init

.gitignore

@@ -0,0 +1 @@
+/build/

.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

.idea/CppBuildDebug_CMakeAppBuildConfigurations.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CppBuildDebug_CppBuildConfigurations">
+    <option name="cppBuildConfigurations">
+      <list>
+        <CppBuildConfiguration>
+          <option name="buildDirectory" value="build/" />
+          <option name="buildOptions" value="-- -j 9" />
+          <option name="buildType" value="Release" />
+          <option name="cmakeOptions" value="-DCMAKE_BUILD_TYPE=Release -DCMAKE_SKIP_RPATH=TRUE" />
+          <option name="name" value="Debug" />
+          <option name="selected" value="true" />
+          <option name="toolchainName" value="build_conf_928" />
+          <option name="toolchainUuid" value="8bc3bf58-e069-4eca-a9b6-292381c929b6" />
+        </CppBuildConfiguration>
+        <CppBuildConfiguration>
+          <option name="buildDirectory" value="build/" />
+          <option name="buildOptions" value="-- -j 9" />
+          <option name="buildType" value="Release" />
+          <option name="cmakeOptions" value="-DCMAKE_BUILD_TYPE=Release -DCMAKE_SKIP_RPATH=TRUE" />
+          <option name="name" value="Release_ymj" />
+          <option name="toolchainName" value="build_conf_928" />
+          <option name="toolchainUuid" value="8bc3bf58-e069-4eca-a9b6-292381c929b6" />
+        </CppBuildConfiguration>
+      </list>
+    </option>
+    <option name="select" value="Debug" />
+  </component>
+</project>

.idea/encodings.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding">
+    <file url="file://$PROJECT_DIR$/image_framework/plugins/PlguinConfig.cpp" charset="GBK" />
+    <file url="file://$PROJECT_DIR$/image_framework/plugins/PlguinConfig.h" charset="GBK" />
+  </component>
+</project>

.idea/image_framework_ymj.iml

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+  <component name="NewModuleRootManager" inherit-compiler-output="true">
+    <exclude-output />
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/image_framework_ymj.iml" filepath="$PROJECT_DIR$/.idea/image_framework_ymj.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

CMakeLists.txt

@@ -0,0 +1,139 @@
+cmake_minimum_required(VERSION 3.24)
+
+include(${CMAKE_SOURCE_DIR}/cmake/cmakebase.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/project.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/ss928.cmake)
+
+message(STATUS "========================")
+message(STATUS ${CMAKE_SYSTEM_NAME})
+message(STATUS ${CMAKE_SYSTEM_PROCESSOR})
+message(STATUS "========================")
+
+set(CMAKE_CXX_STANDARD 14) # 设置使用C++11标准
+set(CMAKE_CXX_STANDARD_REQUIRED ON) # 确保编译器遵循C++11标准
+
+PROJECT(image_framework)
+
+set(CMAKE_SOURCE_DIR "./")
+#set(_GLIBCXX_USE_CXX11_ABI 1)
+
+# 检查Opencv版本
+find_package(OpenCV 4.10 REQUIRED)
+if(NOT OpenCV_FOUND)
+    message(FATAL_ERROR "OpenCV > 4.10 not found.")
+endif()
+MESSAGE(${OpenCV_VERSION})
+message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
+message(STATUS "OpenCV library dirs: ${OpenCV_LIBRARY_DIRS}")
+message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")
+
+
+set(OPENGL_opengl_LIBRARY /usr/lib/aarch64-linux-gnu/libOpenGL.so)
+set(OPENGL_glx_LIBRARY /usr/lib/aarch64-linux-gnu/libGLX.so)
+set(X11_X11_LIB /usr/lib/aarch64-linux-gnu/libX11.so)
+find_package(Open3D REQUIRED)
+if(NOT Open3D_FOUND)
+    message(FATAL_ERROR "Open3D not found.")
+endif()
+MESSAGE(${Open3D_VERSION})
+message(STATUS "Open3D include dirs: ${Open3D_INCLUDE_DIRS}")
+message(STATUS "Open3D library dirs: ${Open3D_LIBRARY_DIRS}")
+message(STATUS "Open3D libraries: ${Open3D_LIBRARIES}")
+
+# 检测操作系统和架构
+# if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+#    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+#        set(PLATFORM "linux/x64")
+#    elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+#        set(PLATFORM "linux/aarch64")
+#    else()
+#        message(FATAL_ERROR "Unsupported architecture on Linux")
+#    endif()
+# elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
+#    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+#        set(PLATFORM "windows/x64")
+#    else()
+#        message(FATAL_ERROR "Unsupported architecture on Windows")
+#    endif()
+# else()
+#    message(FATAL_ERROR "Unsupported operating system")
+# endif()
+
+# 输出当前系统和架构
+message(STATUS "operating system: ${PLATFORM}")
+
+# 设置输出目录
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY  "${CMAKE_SOURCE_DIR}/output/")
+
+# 设置头文件目录
+INCLUDE_DIRECTORIES(
+    "/opt/HuarayTech/MVviewer/include/"
+    /usr/local/include
+    ${CMAKE_SOURCE_DIR}/include/
+    ${CMAKE_SOURCE_DIR}/include/open3d/
+    ${CMAKE_SOURCE_DIR}/include/open3d/3rdparty
+    ${CMAKE_SOURCE_DIR}/include/eigen3/
+    ${CMAKE_SOURCE_DIR}/include/opencv4.10/
+    ${CMAKE_SOURCE_DIR}/include/Livox/
+    ${CMAKE_SOURCE_DIR}/image_framework/
+    ${CMAKE_SOURCE_DIR}/image_framework/algorithm/
+    ${CMAKE_SOURCE_DIR}/image_framework/driver/camera/
+    ${CMAKE_SOURCE_DIR}/image_framework/driver/livox/
+    ${CMAKE_SOURCE_DIR}/image_framework/plugins/
+    ${CMAKE_SOURCE_DIR}/image_framework/thead/
+    ${CMAKE_SOURCE_DIR}/image_framework/utils/Ini
+    ${CMAKE_SOURCE_DIR}/image_framework/utils/Log
+)
+
+# 设置依赖库 .a
+LINK_DIRECTORIES(
+    /usr/lib/aarch64-linux-gnu
+)
+
+# fpermissive
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
+
+# 设置原文件
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/ CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/algorithm/ CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/plugins CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/thead CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/driver/camera CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/driver/livox CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/utils/Ini CORE_LIST)
+aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/utils/Log CORE_LIST)
+
+add_executable(${PROJECT_NAME} ${CORE_LIST})
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath-link,/usr/lib/aarch64-linux-gnu")
+target_link_libraries(
+    ${PROJECT_NAME} 
+    ${SYSTEM_LINK_LIB}
+    ${OpenCV_LIBS} 
+    livox_sdk_static
+    pthread 
+    dl
+    libstdc++.so.6
+    Open3D::Open3D
+    libxcb.so.1
+    libXau.so.6
+    libXdmcp.so.6
+    libGLdispatch.so.0
+    libbsd.so
+    libbsd.so.0
+    libbsd.so.0.10.0
+)
+
+set(OUTPUT_LIB_DIR ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/lib)
+add_custom_target(cpfiles ALL DEPENDS  ${PROJECT_NAME})
+
+add_library(DetectDriver MODULE ${CORE_LIST})
+target_link_libraries(
+    DetectDriver
+    ${SYSTEM_LINK_LIB}
+    ${OpenCV_LIBS} 
+    livox_sdk_static
+    pthread 
+    dl
+)
+set_property(TARGET DetectDriver PROPERTY POSITION_INDEPENDENT_CODE ON) #添加-fPIC
+set_target_properties(DetectDriver PROPERTIES LINK_FLAGS "-fPIC")

cmake/cmakebase.cmake

@@ -0,0 +1,24 @@
+# this one is important
+SET(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR aarch64 ) 
+
+SET(CMAKE_SYSTEM_VERSION 1)
+
+SET(SYSTEM_LINK_LIB
+    /usr/lib/aarch64-linux-gnu/libpthread.so
+    /usr/lib/aarch64-linux-gnu/librt.so
+    /usr/lib/aarch64-linux-gnu/libdl.so
+    /usr/lib/aarch64-linux-gnu/libm.so
+)
+SET(DO_FLAG -DO2)
+SET(O_FLAG -O2)
+SET(CMAKE_CXX_FLAGS 
+    "${CMAKE_CXX_FLAGS} ${O_FLAG} -std=c++11 -Wno-deprecated-declarations -ffunction-sections -fdata-sections -Werror -Wno-psabi -Wno-pointer-arith -Wno-int-to-pointer-cast"
+)
+# SET(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS} -lstdc++)
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -lstdc++ -mcpu=cortex-a53 -fno-aggressive-loop-optimizations -ldl -ffunction-sections -fdata-sections -O2 -fstack-protector-strong -fPIC")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIE -pie -s -Wall -fsigned-char")
+
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
+

cmake/project.cmake

@@ -0,0 +1,94 @@
+# Project libs
+
+SET(SOC_LIBS
+
+	# MPI_LIBS
+	libss_mpi.a
+	# ISP_SUPPORT
+	libss_ae.a
+	libss_isp.a
+	libot_isp.a
+	libss_awb.a
+	libss_dehaze.a
+	libss_extend_stats.a
+	libss_drc.a
+	libss_ldci.a
+	libss_crb.a
+	libss_bnr.a
+	libss_calcflicker.a
+	libss_ir_auto.a
+	libss_acs.a
+	libss_acs.a
+	libsns_os08a20.a
+	libsns_os05a10_2l_slave.a
+	libsns_imx347_slave.a
+	libsns_imx485.a
+	libsns_os04a10.a
+	libsns_os08b10.a
+	# ss_hnr
+
+	# AUDIO_LIBA
+	libss_voice_engine.a
+	libss_upvqe.a
+	libss_dnvqe.a
+	libaac_comm.a
+	libaac_enc.a
+	libaac_dec.a
+	libaac_sbr_enc.a
+	libaac_sbr_dec.a
+
+	# memset_s memcpy_s
+	libsecurec.a
+
+	# HDMI lib
+	libss_hdmi.a
+
+	# SVP
+	libss_ive.a
+	libss_md.a
+	libss_mau.a
+	libss_dpu_rect.a
+	libss_dpu_match.a
+	libss_dsp.a
+	libascend_protobuf.a
+	libsvp_acl.a
+	libprotobuf-c.a
+
+	libacl_cblas.so
+	libacl_retr.so
+	libacl_tdt_queue.so
+	libadump.so
+	libaicpu_kernels.so
+	libaicpu_processer.so
+	libaicpu_prof.so
+	libaicpu_scheduler.so
+	libalog.so
+	libascendcl.so
+	libascend_protobuf.so
+	libcce_aicore.so
+	libcpu_kernels_context.so
+	libcpu_kernels.so
+	libc_sec.so
+	libdrv_aicpu.so
+	libdrvdevdrv.so
+	libdrv_dfx.so
+	liberror_manager.so
+	libge_common.so
+	libge_executor.so
+	libgraph.so
+	libmmpa.so
+	libmsprofiler.so
+	libmsprof.so
+	libopt_feature.so
+	libregister.so
+	libruntime.so
+	libslog.so
+	libtsdclient.so
+
+	libss_mcf.so
+	libss_mcf_vi.so
+	libss_pqp.so
+)
+
+add_definitions(-DSENSOR0_TYPE=SONY_IMX485_MIPI_8M_30FPS_12BIT)
+# add_definitions(-DUSE_NCNN_SIMPLEOCV)

cmake/ss928.cmake

@@ -0,0 +1,5 @@
+SET(PLATFORM ss928)
+SET(CMAKE_C_COMPILER   /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-gcc)
+SET(CMAKE_CXX_COMPILER /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-g++)
+SET(CMAKE_STRIP        /home/setups/aarch64-mix210-linux/aarch64-mix210-linux/bin/aarch64-mix210-linux-strip)
+SET(CMAKE_ASM_COMPILER  ${CMAKE_C_COMPILER})

image_framework/Libapi.cpp

@@ -0,0 +1,359 @@
+#include <string>
+#include <iostream>
+#include <vector>
+#include <opencv2/opencv.hpp>
+
+#include "LibapiProcessThread.h"
+#include "LibapiQueue.h"
+#include "LibapiQueues.h"
+#include "Libapi.h"
+
+#include "IniHelper.h"
+#include "Yolov5For928.h"
+
+#include "PlguinConfig.h"
+#include "MsgBase.h"
+#include "Libapi2D3D.h"
+#include "Log.h"
+#include "CameraHelper.h"
+
+// 标式系统是否已经启动
+static bool bSysIsInit = false;
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin(int idx, void* pthread)
+{
+	return 0;
+}
+
+// for test
+static void init1()
+{
+	int idx = 0;
+	//PlguinEnhance* _plguinEnhance = new PlguinEnhance();
+	//LibapiProcessThread* _thread_plguinEnhance =
+	//	new LibapiProcessThread(idx, "_plguinEnhance", (BaseRunnable*)_plguinEnhance);
+	//idx++;
+
+	//PlguinRoi* _plguinRoi = new PlguinRoi();
+	//LibapiProcessThread* _thread_plguinRoi =
+	//	new LibapiProcessThread(idx, "_plguinRoi", (BaseRunnable*)_plguinRoi);
+	//idx++;
+
+	//PlguinMotionDetection* _plguinMotionDetection = new PlguinMotionDetection();
+	//LibapiProcessThread* _thread_plguinMotionDetection =
+	//	new LibapiProcessThread(idx, "_plguinMotionDetection", (BaseRunnable*)_plguinMotionDetection);
+	//idx++;
+
+	//PlguinTrack* _plguinTrack = new PlguinTrack();
+	//LibapiProcessThread* _thread_plguinTrack =
+	//	new LibapiProcessThread(idx, "_plguinTrack", (BaseRunnable*)_plguinTrack);
+	//idx++;
+
+	//PlguinClassification* _plguinClassification = new PlguinClassification();
+	//LibapiProcessThread* _thread_plguinClassification =
+	//	new LibapiProcessThread(idx, "_plguinClassification", (BaseRunnable*)_plguinClassification);
+	//idx++;
+
+	//PlguinPostgressing* _plguinPostgressing = new PlguinPostgressing();
+	//LibapiProcessThread* _thread_plguinPostgressing =
+	//	new LibapiProcessThread(idx, "_plguinPostgressing", (BaseRunnable*)_plguinPostgressing);
+	//idx++;
+
+	//_thread_plguinEnhance->set_next_thread(_thread_plguinRoi);
+	//_thread_plguinRoi->set_next_thread(_thread_plguinMotionDetection);
+	//_thread_plguinMotionDetection->add_sub_thread(_thread_plguinTrack);
+	//_thread_plguinMotionDetection->add_sub_thread(_thread_plguinClassification);
+	//_thread_plguinMotionDetection->set_next_thread(_thread_plguinPostgressing);
+
+	//_thread_plguinEnhance->start();
+	//_thread_plguinRoi->start();
+	//_thread_plguinMotionDetection->start();
+	//_thread_plguinTrack->start();
+	//_thread_plguinClassification->start();
+	//_thread_plguinPostgressing->start();
+
+	////_thread_plguinEnhance->join();
+	////_thread_plguinRoi->join();
+	////_thread_plguinMotionDetection->join();
+	////_thread_plguinTrack->join();
+	////_thread_plguinClassification->join();
+	////_thread_plguinPostgressing->join();
+
+	////pthread = _thread_plguinEnhance;
+}
+
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin_config(void* config, void* pthread)
+{
+	return PlguinConfig::getInstance()->plguin_init_plugin_config(config, pthread);
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_create_MsgBase(char* msg_type, void** pMsg)
+{
+	if ((*pMsg) != NULL)
+	{
+		std::cout << "pMsg is not null" << std::endl;
+		assert(0);
+	}
+
+	MsgBase* _pMsg = new MsgBase();
+	//memcpy_s(_pMsg->version, sizeof(msg_type), msg_type, sizeof(msg_type));
+	memcpy(_pMsg->version, msg_type, sizeof(msg_type));
+	(*pMsg) = _pMsg;
+	return 0;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_delete_MsgBase(void* pMsg)
+{
+	MsgBase::delete_msg((MsgBase*)pMsg);
+	return 0;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy_image_to_msg(
+	void* pMsg, int pos, int param_type, void* image_data, int width, int height, int flag)
+{
+	return MsgBase::copy_image_to_msg(
+		pMsg, pos, param_type, image_data, width, height, flag);
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy(void* tar, void* src, int len)
+{
+	//memcpy_s(tar, len, src, len);
+	memcpy(tar, src, len);
+	return 0;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_bind_queue(int id, char* queue_name, int src_type)
+{
+	std::string qname(queue_name);
+	LibapiQueue<void*>* queue = Queues::create_queue(id, qname);
+	if (queue == NULL) return -1;
+	return 0;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_ubbind_queue(char* queue_name)
+{
+	std::string qname(queue_name);
+	LibapiQueue<void*>* queue = Queues::find_queue(qname);
+	if (queue == NULL) return -1;
+	Queues::delete_queue(queue);
+	return 0;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_push_to_queue(char* queue_name, void* msg)
+{
+	((MsgBase*)msg)->add_ref();
+	int ret = Queues::push_to_queue(queue_name, msg);
+	if (ret != 0)
+	{
+		int ref = ((MsgBase*)msg)->sub_ref();
+		if (ref == 0)
+			((MsgBase*)msg)->delete_msg();
+	}
+	return ret;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_pop_from_queue(char* queue_name, void** msg)
+{
+	std::string qname(queue_name);
+	LibapiQueue<void*>* queue = Queues::find_queue(qname);
+	if (queue == NULL) return -1;
+	queue->pop(*msg);
+	return 0;
+}
+
+// 初始化
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiInit(const long id, const char* info, void (*callback)(void*))
+{
+	int ret = SYS_OK;
+
+	// init config
+	GINIT();
+
+	// init yolo for 928 待优化
+	ret = CYolov5For928::Get()->Init();
+	if (ret != SYS_OK)
+		return SYS_NPU_IS_NOT_INIT;
+
+	//ret = CCameraHelper::Get()->Init();
+	//if (ret != SYS_OK)
+	//{
+	//	return SYS_CAMERA_IS_NOT_INIT;
+	//}
+
+	// 初始化CMeasureInfo
+	CMeasureInfo::Init(id, info);
+
+	// 初始化回调函数
+	MsgBase::SetCallBack(callback);
+
+	// init task
+	PlguinConfig::getInstance()->LibapiInitCameraProcessing(nullptr);
+	PlguinConfig::getInstance()->LibapiInitLidarProcessing(nullptr);
+	PlguinConfig::getInstance()->LibapiInitRoiProcessing(nullptr);
+	LibapiThread::delay_second(2);
+
+	// 标识系统已经启动
+	bSysIsInit = true; 
+
+	return ret;
+}
+
+// 启动定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiStartDetection()
+{
+	int ret = SYS_OK;
+
+	if (!bSysIsInit)
+		return SYS_IS_NOT_INIT;
+
+	MsgBase* pMsgCamera = nullptr;
+	MsgBase* pMsgLidar = nullptr;
+	char msg_type[32] = "v1.0";
+
+	libapi_create_MsgBase(msg_type, (void**)&pMsgCamera);
+	libapi_create_MsgBase(msg_type, (void**)&pMsgLidar);
+	pMsgCamera->mMsgType = "StartDetection";
+	pMsgLidar->mMsgType = "StartDetection";
+
+	ret = libapi_push_to_queue((char*)"_t_PluginCameraPro", pMsgCamera);
+	ret = libapi_push_to_queue((char*)"_t_PlguinLidarPro", pMsgLidar);
+
+	// 待优化
+	LibapiThread::delay_second(1);
+
+	return ret;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiContinuetDetection()
+{
+	int ret = SYS_OK;
+
+	if (!bSysIsInit)
+		return SYS_IS_NOT_INIT;
+
+	MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_CONTINUE);
+
+	return ret;
+}
+
+// 重新定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapRestartConnerDetection()
+{
+	int ret = SYS_OK;
+
+	if (!bSysIsInit)
+		return SYS_IS_NOT_INIT;
+
+	MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_RESTART_DETECTION);
+
+	return ret;
+}
+
+// 终止定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapStopDetection()
+{
+	int ret = SYS_OK;
+
+	if (!bSysIsInit)
+		return SYS_IS_NOT_INIT;
+
+	MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_STOP_DETECTION);
+	return ret;
+}
+
+// 获取结果
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapGetRecord(void* p)
+{
+	int ret = SYS_OK;
+
+	CallbackInfo* cbInfo = (CallbackInfo*)p;
+	CMeasureInfo* measureInfo = CMeasureInfo::Get();
+
+	if (cbInfo == nullptr || measureInfo == nullptr)
+		assert(0);
+
+	cbInfo->code = 0;
+	//cbInfo->errorInfo = "";
+	cbInfo->bGetData = true;
+	std::vector<std::shared_ptr<CSubRoi>> rois = measureInfo->GetSubRois();
+	cbInfo->roi_size = rois.size();
+	for (int i = 0; i < rois.size(); ++i)
+	{
+		std::shared_ptr<CSubRoi> roi = rois[i];
+		SubRoiData* cb_roi = &cbInfo->subRois[i];
+
+		for (int n = 0; n < (roi.get()->H).total(); ++n)
+			cb_roi->H[n] = (roi.get()->H).at<float>(0, n);
+		for (int n = 0; n < roi.get()->mRoiPoints.size(); ++n)
+		{
+			cv::Point2f p2f = roi.get()->mRoiPoints[n];
+			cb_roi->mRoiPoints[n * 2] = p2f.x;
+			cb_roi->mRoiPoints[n * 2 + 1] = p2f.y;
+		}
+		for (int n = 0; n < roi.get()->mInnerConners.size(); ++n)
+		{
+			cv::Point2f p2f = roi.get()->mInnerConners[n];
+			cb_roi->mInnerConners[n * 2] = p2f.x;
+			cb_roi->mInnerConners[n * 2 + 1] = p2f.y;
+		}
+		for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
+		{
+			cv::Point3f p3f = roi.get()->mInnerConners3D[n];
+			cb_roi->mInnerConners3D[n * 3] = p3f.x;
+			cb_roi->mInnerConners3D[n * 3 + 1] = p3f.y;
+			cb_roi->mInnerConners3D[n * 3 + 2] = p3f.z;
+		}
+		//for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
+		//{
+		//}
+
+	}
+	return ret;
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiCameraSendMsgWithImage(
+	void* image_data, int width, int height, int flag, char* type, char* queue_name)
+{
+	int ret = SYS_OK;
+	MsgBase* _pMsg = new MsgBase();
+	
+	_pMsg->mMsgType = type;
+	ret = MsgBase::copy_image_to_msg(_pMsg, PARAM_POS_SRC_IMAGE, 0, image_data, width, height, flag);
+	if (ret != SYS_OK)
+		return ret;
+
+	return libapi_push_to_queue(queue_name, _pMsg);
+}
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiGetHQImage(
+	void* image_data, int width, int height, int flag, char* type)
+{
+	int ret = SYS_OK;
+	std::shared_ptr<cv::Mat> ptr = CMeasureInfo::Get()->GetIm();
+	if (ptr != nullptr)
+	{
+		cv::Mat* imPtr = ptr.get();
+		if (imPtr != nullptr && width == imPtr->cols && height == imPtr->rows)
+		{
+			memcpy(image_data, imPtr->data, imPtr->total() * 3);
+			std::cout << "像素数量 ： " << imPtr->total() * 3 << std::endl;
+		}
+		else
+		{
+			std::cout << "cv::Mat* imPtr is None" << std::endl;
+			std::cout << imPtr << std::endl;
+			std::cout << width <<  " : " << imPtr->cols << std::endl;
+			std::cout << height << " : " << imPtr->rows << std::endl;
+			return SYS_ERROR;
+		}
+	}
+	else
+	{
+		std::cout << "ptr is None width" << std::endl;
+		return SYS_ERROR;
+	}
+	
+	return ret;
+}
+

