rmc_length, void* client_data);
|
||||
static void GetLidarExtrinsicParameterCb(livox_status status, uint8_t handle, \
|
||||
LidarGetExtrinsicParameterResponse *response, void *clent_data);
|
||||
static void SetCoordinateCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetImuRatePushFrequencyCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *clent_data);
|
||||
static void SetRmcSyncTimeCb(livox_status status, uint8_t handle,
|
||||
uint8_t response, void *client_data);
|
||||
static void ReceiveSyncTimeCallback(const char *rmc, uint32_t rmc_length,
|
||||
void *client_data);
|
||||
static void
|
||||
GetLidarExtrinsicParameterCb(livox_status status, uint8_t handle,
|
||||
LidarGetExtrinsicParameterResponse *response,
|
||||
void *clent_data);
|
||||
|
||||
void ResetLdsLidar(void);
|
||||
int AddBroadcastCodeToWhitelist(const char* broadcast_code);
|
||||
bool IsBroadcastCodeExistInWhitelist(const char* broadcast_code);
|
||||
int AddBroadcastCodeToWhitelist(const char *broadcast_code);
|
||||
bool IsBroadcastCodeExistInWhitelist(const char *broadcast_code);
|
||||
|
||||
void EnableAutoConnectMode(void) { auto_connect_mode_ = true; }
|
||||
void DisableAutoConnectMode(void) { auto_connect_mode_ = false; }
|
||||
bool IsAutoConnectMode(void) { return auto_connect_mode_; }
|
||||
int ParseTimesyncConfig(rapidjson::Document& doc);
|
||||
int ParseConfigFile(const char* pathname);
|
||||
int AddRawUserConfig(UserRawConfig& config);
|
||||
bool IsExistInRawConfig(const char* broadcast_code);
|
||||
int GetRawConfig(const char* broadcast_code, UserRawConfig& config);
|
||||
int ParseTimesyncConfig(rapidjson::Document &doc);
|
||||
int ParseConfigFile(const char *pathname);
|
||||
int AddRawUserConfig(UserRawConfig &config);
|
||||
bool IsExistInRawConfig(const char *broadcast_code);
|
||||
int GetRawConfig(const char *broadcast_code, UserRawConfig &config);
|
||||
|
||||
bool auto_connect_mode_;
|
||||
uint32_t whitelist_count_;
|
||||
@@ -105,5 +112,5 @@ class LdsLidar : public Lds {
|
||||
TimeSyncConfig timesync_config_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,31 +24,36 @@
|
||||
|
||||
#include "lds_lvx.h"
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <thread>
|
||||
#include <memory>
|
||||
#include <functional>
|
||||
|
||||
#include "lvx_file.h"
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
/** Const varible -------------------------------------------------------------------------------- */
|
||||
/** Const varible
|
||||
* --------------------------------------------------------------------------------
|
||||
*/
|
||||
const uint32_t kMaxPacketsNumOfFrame = 8192;
|
||||
|
||||
/** For device connect use ---------------------------------------------------------------------- */
|
||||
/** For device connect use
|
||||
* ---------------------------------------------------------------------- */
|
||||
LdsLvx::LdsLvx(uint32_t interval_ms) : Lds(interval_ms, kSourceLvxFile) {
|
||||
start_read_lvx_ = false;
|
||||
is_initialized_ = false;
|
||||
lvx_file_ = std::make_shared<LvxFileHandle>();
|
||||
packets_of_frame_.buffer_capacity = kMaxPacketsNumOfFrame * sizeof(LvxFilePacket);
|
||||
packets_of_frame_.packet = new uint8_t[kMaxPacketsNumOfFrame * sizeof(LvxFilePacket)];
|
||||
packets_of_frame_.buffer_capacity =
|
||||
kMaxPacketsNumOfFrame * sizeof(LvxFilePacket);
|
||||
packets_of_frame_.packet =
|
||||
new uint8_t[kMaxPacketsNumOfFrame * sizeof(LvxFilePacket)];
|
||||
}
|
||||
|
||||
LdsLvx::~LdsLvx() {
|
||||
if (packets_of_frame_.packet != nullptr) {
|
||||
delete [] packets_of_frame_.packet;
|
||||
delete[] packets_of_frame_.packet;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -57,8 +62,7 @@ void LdsLvx::PrepareExit(void) {
|
||||
printf("Lvx to rosbag convert complete and exit!\n");
|
||||
}
|
||||
|
||||
|
||||
int LdsLvx::InitLdsLvx(const char* lvx_path) {
|
||||
int LdsLvx::InitLdsLvx(const char *lvx_path) {
|
||||
if (is_initialized_) {
|
||||
printf("Livox file data source is already inited!\n");
|
||||
return -1;
|
||||
@@ -84,14 +88,14 @@ int LdsLvx::InitLdsLvx(const char* lvx_path) {
|
||||
}
|
||||
printf("LvxFile[%s] have %d lidars\n", lvx_path, lidar_count_);
|
||||
|
||||
for (int i=0; i<lidar_count_; i++) {
|
||||
for (int i = 0; i < lidar_count_; i++) {
|
||||
LvxFileDeviceInfo lvx_dev_info;
|
||||
lvx_file_->GetDeviceInfo(i, &lvx_dev_info);
|
||||
lidars_[i].handle = i;
|
||||
lidars_[i].connect_state = kConnectStateSampling;
|
||||
lidars_[i].info.handle = i;
|
||||
lidars_[i].info.type = lvx_dev_info.device_type;
|
||||
memcpy(lidars_[i].info.broadcast_code, lvx_dev_info.lidar_broadcast_code,\
|
||||
memcpy(lidars_[i].info.broadcast_code, lvx_dev_info.lidar_broadcast_code,
|
||||
sizeof(lidars_[i].info.broadcast_code));
|
||||
|
||||
if (lvx_file_->GetFileVersion() == kLvxFileV1) {
|
||||
@@ -100,8 +104,8 @@ int LdsLvx::InitLdsLvx(const char* lvx_path) {
|
||||
lidars_[i].data_src = kSourceLvxFile;
|
||||
}
|
||||
|
||||
ExtrinsicParameter* p_extrinsic = &lidars_[i].extrinsic_parameter;
|
||||
p_extrinsic->euler[0] = lvx_dev_info.roll* PI / 180.0;
|
||||
ExtrinsicParameter *p_extrinsic = &lidars_[i].extrinsic_parameter;
|
||||
p_extrinsic->euler[0] = lvx_dev_info.roll * PI / 180.0;
|
||||
p_extrinsic->euler[1] = lvx_dev_info.pitch * PI / 180.0;
|
||||
p_extrinsic->euler[2] = lvx_dev_info.yaw * PI / 180.0;
|
||||
p_extrinsic->trans[0] = lvx_dev_info.x;
|
||||
@@ -116,7 +120,8 @@ int LdsLvx::InitLdsLvx(const char* lvx_path) {
|
||||
InitQueue(&lidars_[i].imu_data, queue_size);
|
||||
}
|
||||
|
||||
t_read_lvx_ = std::make_shared<std::thread>(std::bind(&LdsLvx::ReadLvxFile, this));
|
||||
t_read_lvx_ =
|
||||
std::make_shared<std::thread>(std::bind(&LdsLvx::ReadLvxFile, this));
|
||||
is_initialized_ = true;
|
||||
|
||||
StartRead();
|
||||
@@ -126,7 +131,8 @@ int LdsLvx::InitLdsLvx(const char* lvx_path) {
|
||||
|
||||
/** Global function in LdsLvx for callback */
|
||||
void LdsLvx::ReadLvxFile() {
|
||||
while (!start_read_lvx_);
|
||||
while (!start_read_lvx_)
|
||||
;
|
||||
printf("Start to read lvx file.\n");
|
||||
|
||||
int file_state = kLvxFileOk;
|
||||
@@ -135,40 +141,45 @@ void LdsLvx::ReadLvxFile() {
|
||||
file_state = lvx_file_->GetPacketsOfFrame(&packets_of_frame_);
|
||||
if (!file_state) {
|
||||
uint32_t data_size = packets_of_frame_.data_size;
|
||||
uint8_t* packet_base = packets_of_frame_.packet;
|
||||
uint8_t *packet_base = packets_of_frame_.packet;
|
||||
uint32_t data_offset = 0;
|
||||
while (data_offset < data_size) {
|
||||
LivoxEthPacket* eth_packet;
|
||||
LivoxEthPacket *eth_packet;
|
||||
int32_t handle;
|
||||
uint8_t data_type;
|
||||
if (lvx_file_->GetFileVersion()) {
|
||||
LvxFilePacket* detail_packet = (LvxFilePacket*)&packet_base[data_offset];
|
||||
eth_packet = (LivoxEthPacket*)(&detail_packet->version);
|
||||
LvxFilePacket *detail_packet =
|
||||
(LvxFilePacket *)&packet_base[data_offset];
|
||||
eth_packet = (LivoxEthPacket *)(&detail_packet->version);
|
||||
handle = detail_packet->device_index;
|
||||
} else {
|
||||
LvxFilePacketV0* detail_packet = (LvxFilePacketV0*)&packet_base[data_offset];
|
||||
eth_packet = (LivoxEthPacket*)(&detail_packet->version);
|
||||
LvxFilePacketV0 *detail_packet =
|
||||
(LvxFilePacketV0 *)&packet_base[data_offset];
|
||||
eth_packet = (LivoxEthPacket *)(&detail_packet->version);
|
||||
handle = detail_packet->device_index;
|
||||
}
|
||||
data_type = eth_packet->data_type;
|
||||
data_offset += (GetEthPacketLen(data_type) + 1); /* packet length + device index */
|
||||
data_offset +=
|
||||
(GetEthPacketLen(data_type) + 1); /* packet length + device index */
|
||||
if (data_type != kImu) {
|
||||
LidarDataQueue* p_queue = &lidars_[handle].data;
|
||||
LidarDataQueue *p_queue = &lidars_[handle].data;
|
||||
if ((p_queue != nullptr) && (handle < lidar_count_)) {
|
||||
while(QueueIsFull(p_queue)) {
|
||||
while (QueueIsFull(p_queue)) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
||||
}
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet, GetEthPacketLen(data_type),
|
||||
0, GetPointsPerPacket(data_type));
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(data_type), 0,
|
||||
GetPointsPerPacket(data_type));
|
||||
}
|
||||
} else {
|
||||
LidarDataQueue* p_queue = &lidars_[handle].imu_data;
|
||||
LidarDataQueue *p_queue = &lidars_[handle].imu_data;
|
||||
if ((p_queue != nullptr) && (handle < lidar_count_)) {
|
||||
while(QueueIsFull(p_queue)) {
|
||||
while (QueueIsFull(p_queue)) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
||||
}
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet, GetEthPacketLen(data_type),
|
||||
0, GetPointsPerPacket(data_type));
|
||||
QueuePushAny(p_queue, (uint8_t *)eth_packet,
|
||||
GetEthPacketLen(data_type), 0,
|
||||
GetPointsPerPacket(data_type));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -187,15 +198,22 @@ void LdsLvx::ReadLvxFile() {
|
||||
}
|
||||
}
|
||||
|
||||
while(IsAllQueueEmpty()) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
||||
int32_t wait_cnt = 10;
|
||||
while (!IsAllQueueEmpty()) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(50));
|
||||
if (IsAllQueueReadStop()) {
|
||||
--wait_cnt;
|
||||
if (wait_cnt <= 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
RequestExit();
|
||||
}
|
||||
|
||||
bool LdsLvx::IsAllQueueEmpty() {
|
||||
for (int i=0; i<lidar_count_; i++) {
|
||||
LidarDevice* p_lidar = &lidars_[i];
|
||||
for (int i = 0; i < lidar_count_; i++) {
|
||||
LidarDevice *p_lidar = &lidars_[i];
|
||||
if (!QueueIsEmpty(&p_lidar->data)) {
|
||||
return false;
|
||||
}
|
||||
@@ -204,4 +222,17 @@ bool LdsLvx::IsAllQueueEmpty() {
|
||||
return true;
|
||||
}
|
||||
|
||||
bool LdsLvx::IsAllQueueReadStop() {
|
||||
static uint32_t remain_size[kMaxSourceLidar];
|
||||
for (int i = 0; i < lidar_count_; i++) {
|
||||
LidarDevice *p_lidar = &lidars_[i];
|
||||
if (remain_size[i] != QueueIsEmpty(&p_lidar->data)) {
|
||||
remain_size[i] = QueueIsEmpty(&p_lidar->data);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -39,21 +39,21 @@ namespace livox_ros {
|
||||
* Lidar data source abstract.
|
||||
*/
|
||||
class LdsLvx : public Lds {
|
||||
public:
|
||||
static LdsLvx* GetInstance(uint32_t interval_ms) {
|
||||
public:
|
||||
static LdsLvx *GetInstance(uint32_t interval_ms) {
|
||||
static LdsLvx lds_lvx(interval_ms);
|
||||
return &lds_lvx;
|
||||
}
|
||||
|
||||
int InitLdsLvx(const char* lvx_path);
|
||||
int InitLdsLvx(const char *lvx_path);
|
||||
int DeInitLdsLvx(void);
|
||||
void PrepareExit(void);
|
||||
|
||||
private:
|
||||
private:
|
||||
LdsLvx(uint32_t interval_ms);
|
||||
LdsLvx(const LdsLvx&) = delete;
|
||||
LdsLvx(const LdsLvx &) = delete;
|
||||
~LdsLvx();
|
||||
LdsLvx& operator=(const LdsLvx&) = delete;
|
||||
LdsLvx &operator=(const LdsLvx &) = delete;
|
||||
|
||||
void StartRead() { start_read_lvx_ = true; }
|
||||
void StopRead() { start_read_lvx_ = false; }
|
||||
@@ -61,6 +61,7 @@ class LdsLvx : public Lds {
|
||||
|
||||
void ReadLvxFile();
|
||||
bool IsAllQueueEmpty();
|
||||
bool IsAllQueueReadStop();
|
||||
|
||||
volatile bool is_initialized_;
|
||||
OutPacketBuffer packets_of_frame_;
|
||||
@@ -69,5 +70,5 @@ class LdsLvx : public Lds {
|
||||
volatile bool start_read_lvx_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -22,18 +22,18 @@
|
||||
// SOFTWARE.