image_framework/Libapi.h

@@ -0,0 +1,68 @@
+/*
+ **************************************************************************************
+ *		Filename:  Libapi.h
+ *		Description:   header file
+ *
+ *		Version:  1.0
+ *		Created:
+ *		Author:
+ *
+ *		Revision:  initial draft;
+ **************************************************************************************
+ */
+#pragma once
+
+ /*
+	 @desc : macro define
+ */
+#ifdef _WIN32
+#define LIBAPI_CALLMETHOD		__cdecl
+#define LIBAPI_EXPORT			__declspec(dllexport)
+#else
+#define LIBAPI_CALLMETHOD
+#define LIBAPI_EXPORT
+#endif
+
+#define SYS_BASE	1000
+#define SYS_OK 0
+#define SYS_IS_NOT_INIT			1 - SYS_BASE
+#define SYS_NPU_IS_NOT_INIT		2 - SYS_BASE
+#define SYS_ERROR				3 - SYS_BASE
+#define SYS_CAMERA_IS_NOT_INIT	4 - SYS_BASE
+#define SYS_HAS_NO_IMAGE		5 - SYS_BASE
+
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin(int idx, void* pthread);
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_init_plugin_config(void* config, void* pthread);
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_create_MsgBase(char* msg_type, void** pMsg);
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_delete_MsgBase(void* pMsg);
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy_image_to_msg(void* pMsg, int pos, int param_type,
+	void* image_data, int width, int height, int flag);
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_copy(void* tar, void* src, int len);
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_bind_queue(int id, char* queue_name, int src_type=0); //0 : c++ , 1 : python 
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_ubbind_queue(char* queue_name);
+
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_push_to_queue(char* queue_name, void* msg);
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD libapi_pop_from_queue(char* queue_name, void** msg);
+
+// 初始化
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiInit(const long id, const char* info, void (*data_callback)(void*));
+// 启动定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiStartDetection();
+// 继续定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiContinuetDetection();
+// 重新定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapRestartConnerDetection();
+// 终止定位角点
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapStopDetection();
+// 获取结果
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapGetRecord(void* data);
+// 相机直接输入图像
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiCameraSendMsgWithImage(
+	void* image_data, int width, int height, int flag, char* type, char* queue_name);
+// 获取高清图像
+extern "C" LIBAPI_EXPORT int LIBAPI_CALLMETHOD LibapiGetHQImage(
+	void* image_data, int width, int height, int flag, char* type);

image_framework/algorithm/LibError.h

@@ -0,0 +1,3 @@
+#pragma once
+
+#define SysError			int

image_framework/algorithm/Libapi2D3D.cpp

@@ -0,0 +1,143 @@
+#include "Libapi2D3D.h"
+
+
+CMeasureInfo* CMeasureInfo::m_instance;
+
+CMeasureInfo* CMeasureInfo::Get()
+{
+	if (CMeasureInfo::m_instance == nullptr)
+	{
+		assert(0);
+	}
+	return CMeasureInfo::m_instance;
+}
+
+CMeasureInfo* CMeasureInfo::Clear()
+{
+	if (CMeasureInfo::m_instance == nullptr)
+	{
+		assert(0);
+	}
+	CMeasureInfo* measureInfo = CMeasureInfo::m_instance;
+	measureInfo->mId = -1;
+	measureInfo->mInfo = "";
+	measureInfo->mImPtr = nullptr;
+	measureInfo->mIm2D3DPtr = nullptr;
+	for (int i = 0; i < measureInfo->subRois.size(); ++i)
+	{
+		std::shared_ptr<CSubRoi> roi = measureInfo->subRois[i];
+		roi->mId = -1;
+		roi->mInfo = "";
+		roi->mInnerConners.clear();
+		roi->mInnerConners3D.clear();
+		roi->mPparentId = -1;
+		roi->mRoiPoints.clear();
+		roi->mVc2D.clear();
+		roi->mVc3D.clear();
+		roi->vpOffset = { 0.0, 0.0 };
+	}
+	measureInfo->subRois.clear();
+	return CMeasureInfo::m_instance;
+}
+
+CMeasureInfo* CMeasureInfo::Init(long id, std::string info)
+{
+	if (CMeasureInfo::m_instance == nullptr)
+	{
+		CMeasureInfo::m_instance = new CMeasureInfo(id, info);
+	}
+	CMeasureInfo::Clear();
+	CMeasureInfo* measureInfo = CMeasureInfo::m_instance;
+	measureInfo->mId = id;
+	measureInfo->mInfo = info;
+
+	return CMeasureInfo::m_instance;
+}
+
+CMeasureInfo::CMeasureInfo() 
+{
+};
+
+CMeasureInfo::CMeasureInfo(long id, std::string info)
+{
+	this->mId = id;
+	this->mInfo = info;
+}
+
+CMeasureInfo::~CMeasureInfo()
+{
+	// 统一在这里删除
+	this->mImPtr = nullptr;
+};
+
+long CMeasureInfo::GetID()
+{
+	return this->mId;
+}
+
+std::string CMeasureInfo::GetInfo()
+{
+	return this->mInfo;
+}
+
+std::shared_ptr<cv::Mat> CMeasureInfo::GetIm() 
+{ 
+	return this->mImPtr; 
+};
+
+void CMeasureInfo::SetIm(std::shared_ptr<cv::Mat>& imptr) 
+{ 
+	this->mImPtr = imptr; 
+};
+
+std::shared_ptr<cv::Mat>&  CMeasureInfo::GetIm2D3D()
+{ 
+	return this->mIm2D3DPtr; 
+};
+
+void CMeasureInfo::SetIm2D3D(std::shared_ptr<cv::Mat>& imim2D3Dptr) 
+{ 
+	this->mIm2D3DPtr = imim2D3Dptr; 
+};
+
+std::vector<std::shared_ptr<CSubRoi>>& CMeasureInfo::GetSubRois() 
+{ 
+	return this->subRois; 
+};
+
+std::vector<std::vector<cv::Point2f>> CMeasureInfo::GetAllRoiConners()
+{
+	std::vector<std::vector<cv::Point2f>> allConners;
+	std::vector<cv::Point2f> vp2f;
+	for (int i = 0; i < this->subRois.size(); ++i)
+	{
+		CSubRoi* subRoi = this->subRois[i].get();
+		vp2f.clear();
+		for (int j = 0; j < subRoi->mInnerConners.size(); ++j)
+		{
+			vp2f.push_back(subRoi->mInnerConners[j]);
+			
+		}
+		allConners.push_back(vp2f);
+	}
+	return allConners;
+}
+
+CSubRoi::CSubRoi()
+{
+	this->mInfo = "";
+	//this->isGood = true;
+};
+
+CSubRoi::CSubRoi(long parentId, long id, std::string info)
+{
+	this->mPparentId = parentId;
+	this->mId = id;
+	this->mInfo = info;
+	this->isGood = true;
+}
+
+CSubRoi::~CSubRoi()
+{
+
+};

image_framework/algorithm/Libapi2D3D.h

@@ -0,0 +1,114 @@
+#ifndef LIBAPI_2D3D_H
+#define LIBAPI_2D3D_H
+
+
+#include <iostream>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include <chrono>
+#include <random>
+
+#define CAL_2D3D_BASE 2000
+
+#define CAL_OK 0
+#define CAL_READFILE_FAILED				1 - CAL_2D3D_BASE 
+#define CAL_WRITEFILE_FAILED			2 - CAL_2D3D_BASE
+#define CAL_NONE_PTR					3 - CAL_2D3D_BASE
+#define CAL_PRAMA_EMPUTY				4 - CAL_2D3D_BASE	
+#define CAL_READIM_FAILED				5 - CAL_2D3D_BASE
+#define CAL_NPU_LOAD_DATASET_FAILED		6 - CAL_2D3D_BASE
+#define CAL_NPU_MODEL_EXE_FAILED		7 - CAL_2D3D_BASE
+#define CAL_NPU_GET_RESULT_FAILED		8 - CAL_2D3D_BASE
+#define CAL_NPU_UNLOAD_DATASET_FAILED	9 - CAL_2D3D_BASE
+#define CAL_YOLO_DETECT_NO_ROI			10 - CAL_2D3D_BASE
+#define CAL_ROIS_PUSH_TREAD_FAILED		11 - CAL_2D3D_BASE
+#define CAL_H_FAILED					12 - CAL_2D3D_BASE
+#define CAL_3D_COONERS_FAILED			13 - CAL_2D3D_BASE
+#define CAL_INNER_COONERS_ISNOT_4		14 - CAL_2D3D_BASE
+#define CAL_3D_PROJECT_POINTS_IS_0		15 - CAL_2D3D_BASE
+#define CAL_3D_CLOUD_POINTS_IS_0		16 - CAL_2D3D_BASE
+#define CAL_HAS_NO_GOOD_CONNER			17 - CAL_2D3D_BASE
+#define CAL_2D_ROI_DETECTIION_IS_0		18 - CAL_2D3D_BASE
+#define CAL_2D_CAP_IMAGE_FAILED			19 - CAL_2D3D_BASE
+
+
+class CalUtils
+{
+public:
+	static int LibapiGenRandomId(long& id)
+	{
+		auto now = std::chrono::system_clock::now();
+		auto duration = now.time_since_epoch();
+		auto seconds = std::chrono::duration_cast<std::chrono::seconds>(duration).count();
+		id = std::hash<long>{}(static_cast<long>(seconds));
+
+		return CAL_OK;
+	};
+};
+
+class CSubRoi;
+class CMeasureInfo // 设计为单例模式
+{
+public:
+	static CMeasureInfo* Get();
+	static CMeasureInfo* Clear();
+	static CMeasureInfo* Init(long id, std::string info);
+public:
+	CMeasureInfo();
+	CMeasureInfo(long id, std::string info);
+	~CMeasureInfo();
+	long GetID();
+	std::string GetInfo();
+	std::shared_ptr<cv::Mat> GetIm();
+	void SetIm(std::shared_ptr<cv::Mat>& imptr);
+	std::shared_ptr<cv::Mat>& GetIm2D3D();
+	void SetIm2D3D(std::shared_ptr<cv::Mat>& imim2D3Dptr);
+	std::vector<std::shared_ptr<CSubRoi>>& GetSubRois();
+	std::vector<std::vector<cv::Point2f>> GetAllRoiConners();
+private:
+	static CMeasureInfo* m_instance;
+private:
+	
+private:
+	// 该区域ID
+	long mId;
+	// 该区域信息
+	std::string mInfo;
+	// 该区域的图像指针
+	std::shared_ptr<cv::Mat> mImPtr;
+	// 该区域的图像指针
+	std::shared_ptr<cv::Mat> mIm2D3DPtr;
+	// 该区域的子图像指针
+	std::vector<std::shared_ptr<CSubRoi>> subRois;
+	
+};
+
+class CSubRoi
+{
+public:
+	CSubRoi();
+	CSubRoi(long parentId, long id, std::string info);
+	~CSubRoi();
+public:
+	// 该区域父图像的ID
+	long mPparentId;
+	// 该区域ID
+	long mId;
+	bool isGood;
+	// 该区域信息
+	std::string mInfo;
+	// 区域与原图的偏移量
+	cv::Point2f vpOffset;
+	// 该区域的坐标(ROI的4个坐标点) * 4
+	std::vector<cv::Point2f> mRoiPoints;
+	// 该区域的角点的2D信息 * 4
+	std::vector<cv::Point2f> mInnerConners;
+	// 该区域的角点的3D信息 * 4
+	std::vector<cv::Point3f> mInnerConners3D;
+	// for test cal * 10000+
+	std::vector<cv::Point2f> mVc2D;
+	std::vector<cv::Point3f> mVc3D;
+	cv::Mat H;
+};
+
+#endif