|
||||
//
|
||||
|
||||
#include <vector>
|
||||
#include <chrono>
|
||||
#include "include/livox_ros_driver.h"
|
||||
|
||||
#include <chrono>
|
||||
#include <vector>
|
||||
|
||||
#include "lddc.h"
|
||||
#include "lds_hub.h"
|
||||
#include "lds_lidar.h"
|
||||
#include "lds_lvx.h"
|
||||
#include "livox_sdk.h"
|
||||
#include <ros/ros.h>
|
||||
|
||||
#include "lds_lvx.h"
|
||||
#include "lds_lidar.h"
|
||||
#include "lds_hub.h"
|
||||
#include "lddc.h"
|
||||
#include "include/livox_ros_driver.h"
|
||||
|
||||
using namespace livox_ros;
|
||||
|
||||
const int32_t kSdkVersionMajorLimit = 2;
|
||||
@@ -43,7 +43,8 @@ int main(int argc, char **argv) {
|
||||
ROS_INFO("Livox Ros Driver Version: %s", LIVOX_ROS_DRIVER_VERSION_STRING);
|
||||
|
||||
/** Ros related */
|
||||
if(ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug)) {
|
||||
if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME,
|
||||
ros::console::levels::Debug)) {
|
||||
ros::console::notifyLoggerLevelsChanged();
|
||||
}
|
||||
ros::init(argc, argv, "livox_lidar_publisher");
|
||||
@@ -53,8 +54,8 @@ int main(int argc, char **argv) {
|
||||
LivoxSdkVersion _sdkversion;
|
||||
GetLivoxSdkVersion(&_sdkversion);
|
||||
if (_sdkversion.major < kSdkVersionMajorLimit) {
|
||||
ROS_INFO("The SDK version[%d.%d.%d] is too low", \
|
||||
_sdkversion.major, _sdkversion.minor, _sdkversion.patch);
|
||||
ROS_INFO("The SDK version[%d.%d.%d] is too low", _sdkversion.major,
|
||||
_sdkversion.minor, _sdkversion.patch);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -62,7 +63,7 @@ int main(int argc, char **argv) {
|
||||
int xfer_format = kPointCloud2Msg;
|
||||
int multi_topic = 0;
|
||||
int data_src = kSourceRawLidar;
|
||||
double publish_freq = 50.0; /* Hz */
|
||||
double publish_freq = 20.0; /* Hz */
|
||||
int output_type = kOutputToRos;
|
||||
|
||||
livox_node.getParam("xfer_format", xfer_format);
|
||||
@@ -72,7 +73,8 @@ int main(int argc, char **argv) {
|
||||
livox_node.getParam("output_data_type", output_type);
|
||||
|
||||
/** Lidar data distribute control and lidar data source set */
|
||||
Lddc* lddc = new Lddc(xfer_format, multi_topic, data_src, output_type, publish_freq);
|
||||
Lddc *lddc =
|
||||
new Lddc(xfer_format, multi_topic, data_src, output_type, publish_freq);
|
||||
lddc->SetRosNode(&livox_node);
|
||||
|
||||
int ret = 0;
|
||||
@@ -89,7 +91,7 @@ int main(int argc, char **argv) {
|
||||
std::vector<std::string> bd_code_list;
|
||||
ParseCommandlineInputBdCode(cmdline_bd_code.c_str(), bd_code_list);
|
||||
|
||||
LdsLidar* read_lidar = LdsLidar::GetInstance(1000/publish_freq);
|
||||
LdsLidar *read_lidar = LdsLidar::GetInstance(1000 / publish_freq);
|
||||
lddc->RegisterLds(static_cast<Lds *>(read_lidar));
|
||||
ret = read_lidar->InitLdsLidar(bd_code_list, user_config_path.c_str());
|
||||
if (!ret) {
|
||||
@@ -110,7 +112,7 @@ int main(int argc, char **argv) {
|
||||
std::vector<std::string> bd_code_list;
|
||||
ParseCommandlineInputBdCode(cmdline_bd_code.c_str(), bd_code_list);
|
||||
|
||||
LdsHub* read_hub = LdsHub::GetInstance(1000/publish_freq);
|
||||
LdsHub *read_hub = LdsHub::GetInstance(1000 / publish_freq);
|
||||
lddc->RegisterLds(static_cast<Lds *>(read_hub));
|
||||
ret = read_hub->InitLdsHub(bd_code_list, user_config_path.c_str());
|
||||
if (!ret) {
|
||||
@@ -135,7 +137,7 @@ int main(int argc, char **argv) {
|
||||
rosbag_file_path = cmdline_file_path.substr(0, path_end_pos);
|
||||
rosbag_file_path += ".bag";
|
||||
|
||||
LdsLvx* read_lvx = LdsLvx::GetInstance(1000/publish_freq);
|
||||
LdsLvx *read_lvx = LdsLvx::GetInstance(1000 / publish_freq);
|
||||
lddc->RegisterLds(static_cast<Lds *>(read_lvx));
|
||||
lddc->CreateBagFile(rosbag_file_path);
|
||||
int ret = read_lvx->InitLdsLvx(cmdline_file_path.c_str());
|
||||
@@ -144,11 +146,15 @@ int main(int argc, char **argv) {
|
||||
} else {
|
||||
ROS_ERROR("Init lds lvx file fail!");
|
||||
}
|
||||
} while(0);
|
||||
} while (0);
|
||||
}
|
||||
|
||||
ros::Time::init();
|
||||
ros::Rate r(publish_freq);
|
||||
double poll_freq = publish_freq;
|
||||
if (data_src == kSourceLvxFile) {
|
||||
poll_freq = 2000;
|
||||
}
|
||||
ros::Rate r(poll_freq);
|
||||
while (ros::ok()) {
|
||||
lddc->DistributeLidarData();
|
||||
r.sleep();
|
||||
@@ -156,5 +162,3 @@ int main(int argc, char **argv) {
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -23,23 +23,24 @@
|
||||
//
|
||||
|
||||
#include "lvx_file.h"
|
||||
#include <time.h>
|
||||
#include <string.h>
|
||||
#include <cmath>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
|
||||
#include "lds.h"
|
||||
#include "rapidxml/rapidxml.hpp"
|
||||
#include "rapidxml/rapidxml_utils.hpp"
|
||||
#include "lds.h"
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
#define M_PI 3.14159265358979323846
|
||||
|
||||
const uint32_t kMaxLvxFileHeaderLength = 16 * 1024;
|
||||
const char* kLvxHeaderSigStr = "livox_tech";
|
||||
const char *kLvxHeaderSigStr = "livox_tech";
|
||||
const uint32_t kLvxHeaderMagicCode = 0xac0ea767;
|
||||
|
||||
LvxFileHandle::LvxFileHandle() : file_ver_(kLvxFileV1), device_count_(0), cur_frame_index_(0),
|
||||
LvxFileHandle::LvxFileHandle()
|
||||
: file_ver_(kLvxFileV1), device_count_(0), cur_frame_index_(0),
|
||||
cur_offset_(0), data_start_offset_(0), size_(0), mode_(0), state_(0) {
|
||||
memset((void *)&public_header_, 0, sizeof(public_header_));
|
||||
memset((void *)&private_header_, 0, sizeof(private_header_));
|
||||
@@ -60,8 +61,9 @@ bool LvxFileHandle::ReadAndCheckHeader() {
|
||||
}
|
||||
*/
|
||||
if (public_header_.version[1] > kLvxFileV1) {
|
||||
printf("Unkown lvx file version[%d.%d.%d.%d]\n", public_header_.version[0], \
|
||||
public_header_.version[1], public_header_.version[2], public_header_.version[3]);
|
||||
printf("Unkown lvx file version[%d.%d.%d.%d]\n", public_header_.version[0],
|
||||
public_header_.version[1], public_header_.version[2],
|
||||
public_header_.version[3]);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -73,11 +75,13 @@ bool LvxFileHandle::ReadAndCheckHeader() {
|
||||
|
||||
uint64_t LvxFileHandle::MiniFileSize() {
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeader) + \
|
||||
sizeof(LvxFileDeviceInfo) + sizeof(FrameHeader) + sizeof(LvxFilePacket));
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeader) +
|
||||
sizeof(LvxFileDeviceInfo) + sizeof(FrameHeader) +
|
||||
sizeof(LvxFilePacket));
|
||||
} else {
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeaderV0) + \
|
||||
sizeof(LvxFileDeviceInfoV0) + sizeof(FrameHeaderV0) + sizeof(LvxFilePacketV0));
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeaderV0) +
|
||||
sizeof(LvxFileDeviceInfoV0) + sizeof(FrameHeaderV0) +
|
||||
sizeof(LvxFilePacketV0));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -87,16 +91,16 @@ uint64_t LvxFileHandle::PrivateHeaderOffset() {
|
||||
|
||||
uint64_t LvxFileHandle::DataStartOffset() {
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeader) + \
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeader) +
|
||||
sizeof(LvxFileDeviceInfo) * private_header_.device_count);
|
||||
} else {
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeaderV0) + \
|
||||
return (sizeof(LvxFilePublicHeader) + sizeof(LvxFilePrivateHeaderV0) +
|
||||
sizeof(LvxFileDeviceInfoV0) * private_header_v0_.device_count);
|
||||
}
|
||||
}
|
||||
|
||||
bool LvxFileHandle::AddAndCheckDeviceInfo() {
|
||||
lvx_file_.seekg (PrivateHeaderOffset(), std::ios::beg);
|
||||
lvx_file_.seekg(PrivateHeaderOffset(), std::ios::beg);
|
||||
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
lvx_file_.read((char *)(&private_header_), sizeof(private_header_));
|
||||
@@ -110,16 +114,16 @@ bool LvxFileHandle::AddAndCheckDeviceInfo() {
|
||||
return false;
|
||||
}
|
||||
|
||||
for (int i=0; i< device_count_; i++) {
|
||||
for (int i = 0; i < device_count_; i++) {
|
||||
LvxFileDeviceInfo device_info;
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
lvx_file_.read((char *)(&device_info), sizeof(LvxFileDeviceInfo));
|
||||
} else { /* device info v0 to v1 */
|
||||
LvxFileDeviceInfoV0 device_info_v0;
|
||||
lvx_file_.read((char *)(&device_info_v0), sizeof(LvxFileDeviceInfoV0));
|
||||
memcpy((void *)&device_info, (void *)&device_info_v0, \
|
||||
memcpy((void *)&device_info, (void *)&device_info_v0,
|
||||
&device_info.extrinsic_enable - device_info.lidar_broadcast_code);
|
||||
memcpy((void *)&device_info.roll, (void *)&device_info_v0.roll, \
|
||||
memcpy((void *)&device_info.roll, (void *)&device_info_v0.roll,
|
||||
sizeof(float) * 6);
|
||||
device_info.extrinsic_enable = 0;
|
||||
}
|
||||
@@ -130,23 +134,23 @@ bool LvxFileHandle::AddAndCheckDeviceInfo() {
|
||||
}
|
||||
|
||||
bool LvxFileHandle::PrepareDataRead() {
|
||||
lvx_file_.seekg (DataStartOffset(), std::ios::beg);
|
||||
lvx_file_.seekg(DataStartOffset(), std::ios::beg);
|
||||
|
||||
FrameHeader frame_header; /* v0&v1 compatible */
|
||||
lvx_file_.read((char *)(&frame_header), sizeof(frame_header));
|
||||
|
||||
if ((frame_header.current_offset != DataStartOffset()) ||\
|
||||
if ((frame_header.current_offset != DataStartOffset()) ||
|
||||
(frame_header.frame_index != 0)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
/** reset the read position to the start offset of data erea */
|
||||
lvx_file_.seekg (DataStartOffset(), std::ios::beg);
|
||||
lvx_file_.seekg(DataStartOffset(), std::ios::beg);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int LvxFileHandle::Open(const char* filename,std::ios_base::openmode mode) {
|
||||
int LvxFileHandle::Open(const char *filename, std::ios_base::openmode mode) {
|
||||
|
||||
if ((mode & std::ios::in) == std::ios::in) {
|
||||
state_ = kLvxFileOk;
|
||||
@@ -158,7 +162,8 @@ int LvxFileHandle::Open(const char* filename,std::ios_base::openmode mode) {
|
||||
}
|
||||
|
||||
size_ = lvx_file_.tellg();
|
||||
lvx_file_.seekg (0, std::ios::beg);
|
||||
lvx_file_.seekg(0, std::ios::beg);
|
||||
printf("Filesize %lu\n", size_);
|
||||
|
||||
if (size_ < MiniFileSize()) {
|
||||
state_ = kLvxFileSizeFault;
|
||||
@@ -192,15 +197,13 @@ int LvxFileHandle::Open(const char* filename,std::ios_base::openmode mode) {
|
||||
return state_;
|
||||
}
|
||||
|
||||
bool LvxFileHandle::Eof() {
|
||||
return lvx_file_.eof();
|
||||
}
|
||||
bool LvxFileHandle::Eof() { return lvx_file_.eof(); }
|
||||
|
||||
int LvxFileHandle::InitLvxFile() {
|
||||
time_t curtime = time(nullptr);
|
||||
char filename[30] = { 0 };
|
||||
char filename[30] = {0};
|
||||
|
||||
tm* local_time = localtime(&curtime);
|
||||
tm *local_time = localtime(&curtime);
|
||||
strftime(filename, sizeof(filename), "%Y%m%d%H%M%S", local_time);
|
||||
|
||||
return Open(filename, std::ios::out | std::ios::binary);
|
||||
@@ -217,33 +220,41 @@ void LvxFileHandle::InitLvxFileHeader() {
|
||||
public_header_.version[2] = 0;
|
||||
public_header_.version[3] = 0;
|
||||
public_header_.magic_code = kLvxHeaderMagicCode;
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&public_header_, sizeof(public_header_));
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&public_header_,
|
||||
sizeof(public_header_));
|
||||
cur_offset_ += sizeof(public_header_);
|
||||
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
private_header_.device_count = static_cast<uint8_t>(device_info_list_.size());
|
||||
private_header_.device_count =
|
||||
static_cast<uint8_t>(device_info_list_.size());
|
||||
private_header_.frame_duration = frame_duration_;
|
||||
device_count_ = private_header_.device_count;
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&private_header_, sizeof(private_header_));
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&private_header_,
|
||||
sizeof(private_header_));
|
||||
cur_offset_ += sizeof(private_header_);