image_framework/algorithm/Libapi2d.cpp

@@ -0,0 +1,891 @@
+
+#include "Libapi2d.h"
+#include "Libapi3d.h"
+#include "IniHelper.h"
+#include "Yolov5For928.h"
+#include "Log.h"
+#include "CameraHelper.h"
+
+#include <vector>
+#include <cmath>
+#include <algorithm>
+#include <atomic>
+
+static std::atomic_flag atomic_lock = ATOMIC_FLAG_INIT;
+
+static cv::Mat Sobel(cv::Mat& mat, double alpha, double beta)
+{
+	cv::Mat tmpImage;
+	cv::Mat tmpImageX;
+	cv::Mat tmpImageY;
+
+	if (mat.type() != CV_8UC1)
+		cvtColor(mat, tmpImage, cv::COLOR_BGR2GRAY);
+	else
+		tmpImage = mat;
+
+	cv::Sobel(tmpImage, tmpImageX, CV_64F, 1, 0, 1);
+	cv::Sobel(tmpImage, tmpImageY, CV_64F, 0, 1, 1);
+
+	cv::convertScaleAbs(tmpImageX, tmpImageX);
+	cv::convertScaleAbs(tmpImageY, tmpImageY);
+
+	 cv::bitwise_or(tmpImageX, tmpImageY, tmpImage);
+	//cv::addWeighted(tmpImageX, alpha, tmpImageY, beta, 0, tmpImage);
+	return tmpImage;
+}
+
+
+static cv::Mat CopyToEx(cv::Mat& src, cv::Mat& mask, cv::Mat& tar, int x_offset, int y_offset)
+{
+	cv::Mat dst;
+	tar.copyTo(dst);
+	cv::Rect roi_rect = cv::Rect(x_offset, y_offset, src.cols, src.rows);
+	src.copyTo(dst(roi_rect), mask);
+	return dst;
+}
+
+
+static cv::Rect OutSquare(const std::vector<cv::Point>& vp)
+{
+	int x1 = 9999;
+	int y1 = 9999;
+	int x2 = 0;
+	int y2 = 0;
+	for (int i = 0; i < vp.size(); i++)
+	{
+		if (vp[i].x < x1)
+			x1 = vp[i].x;
+		if (vp[i].x > x2)
+			x2 = vp[i].x;
+		if (vp[i].y < y1)
+			y1 = vp[i].y;
+		if (vp[i].y > y2)
+			y2 = vp[i].y;
+	}
+
+	return cv::Rect(x1, y1, x2 - x1, y2 - y1);
+}
+
+
+static std::vector<cv::Point> Offset(const std::vector<cv::Point>& vp, int x, int y)
+{
+	std::vector<cv::Point> vpTar;
+
+	for (int i = 0; i < vp.size(); i++)
+	{
+		cv::Point p(vp[i].x + x, vp[i].y + y);
+		vpTar.push_back(p);
+	}
+
+	return vpTar;
+}
+
+
+static cv::Mat GetRoi(cv::Mat& mat, const std::vector<cv::Point>& vp)
+{
+	cv::Mat dst;
+	cv::Rect rt = OutSquare(vp);
+	cv::Mat src = mat(rt);
+	cv::Mat roi = cv::Mat::zeros(src.size(), CV_8U);
+
+	std::vector<std::vector<cv::Point>> contour;
+	std::vector<cv::Point> vpOffset = Offset(vp, -rt.x, -rt.y);
+	//contour.push_back(vpOffset);
+	//cv::drawContours(roi, contour, 0, cv::Scalar::all(255), -1);
+	src.copyTo(dst, roi);
+
+	return dst;
+}
+
+
+static std::vector<std::vector<float>> SortLines(std::vector<std::vector<float>>& lines4)
+{
+	float Ax = 1, Bx = 0, Cx = 0;
+	float Ay = 0, By = 1, Cy = 0;
+	float min_dx = 10000, max_dx = 0, min_dy = 10000, max_dy = 0;
+	float min_dx_idx = -1, max_dx_idx = -1, min_dy_idx = -1, max_dy_idx = -1;
+	float cx = 0.0, cy = 0.0;
+	float dx = 0.0, dy = 0.0;
+
+	std::vector<std::vector<float>> sort_lines4(4); // 上、右、下、左四条线
+	for (int i = 0; i < sort_lines4.size(); ++i) {
+		sort_lines4[i].resize(6); // x1, y1, x2, y2, theta, r
+	}
+	
+	for (int i = 0; i < lines4.size(); ++i)
+	{
+		cx = (lines4[i][2] + lines4[i][0]) / 2, cy =  (lines4[i][3] + lines4[i][1]) / 2;
+		dx = abs(Ay * cx + By * cy + Cy) / sqrt(pow(Ay, 2) + pow(By, 2));
+		dy = abs(Ax * cx + Bx * cy + Cx) / sqrt(pow(Ax, 2) + pow(Bx, 2));
+		if (dx < min_dx)
+		{
+			min_dx = dx;
+			min_dx_idx = i;
+		}
+		if (dx > max_dx)
+		{
+			max_dx = dx;
+			max_dx_idx = i;
+		}
+		if (dy < min_dy)
+		{
+			min_dy = dy;
+			min_dy_idx = i;
+		}
+		if (dy > max_dy)
+		{
+			max_dy = dy;
+			max_dy_idx = i;
+		}
+	}
+	sort_lines4[0] = lines4[min_dx_idx];
+	sort_lines4[1] = lines4[max_dy_idx];
+	sort_lines4[2] = lines4[max_dx_idx];
+	sort_lines4[3] = lines4[min_dy_idx];
+	return sort_lines4;
+}
+
+
+static std::vector<std::vector<float>> GetIntersections(cv::Mat& im,	std::vector<std::vector<float>>& sort_lines4)
+{
+	float x1, y1, x2, y2;
+	float x1_next, y1_next, x2_next, y2_next;
+	float m, m_next;
+	float A, B, C, A_next, B_next, C_next;
+	float x_p, y_p;
+
+	std::vector<std::vector<float>> sort_conners4(4);
+
+	for (int i = 0; i < sort_conners4.size(); ++i) {
+		sort_conners4[i].resize(2); // x1, y1, x2, y2, theta, r
+	}
+	
+	for (int i = 0; i < 4; ++i)
+	{
+		std::vector<float> line = sort_lines4[i];
+		x1 = line[0], y1 = line[1], x2 = line[2], y2 = line[3];
+		std::vector<float> line_next = sort_lines4[(i + 1) % 4];
+		x1_next = line_next[0], y1_next = line_next[1], x2_next = line_next[2], y2_next = line_next[3];
+
+		// 检查是否为垂直线
+		if (x2 == x1) 
+			x2 += 0.001f;
+		m = (y2 - y1) / (x2 - x1);
+		A = m, B = -1, C = y1 - m * x1;
+
+		if (x2_next == x1_next) 
+			x2_next += 0.001f;
+		m_next = (y2_next - y1_next) / (x2_next - x1_next);
+		A_next = m_next, B_next = -1, C_next = y1_next - m_next * x1_next;
+
+		// 检查是否平行(理论上不会)
+		 if (A * B_next == A_next * B)
+			 continue;
+
+		// 计算交点
+		x_p = (B_next * C - B * C_next) / (A_next * B - A * B_next);
+		y_p = (A * x_p + C) / -B;
+		
+		//  确保交点在图像范围内
+		if (0 <= int(x_p) && int(x_p) <= im.cols && 0 <= int(y_p) && int(y_p) < im.rows)
+			sort_conners4[(i + 1) % 4] = { x_p, y_p };
+	}
+
+	return sort_conners4;
+}
+
+
+static int GetSortConnersAndEdgess(
+	cv::Mat& src, 
+	std::vector<std::vector<float>>& sort_lines4,
+	std::vector<std::vector<float>>& sort_conners4,
+	int thresh_hold = 80,
+	int minLineLength = 400)
+{
+	int ret = CAL_OK;
+
+	if (G(conners_detect_fake) == "true")
+	{
+		sort_conners4.push_back({ 465,436 });
+		sort_conners4.push_back({ 615, 260 });
+		sort_conners4.push_back({ 783, 405 });
+		sort_conners4.push_back({ 630, 581 });
+		for (int i = 0; i < sort_conners4.size(); ++i)
+			sort_conners4[i] = {
+			float(sort_conners4[i][0] * 9344 / 934 / 1.5),
+			float(sort_conners4[i][1] * 7000 / 700 / 1.5) };
+		return ret;
+	}
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	cv::Mat gray;
+	cv::cvtColor(src, gray, cv::COLOR_BGR2GRAY);
+	cv::GaussianBlur(gray, gray, cv::Size(5, 5), 0, 0);
+	gray = Sobel(gray, 0.0, 0.0);
+	cv::Mat mask;
+	cv::threshold(gray, mask, 5, 255, cv::THRESH_BINARY);
+	
+	float PI = 3.1415926f;
+	std::vector<cv::Vec4f> lines;
+	cv::HoughLinesP(mask, lines, 1, PI / 180, thresh_hold, minLineLength, G(edge_max_line_gap));
+
+	float x1, y1, x2, y2, theta, r, m;
+	float A, B, C;
+	bool bRepeat = false;
+	float cx, cy, d, r_max;
+	std::vector<std::vector<float>> _line4; // 上、右、下、左四条线
+	//for (int i = 0; i < _line4.size(); ++i) {
+	//	_line4[i].resize(6); // x1, y1, x2, y2, theta, r
+	//}
+	for (int l = 0; l < lines.size(); ++l)
+	{
+		cv::Vec4f _line = lines[l];
+		x1 = _line[0];
+		y1 = _line[1];
+		x2 = _line[2];
+		y2 = _line[3];
+
+		// 计算极坐标
+		if (x1 == x2) 
+			x2 += 0.001f;
+		theta = atan((y2 - y1) / (x2 - x1)) * (180 / PI);
+		r = sqrt(pow((y2 - y1), 2) + pow((x2 - x1), 2));
+		
+		// 计算直线的斜率(如果 1 ≠ 2),待优化
+		m = (y2 - y1) / (x2 - x1);
+		A = m;
+		B = -1;
+		C = y1 - m * x1;
+
+		// 查找符合条件的直线边缘
+		bRepeat = false;
+		for (int i = 0; i < _line4.size(); ++i)
+		{
+			if (abs(abs(theta) - abs(_line4[i][4])) < G(edge_min_angle_th)) // 33°
+			{
+				cx = (_line4[i][2] + _line4[i][0]) / 2;
+				cy = (_line4[i][3] + _line4[i][1]) / 2;
+
+				// 中点到目标线的垂线小于系数，选择 r 较长的作为边缘
+				d = abs(A * cx + B * cy + C) / sqrt(pow(A, 2) + pow(B, 2));
+				r_max = _line4[i][5] > r ? _line4[i][5] : r;
+				if (d < r_max / 3)
+				{
+					bRepeat = true;
+					if (r > _line4[i][5])
+					{
+						std::vector<float> v;
+						v.resize(6);
+						v = { x1, y1, x2, y2, theta, r };
+						_line4[i] = v;
+					}
+				}
+			}
+		}
+		if (!bRepeat)
+		{
+			std::vector<float> v;
+			v.resize(6);
+			v = { x1, y1, x2, y2, theta, r };
+			_line4.push_back(v);
+		}
+	}
+
+	Loger(LEVEL_INFOR, "_line4.size() < 4 is %d", _line4.size());
+	if (_line4.size() < 4)
+	{
+		return CAL_INNER_COONERS_ISNOT_4;
+	}
+
+
+	sort_lines4 = SortLines(_line4);
+	if (sort_lines4.size() != 4)
+		assert(0);
+	sort_conners4 = GetIntersections(src, sort_lines4);
+	if (sort_conners4.size() != 4)
+		assert(0);
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D static GetSortConnersAndEdgess time is : " << elapsex.count() << std::endl;
+	return ret;
+}
+
+
+static std::vector<std::vector<float>> UpdateConners(std::vector<std::vector<float>>& sort_conners4)
+{
+	std::vector<std::vector<float>> sort_conners4_new(4);
+
+	return sort_conners4_new;
+}
+
+static void delay_second(double second)
+{
+	clock_t start_time;
+	start_time = clock();
+	for (; (clock() - start_time) < second * CLOCKS_PER_SEC;);
+}
+
+
+//广角摄像机和高清相机图像映射
+int Cal2D::LibapiGet2D2DMapRect(cv::Mat& dst_im, bool fake, std::string fakeFilePath)
+{
+	int ret = CAL_OK;
+
+
+	
+	return ret;
+}
+
+//读取广角相机图像
+int Cal2D::LibapiCapLQImage(cv::Mat& dst_im)
+{
+	int ret = CAL_OK;
+
+
+	return ret;
+}
+
+//采集高清图像
+static int camera_idxx = 0;
+int Cal2D::LibapiCapHQImage(CMeasureInfo* measureInfoPtr, std::shared_ptr<cv::Mat>& dst_im)
+{
+	int ret = CAL_OK;
+	if (G(camera_cap_fake) == "true")
+	{
+		if (G(fake_image_fpath) == "")
+			assert(0);
+		else
+		{
+			// 读取fake文件，获取点云数据
+			ret = LibapiReadHQImage(G(fake_image_fpath), *dst_im);
+			if (ret != CAL_OK)
+			{
+				return ret;
+			}
+			if (dst_im->empty())
+			{
+				return CAL_READFILE_FAILED;
+			}
+		}
+	}
+	else
+	{
+		while (atomic_lock.test_and_set(std::memory_order_acquire)) {}
+		if (camera_idxx == 0)
+		{
+			//等待初始化
+			ret = CCameraHelper::Get()->Init();
+			Loger(LEVEL_INFOR, "CCameraHelper::Get()->Init() ret is %d", ret);
+			ret = CCameraHelper::Get()->Start(G(export_time) * 10000);
+			Loger(LEVEL_INFOR, "CCameraHelper::Get()->Start() ret is %d", ret);
+			camera_idxx = 1;
+		}
+		// cap camera
+		/*CCameraHelper::Get()->Start();*/
+		int times = 3;
+		while (true)
+		{
+			void* pData = (void*)(dst_im.get()->data);
+			int w, h;
+			ret = CCameraHelper::Get()->Cap((void**) & pData, w, h, 5000);
+			Loger(LEVEL_INFOR, "Capture Image times : %d", 3 - times +1);
+			if (ret == 0)
+			{
+				Loger(LEVEL_INFOR, "Capture Image sucess!");
+				break;
+			}
+			delay_second(1.5);
+			times--;
+			if (times == 0)
+			{
+				Loger(LEVEL_INFOR, "Capture Image faild!");
+				//CCameraHelper::Get()->Stop();
+				//CCameraHelper::Get()->Init();
+				//CCameraHelper::Get()->Start();
+				return CAL_2D_CAP_IMAGE_FAILED;
+			}
+		}
+		atomic_lock.clear(std::memory_order_release);
+		//CCameraHelper::Get()->Stop();
+	}
+	measureInfoPtr->SetIm(dst_im);
+	return ret;
+}
+
+//从文件读取高清图像
+int Cal2D::LibapiReadHQImage(const std::string plyPath, cv::Mat& dst_im)
+{
+	int ret = CAL_OK;
+
+	dst_im = cv::imread(plyPath, cv::IMREAD_UNCHANGED);
+
+	if (dst_im.empty())
+	{
+		Loger(LEVEL_INFOR, "dst_im.empty() dst_im : %s", plyPath.c_str());
+		return CAL_PRAMA_EMPUTY;
+		//assert(0);
+	}
+
+	Loger(LEVEL_INFOR, "Image read success: %s", plyPath.c_str());
+	return ret;
+}
+
+//保存高清图像
+int Cal2D::LibapiCopyHQImage(cv::Mat& src_im, cv::Mat& dst_im)
+{
+	int ret = CAL_OK;
+
+	return ret;
+}
+
+//图像去畸变
+int Cal2D::LibapiUndistort(cv::Mat& src_im, cv::Mat& dst_im)
+{
+	int ret = CAL_OK;
+
+	cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << G(fx), 0, G(cx), 0, G(fy), G(cy), 0, 0, 1);
+	cv::Mat distCoeffs = (cv::Mat_<double>(1, 5) << G(k1), G(k2), G(p1), G(p2), G(k3));
+	cv::undistort(src_im, dst_im, cameraMatrix, distCoeffs);
+
+	return ret;
+}
+
+//持续采集广角图像(PYTHON)
+//AI识别广角图像中的预埋件，返回其ROI坐标
+//待优化
+static int idxx = 0;
+int Cal2D::LibapiDetectObj(CMeasureInfo* measureInfo)
+{
+	int ret = CAL_OK;
+
+	if (G(npu_fake) == "true")
+	{
+		std::shared_ptr<CSubRoi> subRoi1Ptr = std::make_shared<CSubRoi>();
+		// 待修改
+		subRoi1Ptr->mRoiPoints.push_back({ 465,436 });
+		subRoi1Ptr->mRoiPoints.push_back({ 615, 260 });
+		subRoi1Ptr->mRoiPoints.push_back({ 783, 405 });
+		subRoi1Ptr->mRoiPoints.push_back({ 630, 581 });
+		for (int i = 0; i < subRoi1Ptr->mInnerConners.size(); ++i)
+			subRoi1Ptr->mInnerConners[i] = {
+			float(subRoi1Ptr->mInnerConners[i].x * 9344 / 934 / 1.5),
+			float(subRoi1Ptr->mInnerConners[i].y * 7000 / 700 / 1.5) };
+		std::shared_ptr<CSubRoi> subRoi2Ptr = std::make_shared<CSubRoi>();
+		subRoi2Ptr->mRoiPoints.push_back({ 465,436 });
+		subRoi2Ptr->mRoiPoints.push_back({ 615, 260 });
+		subRoi2Ptr->mRoiPoints.push_back({ 783, 405 });
+		subRoi2Ptr->mRoiPoints.push_back({ 630, 581 });
+		for (int i = 0; i < subRoi2Ptr->mInnerConners.size(); ++i)
+			subRoi2Ptr->mInnerConners[i] = {
+			float(subRoi2Ptr->mInnerConners[i].x * 9344 / 934 / 1.5),
+			float(subRoi2Ptr->mInnerConners[i].y * 7000 / 700 / 1.5) };
+		std::shared_ptr<CSubRoi> subRoi3Ptr = std::make_shared<CSubRoi>();
+		subRoi3Ptr->mRoiPoints.push_back({ 465,436 });
+		subRoi3Ptr->mRoiPoints.push_back({ 615, 260 });
+		subRoi3Ptr->mRoiPoints.push_back({ 783, 405 });
+		subRoi3Ptr->mRoiPoints.push_back({ 630, 581 });
+		for (int i = 0; i < subRoi3Ptr->mInnerConners.size(); ++i)
+			subRoi3Ptr->mInnerConners[i] = {
+			float(subRoi3Ptr->mInnerConners[i].x * 9344 / 934 / 1.5),
+			float(subRoi3Ptr->mInnerConners[i].y * 7000 / 700 / 1.5) };
+
+		measureInfo->GetSubRois().push_back(subRoi1Ptr);
+		measureInfo->GetSubRois().push_back(subRoi2Ptr);
+		measureInfo->GetSubRois().push_back(subRoi3Ptr);
+	}
+	else
+	{
+		//////////////////////////////////////////////////////////////////////////////////////////
+		if (idxx == 0)
+		{
+			// 待优化
+			// init sig
+			ret = CYolov5For928::Get()->pfucLibapiSvpNpuHandleSig();
+			if (ret != RST_OK)
+			{
+				assert(0);
+				return ret;
+			}
+			// init acl
+			ret = CYolov5For928::Get()->pfucLibapiSvpNpuAclPrepareInit();
+			if (ret != RST_OK)
+			{
+				assert(0);
+				return ret;
+			}
+
+			// init model
+			const char* om_model_path = G(yolo_modol_path).c_str();
+			ret = CYolov5For928::Get()->pfucLibApiSvpNpuLoadModel(om_model_path, 0, false);
+			if (ret != RST_OK)
+			{
+				assert(0);
+				return ret;
+			}
+			idxx = 1;
+		}
+		//////////////////////////////////////////////////////////////////////////////////////////
+
+		cv::Mat* hq_im = measureInfo->GetIm().get();
+		// run yolo model to detect 
+		ret = CYolov5For928::Get()->pfucLibApiSvpNpuLoadDataset(0, (void*)hq_im->data, hq_im->total() * hq_im->channels(),
+			hq_im->size().width , hq_im->size().height , CV_8UC3);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuLoadDataset() has error %d" , ret);
+			Loger(LEVEL_INFOR, " w: %d h : %d ch : %d", hq_im->size().width, hq_im->size().height, hq_im->channels());
+			return CAL_NPU_LOAD_DATASET_FAILED;
+		}
+		Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuLoadDataset() success");
+		ret = CYolov5For928::Get()->pfucLibApiSvpNpuModelExecute(0);
+		if (ret != CAL_OK) 
+		{
+			CYolov5For928::Get()->pfucLibApiSvpNpuUnloadDataset();
+			Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuModelExecute() has error %d", ret);
+			return CAL_NPU_MODEL_EXE_FAILED;
+		}
+		Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuModelExecute() success");
+		RetrunObject objs;
+		ret = CYolov5For928::Get()->pfucLibApiSvpNpuGetModelExecuteResult(0, &objs);
+		if (ret != CAL_OK)
+		{
+			CYolov5For928::Get()->pfucLibApiSvpNpuUnloadDataset();
+			Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuGetModelExecuteResult() has error %d", ret);
+			return CAL_NPU_GET_RESULT_FAILED;
+		}
+		Loger(LEVEL_INFOR, "pfucLibApiSvpNpuGetModelExecuteResult objs.count = %d", objs.count);
+		if (objs.count == 0)
+		{
+			Loger(LEVEL_INFOR, " pfucLibApiSvpNpuGetModelExecuteResult() objs.count == 0");
+		}
+		else if (objs.count > 128)
+		{
+			Loger(LEVEL_INFOR, " pfucLibApiSvpNpuGetModelExecuteResult() objs.count > 128");
+		}
+		else
+		{
+			for (int i = 0; i < objs.count; ++i)
+			{
+				std::cout << " label: " << G(yolo_label) << " - " << objs.objects[i].label
+					<< " prob: " << G(yolo_prob) << " - " << objs.objects[i].prob << std::endl;
+				if (objs.objects[i].label == (int)G(yolo_label) && objs.objects[i].prob > (float)G(yolo_prob))
+				{
+					std::shared_ptr<CSubRoi> subRoi1Ptr = std::make_shared<CSubRoi>();
+					//subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x - 20), (float)(objs.objects[i].y + G(roi_y_offset) - 20) });
+					//subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x + 20 + (float)objs.objects[i].width), (float)(objs.objects[i].y + G(roi_y_offset) - 20) });
+					//subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x + 20 + (float)objs.objects[i].width), (float)(objs.objects[i].y + objs.objects[i].height + G(roi_y_offset) + 20) });
+					//subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x - 20), (float)(objs.objects[i].y + objs.objects[i].height + G(roi_y_offset) + 20) });
+					subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x - 2), (float)(objs.objects[i].y + G(roi_y_offset) - 2) });
+					subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x + 2 + (float)objs.objects[i].width), (float)(objs.objects[i].y + G(roi_y_offset) - 2) });
+					subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x + 2 + (float)objs.objects[i].width), (float)(objs.objects[i].y + objs.objects[i].height + G(roi_y_offset) + 2) });
+					subRoi1Ptr->mRoiPoints.push_back({ (float)(objs.objects[i].x - 2), (float)(objs.objects[i].y + objs.objects[i].height + G(roi_y_offset) + 2) });
+
+					for (int j = 0; j < 4; ++j)
+					{
+						if (subRoi1Ptr->mRoiPoints[j].x < 0)
+							subRoi1Ptr->mRoiPoints[j].x = 0;
+						if (subRoi1Ptr->mRoiPoints[j].x > hq_im->cols)
+							subRoi1Ptr->mRoiPoints[j].x = hq_im->cols;
+						if (subRoi1Ptr->mRoiPoints[j].y < 0)
+							subRoi1Ptr->mRoiPoints[j].y = 0;
+						if (subRoi1Ptr->mRoiPoints[j].y > hq_im->rows)
+							subRoi1Ptr->mRoiPoints[j].y = hq_im->rows;
+					}
+					measureInfo->GetSubRois().push_back(subRoi1Ptr);
+					
+					if (measureInfo->GetSubRois().size() == 16)
+					{
+						Loger(LEVEL_INFOR, "[ERROR] pfucLibApiSvpNpuGetModelExecuteResult() objs.count > 16");
+					}
+					else
+					{
+						Loger(LEVEL_INFOR, "measureInfo->GetSubRois().size() is %d", measureInfo->GetSubRois().size());
+					}
+				}
+			}
+		}
+		ret = CYolov5For928::Get()->pfucLibApiSvpNpuUnloadDataset();
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, " CYolov5For928::Get()->pfucLibApiSvpNpuUnloadDataset() has error %d", ret);
+			return CAL_NPU_UNLOAD_DATASET_FAILED;
+		}
+
+		// 待优化
+		//////////////////////////////////////////////////////////////////////////////////////////////////////////
+		//ret = CYolov5For928::Get()->pfucLibApiSvpNpuUnLoadModel(0);
+		//ret = CYolov5For928::Get()->pfucLibApiSvpNpuAclPrepareExit();
+		//////////////////////////////////////////////////////////////////////////////////////////////////////////
+		Loger(LEVEL_INFOR, "LibApiSvpNpuModelExecute success");
+
+	}
+
+	return ret;
+}
+
+//通过一组ROI坐标获取ROI图像(弃用)
+//id: parentId
+int Cal2D::LibapiGetSubImFromRois(cv::Mat& im, const int& id, const std::string& info,
+	std::vector<cv::Rect2f> rois, std::vector<CSubRoi>& subMat, bool fake)
+{
+	if (im.empty() || rois.size() == 0)
+	{
+		Loger(LEVEL_INFOR, "im.empty() || rois.size() == 0");
+		return CAL_2D_ROI_DETECTIION_IS_0;
+		//assert(0);
+	}
+
+	int ret = CAL_OK;
+
+	for (int i = 0; i < rois.size(); i++)
+	{
+		CSubRoi mat;
+		//mat
+	}
+
+	return ret;
+}
+
+//在单个预埋件图像中计算区域内预埋件边缘和角点
+int Cal2D::LibapiGetEdegsAndConners(cv::Mat& src,
+	std::vector<std::vector<float>>& sort_lines4,
+	std::vector<std::vector<float>>& sort_conners4)
+{
+	return GetSortConnersAndEdgess(
+		src,
+		sort_lines4,
+		sort_conners4,
+		80,
+		G(edge_min_line_len));
+}
+
+// 挑选出的内在区域(亚像素检测算法)
+int Cal2D::LibapiSelectInnerRegion(CSubRoi& subMat)
+{
+	int ret = CAL_OK;
+	if (subMat.mRoiPoints.size() != 4)
+		assert(0);
+
+	if (subMat.mRoiPoints.size() != 4)
+		assert(0);
+	return ret;
+}
+
+// 挑选出2D-3D点对用于计算单应矩阵H
+int Cal2D::LibapiSelect2DTo3DPoints(CMeasureInfo& measureInfo, CSubRoi& subRoi,
+	std::vector<cv::Point2f>& vec2D, std::vector<cv::Point3f>& vec3D)
+{
+	// 该函数弃用
+	assert(0);
+	if (measureInfo.GetIm()->empty() || subRoi.mInnerConners.size() != 4)
+		assert(0);
+
+	int ret = CAL_OK;
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+	// 待修改，在roi中遍历
+	float* hptr;
+	cv::Mat *im_2D3D = measureInfo.GetIm().get();
+	int ch = im_2D3D->channels();
+	for (int h = 0; h < im_2D3D->rows; ++h)
+	{
+		hptr = (float*)im_2D3D->ptr<float>(h);
+		for (int w = 0; w < im_2D3D->cols; ++w)
+		{
+			// 待优化
+			if (hptr[w * ch + 2] >= 3.5)
+			{
+				cv::Point2f p2 = { (float)w, (float)h };
+				if (cv::pointPolygonTest(subRoi.mInnerConners, p2, false))
+				{
+					cv::Point3f v3 = { hptr[w * ch], hptr[w * ch + 1], hptr[w * ch + 2] };
+					vec2D.push_back(p2);
+					vec3D.push_back(v3);
+				}
+			}
+		}
+	}
+
+	if (vec2D.size() < 2000)
+		assert(0);
+
+	std::cout << vec2D.size() << std::endl;
+	std::cout << vec3D.size() << std::endl;
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal2D::LibapiSelect2DTo3DPoints time is : " << elapsex.count() << std::endl;
+	return ret;
+}
+
+// 计算单应矩阵
+int Cal2D::LibapiCalH(const std::vector<cv::Point2f>& vec2D, const std::vector<cv::Point3f>& vec3D, cv::Mat& H)
+{
+	if (vec2D.size() == 0 || vec3D.size() == 0)
+	{
+		Loger(LEVEL_INFOR, "vec2D.size() == 0 || vec3D.size() == 0");
+		return CAL_PRAMA_EMPUTY;
+		//assert(0);
+	}
+
+	int ret = CAL_OK;
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	float ransacReprojThreshold = 5.0;
+	std::vector<cv::Point3f> vp3;
+	for (int i = 0; i < vec2D.size(); ++i)
+	{
+		cv::Point3f p3 = { vec2D[i].x, vec2D[i].y, 1 };
+		vp3.push_back(p3);
+	}
+
+	H = cv::findHomography(vec3D, vp3, cv::RANSAC, ransacReprojThreshold);
+	std::cout << H << std::endl;
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal2D::LibapiCalH time is : " << elapsex.count() << std::endl;
+
+	return ret;
+}
+
+// 计算预埋件角点和中心位置
+int Cal2D::LibapiCalScale(const CSubRoi& subConner, int H)
+{
+	int ret = CAL_OK;
+
+
+
+	return ret;
+}
+
+static CMeasureInfo* fake_create2D3D()
+{
+	int ret = CAL_OK;
+
+	utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
+
+	auto cloud_ptr = std::make_shared<geometry::PointCloud>();
+	auto cloud_ptr_by_dist = std::make_shared<geometry::PointCloud>();
+	auto cloud_ptr_by_correct = std::make_shared<geometry::PointCloud>();
+
+	ret = Cal3D::LibapiCapCloudPoints(cloud_ptr);
+	if (ret != CAL_OK) assert(0);
+
+	ret = Cal3D::LibapiRotAndTrans(cloud_ptr);
+
+	ret = Cal3D::LibapiFilterCloudPointsByDist(cloud_ptr, cloud_ptr_by_dist,
+		G(dminx), G(dmaxx), G(dminy), G(dmaxy), G(dminz), G(dmaxz));
+	if (ret != CAL_OK) assert(0);
+	if (cloud_ptr_by_dist->IsEmpty()) assert(0);
+
+	ret = Cal3D::LibapiCorrectCloudPoint(cloud_ptr_by_dist, cloud_ptr_by_correct, 0);
+
+	std::vector<cv::Point3d> vec_point_3d;
+	ret = Cal3D::LibapiCloudPointToVec(cloud_ptr_by_correct, vec_point_3d);
+
+	cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << G(fx), 0, G(cx), 0, G(fy), G(cy), 0, 0, 1);
+	std::vector<cv::Point2d> vec_point_2d;
+	//cv::Mat test_src_im = cv::imread("output.png");
+	cv::Mat test_src_im;
+
+	//cv::Mat test_src_im;
+	std::shared_ptr<cv::Mat> im_2D3D = std::make_shared<cv::Mat>(cv::Size(G(w), G(h)), CV_32FC3);
+	im_2D3D->setTo(cv::Scalar(0, 0, 0)); // 设置为全黑背景
+	ret = Cal3D::LibapiCloudPointsPorject(vec_point_3d, cameraMatrix, vec_point_2d, im_2D3D.get(), false, test_src_im);
+
+	// for test
+	ret = Cal3D::LibapiCloudPointProjectTest(*im_2D3D);
+	//cv::FileStorage file("d:\\im_2D3D.yml", cv::FileStorage::WRITE);
+	//std::string tag = "im_2D3D";
+	//file << tag << *im_2D3D;
+	//file.release();
+
+	// 创建CMeasureInfo数据结构
+	long id;
+	ret = CalUtils::LibapiGenRandomId(id);
+	std::string info = "abc";
+
+	//std::shared_ptr<CMeasureInfo> measureInfoPtr = std::make_shared<CMeasureInfo>(id, info, im_2D3D);
+	CMeasureInfo* measureInfoPtr = CMeasureInfo::Init(id, info);
+	measureInfoPtr->SetIm2D3D(im_2D3D);
+
+ 	return measureInfoPtr;
+}
+
+//int main()
+//{
+//	G(fx);
+//	int ret = CAL_OK;
+//
+//	std::shared_ptr<cv::Mat> hqImPtr = std::make_shared<cv::Mat>();
+//
+//	*hqImPtr = cv::imread("./caowei/fe57022fa2c58888.jpg");
+//
+//	std::vector<std::vector<float>> sort_lines4;
+//	std::vector<std::vector<float>> sort_conners4;
+//
+//	cv::Mat hq_im_cp = hqImPtr->clone();
+//	GetSortConnersAndEdgess(
+//		hq_im_cp,
+//		sort_lines4,
+//		sort_conners4,
+//		80,
+//		100);
+//
+//	float x1, y1, x2, y2;
+//	float x_p, y_p;
+//
+//	for (int i = 0; i < 4; ++i)
+//	{
+//		std::vector<float> line = sort_lines4[i];
+//		x1 = line[0], y1 = line[1], x2 = line[2], y2 = line[3];
+//		std::vector<float> conners = sort_conners4[i];
+//		x_p = conners[0], y_p = conners[1];
+//		
+//		cv::circle(*hqImPtr, cv::Point(int(x_p), int(y_p)), 2, cv::Scalar(0, 0, 255), -1);
+//		cv::line(*hqImPtr, cv::Point(int(x1), int(y1)), cv::Point(int(x2), int(y2)), cv::Scalar(0,255, 0), 1);
+//	}
+//
+//	cv::imshow("im_edge", *hqImPtr);
+//	cv::waitKey(0);
+//
+//	// 拍摄照片
+//	CMeasureInfo* measureInfoPtr = CMeasureInfo::Init(1, "");
+//	ret = Cal2D::LibapiCapHQImage(measureInfoPtr, hqImPtr);
+//	if (ret != CAL_OK || hqImPtr->empty()) 
+//		assert(0);
+//	
+//	
+//	// AI识别划分ROI
+//	//std::vector<cv::Rect2f> rois;
+//	//ret = Cal2D::LibapiDetectObj(hq_im, rois, true);
+//	//if (ret != CAL_OK || rois.size()==0) 
+//	//	assert(0);
+//	measureInfoPtr = fake_create2D3D();
+//	std::shared_ptr<CSubRoi> subRoi = std::make_shared<CSubRoi>();
+//	measureInfoPtr->GetSubRois().push_back(subRoi);
+//
+//	subRoi->mInnerConners.push_back({ 465,436 });
+//	subRoi->mInnerConners.push_back( { 615, 260 } );
+//	subRoi->mInnerConners.push_back({ 783, 405 } );
+//	subRoi->mInnerConners.push_back( { 630, 581 } );
+//	for (int i = 0; i < subRoi->mInnerConners.size(); ++i)
+//		subRoi->mInnerConners[i] = {
+//		float(subRoi->mInnerConners[i].x * 9344 / 934 / 1.5),
+//		float(subRoi->mInnerConners[i].y * 7000 / 700 / 1.5)};
+//	std::vector<cv::Point2f> vec2D;
+//	std::vector<cv::Point3f> vec3D;
+//	
+//	//ret = Cal2D::LibapiSelect2DTo3DPoints(*measureInfoPtr, *subRoi, vec2D, vec3D);
+//
+//	cv::Mat H;
+//	//ret = Cal2D::LibapiCalH(vec2D, vec3D, H);
+//
+//	// 开多线程分发ROI进行识别
+//
+//
+//	return 0;
+//}