|
||||
} else {
|
||||
private_header_v0_.device_count = static_cast<uint8_t>(device_info_list_.size());
|
||||
private_header_v0_.device_count =
|
||||
static_cast<uint8_t>(device_info_list_.size());
|
||||
device_count_ = private_header_v0_.device_count;
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&private_header_v0_, sizeof(private_header_v0_));
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&private_header_v0_,
|
||||
sizeof(private_header_v0_));
|
||||
cur_offset_ += sizeof(private_header_v0_);
|
||||
}
|
||||
|
||||
for (int i = 0; i < device_count_; i++) {
|
||||
if (file_ver_ == kLvxFileV1) {
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&device_info_list_[i], sizeof(LvxFileDeviceInfo));
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&device_info_list_[i],
|
||||
sizeof(LvxFileDeviceInfo));
|
||||
cur_offset_ += sizeof(LvxFileDeviceInfo);
|
||||
} else {
|
||||
LvxFileDeviceInfoV0 device_info_v0;
|
||||
memcpy((void *)&device_info_v0, (void *)&device_info_list_[i], \
|
||||
&device_info_list_[i].extrinsic_enable - device_info_list_[i].lidar_broadcast_code);
|
||||
memcpy((void *)&device_info_v0.roll, (void *)&device_info_list_[i].roll, \
|
||||
memcpy((void *)&device_info_v0, (void *)&device_info_list_[i],
|
||||
&device_info_list_[i].extrinsic_enable -
|
||||
device_info_list_[i].lidar_broadcast_code);
|
||||
memcpy((void *)&device_info_v0.roll, (void *)&device_info_list_[i].roll,
|
||||
sizeof(float) * 6);
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&device_info_v0, sizeof(device_info_v0));
|
||||
memcpy(&write_buffer[cur_offset_], (void *)&device_info_v0,
|
||||
sizeof(device_info_v0));
|
||||
cur_offset_ += sizeof(device_info_v0);
|
||||
}
|
||||
}
|
||||
@@ -251,9 +262,10 @@ void LvxFileHandle::InitLvxFileHeader() {
|
||||
lvx_file_.write(&write_buffer[cur_offset_], cur_offset_);
|
||||
}
|
||||
|
||||
void LvxFileHandle::SaveFrameToLvxFile(std::list<LvxFilePacket> &point_packet_list_temp) {
|
||||
void LvxFileHandle::SaveFrameToLvxFile(
|
||||
std::list<LvxFilePacket> &point_packet_list_temp) {
|
||||
uint64_t cur_pos = 0;
|
||||
FrameHeader frame_header = { 0 };
|
||||
FrameHeader frame_header = {0};
|
||||
std::unique_ptr<char[]> write_buffer(new char[kMaxFrameSize]);
|
||||
|
||||
frame_header.current_offset = cur_offset_;
|
||||
@@ -264,21 +276,22 @@ void LvxFileHandle::SaveFrameToLvxFile(std::list<LvxFilePacket> &point_packet_li
|
||||
|
||||
frame_header.frame_index = cur_frame_index_;
|
||||
|
||||
memcpy(write_buffer.get() + cur_pos, (void*)&frame_header, sizeof(FrameHeader));
|
||||
memcpy(write_buffer.get() + cur_pos, (void *)&frame_header,
|
||||
sizeof(FrameHeader));
|
||||
cur_pos += sizeof(FrameHeader);
|
||||
|
||||
for (auto iter : point_packet_list_temp) {
|
||||
if (cur_pos + iter.pack_size >= kMaxFrameSize) {
|
||||
lvx_file_.write((char*)write_buffer.get(), cur_pos);
|
||||
lvx_file_.write((char *)write_buffer.get(), cur_pos);
|
||||
cur_pos = 0;
|
||||
memcpy(write_buffer.get() + cur_pos, (void*)&(iter), iter.pack_size);
|
||||
memcpy(write_buffer.get() + cur_pos, (void *)&(iter), iter.pack_size);
|
||||
cur_pos += iter.pack_size;
|
||||
} else {
|
||||
memcpy(write_buffer.get() + cur_pos, (void*)&(iter), iter.pack_size);
|
||||
memcpy(write_buffer.get() + cur_pos, (void *)&(iter), iter.pack_size);
|
||||
cur_pos += iter.pack_size;
|
||||
}
|
||||
}
|
||||
lvx_file_.write((char*)write_buffer.get(), cur_pos);
|
||||
lvx_file_.write((char *)write_buffer.get(), cur_pos);
|
||||
|
||||
cur_offset_ = frame_header.next_offset;
|
||||
cur_frame_index_++;
|
||||
@@ -289,11 +302,12 @@ void LvxFileHandle::CloseLvxFile() {
|
||||
lvx_file_.close();
|
||||
}
|
||||
|
||||
void LvxFileHandle::BasePointsHandle(LivoxEthPacket *data, LvxFilePacket &packet) {
|
||||
void LvxFileHandle::BasePointsHandle(LivoxEthPacket *data,
|
||||
LvxFilePacket &packet) {
|
||||
memcpy((void *)&packet, (void *)data, GetEthPacketLen(data->data_type));
|
||||
}
|
||||
|
||||
int LvxFileHandle::GetDeviceInfo(uint8_t idx, LvxFileDeviceInfo* info) {
|
||||
int LvxFileHandle::GetDeviceInfo(uint8_t idx, LvxFileDeviceInfo *info) {
|
||||
if (idx < device_info_list_.size()) {
|
||||
*info = device_info_list_[idx];
|
||||
return 0;
|
||||
@@ -302,12 +316,19 @@ int LvxFileHandle::GetDeviceInfo(uint8_t idx, LvxFileDeviceInfo* info) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
int LvxFileHandle::GetPacketsOfFrame(OutPacketBuffer* packets_of_frame) {
|
||||
int LvxFileHandle::GetPacketsOfFrame(OutPacketBuffer *packets_of_frame) {
|
||||
if (!lvx_file_ || lvx_file_.eof()) {
|
||||
state_ = kLvxFileAtEnd;
|
||||
return kLvxFileAtEnd;
|
||||
}
|
||||
|
||||
uint64_t tmp_size = lvx_file_.tellg();
|
||||
if (tmp_size >= size_) {
|
||||
printf("At the file end %lu\n", tmp_size);
|
||||
state_ = kLvxFileAtEnd;
|
||||
return kLvxFileAtEnd;
|
||||
}
|
||||
|
||||
FrameHeader frame_header;
|
||||
FrameHeaderV0 frame_header_v0;
|
||||
uint64_t read_length;
|
||||
@@ -316,7 +337,7 @@ int LvxFileHandle::GetPacketsOfFrame(OutPacketBuffer* packets_of_frame) {
|
||||
if (!lvx_file_) {
|
||||
return kLvxFileReadFail;
|
||||
}
|
||||
if ((size_ < frame_header.current_offset) || \
|
||||
if ((size_ < frame_header.current_offset) ||
|
||||
(frame_header.next_offset < frame_header.current_offset)) {
|
||||
return kLvxFileFrameHeaderError;
|
||||
}
|
||||
@@ -327,14 +348,13 @@ int LvxFileHandle::GetPacketsOfFrame(OutPacketBuffer* packets_of_frame) {
|
||||
if (!lvx_file_) {
|
||||
return kLvxFileReadFail;
|
||||
}
|
||||
if ((size_ < frame_header_v0.current_offset) || \
|
||||
if ((size_ < frame_header_v0.current_offset) ||
|
||||
(frame_header_v0.next_offset < frame_header_v0.current_offset)) {
|
||||
return kLvxFileFrameHeaderError;
|
||||
}
|
||||
packets_of_frame->data_size = DataSizeOfFrame(frame_header_v0);
|
||||
read_length = packets_of_frame->data_size;
|
||||
}
|
||||
|
||||
lvx_file_.read((char *)(packets_of_frame->packet), read_length);
|
||||
if (lvx_file_) {
|
||||
return kLvxFileOk;
|
||||
@@ -359,18 +379,19 @@ void ParseExtrinsicXml(DeviceItem &item, LvxFileDeviceInfo &info) {
|
||||
rapidxml::file<> extrinsic_param("extrinsic.xml");
|
||||
rapidxml::xml_document<> doc;
|
||||
doc.parse<0>(extrinsic_param.data());
|
||||
rapidxml::xml_node<>* root = doc.first_node();
|
||||
rapidxml::xml_node<> *root = doc.first_node();
|
||||
if ("Livox" == (std::string)root->name()) {
|
||||
for (rapidxml::xml_node<>* device = root->first_node(); device; \
|
||||
for (rapidxml::xml_node<> *device = root->first_node(); device;
|
||||
device = device->next_sibling()) {
|
||||
if ("Device" == (std::string)device->name() && \
|
||||
(strncmp(item.info.broadcast_code, device->value(), kBroadcastCodeSize) == 0)) {
|
||||
if ("Device" == (std::string)device->name() &&
|
||||
(strncmp(item.info.broadcast_code, device->value(),
|
||||
kBroadcastCodeSize) == 0)) {
|
||||
memcpy(info.lidar_broadcast_code, device->value(), kBroadcastCodeSize);
|
||||
memset(info.hub_broadcast_code, 0, kBroadcastCodeSize);
|
||||
info.device_type = item.info.type;
|
||||
info.device_index = item.handle;
|
||||
for (rapidxml::xml_attribute<>* param = device->first_attribute(); param; \
|
||||
param = param->next_attribute()) {
|
||||
for (rapidxml::xml_attribute<> *param = device->first_attribute();
|
||||
param; param = param->next_attribute()) {
|
||||
if ("roll" == (std::string)param->name()) {
|
||||
info.roll = static_cast<float>(atof(param->value()));
|
||||
}
|
||||
@@ -395,5 +416,4 @@ void ParseExtrinsicXml(DeviceItem &item, LvxFileDeviceInfo &info) {
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -24,19 +24,19 @@
|
||||
#ifndef LIVOX_FILE_H_
|
||||
#define LIVOX_FILE_H_
|
||||
|
||||
#include <memory>
|
||||
#include <ios>
|
||||
#include <fstream>
|
||||
#include <list>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
#include "livox_sdk.h"
|
||||
#include <fstream>
|
||||
#include <ios>
|
||||
#include <list>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
#define kMaxPointSize 1500
|
||||
#define kDefaultFrameDurationTime 50
|
||||
const uint32_t kMaxFrameSize = 2048*1024;
|
||||
const uint32_t kMaxFrameSize = 2048 * 1024;
|
||||
|
||||
typedef enum {
|
||||
kDeviceStateDisconnect = 0,
|
||||
@@ -172,29 +172,31 @@ typedef struct {
|
||||
#pragma pack()
|
||||
|
||||
class LvxFileHandle {
|
||||
public:
|
||||
public:
|
||||
LvxFileHandle();
|
||||
~LvxFileHandle() = default;
|
||||
|
||||
int Open(const char* filename, std::ios_base::openmode mode);
|
||||
int Open(const char *filename, std::ios_base::openmode mode);
|
||||
bool Eof();
|
||||
|
||||
int InitLvxFile();
|
||||
void InitLvxFileHeader();
|
||||
void SaveFrameToLvxFile(std::list<LvxFilePacket>& point_packet_list_temp);
|
||||
void BasePointsHandle(LivoxEthPacket* data, LvxFilePacket& packet);
|
||||
void SaveFrameToLvxFile(std::list<LvxFilePacket> &point_packet_list_temp);
|
||||
void BasePointsHandle(LivoxEthPacket *data, LvxFilePacket &packet);
|
||||
void CloseLvxFile();
|
||||
|
||||
void AddDeviceInfo(LvxFileDeviceInfo& info) { device_info_list_.push_back(info); }
|
||||
void AddDeviceInfo(LvxFileDeviceInfo &info) {
|
||||
device_info_list_.push_back(info);
|
||||
}
|
||||
int GetDeviceInfoListSize() { return device_info_list_.size(); }
|
||||
int GetDeviceCount() { return device_count_; }
|
||||
int GetDeviceInfo(uint8_t idx, LvxFileDeviceInfo* info);
|
||||
int GetDeviceInfo(uint8_t idx, LvxFileDeviceInfo *info);
|
||||
int GetFileState(void) { return state_; };
|
||||
int GetPacketsOfFrame(OutPacketBuffer* PacketsOfFrame);
|
||||
int GetPacketsOfFrame(OutPacketBuffer *PacketsOfFrame);
|
||||
int GetLvxFileReadProgress();
|
||||
int GetFileVersion() { return file_ver_; }
|
||||
|
||||
private:
|
||||
private:
|
||||
std::fstream lvx_file_;
|
||||
std::vector<LvxFileDeviceInfo> device_info_list_;
|
||||
uint8_t file_ver_;
|
||||
@@ -219,16 +221,16 @@ class LvxFileHandle {
|
||||
bool AddAndCheckDeviceInfo();
|
||||
bool PrepareDataRead();
|
||||
|
||||
uint64_t DataSizeOfFrame(FrameHeader& frame_header) {
|
||||
return (frame_header.next_offset - frame_header.current_offset - sizeof(frame_header));
|
||||
uint64_t DataSizeOfFrame(FrameHeader &frame_header) {
|
||||
return (frame_header.next_offset - frame_header.current_offset -
|
||||
sizeof(frame_header));
|
||||
}
|
||||
|
||||
uint64_t DataSizeOfFrame(FrameHeaderV0& frame_header_v0) {
|
||||
return (frame_header_v0.next_offset - frame_header_v0.current_offset - \
|
||||
uint64_t DataSizeOfFrame(FrameHeaderV0 &frame_header_v0) {
|
||||
return (frame_header_v0.next_offset - frame_header_v0.current_offset -
|
||||
sizeof(frame_header_v0));
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -24,17 +24,18 @@
|
||||
|
||||
#include "timesync.h"
|
||||
|
||||
#include <chrono>
|
||||
#include <functional>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
#include <functional>
|
||||
|
||||
namespace livox_ros {
|
||||
using namespace std;
|
||||
|
||||
TimeSync::TimeSync() : exit_poll_state_(false), start_poll_state_(false),
|
||||
exit_poll_data_(false), start_poll_data_(false) {
|
||||
TimeSync::TimeSync()
|
||||
: exit_poll_state_(false), start_poll_state_(false), exit_poll_data_(false),
|
||||
start_poll_data_(false) {
|
||||
fsm_state_ = kOpenDev;
|
||||
uart_ = nullptr;
|
||||
comm_ = nullptr;
|
||||
@@ -43,11 +44,9 @@ TimeSync::TimeSync() : exit_poll_state_(false), start_poll_state_(false),
|
||||
rx_bytes_ = 0;
|
||||
}
|
||||
|
||||
TimeSync::~TimeSync() {
|
||||
DeInitTimeSync();
|
||||
}
|
||||
TimeSync::~TimeSync() { DeInitTimeSync(); }
|
||||
|
||||
int32_t TimeSync::InitTimeSync(const TimeSyncConfig& config) {
|
||||
int32_t TimeSync::InitTimeSync(const TimeSyncConfig &config) {
|
||||