image_framework/algorithm/Libapi2d.h

@@ -0,0 +1,56 @@
+#ifndef LIBAPI_2D_H
+#define LIBAPI_2D_H
+
+#include "Libapi2D3D.h"
+#include <iostream>
+#include <vector>
+#include <opencv2/opencv.hpp>
+
+class Cal2D
+{
+public:
+	//广角摄像机和高清相机图像映射
+	static int LibapiGet2D2DMapRect(cv::Mat& dst_im, bool fake = true, std::string fakeFilePath = "");
+
+	//读取广角相机图像
+	static int LibapiCapLQImage(cv::Mat& dst_im);
+
+	//读取高清图像
+	static int LibapiCapHQImage(CMeasureInfo* measureInfoPtr, std::shared_ptr<cv::Mat>& dst_im);
+
+	//从文件读取高清图像
+	static int LibapiReadHQImage(const std::string plyPath, cv::Mat& dst_im);
+
+	//保存高清图像
+	static int LibapiCopyHQImage(cv::Mat& src_im, cv::Mat& dst_im);
+
+	//图像去畸变
+	static int LibapiUndistort(cv::Mat& src_im, cv::Mat& dst_im);
+
+	//持续采集广角图像(PYTHON)
+	//AI识别广角图像中的预埋件，返回其ROI坐标
+	static int LibapiDetectObj(CMeasureInfo* CMeasureInfo);
+
+	//通过一组ROI坐标获取ROI图像
+	static int LibapiGetSubImFromRois(cv::Mat& im, const int& id, const std::string& info,
+		std::vector<cv::Rect2f> rois, std::vector<CSubRoi>&subMat, bool fake);
+
+	//在单个预埋件图像中计算区域内预埋件边缘和角点
+	static int LibapiGetEdegsAndConners(cv::Mat& src,
+		std::vector<std::vector<float>>& sort_lines4,
+		std::vector<std::vector<float>>& sort_conners4);
+
+	// 挑选出的内在区域
+	static int LibapiSelectInnerRegion(CSubRoi& subMat);
+
+	// 挑选出2D-3D点对用于计算单应矩阵H
+	static int LibapiSelect2DTo3DPoints(CMeasureInfo& CMeasureInfo, CSubRoi& im,
+		std::vector<cv::Point2f>& vec2D, std::vector<cv::Point3f>& vec3D);
+	
+	// 计算单应矩阵
+	static int LibapiCalH(const std::vector<cv::Point2f>& vec2D, const std::vector<cv::Point3f>& vec3D, cv::Mat& H);
+
+	// 计算预埋件角点和中心位置
+	static int LibapiCalScale(const CSubRoi& subConner, int H);
+};
+#endif

image_framework/algorithm/Libapi3d.cpp

@@ -0,0 +1,762 @@
+#include "Libapi3d.h"
+#include "IniHelper.h"
+#include <iostream>
+#include <vector>
+#include <cmath>
+#include <chrono>
+#include "Log.h"	
+#include "LidarHelper.h"
+#include "Log.h"
+#include "LidarHelper.h"
+
+
+static void delay_second(double second)
+{
+	clock_t start_time;
+	start_time = clock();
+	for (; (clock() - start_time) < second * CLOCKS_PER_SEC;);
+}
+
+#ifndef _WIN32
+static bool bCouldIsRecv = false;
+static bool bCouldIsGet = false;
+static uint32_t need_points_size = 30 * 10000;
+static float points_data[40 * 10000 * 4];
+//static uint32_t cur_point_num = 0;
+static std::atomic<uint32_t> cur_point_num(0);
+static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data)
+{
+	if (data) {
+		/** Parsing the timestamp and the point cloud data. */		uint64_t cur_timestamp = *((uint64_t*)(data->timestamp));
+		if (data->data_type == kCartesian) {
+			LivoxRawPoint* p_point_data = (LivoxRawPoint*)data->data;
+		}
+		else if (data->data_type == kSpherical) {
+			LivoxSpherPoint* p_point_data = (LivoxSpherPoint*)data->data;
+		}
+		else if (data->data_type == kExtendCartesian) {
+			LivoxExtendRawPoint* p_point_data = (LivoxExtendRawPoint*)data->data;
+#ifdef _WIN32
+			LivoxExtendRawPoint point_array[10 * 10000];
+#else
+			LivoxExtendRawPoint point_array[data_num];
+#endif
+			//uint32_t* converted_data = (uint32_t*)malloc(data_num * 4 * sizeof(uint32_t));
+			if (!bCouldIsRecv)
+			{
+				uint32_t _cur_point_num = cur_point_num++;
+				//cur_point_num += data_num;
+				_cur_point_num = _cur_point_num * data_num;
+				need_points_size = G(cloud_need_points_size);
+				uint32_t _offset = _cur_point_num * 4;
+
+				for (uint32_t i = 0; i < data_num; ++i) 
+				{
+					_offset = _offset + i * 4;
+					points_data[_offset] = p_point_data[i].x / 1000.0;
+					points_data[_offset + 1] = p_point_data[i].y / 1000.0;
+					points_data[_offset + 2] = p_point_data[i].z / 1000.0;
+					points_data[_offset + 3] = (uint32_t)(p_point_data[i].reflectivity << 8 | p_point_data[i].tag);
+				}
+
+				uint32_t _cur_count = _cur_point_num + data_num;
+				if ((_cur_count % 100000) <= 100)
+					std::cout << _cur_count << "  need data size : " << need_points_size  << std::endl;
+				if (_cur_count < need_points_size)
+					return;
+				else
+					bCouldIsRecv = true;
+			}
+			else
+				return;
+			
+			// 等待点云拷贝结束
+			//__p_point_data = p_point_data;
+			//__data_num = data_num;
+			while (true)
+			{
+				if (!bCouldIsGet)
+				{
+					delay_second(0.01);
+					continue;
+				}
+				cur_point_num = 0;
+				uint32_t* p = (uint32_t*)points_data;
+				memset(p , 0, need_points_size * 4);
+				bCouldIsGet = false;
+				break;
+			}
+		}
+		else if (data->data_type == kExtendSpherical) {
+			LivoxExtendSpherPoint* p_point_data = (LivoxExtendSpherPoint*)data->data;
+		}
+		else if (data->data_type == kDualExtendCartesian) {
+			LivoxDualExtendRawPoint* p_point_data = (LivoxDualExtendRawPoint*)data->data;
+		}
+		else if (data->data_type == kDualExtendSpherical) {
+			LivoxDualExtendSpherPoint* p_point_data = (LivoxDualExtendSpherPoint*)data->data;
+		}
+		else if (data->data_type == kImu) {
+			LivoxImuPoint* p_point_data = (LivoxImuPoint*)data->data;
+		}
+		else if (data->data_type == kTripleExtendCartesian) {
+			LivoxTripleExtendRawPoint* p_point_data = (LivoxTripleExtendRawPoint*)data->data;
+		}
+		else if (data->data_type == kTripleExtendSpherical) {
+			LivoxTripleExtendSpherPoint* p_point_data = (LivoxTripleExtendSpherPoint*)data->data;
+		}
+		// printf("data_type %d\n", data->data_type);
+	}
+}
+#else
+/** Extend cartesian coordinate format. */
+typedef struct {
+	int32_t x;            /**< X axis, Unit:mm */
+	int32_t y;            /**< Y axis, Unit:mm */
+	int32_t z;            /**< Z axis, Unit:mm */
+	uint8_t reflectivity; /**< Reflectivity */
+	uint8_t tag;          /**< Tag */
+} LivoxExtendRawPoint;
+typedef struct {
+	uint8_t version;              /**< Packet protocol version. */
+	uint8_t slot;                 /**< Slot number used for connecting LiDAR. */
+	uint8_t id;                   /**< LiDAR id. */
+	uint8_t rsvd;                 /**< Reserved. */
+	uint32_t err_code;      /**< Device error status indicator information. */
+	uint8_t timestamp_type;       /**< Timestamp type. */
+	/** Point cloud coordinate format, refer to \ref PointDataType . */
+	uint8_t data_type;
+	uint8_t timestamp[8];         /**< Nanosecond or UTC format timestamp. */
+	uint8_t data[1];              /**< Point cloud data. */
+} LivoxEthPacket;
+static bool bCouldIsRecv = false;
+static bool bCouldIsGet = false;
+static uint32_t need_points_size = 30 * 10000;
+static float points_data[40 * 10000];
+//static uint32_t cur_data_num = 0;
+static std::atomic<uint32_t> cur_point_num(0);
+typedef void (*FuncGetLidarData)(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
+FuncGetLidarData GetLidarData;
+#endif // !_WIN32
+
+
+// 采集点云数据
+static int lidar_indxx = 0;
+int Cal3D::LibapiCapCloudPoints(std::shared_ptr<geometry::PointCloud>& cloud_ptr)
+{
+	int ret = CAL_OK;
+
+	if (G(lidar_cap_fake) == "true")
+	{
+		if (G(fake_lidar_fpath) == "")
+			assert(0);
+		else
+		{
+			// 读取fake文件，获取点云数据
+			ret = LibapiReadCloudPointsPly(G(fake_lidar_fpath), cloud_ptr);
+			if (ret != CAL_OK)
+			{
+				return ret;
+			}
+			if (cloud_ptr == nullptr)
+			{
+				return CAL_NONE_PTR;
+			}
+			if (cloud_ptr.get()->points_.size() == 0)
+			{
+				return CAL_3D_CLOUD_POINTS_IS_0;
+			}
+		}
+	}
+	else
+	{
+		// cloud_ptr = cap demo ... 
+		if (lidar_indxx == 0)
+		{
+			Loger(LEVEL_INFOR, "CLidarHelper::Get()->Init start");
+			ret = CLidarHelper::Get()->Init((void*)GetLidarData);
+			Loger(LEVEL_INFOR, "CLidarHelper::Get()->Init end");
+			if (ret != CAL_OK)
+			{
+				Loger(LEVEL_INFOR, "CLidarHelper::Get()->Init() %d", ret);
+				return ret;
+			}
+			lidar_indxx = 1;
+		}
+		else
+		{
+			Loger(LEVEL_INFOR, "CLidarHelper::Get()->Start start");
+			ret = CLidarHelper::Get()->Start();
+			Loger(LEVEL_INFOR, "CLidarHelper::Get()->Start end");
+			if (ret != CAL_OK)
+			{
+				Loger(LEVEL_INFOR, "CLidarHelper::Get()->Start() %d", ret);
+				return ret;
+			}
+		}
+		
+		// 写入点云对象
+		Loger(LEVEL_INFOR, "cloud_ptr.get()->points_. get data start");
+		geometry::PointCloud* pCloud = cloud_ptr.get();
+		// int size = cloud_ptr.get()->points_.size() + __data_num ;
+		// cloud_ptr.get()->points_.resize(size * 3 * sizeof(float));
+		// wait数据
+		while (true)
+		{
+			if (!bCouldIsRecv)
+			{
+				delay_second(0.05);
+				continue;
+			}
+			delay_second(0.01);
+			break;
+		}
+		pCloud->points_.resize(need_points_size);
+		for (uint32_t i = 0; i < need_points_size; ++i) {
+			pCloud->points_[i][0] = points_data[i * 4];
+			pCloud->points_[i][1] = points_data[i * 4 + 1];
+			pCloud->points_[i][2] = points_data[i * 4 + 2];
+			//pCloud->points_.push_back({ (float)point[0], (float)point[1], (float)point[2] });
+		}
+		if (G(save_cload) == "true")
+		{
+			io::WritePointCloud("output.ply", *pCloud);
+		}
+			
+		bCouldIsGet = true;
+		delay_second(0.01);
+		bCouldIsRecv = false; //开始接收数据
+		
+		Loger(LEVEL_INFOR, "cloud_ptr.get()->points_. get data end, data size is %d", pCloud->points_.size());
+
+		Loger(LEVEL_INFOR, "CLidarHelper::Get()->Stop start");
+		ret = CLidarHelper::Get()->Stop();
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "CLidarHelper::Get()->Stop() %d", ret);
+			return ret;
+		}
+		Loger(LEVEL_INFOR, "CLidarHelper::Get()->Stop end");
+	}
+
+	return CAL_OK;
+}
+
+// 读取点云数据
+int Cal3D::LibapiReadCloudPointsPly(const std::string plyPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr)
+{
+	int ret = CAL_OK;
+
+	cloud_ptr = io::CreatePointCloudFromFile(plyPath);
+
+	/*if (!io::ReadPointCloud(plyPath, *cloud_ptr))*/
+	if (cloud_ptr == nullptr)
+	{
+		Loger(LEVEL_INFOR, "Cal3D::LibapiReadCloudPointsPly Failed to read  %s", plyPath.c_str());
+		return CAL_READFILE_FAILED;
+	}
+
+	if (cloud_ptr->IsEmpty())
+	{
+		Loger(LEVEL_INFOR, "cloud_ptr->IsEmpty() cloud_ptr : %s", plyPath.c_str());
+		return CAL_PRAMA_EMPUTY;
+		assert(0);
+	}
+
+	Loger(LEVEL_INFOR, "cloud_ptr read success: %s", plyPath.c_str());
+	return ret;
+}
+
+// 保存点云数据
+int Cal3D::LibapiSaveCloudPointsPly(std::string savaPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr)
+{
+	if (cloud_ptr->IsEmpty())
+		assert(0);
+
+	int ret = CAL_OK;
+
+	if (!io::WritePointCloud(savaPath, *cloud_ptr))
+	{
+		return CAL_WRITEFILE_FAILED;
+	}
+
+	return ret;
+}
+
+// 点云数据筛选
+// 按照 point[0],point[1],point[2] = x, y, z
+int Cal3D::LibapiFilterCloudPointsByDist(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+	std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, float minusx, float x, float minusy, float y, float minusz, float z)
+{
+	if (src_cloud_ptr->IsEmpty())
+		assert(0);
+
+	int ret = CAL_OK;
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	// 遍历点云中的每个点
+	for (int i = 0; i < src_cloud_ptr->points_.size(); ++i) {
+		Eigen::Vector3d point_3d = src_cloud_ptr->points_[i];
+		if (minusx < point_3d.x() && point_3d.x() < x
+			&& minusy < point_3d.y() && point_3d.y() < y
+			&& point_3d.z() < z)
+		{
+			Eigen::Vector3d dst_point_3d = Eigen::Vector3d(point_3d.x(), point_3d.y(), point_3d.z());
+			dst_cloud_ptr->points_.push_back(dst_point_3d);
+		}
+	}
+
+	if (dst_cloud_ptr->IsEmpty())
+		assert(0);
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D::LibapiFilterCloudPointsByDist time is : " << elapsex.count() << std::endl;
+	return ret;
+}
+
+// 点云修正
+int Cal3D::LibapiCorrectCloudPoint(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+	std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, int node)
+{
+	if (src_cloud_ptr->IsEmpty())
+		assert(0);
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	int ret = CAL_OK;
+
+	float kk = G(kk);
+	float r;
+	for (int i = 0; i < src_cloud_ptr->points_.size(); ++i)
+	{
+		Eigen::Vector3d point_3d = src_cloud_ptr->points_[i];
+		//r = sqrt(pow(point_3d[0], 2) + pow(point_3d[1], 2) + pow(point_3d[2], 2));
+		//point_3d[0] = point_3d[0] + point_3d[0] / r * kk;
+		//point_3d[1] = point_3d[1] + point_3d[1] / r * kk;
+		//point_3d[2] = point_3d[2] + point_3d[2] / r * kk;
+		point_3d[2] -= kk;
+		dst_cloud_ptr->points_.push_back(point_3d);
+	}
+
+	if (dst_cloud_ptr->IsEmpty())
+		assert(0);
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D::LibapiCorrectCloudPoint time is : " << elapsex.count() << std::endl;
+	return ret;
+}
+
+// 点云转数组
+int Cal3D::LibapiCloudPointToVec(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+	std::vector<cv::Point3d>& dst_3d)
+{
+	if (src_cloud_ptr->IsEmpty())
+	{
+		Loger(LEVEL_INFOR, "src_cloud_ptr->IsEmpty()");
+		return CAL_PRAMA_EMPUTY;
+		//assert(0);
+	}
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	int ret = CAL_OK;
+
+	for (int i = 0; i < src_cloud_ptr->points_.size(); ++i)
+	{
+		Eigen::Vector3d point_3d = src_cloud_ptr->points_[i];
+		dst_3d.push_back(cv::Point3d(point_3d[0], point_3d[1], point_3d[2]));
+	}
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D::LibapiCloudPointToVec time is : " << elapsex.count() << std::endl;
+
+	return ret;
+}
+
+// 点云数据矩阵变换
+int Cal3D::LibapiRotAndTrans(std::shared_ptr<geometry::PointCloud>& cloud_ptr)
+{
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	int ret = CAL_OK;
+
+	//float y = 1.91032;
+	//float p = -1.5938;
+	//float r = -0.321605;
+
+	Eigen::Matrix3d Rz = cloud_ptr->GetRotationMatrixFromXYZ({ 0, 0, G(y) });
+	Eigen::Matrix3d Ry = cloud_ptr->GetRotationMatrixFromXYZ({ 0, G(p), 0 });
+	Eigen::Matrix3d Rx = cloud_ptr->GetRotationMatrixFromXYZ({ G(r), 0, 0 });
+
+	cloud_ptr->Rotate(Rx, { 1, 0, 0 });
+	cloud_ptr->Rotate(Ry, { 0, 1, 0 });
+	cloud_ptr->Rotate(Rz, { 0, 0, 1 });
+
+	Eigen::Vector3d T_vector = Eigen::Vector3d({ G(tx), G(ty), G(tz) });
+
+	cloud_ptr->Translate(T_vector);
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D::LibapiRotAndTrans time is : " << elapsex.count() << std::endl;
+
+	return ret;
+}
+
+// 点云数据投影
+// im 必须是去畸变图像 undistort image
+int Cal3D::LibapiCloudPointsPorject(std::vector<cv::Point3d>& src_points3D,
+	cv::Mat& cameraMatrix, std::vector<cv::Point2d>& dst_points2D, cv::Mat* im_2D3D, bool doTest, cv::Mat& test_src_im)
+{
+	if (src_points3D.size() == 0 || cameraMatrix.empty())
+		assert(0);
+
+	if (doTest && test_src_im.empty()) assert(0);
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	int ret = CAL_OK;
+
+	cv::Mat rvec, tvec;
+	rvec.create(1, 3, cv::DataType<float>::type);
+	rvec.at<float>(0) = 0.0;
+	rvec.at<float>(1) = 0.0;
+	rvec.at<float>(2) = 0.0;
+	tvec.create(3, 1, cv::DataType<float>::type);
+	tvec.at<float>(0) = 0.0;
+	tvec.at<float>(1) = 0.0;
+	tvec.at<float>(2) = 0.0;
+	cv::Mat distCoeffs = (cv::Mat_<double>(1, 5) << 0.0, 0.0, 0.0, 0.0, 0.0);
+
+	// 投影点
+	cv::projectPoints(src_points3D, rvec, tvec, cameraMatrix, distCoeffs, dst_points2D);
+
+	if (dst_points2D.size() == 0)
+		assert(0);
+
+	cv::Mat test_im = cv::Mat::zeros(im_2D3D->size(), im_2D3D->type());
+	int ch = im_2D3D->channels();;
+	float* im_2D3D_row_ptr;
+	uchar* test_im_row_ptr;
+	for (int i = 0; i < dst_points2D.size(); ++i)
+	{
+		if (0 <= dst_points2D[i].x && dst_points2D[i].x < im_2D3D->cols && 0 <= dst_points2D[i].y && dst_points2D[i].y < im_2D3D->rows)
+		{
+			im_2D3D_row_ptr = (float*)im_2D3D->ptr<float>(int(dst_points2D[i].y));
+			im_2D3D_row_ptr[(int)dst_points2D[i].x * ch] = src_points3D[i].x;
+			im_2D3D_row_ptr[(int)dst_points2D[i].x * ch + 1] = src_points3D[i].y;
+			im_2D3D_row_ptr[(int)dst_points2D[i].x * ch + 2] = src_points3D[i].z;
+
+			//std::cout << im_2D3D_row_ptr[(int)dst_points2D[i].x * ch] << std::endl;
+			//std::cout << im_2D3D_row_ptr[(int)dst_points2D[i].x * ch+1] << std::endl;
+			//std::cout << im_2D3D_row_ptr[(int)dst_points2D[i].x * ch+2] << std::endl;
+
+			if (doTest)
+			{
+				test_im_row_ptr = (uchar*)test_im.ptr<uchar>(int(dst_points2D[i].y));
+				test_im_row_ptr[(int)dst_points2D[i].x * ch] = 255;
+			}
+		}
+	}
+
+	// for test
+	if (doTest)
+	{
+		cv::Mat image_test_red = cv::Mat::zeros(test_src_im.size(), test_src_im.type());
+		cv::Mat image_test_mask;
+		image_test_red.setTo(cv::Scalar(0, 0, 255));
+		cv::cvtColor(test_im, test_im, cv::COLOR_RGB2GRAY);
+		cv::threshold(test_im, image_test_mask, 1, 255, cv::THRESH_BINARY);
+		cv::Mat kernel = getStructuringElement(cv::MORPH_RECT, cv::Size(9, 9), cv::Point(-1, -1));
+		cv::dilate(image_test_mask, image_test_mask, kernel);
+		cv::bitwise_and(image_test_red, test_src_im, test_src_im, image_test_mask);
+#ifdef WIN32
+		cv::resize(test_src_im, test_src_im, cv::Size(int(934), int(700)));
+		cv::imshow("test_src_im", test_src_im);
+		cv::waitKey(0);
+#endif
+	}
+
+	std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+	std::chrono::duration<double> elapsex = m_end - m_start;
+	std::cout << "Cal3D::LibapiCloudPointsPorject time is : " << elapsex.count() << std::endl;
+
+	return ret;
+}
+
+int Cal3D::LibapiCloudPointsPorject(
+	std::vector<cv::Point3d>& src_points3D,
+	cv::Mat& cameraMatrix,
+	std::vector <std::vector<cv::Point2f>>& vecConners,
+	cv::Mat* im2D3D,
+	std::vector<std::vector<cv::Point2f>>& vecInConners2D,
+	std::vector<std::vector<cv::Point3f>>& vecInConners3D)
+{
+	if (src_points3D.size() == 0 || cameraMatrix.empty())
+	{
+		Loger(LEVEL_INFOR, "src_points3D.size() == 0 || cameraMatrix.empty()");
+		return CAL_PRAMA_EMPUTY;
+		//assert(0);
+	}
+
+
+	std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+
+	int ret = CAL_OK;
+
+	cv::Mat rvec, tvec;
+	rvec.create(1, 3, cv::DataType<float>::type);
+	rvec.at<float>(0) = 0.0;
+	rvec.at<float>(1) = 0.0;
+	rvec.at<float>(2) = 0.0;
+	tvec.create(3, 1, cv::DataType<float>::type);
+	tvec.at<float>(0) = 0.0;
+	tvec.at<float>(1) = 0.0;
+	tvec.at<float>(2) = 0.0;
+	cv::Mat distCoeffs = (cv::Mat_<double>(1, 5) << 0.0, 0.0, 0.0, 0.0, 0.0);
+
+	// 投影点
+	std::vector<cv::Point2d> dstPoints2D;
+	cv::projectPoints(src_points3D, rvec, tvec, cameraMatrix, distCoeffs, dstPoints2D);
+
+	if (dstPoints2D.empty())
+	{
+		Loger(LEVEL_INFOR, "dstPoints2D.empty()");
+		return CAL_3D_PROJECT_POINTS_IS_0;
+		//assert(0);
+	}
+
+	int ch = 3;
+	float* im2D3DRowPtr;
+	cv::Point2f p2d;
+	std::vector<int> counts(vecConners.size());
+	for (int r = 0; r < vecConners.size(); ++r)
+		counts[r] = 0;
+	for (int i = 0; i < dstPoints2D.size(); ++i)
+	{
+		if (0 <= dstPoints2D[i].x && dstPoints2D[i].x < im2D3D->cols && 0 <= dstPoints2D[i].y && dstPoints2D[i].y < im2D3D->rows)
+		{
+			im2D3DRowPtr = (float*)im2D3D->ptr<float>(int(dstPoints2D[i].y));
+			im2D3DRowPtr[(int)dstPoints2D[i].x * ch] = src_points3D[i].x;
+			im2D3DRowPtr[(int)dstPoints2D[i].x * ch + 1] = src_points3D[i].y;
+			im2D3DRowPtr[(int)dstPoints2D[i].x * ch + 2] = src_points3D[i].z;
+			p2d.x = dstPoints2D[i].x;
+			p2d.y = dstPoints2D[i].y;
+
+			for (int r = 0; r < vecConners.size(); ++r)
+			{
+				// 在ROI检测中，未正常检测到4个角点
+				if (vecConners[r].size() != 4)
+					continue;
+
+				// 待优化
+				// 收缩4个角点
+				std::vector<cv::Point2f> vecConnersTemp;
+				vecConnersTemp.push_back({ vecConners[r][0].x + 100.0f,vecConners[r][0].y + 100.0f });
+				vecConnersTemp.push_back({ vecConners[r][1].x - 100.0f,vecConners[r][1].y + 100.0f });
+				vecConnersTemp.push_back({ vecConners[r][2].x - 100.0f,vecConners[r][2].y - 100.0f });
+				vecConnersTemp.push_back({ vecConners[r][3].x + 100.0f,vecConners[r][3].y - 100.0f });
+
+				// 返回正值：点在多边形内部
+				// 返回零：点在多边形上
+				// 返回负值：点在多边形外部
+				if (cv::pointPolygonTest(vecConnersTemp, p2d, false) >= 0)
+				{
+					counts[r]++;
+					if ((counts[r] % 5) == 0)
+					{
+						cv::Point3f p3d = { (float)src_points3D[i].x, (float)src_points3D[i].y, (float)src_points3D[i].z };
+						vecInConners3D[r].push_back(p3d);
+						vecInConners2D[r].push_back(p2d);
+					}
+				}
+			}
+		}
+	}
+	return ret;
+}
+
+//int main() {
+//	// 假设 img 是一个 CV_32FC3 类型的图像
+//	cv::Mat img = cv::Mat::ones(480, 640, CV_32FC3) * 0.0001;  // 示例数据，值很小
+//
+//	// 获取最小值和最大值
+//	double minVal, maxVal;
+//	cv::minMaxLoc(img.reshape(1), &minVal, &maxVal); // 将图像展平到单通道以获得总体 min/max
+//
+//	// 如果 minVal 和 maxVal 接近，可以直接设置一个范围（例如 0 到 1）
+//	if (maxVal - minVal < 1e-6) {
+//		maxVal = minVal + 1.0;
+//	}
+//
+//	// 手动进行归一化，将图像值扩展到 0 到 255 的范围
+//	cv::Mat img_normalized;
+//	img.convertTo(img_normalized, CV_32FC3, 1.0 / (maxVal - minVal), -minVal / (maxVal - minVal));
+//	img_normalized.convertTo(img_normalized, CV_8UC3, 255.0);  // 转换为 8 位图像
+//
+//	// 显示图像
+//	cv::imshow("Image", img_normalized);
+//	cv::waitKey(0);
+//
+//	return 0;
+//}
+// 用于测试点云数据投影产生的2D3D数据
+int Cal3D::LibapiCloudPointProjectTest(cv::Mat& im_2D3D)
+{
+	int ret = CAL_OK;
+
+#ifdef WIN32
+	cv::Mat tmp;
+	im_2D3D.convertTo(tmp, CV_8UC3, 255.0);
+	cv::resize(tmp, tmp, cv::Size(int(934), int(700)));
+	tmp = tmp * 1000;
+	cv::imshow("im_2D3D", tmp);
+	cv::waitKey(0);
+#endif
+
+	return ret;
+}
+
+// 点云数据转换为2D3D点对数据
+int Cal3D::LibapiCloudPointsToCMeasureInfo(cv::Mat& im_2D3D, CMeasureInfo& CMeasureInfo)
+{
+	if (im_2D3D.empty())
+		assert(0);
+
+	int ret = CAL_OK;
+
+	//CMeasureInfo.im = &im_2D3D;
+
+	return 0;
+}
+
+static Eigen::Matrix3f cvMatToEigenMap(const cv::Mat& mat)
+{
+	//if (mat.type() != CV_32FC1) {
+	//	throw std::invalid_argument("输入矩阵必须是 CV_32FC1 类型");
+	//}
+	Eigen::Matrix3f eigenMat(mat.rows, mat.cols);
+
+	// 将数据逐元素拷贝到 Eigen 矩阵
+	for (int i = 0; i < mat.rows; ++i) {
+		for (int j = 0; j < mat.cols; ++j) {
+			eigenMat(i, j) = mat.at<double>(i, j);
+		}
+	}
+
+	return eigenMat;
+}
+
+// 通过H，计算2D坐标的3D坐标
+int Cal3D::LibapiCalConner3D(const std::vector<cv::Point2f>& vec2D_2, cv::Mat& H,
+	std::vector<cv::Point3f> vec3d_n, std::vector<cv::Point3f>& vec3D_4)
+{
+	int ret = CAL_OK;
+
+	open3d::geometry::PointCloud _3pts_cloud = open3d::geometry::PointCloud();
+	for (const auto& point : vec3d_n) {
+		_3pts_cloud.points_.push_back(Eigen::Vector3d(point.x, point.y, point.z));
+	}
+	//distance_threshold=0.01, ransac_n=3, num_iterations=500
+	float A, B, C, D;
+	std::vector<size_t> inliers;
+	std::tuple<Eigen::Vector4d, std::vector<size_t>> result = _3pts_cloud.SegmentPlane(0.01, 3, 500);
+	Eigen::Vector4d abcd = std::get<0>(result);
+	A = abcd[0], B = abcd[1], C = abcd[2], D = abcd[3];
+	inliers = std::get<1>(result);
+
+	float x, y, t;
+	Eigen::Matrix3f H_inv = cvMatToEigenMap(H).inverse();
+	Eigen::Matrix3f xy1;
+	Eigen::MatrixXf pts3d;
+	cv::Point3f p3d(3);
+	cv::Point3f p3d_next(3);
+	for (int i = 0; i < 4; ++i)
+	{
+		cv::Point2f p2d = vec2D_2[i];
+		x = p2d.x, y = p2d.y;
+		xy1(0) = x, xy1(1) = y, xy1(2) = 1;
+		pts3d = H_inv * xy1.conjugate();
+		pts3d(0) = pts3d(0) / pts3d(2);
+		pts3d(1) = pts3d(1) / pts3d(2);
+		pts3d(2) = pts3d(2) / pts3d(2);
+		t = -D / (A * pts3d(0) + B * pts3d(1) + C * pts3d(2));
+		pts3d(0) = t * pts3d(0);
+		pts3d(1) = t * pts3d(1);
+		pts3d(2) = t * pts3d(2);
+		p3d.x = pts3d(0);
+		p3d.y = pts3d(1);
+		p3d.z = pts3d(2);
+		vec3D_4.push_back(p3d);
+	}
+
+	for (int i = 0; i < 4; ++i)
+	{
+		p3d = vec3D_4[i];
+		p3d_next = vec3D_4[(i + 1) % 4];
+		float edges = sqrt(pow((p3d.x - p3d_next.x), 2)
+			+ pow((p3d.y - p3d_next.y), 2)
+			+ pow((p3d.z - p3d_next.z), 2));
+		std::cout << edges << std::endl;
+	}
+
+	return ret;
+}
+
+//
+//int main()
+//{
+//	int ret = CAL_OK;
+//
+//	utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
+//
+//	auto cloud_ptr = std::make_shared<geometry::PointCloud>();
+//	auto cloud_ptr_by_dist = std::make_shared<geometry::PointCloud>();
+//	auto cloud_ptr_by_correct = std::make_shared<geometry::PointCloud>();
+//
+//	ret = Cal3D::LibapiCapCloudPoints(cloud_ptr);
+//	if (ret != CAL_OK) assert(0);
+//
+//	ret = Cal3D::LibapiRotAndTrans(cloud_ptr);
+//
+//	ret = Cal3D::LibapiFilterCloudPointsByDist(cloud_ptr, cloud_ptr_by_dist, 
+//		G(dminx), G(dmaxx), G(dminy), G(dmaxy), G(dminz), G(dmaxz));
+//	if (ret != CAL_OK) assert(0);
+//	if (cloud_ptr_by_dist->IsEmpty()) assert(0);
+//
+//	ret = Cal3D::LibapiCorrectCloudPoint(cloud_ptr_by_dist, cloud_ptr_by_correct, 0);
+//
+//	std::vector<cv::Point3d> vec_point_3d;
+//	ret = Cal3D::LibapiCloudPointToVec(cloud_ptr_by_correct, vec_point_3d);
+//
+//	cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << G(fx), 0, G(cx), 0, G(fy), G(cy), 0, 0, 1);
+//	std::vector<cv::Point2d> vec_point_2d;
+//	//cv::Mat test_src_im = cv::imread("output.png");
+//	cv::Mat test_src_im;
+//
+//	//cv::Mat test_src_im;
+//	cv::Mat* im_2D3D = new cv::Mat(cv::Size(G(w), G(h)), CV_32FC3);
+//	im_2D3D->setTo(cv::Scalar(0, 0, 0)); // 设置为全黑背景
+//	ret = Cal3D::LibapiCloudPointsPorject(vec_point_3d, cameraMatrix, vec_point_2d, im_2D3D, false, test_src_im);
+//
+//	// for test
+//	//ret = Cal3D::LibapiCloudPointProjectTest(*im_2D3D);
+//	//cv::FileStorage file("d:\\im_2D3D.yml", cv::FileStorage::WRITE);
+//	//std::string tag = "im_2D3D";
+//	//file << tag << *im_2D3D;
+//	//file.release();
+//
+//	// 创建CMeasureInfo数据结构
+//	long id;
+//	ret = CalUtils::LibapiGenRandomId(id);
+//	std::string info = "abc";
+//	CMeasureInfo* CMeasureInfo_ptr = new CMeasureInfo(id, info, im_2D3D);
+//
+//	visualization::DrawGeometries({ cloud_ptr_by_correct }, "TestFileFormat", 1920, 1080);
+//
+//	return 0;
+//}

image_framework/algorithm/Libapi3d.h

@@ -0,0 +1,64 @@
+#ifndef LIBAPI_3D_H
+#define LIBAPI_3D_H
+
+#include "Libapi2D3D.h"
+#include <iostream>
+#include <vector>
+#include <opencv2/opencv.hpp>
+#include "open3d/Open3D.h"
+
+using namespace open3d;
+
+class Cal3D
+{
+public:
+
+	// 采集点云数据
+	static int LibapiCapCloudPoints(std::shared_ptr<geometry::PointCloud>& cloud_ptr);
+
+	// 读取点云数据
+	static int LibapiReadCloudPointsPly(const std::string plyPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);
+
+	// 保存点云数据
+	static int LibapiSaveCloudPointsPly(std::string savaPath, std::shared_ptr<geometry::PointCloud>& cloud_ptr);
+
+	// 点云数据筛选
+	static int LibapiFilterCloudPointsByDist(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+		std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, float minusx, float x, float minusy, float y, float minusz, float z);
+
+	// 点云修正
+	static int LibapiCorrectCloudPoint(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+		std::shared_ptr<geometry::PointCloud>& dst_cloud_ptr, int node);
+
+	// 点云转数组
+	static int LibapiCloudPointToVec(std::shared_ptr<geometry::PointCloud>& src_cloud_ptr,
+		std::vector<cv::Point3d>& dst_3d);
+
+	// 点云数据转换
+	static int LibapiRotAndTrans(std::shared_ptr<geometry::PointCloud>& cloud_ptr);
+
+	// 点云数据投影
+	static int LibapiCloudPointsPorject(std::vector<cv::Point3d>& src_points3D,
+		cv::Mat& cameraMatrix, std::vector<cv::Point2d>& dst_points2D, cv::Mat* im_2D3D, bool doTest, cv::Mat& src_im);
+	
+	// 点云数据投影，按照预埋件区域ROI进行筛选
+	static int LibapiCloudPointsPorject(
+		std::vector<cv::Point3d>& src_points3D,
+		cv::Mat& cameraMatrix,
+		std::vector <std::vector<cv::Point2f>>& vecConners,
+		cv::Mat* im2D3D,
+		std::vector<std::vector<cv::Point2f>>& vecInConners2D,
+		std::vector<std::vector<cv::Point3f>>& vecInConners3D);
+
+	// 用于测试点云数据投影产生的2D3D数据
+	static int LibapiCloudPointProjectTest(cv::Mat& im_2D3D);
+
+	// 点云数据转换为2D3D点对数据
+	static int LibapiCloudPointsToCMeasureInfo(cv::Mat& im_2D3D, CMeasureInfo& CMeasureInfo);
+
+	// 通过H，计算2D坐标的3D坐标
+	static int LibapiCalConner3D(const std::vector<cv::Point2f>& vec2D_2, cv::Mat& H,
+		std::vector<cv::Point3f> vec3d_n, std::vector<cv::Point3f>& vec3D_4);
+};
+
+#endif