config_ = config;
|
||||
|
||||
if (config_.dev_config.type == kCommDevUart) {
|
||||
@@ -68,8 +67,10 @@ int32_t TimeSync::InitTimeSync(const TimeSyncConfig& config) {
|
||||
config_.protocol_config.type = kGps;
|
||||
comm_ = new CommProtocol(config_.protocol_config);
|
||||
|
||||
t_poll_state_ = std::make_shared<std::thread>(std::bind(&TimeSync::PollStateLoop, this));
|
||||
t_poll_data_ = std::make_shared<std::thread>(std::bind(&TimeSync::PollDataLoop, this));
|
||||
t_poll_state_ =
|
||||
std::make_shared<std::thread>(std::bind(&TimeSync::PollStateLoop, this));
|
||||
t_poll_data_ =
|
||||
std::make_shared<std::thread>(std::bind(&TimeSync::PollDataLoop, this));
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -77,8 +78,10 @@ int32_t TimeSync::InitTimeSync(const TimeSyncConfig& config) {
|
||||
int32_t TimeSync::DeInitTimeSync() {
|
||||
StopTimesync();
|
||||
|
||||
if (uart_) delete uart_;
|
||||
if (comm_) delete comm_;
|
||||
if (uart_)
|
||||
delete uart_;
|
||||
if (comm_)
|
||||
delete comm_;
|
||||
|
||||
fn_cb_ = nullptr;
|
||||
client_data_ = nullptr;
|
||||
@@ -107,7 +110,7 @@ void TimeSync::PollStateLoop() {
|
||||
}
|
||||
|
||||
while (!exit_poll_state_) {
|
||||
if(fsm_state_ == kOpenDev) {
|
||||
if (fsm_state_ == kOpenDev) {
|
||||
FsmOpenDev();
|
||||
} else if (fsm_state_ == kPrepareDev) {
|
||||
FsmPrepareDev();
|
||||
@@ -137,7 +140,7 @@ void TimeSync::PollDataLoop() {
|
||||
memset(&packet, 0, sizeof(packet));
|
||||
while ((kParseSuccess == comm_->ParseCommStream(&packet))) {
|
||||
if ((fn_cb_ != nullptr) || (client_data_ != nullptr)) {
|
||||
fn_cb_((const char*)packet.data, packet.data_len, client_data_);
|
||||
fn_cb_((const char *)packet.data, packet.data_len, client_data_);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -149,7 +152,7 @@ void TimeSync::PollDataLoop() {
|
||||
}
|
||||
|
||||
void TimeSync::FsmTransferState(uint8_t new_state) {
|
||||
if(new_state < kFsmDevUndef) {
|
||||
if (new_state < kFsmDevUndef) {
|
||||
fsm_state_ = new_state;
|
||||
}
|
||||
transfer_time_ = chrono::steady_clock::now();
|
||||
@@ -167,7 +170,8 @@ void TimeSync::FsmOpenDev() {
|
||||
|
||||
void TimeSync::FsmPrepareDev() {
|
||||
chrono::steady_clock::time_point t = chrono::steady_clock::now();
|
||||
chrono::milliseconds time_gap = chrono::duration_cast<chrono::milliseconds>(t-transfer_time_);
|
||||
chrono::milliseconds time_gap =
|
||||
chrono::duration_cast<chrono::milliseconds>(t - transfer_time_);
|
||||
/** delay some time when device is opened, 4s */
|
||||
if (time_gap.count() > 3000) {
|
||||
FsmTransferState(kCheckDevState);
|
||||
@@ -179,7 +183,8 @@ void TimeSync::FsmCheckDevState() {
|
||||
static chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
|
||||
|
||||
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
|
||||
chrono::milliseconds time_gap = chrono::duration_cast<chrono::milliseconds>(t2 - t1);
|
||||
chrono::milliseconds time_gap =
|
||||
chrono::duration_cast<chrono::milliseconds>(t2 - t1);
|
||||
|
||||
if (time_gap.count() > 2000) { /* period : 2.5s */
|
||||
if (last_rx_bytes == rx_bytes_) {
|
||||
@@ -192,4 +197,4 @@ void TimeSync::FsmCheckDevState() {
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -25,22 +25,17 @@
|
||||
#ifndef TIMESYNC_TIMESYNC_H_
|
||||
#define TIMESYNC_TIMESYNC_H_
|
||||
|
||||
#include <thread>
|
||||
#include "comm_protocol.h"
|
||||
#include "comm_device.h"
|
||||
#include "comm_protocol.h"
|
||||
#include "user_uart.h"
|
||||
#include <thread>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
typedef void (*FnReceiveSyncTimeCb)(const char* rmc, uint32_t rmc_length, void* client_data);
|
||||
typedef void (*FnReceiveSyncTimeCb)(const char *rmc, uint32_t rmc_length,
|
||||
void *client_data);
|
||||
|
||||
|
||||
enum FsmPollState {
|
||||
kOpenDev,
|
||||
kPrepareDev,
|
||||
kCheckDevState,
|
||||
kFsmDevUndef
|
||||
};
|
||||
enum FsmPollState { kOpenDev, kPrepareDev, kCheckDevState, kFsmDevUndef };
|
||||
|
||||
typedef struct {
|
||||
CommDevConfig dev_config;
|
||||
@@ -48,21 +43,21 @@ typedef struct {
|
||||
} TimeSyncConfig;
|
||||
|
||||
class TimeSync {
|
||||
public:
|
||||
static TimeSync* GetInstance() {
|
||||
public:
|
||||
static TimeSync *GetInstance() {
|
||||
static TimeSync time_sync;
|
||||
|
||||
return &time_sync;
|
||||
}
|
||||
|
||||
int32_t InitTimeSync(const TimeSyncConfig& config);
|
||||
int32_t InitTimeSync(const TimeSyncConfig &config);
|
||||
int32_t DeInitTimeSync();
|
||||
void StartTimesync() {
|
||||
start_poll_state_ = true;
|
||||
start_poll_data_ = true;
|
||||
}
|
||||
|
||||
int32_t SetReceiveSyncTimeCb(FnReceiveSyncTimeCb cb, void* data) {
|
||||
int32_t SetReceiveSyncTimeCb(FnReceiveSyncTimeCb cb, void *data) {
|
||||
if ((cb != nullptr) || (data != nullptr)) {
|
||||
fn_cb_ = cb;
|
||||
client_data_ = data;
|
||||
@@ -72,11 +67,11 @@ class TimeSync {
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
private:
|
||||
TimeSync();
|
||||
~TimeSync();
|
||||
TimeSync(const TimeSync&) = delete;
|
||||
TimeSync& operator=(const TimeSync&) = delete;
|
||||
TimeSync(const TimeSync &) = delete;
|
||||
TimeSync &operator=(const TimeSync &) = delete;
|
||||
|
||||
void PollStateLoop();
|
||||
void PollDataLoop();
|
||||
@@ -91,12 +86,12 @@ class TimeSync {
|
||||
volatile bool start_poll_data_;
|
||||
|
||||
TimeSyncConfig config_;
|
||||
UserUart* uart_;
|
||||
CommProtocol* comm_;
|
||||
UserUart *uart_;
|
||||
CommProtocol *comm_;
|
||||
volatile uint32_t rx_bytes_;
|
||||
|
||||
FnReceiveSyncTimeCb fn_cb_;
|
||||
void* client_data_;
|
||||
void *client_data_;
|
||||
|
||||
volatile uint8_t fsm_state_;
|
||||
std::chrono::steady_clock::time_point transfer_time_;
|
||||
@@ -106,5 +101,5 @@ class TimeSync {
|
||||
void FsmCheckDevState();
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
#endif
|
||||
|
||||
@@ -22,20 +22,19 @@
|
||||
// SOFTWARE.