image_framework/algorithm/LibapiEdgesSubPix.cpp

@@ -0,0 +1,448 @@
+#include "LibapiEdgesSubPix.h"
+#include <cmath>
+#include <opencv2/opencv.hpp>
+using namespace cv;
+using namespace std;
+
+
+const double scale = 128.0;  // sum of half Canny filter is 128
+
+static void getCannyKernel(OutputArray _d, double alpha)
+{
+    int r = cvRound(alpha * 3);
+    int ksize = 2 * r + 1;
+
+    _d.create(ksize, 1, CV_16S, -1, true);
+
+    Mat k = _d.getMat();
+
+    vector<float> kerF(ksize, 0.0f);
+    kerF[r] = 0.0f;
+    double a2 = alpha * alpha;
+    float sum = 0.0f;
+    for (int x = 1; x <= r; ++x)
+    {
+        float v = (float)(-x * std::exp(-x * x / (2 * a2)));
+        sum += v;
+        kerF[r + x] = v;
+        kerF[r - x] = -v;
+    }
+    float scale = 128 / sum;
+    for (int i = 0; i < ksize; ++i)
+    {
+        kerF[i] *= scale;
+    }
+    Mat temp(ksize, 1, CV_32F, &kerF[0]);
+    temp.convertTo(k, CV_16S);
+}
+
+// non-maximum supression and hysteresis
+static void postCannyFilter(const Mat &src, Mat &dx, Mat &dy, int low, int high, Mat &dst)
+{
+    ptrdiff_t mapstep = src.cols + 2;
+    AutoBuffer<uchar> buffer((src.cols + 2)*(src.rows + 2) + mapstep * 3 * sizeof(int));
+
+    // L2Gradient comparison with square
+    high = high * high;
+    low = low * low;
+
+    int* mag_buf[3];
+    mag_buf[0] = (int*)(uchar*)buffer;
+    mag_buf[1] = mag_buf[0] + mapstep;
+    mag_buf[2] = mag_buf[1] + mapstep;
+    memset(mag_buf[0], 0, mapstep*sizeof(int));
+
+    uchar* map = (uchar*)(mag_buf[2] + mapstep);
+    memset(map, 1, mapstep);
+    memset(map + mapstep*(src.rows + 1), 1, mapstep);
+
+    int maxsize = std::max(1 << 10, src.cols * src.rows / 10);
+    std::vector<uchar*> stack(maxsize);
+    uchar **stack_top = &stack[0];
+    uchar **stack_bottom = &stack[0];
+
+    /* sector numbers
+    (Top-Left Origin)
+
+    1   2   3
+    *  *  *
+    * * *
+    0*******0
+    * * *
+    *  *  *
+    3   2   1
+    */
+
+#define CANNY_PUSH(d)    *(d) = uchar(2), *stack_top++ = (d)
+#define CANNY_POP(d)     (d) = *--stack_top
+
+#if CV_SSE2
+    bool haveSSE2 = checkHardwareSupport(CV_CPU_SSE2);
+#endif
+
+    // calculate magnitude and angle of gradient, perform non-maxima suppression.
+    // fill the map with one of the following values:
+    //   0 - the pixel might belong to an edge
+    //   1 - the pixel can not belong to an edge
+    //   2 - the pixel does belong to an edge
+    for (int i = 0; i <= src.rows; i++)
+    {
+        int* _norm = mag_buf[(i > 0) + 1] + 1;
+        if (i < src.rows)
+        {
+            short* _dx = dx.ptr<short>(i);
+            short* _dy = dy.ptr<short>(i);
+
+            int j = 0, width = src.cols;
+#if CV_SSE2
+            if (haveSSE2)
+            {
+                for (; j <= width - 8; j += 8)
+                {
+                    __m128i v_dx = _mm_loadu_si128((const __m128i *)(_dx + j));
+                    __m128i v_dy = _mm_loadu_si128((const __m128i *)(_dy + j));
+
+                    __m128i v_dx_ml = _mm_mullo_epi16(v_dx, v_dx), v_dx_mh = _mm_mulhi_epi16(v_dx, v_dx);
+                    __m128i v_dy_ml = _mm_mullo_epi16(v_dy, v_dy), v_dy_mh = _mm_mulhi_epi16(v_dy, v_dy);
+
+                    __m128i v_norm = _mm_add_epi32(_mm_unpacklo_epi16(v_dx_ml, v_dx_mh), _mm_unpacklo_epi16(v_dy_ml, v_dy_mh));
+                    _mm_storeu_si128((__m128i *)(_norm + j), v_norm);
+
+                    v_norm = _mm_add_epi32(_mm_unpackhi_epi16(v_dx_ml, v_dx_mh), _mm_unpackhi_epi16(v_dy_ml, v_dy_mh));
+                    _mm_storeu_si128((__m128i *)(_norm + j + 4), v_norm);
+                }
+            }
+#elif CV_NEON
+            for (; j <= width - 8; j += 8)
+            {
+                int16x8_t v_dx = vld1q_s16(_dx + j), v_dy = vld1q_s16(_dy + j);
+                int16x4_t v_dxp = vget_low_s16(v_dx), v_dyp = vget_low_s16(v_dy);
+                int32x4_t v_dst = vmlal_s16(vmull_s16(v_dxp, v_dxp), v_dyp, v_dyp);
+                vst1q_s32(_norm + j, v_dst);
+
+                v_dxp = vget_high_s16(v_dx), v_dyp = vget_high_s16(v_dy);
+                v_dst = vmlal_s16(vmull_s16(v_dxp, v_dxp), v_dyp, v_dyp);
+                vst1q_s32(_norm + j + 4, v_dst);
+            }
+#endif
+            for (; j < width; ++j)
+                _norm[j] = int(_dx[j])*_dx[j] + int(_dy[j])*_dy[j];
+
+            _norm[-1] = _norm[src.cols] = 0;
+        }
+        else
+            memset(_norm - 1, 0, /* cn* */mapstep*sizeof(int));
+
+        // at the very beginning we do not have a complete ring
+        // buffer of 3 magnitude rows for non-maxima suppression
+        if (i == 0)
+            continue;
+
+        uchar* _map = map + mapstep*i + 1;
+        _map[-1] = _map[src.cols] = 1;
+
+        int* _mag = mag_buf[1] + 1; // take the central row
+        ptrdiff_t magstep1 = mag_buf[2] - mag_buf[1];
+        ptrdiff_t magstep2 = mag_buf[0] - mag_buf[1];
+
+        const short* _x = dx.ptr<short>(i - 1);
+        const short* _y = dy.ptr<short>(i - 1);
+
+        if ((stack_top - stack_bottom) + src.cols > maxsize)
+        {
+            int sz = (int)(stack_top - stack_bottom);
+            maxsize = std::max(maxsize * 3 / 2, sz + src.cols);
+            stack.resize(maxsize);
+            stack_bottom = &stack[0];
+            stack_top = stack_bottom + sz;
+        }
+
+        int prev_flag = 0;
+        for (int j = 0; j < src.cols; j++)
+        {
+            #define CANNY_SHIFT 15
+            const int TG22 = (int)(0.4142135623730950488016887242097*(1 << CANNY_SHIFT) + 0.5);
+
+            int m = _mag[j];
+
+            if (m > low)
+            {
+                int xs = _x[j];
+                int ys = _y[j];
+                int x = std::abs(xs);
+                int y = std::abs(ys) << CANNY_SHIFT;
+
+                int tg22x = x * TG22;
+
+                if (y < tg22x)
+                {
+                    if (m > _mag[j - 1] && m >= _mag[j + 1]) goto __ocv_canny_push;
+                }
+                else
+                {
+                    int tg67x = tg22x + (x << (CANNY_SHIFT + 1));
+                    if (y > tg67x)
+                    {
+                        if (m > _mag[j + magstep2] && m >= _mag[j + magstep1]) goto __ocv_canny_push;
+                    }
+                    else
+                    {
+                        int s = (xs ^ ys) < 0 ? -1 : 1;
+                        if (m > _mag[j + magstep2 - s] && m > _mag[j + magstep1 + s]) goto __ocv_canny_push;
+                    }
+                }
+            }
+            prev_flag = 0;
+            _map[j] = uchar(1);
+            continue;
+        __ocv_canny_push:
+            if (!prev_flag && m > high && _map[j - mapstep] != 2)
+            {
+                CANNY_PUSH(_map + j);
+                prev_flag = 1;
+            }
+            else
+                _map[j] = 0;
+        }
+
+        // scroll the ring buffer
+        _mag = mag_buf[0];
+        mag_buf[0] = mag_buf[1];
+        mag_buf[1] = mag_buf[2];
+        mag_buf[2] = _mag;
+    }
+
+    // now track the edges (hysteresis thresholding)
+    while (stack_top > stack_bottom)
+    {
+        uchar* m;
+        if ((stack_top - stack_bottom) + 8 > maxsize)
+        {
+            int sz = (int)(stack_top - stack_bottom);
+            maxsize = maxsize * 3 / 2;
+            stack.resize(maxsize);
+            stack_bottom = &stack[0];
+            stack_top = stack_bottom + sz;
+        }
+
+        CANNY_POP(m);
+
+        if (!m[-1])         CANNY_PUSH(m - 1);
+        if (!m[1])          CANNY_PUSH(m + 1);
+        if (!m[-mapstep - 1]) CANNY_PUSH(m - mapstep - 1);
+        if (!m[-mapstep])   CANNY_PUSH(m - mapstep);
+        if (!m[-mapstep + 1]) CANNY_PUSH(m - mapstep + 1);
+        if (!m[mapstep - 1])  CANNY_PUSH(m + mapstep - 1);
+        if (!m[mapstep])    CANNY_PUSH(m + mapstep);
+        if (!m[mapstep + 1])  CANNY_PUSH(m + mapstep + 1);
+    }
+
+    // the final pass, form the final image
+    const uchar* pmap = map + mapstep + 1;
+    uchar* pdst = dst.ptr();
+    for (int i = 0; i < src.rows; i++, pmap += mapstep, pdst += dst.step)
+    {
+        for (int j = 0; j < src.cols; j++)
+            pdst[j] = (uchar)-(pmap[j] >> 1);
+    }
+}
+
+static inline  double getAmplitude(Mat &dx, Mat &dy, int i, int j)
+{
+    Point2d mag(dx.at<short>(i, j), dy.at<short>(i, j));
+    return norm(mag);
+}
+
+static inline void getMagNeighbourhood(Mat &dx, Mat &dy, Point &p, int w, int h, vector<double> &mag)
+{
+    int top = p.y - 1 >= 0 ? p.y - 1 : p.y;
+    int down = p.y + 1 < h ? p.y + 1 : p.y;
+    int left = p.x - 1 >= 0 ? p.x - 1 : p.x;
+    int right = p.x + 1 < w ? p.x + 1 : p.x;
+
+    mag[0] = getAmplitude(dx, dy, top, left);
+    mag[1] = getAmplitude(dx, dy, top, p.x);
+    mag[2] = getAmplitude(dx, dy, top, right);
+    mag[3] = getAmplitude(dx, dy, p.y, left);
+    mag[4] = getAmplitude(dx, dy, p.y, p.x);
+    mag[5] = getAmplitude(dx, dy, p.y, right);
+    mag[6] = getAmplitude(dx, dy, down, left);
+    mag[7] = getAmplitude(dx, dy, down, p.x);
+    mag[8] = getAmplitude(dx, dy, down, right);
+}
+
+static inline void get2ndFacetModelIn3x3(vector<double> &mag, vector<double> &a)
+{
+    a[0] = (-mag[0] + 2.0 * mag[1] - mag[2] + 2.0 * mag[3] + 5.0 * mag[4] + 2.0 * mag[5] - mag[6] + 2.0 * mag[7] - mag[8]) / 9.0;
+    a[1] = (-mag[0] + mag[2] - mag[3] + mag[5] - mag[6] + mag[8]) / 6.0;
+    a[2] = (mag[6] + mag[7] + mag[8] - mag[0] - mag[1] - mag[2]) / 6.0;
+    a[3] = (mag[0] - 2.0 * mag[1] + mag[2] + mag[3] - 2.0 * mag[4] + mag[5] + mag[6] - 2.0 * mag[7] + mag[8]) / 6.0;
+    a[4] = (-mag[0] + mag[2] + mag[6] - mag[8]) / 4.0;
+    a[5] = (mag[0] + mag[1] + mag[2] - 2.0 * (mag[3] + mag[4] + mag[5]) + mag[6] + mag[7] + mag[8]) / 6.0;
+}
+/* 
+   Compute the eigenvalues and eigenvectors of the Hessian matrix given by
+   dfdrr, dfdrc, and dfdcc, and sort them in descending order according to
+   their absolute values. 
+*/
+static inline void eigenvals(vector<double> &a, double eigval[2], double eigvec[2][2])
+{
+    // derivatives
+    // fx = a[1], fy = a[2]
+    // fxy = a[4]
+    // fxx = 2 * a[3]
+    // fyy = 2 * a[5]
+    double dfdrc = a[4];
+    double dfdcc = a[3] * 2.0;
+    double dfdrr = a[5] * 2.0;
+    double theta, t, c, s, e1, e2, n1, n2; /* , phi; */
+
+    /* Compute the eigenvalues and eigenvectors of the Hessian matrix. */
+    if (dfdrc != 0.0) {
+        theta = 0.5*(dfdcc - dfdrr) / dfdrc;
+        t = 1.0 / (fabs(theta) + sqrt(theta*theta + 1.0));
+        if (theta < 0.0) t = -t;
+        c = 1.0 / sqrt(t*t + 1.0);
+        s = t*c;
+        e1 = dfdrr - t*dfdrc;
+        e2 = dfdcc + t*dfdrc;
+    }
+    else {
+        c = 1.0;
+        s = 0.0;
+        e1 = dfdrr;
+        e2 = dfdcc;
+    }
+    n1 = c;
+    n2 = -s;
+
+    /* If the absolute value of an eigenvalue is larger than the other, put that
+    eigenvalue into first position.  If both are of equal absolute value, put
+    the negative one first. */
+    if (fabs(e1) > fabs(e2)) {
+        eigval[0] = e1;
+        eigval[1] = e2;
+        eigvec[0][0] = n1;
+        eigvec[0][1] = n2;
+        eigvec[1][0] = -n2;
+        eigvec[1][1] = n1;
+    }
+    else if (fabs(e1) < fabs(e2)) {
+        eigval[0] = e2;
+        eigval[1] = e1;
+        eigvec[0][0] = -n2;
+        eigvec[0][1] = n1;
+        eigvec[1][0] = n1;
+        eigvec[1][1] = n2;
+    }
+    else {
+        if (e1 < e2) {
+            eigval[0] = e1;
+            eigval[1] = e2;
+            eigvec[0][0] = n1;
+            eigvec[0][1] = n2;
+            eigvec[1][0] = -n2;
+            eigvec[1][1] = n1;
+        }
+        else {
+            eigval[0] = e2;
+            eigval[1] = e1;
+            eigvec[0][0] = -n2;
+            eigvec[0][1] = n1;
+            eigvec[1][0] = n1;
+            eigvec[1][1] = n2;
+        }
+    }
+}
+
+static inline double vector2angle(double x, double y)
+{
+    double a = std::atan2(y, x);
+    return a >= 0.0 ? a : a + CV_2PI;
+}
+
+void extractSubPixPoints(Mat &dx, Mat &dy, vector<vector<Point> > &contoursInPixel, vector<Contour> &contours)
+{
+    int w = dx.cols;
+    int h = dx.rows;
+    contours.resize(contoursInPixel.size());
+    for (size_t i = 0; i < contoursInPixel.size(); ++i)
+    {
+        vector<Point> &icontour = contoursInPixel[i];
+        Contour &contour = contours[i];
+        contour.points.resize(icontour.size());
+        contour.response.resize(icontour.size());
+        contour.direction.resize(icontour.size());
+#if defined(_OPENMP) && defined(NDEBUG)
+#pragma omp parallel for
+#endif
+        for (int j = 0; j < (int)icontour.size(); ++j)
+        {
+            vector<double> magNeighbour(9);
+            getMagNeighbourhood(dx, dy, icontour[j], w, h, magNeighbour);
+            vector<double> a(9);
+            get2ndFacetModelIn3x3(magNeighbour, a);
+           
+            // Hessian eigen vector 
+            double eigvec[2][2], eigval[2];
+            eigenvals(a, eigval, eigvec);
+            double t = 0.0;
+            double ny = eigvec[0][0];
+            double nx = eigvec[0][1];
+            if (eigval[0] < 0.0)
+            {
+                double rx = a[1], ry = a[2], rxy = a[4], rxx = a[3] * 2.0, ryy = a[5] * 2.0;
+                t = -(rx * nx + ry * ny) / (rxx * nx * nx + 2.0 * rxy * nx * ny + ryy * ny * ny);
+            }
+            double px = nx * t;
+            double py = ny * t;
+            float x = (float)icontour[j].x;
+            float y = (float)icontour[j].y;
+            if (fabs(px) <= 0.5 && fabs(py) <= 0.5)
+            { 
+                x += (float)px;
+                y += (float)py;
+            }
+            contour.points[j] = Point2f(x, y);
+            contour.response[j] = (float)(a[0] / scale);
+            contour.direction[j] = (float)vector2angle(ny, nx);
+        }
+    }
+}
+
+//---------------------------------------------------------------------
+//          INTERFACE FUNCTION
+//---------------------------------------------------------------------
+void EdgesSubPix(Mat &gray, double alpha, int low, int high,
+    vector<Contour> &contours, OutputArray hierarchy, int mode)
+{
+    Mat blur;
+    GaussianBlur(gray, blur, Size(0, 0), alpha, alpha);
+
+    Mat d;
+    getCannyKernel(d, alpha);
+    Mat one = Mat::ones(Size(1, 1), CV_16S);
+    Mat dx, dy;
+    sepFilter2D(blur, dx, CV_16S, d, one);
+    sepFilter2D(blur, dy, CV_16S, one, d);
+
+    // non-maximum supression & hysteresis threshold
+    Mat edge = Mat::zeros(gray.size(), CV_8UC1);
+    int lowThresh = cvRound(scale * low);
+    int highThresh = cvRound(scale * high);
+    postCannyFilter(gray, dx, dy, lowThresh, highThresh, edge);
+
+    // contours in pixel precision
+    vector<vector<Point> > contoursInPixel;
+    findContours(edge, contoursInPixel, hierarchy, mode, CHAIN_APPROX_NONE);
+
+    // subpixel position extraction with steger's method and facet model 2nd polynominal in 3x3 neighbourhood
+    extractSubPixPoints(dx, dy, contoursInPixel, contours);
+
+}
+
+void EdgesSubPix(Mat &gray, double alpha, int low, int high, vector<Contour> &contours)
+{
+    vector<Vec4i> hierarchy;
+    EdgesSubPix(gray, alpha, low, high, contours, hierarchy, RETR_LIST);
+}

image_framework/algorithm/LibapiEdgesSubPix.h

@@ -0,0 +1,20 @@
+#ifndef __EDGES_SUBPIX_H__
+#define __EDGES_SUBPIX_H__
+#include <opencv2/opencv.hpp>
+#include <vector>
+
+struct Contour
+{
+    std::vector<cv::Point2f> points;
+    std::vector<float> direction;  
+    std::vector<float> response;
+};
+// only 8-bit
+CV_EXPORTS void EdgesSubPix(cv::Mat &gray, double alpha, int low, int high,
+                            std::vector<Contour> &contours, cv::OutputArray hierarchy,
+                            int mode);
+
+CV_EXPORTS void EdgesSubPix(cv::Mat &gray, double alpha, int low, int high, 
+                           std::vector<Contour> &contours);
+
+#endif // __EDGES_SUBPIX_H__

image_framework/algorithm/Yolov5For928.cpp

@@ -0,0 +1,83 @@
+#include "Yolov5For928.h"
+#include "Log.h"
+#include "IniHelper.h"
+#include <iostream>
+#ifndef _WIN32
+#include <dlfcn.h> // Linux for so
+#endif
+#include <cassert>
+
+CYolov5For928* CYolov5For928::m_instance;
+
+CYolov5For928* CYolov5For928::Get()
+{
+	if (CYolov5For928::m_instance == nullptr) {
+		CYolov5For928::m_instance = new CYolov5For928();
+	}
+	return CYolov5For928::m_instance;
+
+}
+
+CYolov5For928::CYolov5For928()
+{
+
+}
+
+CYolov5For928::~CYolov5For928()
+{
+
+}
+
+int CYolov5For928::Init()
+{
+	int ret = RST_OK;
+
+#ifndef _WIN32
+	const char* libPath = "./libss928driver.so";
+	void* handle = dlopen(libPath, RTLD_LAZY);
+	if (!handle) {
+		// Linux
+		std::cerr << "无法加载动态库: " << dlerror() << std::endl;
+		return INIT_ERROR;
+	}
+
+	pfucLibapiSvpNpuHandleSig = (pFucLibapiSvpNpuHandleSig)dlsym(handle, "LibapiSvpNpuHandleSig");
+	pfucLibapiSvpNpuAclPrepareInit = (pFucLibapiSvpNpuAclPrepareInit)dlsym(handle, "LibapiSvpNpuAclPrepareInit");
+	pfucLibApiSvpNpuAclPrepareExit = (pFucLibApiSvpNpuAclPrepareExit)dlsym(handle, "LibApiSvpNpuAclPrepareExit");
+	pfucLibApiSvpNpuLoadModel = (pFucLibApiSvpNpuLoadModel)dlsym(handle, "LibApiSvpNpuLoadModel");
+	pfucLibApiSvpNpuUnLoadModel = (pFucLibApiSvpNpuUnLoadModel)dlsym(handle, "LibApiSvpNpuUnLoadModel");
+	pfucLibApiSvpNpuLoadDataset = (pFucLibApiSvpNpuLoadDataset)dlsym(handle, "LibApiSvpNpuLoadDataset");
+	pfucLibApiSvpNpuUnloadDataset = (pFucLibApiSvpNpuUnloadDataset)dlsym(handle, "LibApiSvpNpuUnloadDataset");
+	pfucLibApiSvpNpuModelExecute = (pFucLibApiSvpNpuModelExecute)dlsym(handle, "LibApiSvpNpuModelExecute");
+	pfucLibApiSvpNpuGetModelExecuteResult = (pFucLibApiSvpNpuGetModelExecuteResult)dlsym(handle, "LibApiSvpNpuGetModelExecuteResult");
+
+
+	//// init sig
+	//ret = pfucLibapiSvpNpuHandleSig();
+	//if (ret != RST_OK)
+	//{
+	//	assert(0);
+	//	return ret;
+	//}
+	//// init acl
+	//ret = pfucLibapiSvpNpuAclPrepareInit();
+	//if (ret != RST_OK)
+	//{
+	//	assert(0);
+	//	return ret;
+	//}
+	//	
+	//// init model
+	//const char* om_model_path = G(yolo_modol_path).c_str();
+	//ret = pfucLibApiSvpNpuLoadModel(om_model_path, 0, false);
+	//if (ret != RST_OK)
+	//{
+	//	assert(0);
+	//	return ret;
+	//}
+		
+
+#endif
+	
+	return RST_OK;
+}

image_framework/algorithm/Yolov5For928.h

@@ -0,0 +1,54 @@
+#ifndef _YOLOV5_FOR_928_H
+#define _YOLOV5_FOR_928_H
+
+#define YOLO_BASE 3000
+#define RST_OK 0
+#define INIT_ERROR YOLO_BASE - 1
+
+typedef int (*pFucLibapiSvpNpuHandleSig)();
+typedef int (*pFucLibapiSvpNpuAclPrepareInit)();
+typedef int (*pFucLibApiSvpNpuAclPrepareExit)();
+typedef int (*pFucLibApiSvpNpuLoadModel)(const char* om_model_path, int model_index, bool is_cached);
+typedef int (*pFucLibApiSvpNpuUnLoadModel)(int model_index);
+typedef int (*pFucLibApiSvpNpuLoadDataset)(int model_index, void* src, int data_len, int imgin_w, int imgin_h, int flag);
+typedef int (*pFucLibApiSvpNpuUnloadDataset)();
+typedef int (*pFucLibApiSvpNpuModelExecute)(int model_index);
+typedef int (*pFucLibApiSvpNpuGetModelExecuteResult)(int model_index, void* retrunObject);
+
+struct TarObject {
+	int x;
+	int y;
+	int width;
+	int height;
+	int label;
+	float prob;
+	char text[256];
+};
+
+struct RetrunObject {
+	int count;
+	TarObject objects[128];
+};
+
+class CYolov5For928
+{
+public:
+	static CYolov5For928* Get();
+public:
+	static CYolov5For928* m_instance;
+	CYolov5For928();
+	~CYolov5For928();
+	int Init();
+public:
+	pFucLibapiSvpNpuHandleSig pfucLibapiSvpNpuHandleSig = nullptr;
+	pFucLibapiSvpNpuAclPrepareInit pfucLibapiSvpNpuAclPrepareInit = nullptr;
+	pFucLibApiSvpNpuAclPrepareExit pfucLibApiSvpNpuAclPrepareExit = nullptr;
+	pFucLibApiSvpNpuLoadModel pfucLibApiSvpNpuLoadModel = nullptr;
+	pFucLibApiSvpNpuUnLoadModel pfucLibApiSvpNpuUnLoadModel = nullptr;
+	pFucLibApiSvpNpuLoadDataset pfucLibApiSvpNpuLoadDataset = nullptr;
+	pFucLibApiSvpNpuUnloadDataset pfucLibApiSvpNpuUnloadDataset = nullptr;
+	pFucLibApiSvpNpuModelExecute pfucLibApiSvpNpuModelExecute = nullptr;
+	pFucLibApiSvpNpuGetModelExecuteResult pfucLibApiSvpNpuGetModelExecuteResult = nullptr;
+};
+
+#endif

image_framework/driver/camera/CameraHelper.cpp

@@ -0,0 +1,76 @@
+#include "CameraHelper.h"
+#include "IniHelper.h"
+#include <cassert>
+#ifndef _WIN32
+#include <dlfcn.h> // Linux for so
+#endif
+#include <iostream>
+
+CCameraHelper* CCameraHelper::m_instance;
+
+CCameraHelper* CCameraHelper::Get()
+{
+	if (CCameraHelper::m_instance == nullptr) {
+		CCameraHelper::m_instance = new CCameraHelper();
+		// 待优化
+	}
+	return CCameraHelper::m_instance;
+}
+
+CCameraHelper::CCameraHelper()
+{
+
+}
+
+CCameraHelper::~CCameraHelper()
+{
+
+}
+
+int CCameraHelper::Init()
+{
+#ifndef _WIN32
+	const char* libPath = "./libCameraDriver.so";
+	void* handle = dlopen(libPath, RTLD_LAZY);
+	if (!handle) {
+		// Linux
+		std::cerr << "无法加载动态库: " << dlerror() << std::endl;
+		return CAMERA_DLL_INIT_ERROR;
+	}
+	pfuccamera_init = (PFuccamera_init)dlsym(handle, "camera_init");
+	pfuccamera_start = (PFuccamera_start)dlsym(handle, "camera_start");
+	pfuccamera_stop = (PFuccamera_stop)dlsym(handle, "camera_stop");
+	pfuccamera_cap = (PFuccamera_cap)dlsym(handle, "camera_cap");
+	if (G(camera_cap_fake) == "true")
+		return 0;
+	else
+	{
+		this->pfuccamera_init();
+		//this->pfuccamera_start(12 * 10000);
+		return 0;
+		//return this->pfuccamera_init();
+	}
+		
+#endif
+	return 0;
+}
+
+int CCameraHelper::Start(int epx_time)
+{
+	return this->pfuccamera_start(epx_time);
+}
+
+int CCameraHelper::Stop()
+{
+	return this->pfuccamera_stop();
+}
+
+int CCameraHelper::Cap(void** data, int& w, int& h, int timeout)
+{
+	return this->pfuccamera_cap(data, w, h, timeout);
+}
+
+#ifndef _WIN32
+
+#endif
+

image_framework/driver/camera/CameraHelper.h

@@ -0,0 +1,36 @@
+#ifndef CAMERA_HELPER_H
+#define CAMERA_HELPER_H
+
+
+typedef int (*PFuccamera_init)();
+typedef int (*PFuccamera_start)(int epx_time);
+typedef int (*PFuccamera_stop)();
+typedef int (*PFuccamera_cap)(void** data, int& w, int& h, int time_out);
+
+#define CAMERA_BASE 4000
+#define CAMERA_DLL_INIT_ERROR		1 - CAMERA_BASE
+
+class CCameraHelper
+{
+public:
+	static CCameraHelper* Get();
+	static CCameraHelper* m_instance;
+public:
+	CCameraHelper();
+	~CCameraHelper();
+public:
+	PFuccamera_init pfuccamera_init = nullptr;
+	PFuccamera_start pfuccamera_start = nullptr;
+	PFuccamera_stop pfuccamera_stop = nullptr;
+	PFuccamera_cap pfuccamera_cap = nullptr;
+public: 
+	int Init();
+	int Start(int epx_time = 12 * 10000);
+	int Stop();
+	int Cap(void**, int& w, int& h, int timeout);
+	int GetState() { return 0; };
+};
+
+
+
+#endif