|
||||
//
|
||||
|
||||
|
||||
#include "user_uart.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <termios.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
|
||||
namespace livox_ros {
|
||||
|
||||
UserUart::UserUart(uint8_t baudrate_index, uint8_t parity):
|
||||
baudrate_(baudrate_index), parity_(parity) {
|
||||
UserUart::UserUart(uint8_t baudrate_index, uint8_t parity)
|
||||
: baudrate_(baudrate_index), parity_(parity) {
|
||||
fd_ = 0;
|
||||
is_open_ = false;
|
||||
}
|
||||
@@ -44,14 +43,14 @@ UserUart::~UserUart() {
|
||||
is_open_ = false;
|
||||
if (fd_ > 0) {
|
||||
/** first we flush the port */
|
||||
tcflush(fd_,TCOFLUSH);
|
||||
tcflush(fd_,TCIFLUSH);
|
||||
tcflush(fd_, TCOFLUSH);
|
||||
tcflush(fd_, TCIFLUSH);
|
||||
|
||||
close(fd_);
|
||||
}
|
||||
}
|
||||
|
||||
int UserUart::Open(const char* filename) {
|
||||
int UserUart::Open(const char *filename) {
|
||||
fd_ = open(filename, O_RDWR | O_NOCTTY); //| O_NDELAY
|
||||
if (fd_ < 0) {
|
||||
printf("Open %s fail!\n", filename);
|
||||
@@ -77,8 +76,8 @@ int UserUart::Close() {
|
||||
is_open_ = false;
|
||||
if (fd_ > 0) {
|
||||
/** first we flush the port */
|
||||
tcflush(fd_,TCOFLUSH);
|
||||
tcflush(fd_,TCIFLUSH);
|
||||
tcflush(fd_, TCOFLUSH);
|
||||
tcflush(fd_, TCIFLUSH);
|
||||
return close(fd_);
|
||||
}
|
||||
|
||||
@@ -87,11 +86,10 @@ int UserUart::Close() {
|
||||
|
||||
/** sets up the port parameters */
|
||||
int UserUart::Setup(uint8_t baudrate_index, uint8_t parity) {
|
||||
static uint32_t baud_map[19] = {\
|
||||
B2400, B4800, B9600, B19200, B38400, B57600,B115200, B230400,\
|
||||
B460800, B500000, B576000,B921600,B1152000, B1500000, B2000000,\
|
||||
B2500000, B3000000, B3500000, B4000000\
|
||||
};
|
||||
static uint32_t baud_map[19] = {
|
||||
B2400, B4800, B9600, B19200, B38400, B57600, B115200,
|
||||
B230400, B460800, B500000, B576000, B921600, B1152000, B1500000,
|
||||
B2000000, B2500000, B3000000, B3500000, B4000000};
|
||||
tcflag_t baudrate;
|
||||
struct termios options;
|
||||
|
||||
@@ -110,12 +108,12 @@ int UserUart::Setup(uint8_t baudrate_index, uint8_t parity) {
|
||||
options.c_cflag |= (CLOCAL | CREAD);
|
||||
|
||||
/** Disable hardware flow */
|
||||
//options.c_cflag &= ~CRTSCTS;
|
||||
// options.c_cflag &= ~CRTSCTS;
|
||||
|
||||
/** Disable software flow */
|
||||
//options.c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
// options.c_iflag &= ~(IXON | IXOFF | IXANY);
|
||||
|
||||
//options.c_oflag &= ~OPOST;
|
||||
// options.c_oflag &= ~OPOST;
|
||||
|
||||
/** set boadrate */
|
||||
options.c_cflag &= ~CBAUD;
|
||||
@@ -161,7 +159,7 @@ int UserUart::Setup(uint8_t baudrate_index, uint8_t parity) {
|
||||
options.c_iflag &= ~INPCK;
|
||||
|
||||
/** Enable non-canonical */
|
||||
//options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
// options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
|
||||
/** Time to wait for data */
|
||||
options.c_cc[VTIME] = 1;
|
||||
@@ -194,5 +192,4 @@ ssize_t UserUart::Read(char *buffer, size_t size) {
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
} // namespace livox_ros
|
||||
|
||||
@@ -26,9 +26,9 @@
|
||||
#define USER_UART_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/fcntl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <termios.h>
|
||||
|
||||
@@ -67,7 +67,7 @@ enum BaudRate {
|
||||
|
||||
class UserUart {
|
||||
|
||||
public:
|
||||
public:
|
||||
UserUart(uint8_t baudrate_index, uint8_t parity);
|
||||
~UserUart();
|
||||
|
||||
@@ -75,10 +75,10 @@ class UserUart {
|
||||
ssize_t Write(const char *buffer, size_t size);
|
||||
ssize_t Read(char *buffer, size_t size);
|
||||
int Close();
|
||||
int Open(const char* filename);
|
||||
int Open(const char *filename);
|
||||
bool IsOpen() { return is_open_; };
|
||||
|
||||
private:
|
||||
private:
|
||||
int fd_;
|
||||
volatile bool is_open_;
|
||||
|
||||
@@ -86,7 +86,6 @@ class UserUart {
|
||||
uint8_t parity_;
|
||||
};
|
||||
|
||||
}
|
||||
} // namespace livox_ros
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user