image_framework/driver/livox/LidarHelper.cpp

@@ -0,0 +1,341 @@
+#ifndef _WIN32
+#include <stdio.h>
+#include <stdlib.h>
+#ifndef _WIN32
+#include <unistd.h>
+#endif
+#include <string.h>
+
+#include "LidarHelper.h"
+
+CLidarHelper* CLidarHelper::m_instance;
+extern "C" {
+
+/** 回调函数声明 */
+static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message);
+static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
+static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
+static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
+static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
+static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type);
+static void OnDeviceBroadcast(const BroadcastDeviceInfo* info);
+
+/** 用于Python的回调函数指针 */
+//static void (*python_data_callback)(uint8_t, uint32_t*, uint32_t) = NULL;
+//static void (*python_error_callback)(livox_status, uint8_t, ErrorMessage*) = NULL;
+//static void (*python_device_change_callback)(const DeviceInfo*, DeviceEvent) = NULL;
+//static void (*python_device_broadcast_callback)(const BroadcastDeviceInfo*) = NULL;
+//static void (*python_common_command_callback)(livox_status, uint8_t, uint8_t) = NULL;
+
+
+
+typedef enum {
+    kDeviceStateDisconnect = 0,
+    kDeviceStateConnect = 1,
+    kDeviceStateSampling = 2,
+} DeviceState;
+
+typedef struct {
+    uint8_t handle;
+    DeviceState device_state;
+    DeviceInfo info;
+} DeviceItem;
+
+static DeviceItem devices[kMaxLidarCount];
+static int lidar_count = 0;
+static FuncGetLidarData pfuncGetLidarData = nullptr;
+
+static bool init_sdk() {
+    printf("Livox SDK initializing.\n");
+    if (!Init()) {
+        return false;
+    }
+    printf("Livox SDK has been initialized.\n");
+    LivoxSdkVersion _sdkversion;
+    GetLivoxSdkVersion(&_sdkversion);
+    printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
+
+    memset(devices, 0, sizeof(devices));
+    return true;
+}
+
+/** 启动设备扫描 */
+static bool start_discovery() {
+    SetBroadcastCallback(OnDeviceBroadcast);
+    SetDeviceStateUpdateCallback(OnDeviceInfoChange);
+
+    if (!Start()) {
+        printf("Failed to start device discovery.\n");
+        Uninit();
+        return false;
+    }
+    printf("Started device discovery.\n");
+    return true;
+}
+
+/** 停止SDK并清理 */
+static void stop_sdk() {
+    printf("Stopping Livox SDK.\n");
+    for (int i = 0; i < kMaxLidarCount; ++i) {
+        if (devices[i].device_state == kDeviceStateSampling) {
+            LidarStopSampling(devices[i].handle, OnStopSampleCallback, NULL);
+        }
+    }
+    Uninit();
+}
+
+static int connect(const char* broadcast_code) {
+    uint8_t handle = 0;
+    livox_status result = AddLidarToConnect(broadcast_code, &handle);
+    if (result == kStatusSuccess) {
+        /** Set the point cloud data for a specific Livox LiDAR. */
+        SetDataCallback(handle, pfuncGetLidarData, NULL);
+    }
+    return result;
+}
+
+static int start_sampling(uint8_t handle) {
+    livox_status result = LidarStartSampling(handle, OnSampleCallback, NULL);
+    devices[handle].device_state = kDeviceStateSampling;
+    return result;
+}
+
+static int stop_sampling(uint8_t handle) {
+    livox_status result = LidarStopSampling(handle, OnSampleCallback, NULL);
+    devices[handle].device_state = kDeviceStateSampling;
+    return result;
+}
+
+static int set_mode(LidarMode mode) {
+    return LidarSetMode(devices[0].handle, mode, OnCommonCommandCallback, NULL);
+}
+
+/** 回调函数的定义 */
+static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message) {
+    //if (python_error_callback) {
+    //    python_error_callback(status, handle, message);
+    //}
+}
+
+static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
+    //if (python_common_command_callback) {
+    //    python_common_command_callback(status, handle, response);
+    //}
+}
+
+static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data) {
+    if (data) {
+        /** Parsing the timestamp and the point cloud data. */
+        uint64_t cur_timestamp = *((uint64_t*)(data->timestamp));
+        if (data->data_type == kCartesian) {
+            LivoxRawPoint* p_point_data = (LivoxRawPoint*)data->data;
+        }
+        else if (data->data_type == kSpherical) {
+            LivoxSpherPoint* p_point_data = (LivoxSpherPoint*)data->data;
+        }
+        else if (data->data_type == kExtendCartesian) {
+            LivoxExtendRawPoint* p_point_data = (LivoxExtendRawPoint*)data->data;
+#ifdef _WIN32
+            LivoxExtendRawPoint point_array[10*10000];
+#else
+            LivoxExtendRawPoint point_array[data_num];
+#endif
+            uint32_t* converted_data = (uint32_t*)malloc(data_num * 4 * sizeof(uint32_t));
+            for (uint32_t i = 0; i < data_num; ++i) {
+                LivoxExtendRawPoint* point = &p_point_data[i];
+                // 将结构体的 x, y, z 放入 uint32_t 数组中
+                converted_data[i * 4] = point->x;
+                converted_data[i * 4 + 1] = point->y;
+                converted_data[i * 4 + 2] = point->z;
+                // 将 reflectivity 和 tag 合并成一个 uint32_t（高16位和低16位）
+                converted_data[i * 4 + 3] = (uint32_t)(point->reflectivity << 8 | point->tag);
+            }
+            //// 调用 Python 回调函数
+            //if (python_data_callback) {
+            //    python_data_callback(handle, converted_data, data_num);
+            //}
+        }
+        else if (data->data_type == kExtendSpherical) {
+            LivoxExtendSpherPoint* p_point_data = (LivoxExtendSpherPoint*)data->data;
+        }
+        else if (data->data_type == kDualExtendCartesian) {
+            LivoxDualExtendRawPoint* p_point_data = (LivoxDualExtendRawPoint*)data->data;
+        }
+        else if (data->data_type == kDualExtendSpherical) {
+            LivoxDualExtendSpherPoint* p_point_data = (LivoxDualExtendSpherPoint*)data->data;
+        }
+        else if (data->data_type == kImu) {
+            LivoxImuPoint* p_point_data = (LivoxImuPoint*)data->data;
+        }
+        else if (data->data_type == kTripleExtendCartesian) {
+            LivoxTripleExtendRawPoint* p_point_data = (LivoxTripleExtendRawPoint*)data->data;
+        }
+        else if (data->data_type == kTripleExtendSpherical) {
+            LivoxTripleExtendSpherPoint* p_point_data = (LivoxTripleExtendSpherPoint*)data->data;
+        }
+        // printf("data_type %d\n", data->data_type);
+    }
+}
+
+static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
+    if (status == kStatusSuccess && response != 0) {
+        devices[handle].device_state = kDeviceStateConnect;
+    }
+    else if (status == kStatusTimeout) {
+        devices[handle].device_state = kDeviceStateConnect;
+    }
+}
+
+static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
+    // 停止采样时的回调处理
+}
+
+/** Query the firmware version of Livox LiDAR. */
+static void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse* ack, void* data) {
+    if (status != kStatusSuccess) {
+        printf("Device Query Informations Failed %d\n", status);
+    }
+    if (ack) {
+        printf("firm ver: %d.%d.%d.%d\n",
+            ack->firmware_version[0],
+            ack->firmware_version[1],
+            ack->firmware_version[2],
+            ack->firmware_version[3]);
+    }
+}
+
+static void LidarConnect(const DeviceInfo* info) {
+    uint8_t handle = info->handle;
+    QueryDeviceInformation(handle, OnDeviceInformation, NULL);
+    if (devices[handle].device_state == kDeviceStateDisconnect) {
+        devices[handle].device_state = kDeviceStateConnect;
+        devices[handle].info = *info;
+    }
+}
+
+static void LidarDisConnect(const DeviceInfo* info) {
+    uint8_t handle = info->handle;
+    devices[handle].device_state = kDeviceStateDisconnect;
+}
+
+static void LidarStateChange(const DeviceInfo* info) {
+    uint8_t handle = info->handle;
+    devices[handle].info = *info;
+}
+
+static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type) {
+    if (info == NULL) {
+        return;
+    }
+
+    uint8_t handle = info->handle;
+    if (handle >= kMaxLidarCount) {
+        return;
+    }
+    if (type == kEventConnect) {
+        LidarConnect(info);
+        printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code);
+    }
+    else if (type == kEventDisconnect) {
+        LidarDisConnect(info);
+        printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code);
+    }
+    else if (type == kEventStateChange) {
+        LidarStateChange(info);
+        printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code);
+    }
+    printf("Device Working State %d\n", devices[handle].info.state);
+    if (devices[handle].device_state == kDeviceStateConnect) {
+        if (devices[handle].info.state == kLidarStateInit) {
+            printf("Device State Change Progress %u\n", devices[handle].info.status.progress);
+        }
+        else {
+            printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code);
+        }
+        printf("Device feature %d\n", devices[handle].info.feature);
+        SetErrorMessageCallback(handle, OnLidarErrorStatusCallback);
+        if (devices[handle].info.state == kLidarStateNormal) {
+            LidarStartSampling(handle, OnSampleCallback, NULL);
+            devices[handle].device_state = kDeviceStateSampling;
+        }
+    }
+    //if (python_device_change_callback) {
+    //    python_device_change_callback(info, type);
+    //}
+}
+
+static void OnDeviceBroadcast(const BroadcastDeviceInfo* info) {
+    //if (python_device_broadcast_callback) {
+    //    python_device_broadcast_callback(info);
+    //}
+    printf("connect to device %d \n", info->broadcast_code);
+    connect(info->broadcast_code);
+}
+
+CLidarHelper* CLidarHelper::Get()
+{
+    if (CLidarHelper::m_instance == nullptr) {
+        CLidarHelper::m_instance = new CLidarHelper();
+        // 待优化
+    }
+    return CLidarHelper::m_instance;
+}
+
+CLidarHelper::CLidarHelper()
+{
+
+}
+
+CLidarHelper::~CLidarHelper()
+{
+
+}
+
+int CLidarHelper::Init(void* pfunGetdate)
+{
+    pfuncGetLidarData = (FuncGetLidarData)pfunGetdate;
+
+    bool succ = init_sdk();
+    if (!succ)
+        return LIDAR_INIT_SDK_FAILED;
+    succ = start_discovery();
+    if (!succ)
+        return LIDAR_START_DISCOVERY_FAILD;
+
+	return LIDAR_OK;
+}
+
+int CLidarHelper::Start(int epx_time)
+{
+    int ret = start_sampling(0);
+    if (ret != 0)
+    {
+        printf("start_sampling error is %d \n", ret);
+        return LIDAR_START_SAMPLING_FAILD;
+    }
+        
+	return LIDAR_OK;
+}
+
+int CLidarHelper::Stop()
+{
+    int ret = stop_sampling(0);
+    if (ret != 0)
+    {
+        printf("stop_sampling error is %d \n", ret);
+        return LIDAR_STOP_SAMPLING_FAILD;
+    }
+    return LIDAR_OK;
+}
+
+int CLidarHelper::Cap()
+{
+    return LIDAR_OK;
+}
+
+} // extern "C" 
+#else
+#include "LidarHelper.h"
+CLidarHelper* CLidarHelper::m_instance;
+#endif //_WIN32
+

image_framework/driver/livox/LidarHelper.h

@@ -0,0 +1,75 @@
+#ifndef CAMERA_HELPER_H
+#define CAMERA_HELPER_H
+
+#ifndef _WIN32
+#include "livox_sdk.h"
+
+extern "C" {
+
+typedef void (*FuncGetLidarData)(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
+
+//#ifndef _WIN32
+//typedef int (*PFuccamera_init)();
+//typedef int (*PFuccamera_start)(int epx_time);
+//typedef int (*PFuccamera_stop)();
+//typedef int (*PFuccamera_cap)(void** data, int& w, int& h, int time_out);
+
+#define LIDAR_BASE 5000
+#define LIDAR_OK						0
+#define LIDAR_INIT_SDK_FAILED			1 - LIDAR_BASE
+#define LIDAR_DLL_INIT_ERROR			2 - LIDAR_BASE
+#define LIDAR_START_DISCOVERY_FAILD		3-  LIDAR_BASE
+#define LIDAR_START_SAMPLING_FAILD		5-  LIDAR_BASE
+#define LIDAR_STOP_SAMPLING_FAILD		6-  LIDAR_BASE
+
+
+class CLidarHelper
+{
+public:
+	static CLidarHelper* Get();
+	static CLidarHelper* m_instance;
+public:
+	CLidarHelper();
+	~CLidarHelper();
+public:
+	//PFuccamera_init pfuccamera_init = nullptr;
+	//PFuccamera_start pFuccamera_start = nullptr;
+	//PFuccamera_stop pFuccamera_stop = nullptr;
+	//PFuccamera_cap pfuccamera_cap = nullptr;
+public: 
+	int Init(void* pfunGetdate);
+	int Start(int epx_time = 12 * 10000);
+	int Stop();
+	int Cap();
+	int GetState() { return 0; };
+};
+} // extern "C" {
+#else
+class CLidarHelper
+{
+public:
+	static CLidarHelper* Get() {
+		if (CLidarHelper::m_instance == nullptr) {
+			CLidarHelper::m_instance = new CLidarHelper();
+			// 待优化
+		}
+		return CLidarHelper::m_instance;
+	};
+	static CLidarHelper* m_instance;
+public:
+	CLidarHelper() {};
+	~CLidarHelper() {};
+public:
+	//PFuccamera_init pfuccamera_init = nullptr;
+	//PFuccamera_start pFuccamera_start = nullptr;
+	//PFuccamera_stop pFuccamera_stop = nullptr;
+	//PFuccamera_cap pfuccamera_cap = nullptr;
+public:
+	int Init(void* pfunGetdate) { return 0;  };
+	int Start(int epx_time = 12 * 10000) { return 0; };
+	int Stop() { return 0; };
+	int Cap() { return 0; };
+	int GetState() { return 0; };
+};
+#endif
+#endif

image_framework/driver/livox/README.MD

@@ -0,0 +1,4 @@
+找到 CMakeLists.txt 中编译静态库的地方，确保添加 -fPIC 标志。可以通过以下方式添加：
+```cmake
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+```

image_framework/driver/livox/build.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+rm -rf build
+mkdir build
+cd build
+cmake ..
+make
+cp liblivox_sdk_wrapper.so ../

image_framework/driver/livox/sdk_test.py

@@ -0,0 +1,212 @@
+import ctypes
+from ctypes import *
+
+# 加载C++库
+livox_sdk = ctypes.CDLL('./liblivox_sdk_wrapper.so')
+
+# 预定义的常量
+kBroadcastCodeSize = 16  # 广播码长度
+# 定义枚举类型
+class DeviceType(c_int):
+    kDeviceTypeHub = 0
+    kDeviceTypeLidarMid40 = 1
+    kDeviceTypeLidarTele = 2
+    kDeviceTypeLidarHorizon = 3
+    kDeviceTypeLidarMid70 = 6
+    kDeviceTypeLidarAvia = 7
+
+class LidarState(c_int):
+    kLidarStateInit = 0
+    kLidarStateNormal = 1
+    kLidarStatePowerSaving = 2
+    kLidarStateStandBy = 3
+    kLidarStateError = 4
+    kLidarStateUnknown = 5
+
+class LidarMode(c_int):
+    kLidarModeNormal = 1
+    kLidarModePowerSaving = 2
+    kLidarModeStandby = 3
+
+class LidarFeature(c_int):
+    kLidarFeatureNone = 0
+    kLidarFeatureRainFog = 1
+
+class LidarIpMode(c_int):
+    kLidarDynamicIpMode = 0
+    kLidarStaticIpMode = 1
+
+class LidarScanPattern(c_int):
+    kNoneRepetitiveScanPattern = 0
+    kRepetitiveScanPattern = 1
+
+class LivoxStatus(c_int):
+    kStatusSendFailed = -9
+    kStatusHandlerImplNotExist = -8
+    kStatusInvalidHandle = -7
+    kStatusChannelNotExist = -6
+    kStatusNotEnoughMemory = -5
+    kStatusTimeout = -4
+    kStatusNotSupported = -3
+    kStatusNotConnected = -2
+    kStatusFailure = -1
+    kStatusSuccess = 0
+
+# 定义结构体和联合体
+class LidarErrorCode(Structure):
+    _fields_ = [
+        ("temp_status", c_uint32, 2),
+        ("volt_status", c_uint32, 2),
+        ("motor_status", c_uint32, 2),
+        ("dirty_warn", c_uint32, 2),
+        ("firmware_err", c_uint32, 1),
+        ("pps_status", c_uint32, 1),
+        ("device_status", c_uint32, 1),
+        ("fan_status", c_uint32, 1),
+        ("self_heating", c_uint32, 1),
+        ("ptp_status", c_uint32, 1),
+        ("time_sync_status", c_uint32, 3),
+        ("rsvd", c_uint32, 13),
+        ("system_status", c_uint32, 2),
+    ]
+
+class HubErrorCode(Structure):
+    _fields_ = [
+        ("sync_status", c_uint32, 2),
+        ("temp_status", c_uint32, 2),
+        ("lidar_status", c_uint32, 1),
+        ("lidar_link_status", c_uint32, 1),
+        ("firmware_err", c_uint32, 1),
+        ("rsvd", c_uint32, 23),
+        ("system_status", c_uint32, 2),
+    ]
+
+class ErrorMessage(Union):
+    _fields_ = [
+        ("error_code", c_uint32),
+        ("lidar_error_code", LidarErrorCode),
+        ("hub_error_code", HubErrorCode)
+    ]
+
+class StatusUnion(Union):
+    _fields_ = [
+        ("error_code", c_uint32),  # 假设这个字段为示例
+        ("lidar_error_code", LidarErrorCode),
+        ("hub_error_code", HubErrorCode)
+    ]
+
+# 定义 DeviceInfo 结构体
+class DeviceInfo(Structure):
+    _fields_ = [
+        ("broadcast_code", c_char * kBroadcastCodeSize),  # 广播码，最大15个字符，带终止符
+        ("handle", c_uint8),                              # 设备句柄
+        ("slot", c_uint8),                                # 插槽编号
+        ("id", c_uint8),                                  # LiDAR id
+        ("type", DeviceType),                             # 设备类型
+        ("data_port", c_uint16),                          # 点云数据UDP端口
+        ("cmd_port", c_uint16),                           # 控制命令UDP端口
+        ("sensor_port", c_uint16),                        # IMU数据UDP端口
+        ("ip", c_char * 16),                              # IP地址
+        ("state", LidarState),                            # LiDAR状态
+        ("feature", LidarFeature),                        # LiDAR特性
+        ("status", StatusUnion),                          # LiDAR工作状态
+        ("firmware_version", c_uint8 * 4)                 # 固件版本
+    ]
+
+# 定义 BroadcastDeviceInfo 结构体
+class BroadcastDeviceInfo(Structure):
+    _fields_ = [
+        ("broadcast_code", c_char * kBroadcastCodeSize),  # 广播码，最多15个字符，带终止符
+        ("dev_type", c_uint8),                            # 设备类型，参考 DeviceType
+        ("reserved", c_uint16),                           # 保留字段
+        ("ip", c_char * 16)                               # 设备 IP 地址
+    ]
+
+# 定义 LivoxEthPacket 结构体
+class LivoxEthPacket(Structure):
+    _fields_ = [
+        ("version", c_uint8),         # Packet protocol version.
+        ("slot", c_uint8),            # Slot number used for connecting LiDAR.
+        ("id", c_uint8),              # LiDAR id.
+        ("rsvd", c_uint8),            # Reserved.
+        ("err_code", c_uint32),       # Device error status indicator information.
+        ("timestamp_type", c_uint8),  # Timestamp type.
+        ("data_type", c_uint8),       # Point cloud coordinate format.
+        ("timestamp", c_uint8 * 8),   # Nanosecond or UTC format timestamp.
+        ("data", c_uint8 * 1)         # Point cloud data (can be extended as needed).
+    ]
+
+# 定义 LivoxExtendRawPoint 结构体
+class LivoxExtendRawPoint(Structure):
+    _fields_ = [
+        ('x', c_int32),          # X axis, Unit: mm
+        ('y', c_int32),          # Y axis, Unit: mm
+        ('z', c_int32),          # Z axis, Unit: mm
+        ('reflectivity', c_uint8),  # Reflectivity
+        ('tag', c_uint8)         # Tag
+    ]
+
+# 回调函数类型定义
+DataCallbackType = CFUNCTYPE(None, c_uint8, POINTER(LivoxEthPacket), c_uint32)
+ErrorCallbackType = CFUNCTYPE(None, c_uint8, c_uint8, POINTER(ErrorMessage))
+DeviceChangeCallbackType = CFUNCTYPE(None, POINTER(DeviceInfo), c_uint8)
+DeviceBroadcastCallbackType = CFUNCTYPE(None, POINTER(BroadcastDeviceInfo))
+
+
+point_size = sizeof(LivoxExtendRawPoint)
+
+# 数据回调函数
+@DataCallbackType
+def data_callback(handle, packet, data_num):
+    # print(f"Received data from handle {handle}, data num: {data_num}")
+    # 1. 计算数据的总字节数
+    total_data_size = data_num * point_size
+    # 2. 将 packet.data 转换为指向 LivoxExtendRawPoint 数组的指针
+    point_data_array_type = LivoxExtendRawPoint * data_num  # 定义类型
+    point_data_pointer = cast(packet.data, POINTER(point_data_array_type))  # 将data转换为LivoxExtendRawPoint指针
+    # 3. 获取具体的点云数据
+    point_data_array = point_data_pointer.contents  # 访问数组内容
+    # 4. 遍历每个 LivoxExtendRawPoint 并打印数据
+    for i in range(data_num):
+        point = point_data_array[i]
+        print(f"Point {i}: X={point.x}, Y={point.y}, Z={point.z}, Reflectivity={point.reflectivity}, Tag={point.tag}")
+
+# 错误回调函数
+@ErrorCallbackType
+def error_callback(status, handle, error_message):
+    print(f"Error from handle {handle}, status: {status}")
+
+# 设备状态变化回调函数
+@DeviceChangeCallbackType
+def device_change_callback(info, event_type):
+    print(f"Device {bytes(info.contents.broadcast_code).decode('utf-8')} changed state, event type: {event_type}")
+
+# 设备广播回调函数
+@DeviceBroadcastCallbackType
+def device_broadcast_callback(info):
+    print(f"New device broadcast received: {bytes(info.contents.broadcast_code).decode('utf-8')}")
+
+# 注册回调函数
+livox_sdk.register_data_callback(data_callback)
+livox_sdk.register_error_callback(error_callback)
+livox_sdk.register_device_change_callback(device_change_callback)
+livox_sdk.register_device_broadcast_callback(device_broadcast_callback)
+
+# 调用初始化和开始发现设备的函数
+if livox_sdk.init_sdk():
+    print("Livox SDK initialized.")
+else:
+    print("Failed to initialize Livox SDK.")
+
+if livox_sdk.start_discovery():
+    print("Started discovering Livox devices.")
+else:
+    print("Failed to discover devices.")
+
+# 等待数据回调
+try:
+    while True:
+        pass
+except KeyboardInterrupt:
+    livox_sdk.stop_sdk()
+    print("SDK stopped.")

image_framework/plugins/MsgBase.cpp

@@ -0,0 +1,160 @@
+#include "MsgBase.h"
+#include "LibapiThread.h" 
+#include "Libapi2D3D.h"
+
+// for test
+MsgBase* MsgBase::msg_ptr1 = nullptr;
+
+FuncCallback MsgBase::pCallback = nullptr;
+
+bool MsgBase::bAllRoisConnersCheckIsEnd = false;
+bool MsgBase::bCloudProjectIsOk = false;
+int MsgBase::iCameraToLidarMsg = CLIENT_MSG_NONE; // 2D第一阶段处理结束0：无回复 1：继续执行 2：重新检测 3：停止检测
+int  MsgBase::iClinetMsg = CLIENT_MSG_NONE; // 客户端确认：0：无回复 1：继续执行 2：重新检测 3：停止检测
+
+static std::mutex s_mutex;
+
+void MsgBase::SetMsgPtr1(MsgBase* msg)
+{
+	MsgBase::msg_ptr1 = msg;
+};
+
+MsgBase* MsgBase::GetMsgPtr1()
+{
+	return MsgBase::msg_ptr1;
+};
+void MsgBase::SetCallBack(FuncCallback f)
+{
+	MsgBase::pCallback = f;
+}
+
+void MsgBase::Callback(void* data)
+{
+	if (MsgBase::pCallback != nullptr)
+		MsgBase::pCallback(data);
+	else assert(0);
+}
+
+void MsgBase::Callback(int code, std::string errorInfo)
+{
+	CallbackInfo cbInfo;
+	cbInfo.code = code;
+	memset(cbInfo.errorInfo, 0, sizeof(cbInfo.errorInfo));
+	memcpy(cbInfo.errorInfo, errorInfo.c_str(), errorInfo.size());
+	cbInfo.bGetData = false;
+	if (MsgBase::pCallback != nullptr)
+		MsgBase::pCallback(&cbInfo);
+	//else assert(0);
+}
+
+void MsgBase::CallbackWithData(int code, std::string errorInfo)
+{
+	CallbackInfo cbInfo;
+	cbInfo.code = code;
+	memset(cbInfo.errorInfo, 0, sizeof(cbInfo.errorInfo));
+	memcpy(cbInfo.errorInfo, errorInfo.c_str(), errorInfo.size());
+	cbInfo.bGetData = true;
+	CMeasureInfo* measureInfo = CMeasureInfo::Get();
+
+	std::vector<std::shared_ptr<CSubRoi>> rois = measureInfo->GetSubRois();
+	cbInfo.roi_size = rois.size();
+	std::cout << "=====================" << rois.size() << std::endl;
+	for (int i = 0; i < rois.size(); ++i)
+	{
+		std::shared_ptr<CSubRoi> roi = rois[i];
+		SubRoiData* cb_roi = &cbInfo.subRois[i];
+			
+		for (int n = 0; n < (roi.get()->H).total(); ++n)
+			cb_roi->H[n] = (roi.get()->H).at<float>(0, n);
+		for (int n = 0; n < roi.get()->mRoiPoints.size(); ++n)
+		{
+			cv::Point2f p2f = roi.get()->mRoiPoints[n];
+			cb_roi->mRoiPoints[n * 2] = p2f.x;
+			cb_roi->mRoiPoints[n * 2 + 1] = p2f.y;
+		}
+		for (int n = 0; n < roi.get()->mInnerConners.size(); ++n)
+		{
+			cv::Point2f p2f = roi.get()->mInnerConners[n];
+			cb_roi->mInnerConners[n * 2] = p2f.x;
+			cb_roi->mInnerConners[n * 2 + 1] = p2f.y;
+		}
+		for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
+		{
+			cv::Point3f p3f = roi.get()->mInnerConners3D[n];
+			cb_roi->mInnerConners3D[n * 3] = p3f.x;
+			cb_roi->mInnerConners3D[n * 3 + 1] = p3f.y;
+			cb_roi->mInnerConners3D[n * 3 + 2] = p3f.z;
+		}
+		//for (int n = 0; n < roi.get()->mInnerConners3D.size(); ++n)
+		//{
+		//}
+
+	}
+
+	if (MsgBase::pCallback != nullptr)
+		MsgBase::pCallback(&cbInfo);
+}
+
+void MsgBase::WaitBool(bool& b)
+{
+	while (true)
+	{
+		LibapiThread::delay_second(0.05);
+		if (b)
+		{
+			b = false;
+			break;
+		}
+	}
+}
+
+void MsgBase::SetWaitBool(bool& b)
+{
+	b = true;
+}
+
+int MsgBase::WaitInt(int& val)
+{
+	int rst = 0;
+	while (true)
+	{
+		LibapiThread::delay_second(0.05);
+		std::unique_lock<std::mutex> lock(s_mutex);
+		if (val != 0)
+		{
+			rst = val;
+			val = 0;
+			break;
+		}
+	}
+	return rst;
+}
+
+void MsgBase::SetWaitInt(int& it, int val)
+{
+	std::unique_lock<std::mutex> lock(s_mutex);
+	it = val;
+}
+
+// 待优化
+std::string MsgBase::GetCodeInfo(int code)
+{
+	if (code == CAL_OK) return "success";
+
+	else if (code == TO_CLIENT_NOTIFY_CAMERA_CAP_START) return "开始采集数据";
+	else if (code == TO_CLIENT_NOTIFY_CAMERA_CAP_END) return "采集数据已完成";
+
+	else if (code == TO_CLIENT_NOTIFY_DETECTION_START) return "开始识别预埋件";
+	else if (code == TO_CLIENT_NOTIFY_DETECTION_END) return "识别预埋件已完成";
+
+	else if (code == TO_CLIENT_NOTIFY_CONNER2D_START) return "开始检测角点";
+	else if (code == TO_CLIENT_NOTIFY_CONNER2D_END) return "检测角点已完成";
+
+	else if (code == TO_CLIENT_NOTIFY_CONNER3D_START) return "开始计算角点3D数据";
+	else if (code == TO_CLIENT_NOTIFY_CONNER3D_END) return "角点3D数据计算已完成";
+
+	else if (code == TO_CLIENT_NOTIFY_MEASURE_START) return "开始计算预埋件数据";
+	else if (code == TO_CLIENT_NOTIFY_MEASURE_END) return "计算预埋件数据已完成";
+
+	else return "未定义事件";
+}

image_framework/plugins/MsgBase.h

@@ -0,0 +1,112 @@
+#ifndef MSG1_H
+#define MSG1_H
+
+#include <string>
+#include <opencv2/opencv.hpp>
+#include "LibapiMsg.h"
+
+#define PARAM_POS_SRC_IMAGE 0
+#define PARAM_POS_ROI_IMAGE 1
+#define PARAM_POS_ENHANCE_IMAGE 2
+#define PARAM_POS_LIDAR_DATA 4
+#define PARAM_POS_LIDAR_2D3D 5
+#define PARAM_POS_CMeasureInfo 6
+#define PARAM_POS_MOTION_DETECTION_DATA 33
+
+// 客户端到主任务的消息定义
+#define CLIENT_MSG_NONE 0
+#define CLIENT_MSG_CONTINUE 1
+#define CLIENT_MSG_RESTART_DETECTION 2
+#define CLIENT_MSG_STOP_DETECTION 3
+
+// 发送到客户端得消息定义
+#define TO_CLIENT_NOTIFY_BASE					1000
+#define TO_CLIENT_NOTIFY_CAMERA_CAP_START		1 +	TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_CAMERA_CAP_END			2 +	TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_LIDAR_CAP_START		3 +	TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_LIDAR_CAP_END			4 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_DETECTION_START		5 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_DETECTION_END			6 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_CONNER2D_START			7 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_CONNER2D_END			8 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_CONNER3D_START			9 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_CONNER3D_END			10 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_MEASURE_START			11 + TO_CLIENT_NOTIFY_BASE
+#define TO_CLIENT_NOTIFY_MEASURE_END			12 + TO_CLIENT_NOTIFY_BASE
+
+#define DoCallback(ret) \
+	MsgBase::Callback(ret, MsgBase::GetCodeInfo(ret));\
+
+#define DoCallbackWithData(ret) \
+	MsgBase::CallbackWithData(ret, MsgBase::GetCodeInfo(ret));\
+
+typedef void (*FuncCallback)(void* returnMeasureInfo);
+struct MsgBase : public LibapiMsg
+{
+public:
+	// for test
+	static MsgBase* msg_ptr1;
+public:
+	static bool bAllRoisConnersCheckIsEnd; // 所有的ROI边缘检测，角点检测结束
+	static bool bCloudProjectIsOk; // 3D投影结束
+	static int  iCameraToLidarMsg; // 2D第一阶段处理结束0：无回复 1：继续执行 2：重新检测 3：停止检测
+	static int  iClinetMsg; // 客户端确认：0：无回复 1：继续执行 2：重新检测 3：停止检测
+private:
+	static FuncCallback pCallback;
+public:
+	std::string mLog;
+	int mRoiCounts;
+	int mRoiIndex;
+	std::string mMsgType;
+
+public:
+	// for test
+	static void SetMsgPtr1(MsgBase* msg);
+	static MsgBase* GetMsgPtr1();
+public:
+	static void SetCallBack(FuncCallback f);
+	static void Callback(void* data);
+	static void Callback(int code, std::string errorInfo);
+	static void CallbackWithData(int code, std::string errorInfo);
+	static void WaitBool(bool& b);
+	static void SetWaitBool(bool& b);
+	static int WaitInt(int& val);
+	static void SetWaitInt(int& it, int val);
+	static std::string GetCodeInfo(int code);
+};
+
+// 给回调函数使用
+typedef struct tagSubRoi
+{
+public:
+	long mPparentId;
+	long mId;
+	char mInfo[256];
+	bool isGood;
+	float vpOffset[2];
+	float mRoiPoints[4 * 2];
+	float mInnerConners[4 * 2];
+	float mInnerConners3D[4 * 3];
+	float edges[4];
+	float center[2];
+	int cloud_size;
+	float* mVc2D;
+	float* mVc3D;
+	float H[9];
+}SubRoiData;
+
+typedef struct tagCallbakInfo
+{
+public:
+	int code; // 0：返回数据；1-99999 返回消息
+	char errorInfo[256];
+	bool bGetData;
+	long mId;
+	char mInfo[256];
+	char mImPath[256];
+	char mIm2D3DPtr[256];
+	int roi_size;
+	SubRoiData subRois[16];
+}CallbackInfo;
+
+#endif

image_framework/plugins/PlguinConfig.cpp

@@ -0,0 +1,67 @@
+
+#include "PlguinConfig.h"
+#include "LibapiProcessThread.h"
+#include "LibapiQueue.h"
+#include "LibapiQueues.h"
+
+#include "PluginCameraProcessing.h"
+#include "PluginLidarProcessing.h"
+#include "PlguinRoi.h"
+#include "PlguinPostgressing.h"
+
+PlguinConfig* PlguinConfig::m_instance;
+
+PlguinConfig* PlguinConfig::getInstance()
+{
+	if (PlguinConfig::m_instance == nullptr) {
+		PlguinConfig::m_instance = new PlguinConfig();
+	}
+	return PlguinConfig::m_instance;
+}
+
+PlguinConfig::PlguinConfig()
+{
+
+}
+
+PlguinConfig::~PlguinConfig()
+{
+
+}
+
+// for test
+int PlguinConfig::plguin_init_plugin_config(void* config, void* pthread)
+{
+	return 0;
+}
+
+// 初始化高清相机处理流程
+int PlguinConfig::LibapiInitCameraProcessing(void* config)
+{
+	SharedThread _t_PluginCamera = ProThread::create_and_start<PluginCameraProcessing>("_t_PluginCameraPro");
+	return 0;
+}
+
+// 初始化激光雷达处理流程
+int PlguinConfig::LibapiInitLidarProcessing(void* config)
+{
+	SharedThread _t_PlguinEnhance = ProThread::create_and_start<PluginLidarProcessing>("_t_PlguinLidarPro");
+	return 0;
+}
+
+// 初始化ROI计算处理流程
+int PlguinConfig::LibapiInitRoiProcessing(void* config)
+{
+	SharedThread _t_PluginRoiStart = ProThread::create_and_start<PlguinRoi>("_t_PluginRoiStart");
+	SharedThread _t_PluginRoi1 = ProThread::create_and_start<PlguinRoi>("_t_PluginRoi1");
+	SharedThread _t_PluginRoi2 = ProThread::create_and_start<PlguinRoi>("_t_PluginRoi2");
+	SharedThread _t_PluginRoi3 = ProThread::create_and_start<PlguinRoi>("_t_PluginRoi3");
+	SharedThread _t_PluginRoi4 = ProThread::create_and_start<PlguinRoi>("_t_PluginRoi4");
+
+	_t_PluginRoiStart->set_next_thread(_t_PluginRoi1.get());
+	_t_PluginRoiStart->set_next_thread(_t_PluginRoi2.get());
+	_t_PluginRoiStart->set_next_thread(_t_PluginRoi3.get());
+	_t_PluginRoiStart->set_next_thread(_t_PluginRoi4.get());
+
+	return 0;
+}

image_framework/plugins/PlguinConfig.h

@@ -0,0 +1,36 @@
+#ifndef PLUGIN_CONFIG_H
+#define PLUGIN_CONFIG_H
+
+#include<vector>
+
+class PlguinConfig
+{
+public:
+	static PlguinConfig* getInstance();
+private:
+	static PlguinConfig* m_instance;
+	PlguinConfig();
+	~PlguinConfig();
+private:
+	std::vector<int> m_configs;
+
+public:
+	// 初始化高清相机处理流程
+	int plguin_init_plugin_config(void* config, void* pthread);
+
+	// 初始化高清相机处理流程
+	int LibapiInitCameraProcessing(void* config);
+
+	// 初始化激光雷达处理流程
+	int LibapiInitLidarProcessing(void* config);
+
+	// 初始化ROI计算处理流程
+	int LibapiInitRoiProcessing(void* config);
+
+	// 查询config的首任务名称
+	//std::string plguin_find_config(int config_id);
+	// 删除所有config
+};
+
+
+#endif

image_framework/plugins/PlguinPostgressing.cpp

@@ -0,0 +1,34 @@
+#include "PlguinPostgressing.h"
+#include "MsgBase.h"
+#include "Libapi.h"
+
+#include <opencv2/opencv.hpp>
+#include <string>
+
+PlguinPostgressing::PlguinPostgressing()
+{
+
+}
+
+PlguinPostgressing::~PlguinPostgressing()
+{
+
+}
+
+void PlguinPostgressing::onMouse(int event, int x, int y, int, void*) {
+	if (event == cv::EVENT_LBUTTONDOWN) {
+		std::cout << "Mouse click at: " << x << ", " << y << std::endl;
+	}
+};
+
+int PlguinPostgressing::OnProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	MACRO_START_TIME(pThisThread->get_name());
+
+	return 0;
+}
+
+void PlguinPostgressing::OnEndProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	MACRO_RECORD_RUN_TIME(pThisThread->get_name());
+}

image_framework/plugins/PlguinPostgressing.h

@@ -0,0 +1,16 @@
+#ifndef PLGUIN_POSTGRESSING_H
+#define PLGUIN_POSTGRESSING_H
+
+#include "LibapiThread.h"
+
+class PlguinPostgressing : BaseRunnable
+{
+public:
+	PlguinPostgressing();
+	virtual ~PlguinPostgressing();
+	static void onMouse(int event, int x, int y, int, void*);
+	int OnProcess(LibapiThread* pThisThread, void* pMsg);
+	void OnEndProcess(LibapiThread* pThisThread, void* pMsg);
+};
+
+#endif

image_framework/plugins/PlguinRoi.cpp

@@ -0,0 +1,147 @@
+#include "PlguinRoi.h"
+#include "MsgBase.h"
+#include "Libapi2d.h"
+#include "Libapi2D3D.h"
+#include "Log.h"
+
+#include <opencv2/opencv.hpp>
+#include <string>
+
+static std::mutex mtx;
+static int rois_count = 0;
+
+static cv::Rect OutSquare(const std::vector<cv::Point2f>& vp)
+{
+	int x1 = 9999;
+	int y1 = 9999;
+	int x2 = 0;
+	int y2 = 0;
+	for (int i = 0; i < vp.size(); i++)
+	{
+		if (vp[i].x < x1)
+			x1 = vp[i].x;
+		if (vp[i].x > x2)
+			x2 = vp[i].x;
+		if (vp[i].y < y1)
+			y1 = vp[i].y;
+		if (vp[i].y > y2)
+			y2 = vp[i].y;
+	}
+
+	return cv::Rect(x1, y1, x2 - x1, y2 - y1);
+}
+
+static std::vector<cv::Point2f> Offset(const std::vector<cv::Point2f>& vp, int x, int y)
+{
+	std::vector<cv::Point2f> vpTar;
+
+	for (int i = 0; i < vp.size(); i++)
+	{
+		cv::Point2f p(vp[i].x + x, vp[i].y + y);
+		vpTar.push_back(p);
+	}
+
+	return vpTar;
+}
+
+static cv::Mat GetRoi(cv::Mat& mat, const std::vector<cv::Point2f>& vp, cv::Point2f& vpOffset)
+{
+	//cv::Mat dst;
+	cv::Rect rt = OutSquare(vp);
+	cv::Mat dst = mat(rt);
+	//cv::Mat roi = cv::Mat::zeros(src.size(), CV_8U);
+
+	//std::vector<std::vector<cv::Point2f>> contour;
+	vpOffset = {(float) rt.x, (float)rt.y};
+	//contour.push_back(vpOffset);
+	//cv::drawContours(roi, contour, 0, cv::Scalar::all(255), -1);
+	//src.copyTo(dst, roi);
+
+	return dst;
+}
+
+PlguinRoi::PlguinRoi() 
+{
+
+};
+
+PlguinRoi::~PlguinRoi() 
+{
+
+};
+
+int PlguinRoi::OnProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	int ret = CAL_OK;
+	MsgBase* pMsgRoi = (MsgBase*)pMsg;
+
+	if (pMsgRoi->mMsgType == "roi_start")
+	{
+		pMsgRoi->mMsgType = "roi_process";
+		return CAL_OK;
+	}
+
+	if (pMsgRoi->mMsgType != "roi_process")
+		return CAL_OK;
+
+	int roiIndx = pMsgRoi->mRoiIndex;
+	CMeasureInfo* measureInfo = CMeasureInfo::Get();
+	std::shared_ptr<CSubRoi> subRoiPtr = measureInfo->GetSubRois()[roiIndx];
+	// roiMat:roi mat
+	// vpOffset: 在原图中的偏移量
+	cv::Mat roiMat = GetRoi(*measureInfo->GetIm(), subRoiPtr->mRoiPoints, subRoiPtr->vpOffset);
+	// 待优化
+	cv::imwrite(std::to_string(pMsgRoi->mRoiIndex)+"_roi_image.png", roiMat);
+
+	// 处理高精度角点
+	std::vector<std::vector<float>> sort_lines4;
+	std::vector<std::vector<float>> sort_conners4;
+	ret = Cal2D::LibapiGetEdegsAndConners(roiMat, sort_lines4, sort_conners4);
+	if (ret != CAL_OK)
+	{
+		subRoiPtr->isGood = false;
+		Loger(LEVEL_INFOR, "subRoiPtr->isGood = false; mId is %d : ", subRoiPtr->mId);
+		// 保存图片
+		//DoCallback(ret);
+		return ret;
+	}
+
+	for (int i = 0; i < 4; ++i)
+	{
+		std::cout << sort_conners4[i][0] << ", " << sort_conners4[i][1] << std::endl;
+
+		cv::Point2f p = { sort_conners4[i][0] + subRoiPtr->vpOffset.x, 
+			sort_conners4[i][1] + subRoiPtr->vpOffset.y };
+		subRoiPtr->mInnerConners.push_back(p);
+
+		std::cout << p.x << ", " << p.y << std::endl;
+	}
+
+	
+	
+	return CAL_OK;
+}
+
+
+void PlguinRoi::OnEndProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	MACRO_RECORD_RUN_TIME(pThisThread->get_name());
+
+	MsgBase* pMsgRoi = (MsgBase*)pMsg;
+
+	if (pThisThread->get_name() == "_t_PluginRoiStart")
+		return;
+
+	if (pMsgRoi->mMsgType == "roi_process")
+	{
+		std::lock_guard<std::mutex> guard(mtx);
+		rois_count++;
+		if (rois_count == pMsgRoi->mRoiCounts)
+		{
+			// 在 PluginCameraProcessing 中会等待该信号
+			MsgBase::SetWaitBool(MsgBase::bAllRoisConnersCheckIsEnd);
+			std::cout << "MsgBase::bAllRoisConnersCheckIsEnd is ok" << std::endl;
+			rois_count = 0;
+		}
+	}
+}

image_framework/plugins/PlguinRoi.h

@@ -0,0 +1,20 @@
+#ifndef PLGUIN_ROI_H
+#define PLGUIN_ROI_H
+
+#include "LibapiThread.h"
+#include <opencv2/opencv.hpp>
+
+class PlguinRoi : BaseRunnable
+{
+private:
+	cv::Mat mDonut;
+	cv::Mat mDonut1;
+	int idx = 0;
+public:
+	PlguinRoi();
+	virtual ~PlguinRoi();
+	int OnProcess(LibapiThread* pThisThread, void* pMsg);
+	void OnEndProcess(LibapiThread* pThisThread, void* pMsg);
+};
+
+#endif

image_framework/plugins/PluginCameraProcessing.cpp

@@ -0,0 +1,331 @@
+#include "PluginCameraProcessing.h"
+#include "MsgBase.h"
+#include "Libapi3d.h"
+#include "Libapi2d.h"
+#include "Libapi.h"
+#include "Log.h"
+#include "IniHelper.h"
+
+
+static int CapHqImage(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	std::shared_ptr<cv::Mat> hqImPtr = std::make_shared<cv::Mat>();
+	hqImPtr.get()->create(7000, 9344, CV_8UC3);
+
+	ret = Cal2D::LibapiCapHQImage(measureInfoPtr, hqImPtr);
+
+	return ret;
+}
+
+static int DetectObjs(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	// 通过 yolo 检测 预埋件的位置，输出rois（n * roiPoints * 4）
+	ret = Cal2D::LibapiDetectObj(measureInfoPtr);
+
+	return ret;
+}
+
+static int CalConners2D(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	// 分发线程ROI检测任务（内角点粗略定位->内角点精确定位，每个任务： 1 * innerConners2D * 4s）
+	int roi_size = measureInfoPtr->GetSubRois().size();
+	if (roi_size == 0)
+	{
+		Loger(LEVEL_INFOR, "roi_size = measureInfoPtr->GetSubRois().size() == 0");
+		return CAL_YOLO_DETECT_NO_ROI;
+		//assert(0);
+	}
+
+	int roi_index = 0;
+
+	// 初始化所有SubRoi
+	for (int i = 0; i < roi_size; ++i)
+	{
+		std::shared_ptr<CSubRoi> subRoiPtr = measureInfoPtr->GetSubRois()[i];
+		subRoiPtr->mPparentId = measureInfoPtr->GetID();
+		long id = -1;
+		CalUtils::LibapiGenRandomId(id);
+		subRoiPtr->mId = id;
+		subRoiPtr->mInfo = measureInfoPtr->GetInfo();
+		subRoiPtr->isGood = true;
+	}
+
+	while (true)
+	{
+		MsgBase* pMsgRoi = nullptr;
+		char msg_type[32] = "v0.1";
+		libapi_create_MsgBase(msg_type, (void**)&pMsgRoi);
+		pMsgRoi->mRoiCounts = roi_size;
+		pMsgRoi->mRoiIndex = roi_index;
+		pMsgRoi->mMsgType = "roi_start";
+
+		ret = libapi_push_to_queue((char*)"_t_PluginRoiStart", pMsgRoi);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "libapi_push_to_queue((char*)\"_t_PluginRoiStart\", pMsgRoi) error");
+			return CAL_ROIS_PUSH_TREAD_FAILED;
+			//assert(0);
+		}
+
+		// 待优化
+		++roi_index;
+		if (roi_size == roi_index || roi_size >= 16)
+			break;
+	}
+
+	// 等待所有ROI任务结束
+	MsgBase::WaitBool(MsgBase::bAllRoisConnersCheckIsEnd);
+	Loger(LEVEL_INFOR, "MsgBase::WaitBool(MsgBase::bAllRoisConnersCheckIsEnd)");
+	return ret;
+}
+
+static int CalConners3D(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	int roi_size = measureInfoPtr->GetSubRois().size();
+
+	// 分发线程计算H矩阵并计算各个subMat的 innerConners3D 数据
+	for (int i = 0; i < roi_size; ++i)
+	{
+		CSubRoi* subRoi = measureInfoPtr->GetSubRois()[i].get();
+		cv::Mat H;
+
+		if (!subRoi->isGood)
+			continue;
+
+		ret = Cal2D::LibapiCalH(subRoi->mVc2D, subRoi->mVc3D, H);
+		if (ret != CAL_OK)
+		{
+			subRoi->isGood = false;
+			ret = CAL_OK;
+			continue;
+			//return CAL_H_FAILED;
+			//assert(0);
+		}
+
+		ret = Cal3D::LibapiCalConner3D(subRoi->mInnerConners, H, subRoi->mVc3D, subRoi->mInnerConners3D);
+		if (ret != CAL_OK)
+		{
+			return CAL_3D_COONERS_FAILED;
+			//assert(0);
+		}
+	}
+	return ret;
+}
+
+static int CalData(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	return ret;
+}
+
+static int InitLog()
+{
+	int ret = CAL_OK;
+	// 初始化log
+	std::string infoLogPath = "ERROR";
+	Log::getInstance().init(LEVEL_INFOR, infoLogPath.c_str());
+	Loger(LEVEL_INFOR, IniHelper::Get()->GetRecord().c_str());
+	return 0;
+}
+
+static bool hasGoodConners(CMeasureInfo* measureInfoPtr)
+{
+	for (int i = 0; i < measureInfoPtr->GetSubRois().size(); ++i)
+		if (measureInfoPtr->GetSubRois()[i].get()->isGood)
+			return true;
+	return false;
+}
+
+static int pythonProcessing(CMeasureInfo* measureInfoPtr)
+{
+	int ret = CAL_OK;
+
+	DoCallback(TO_CLIENT_NOTIFY_DETECTION_START);
+	ret = DetectObjs(measureInfoPtr);
+	if (ret != CAL_OK)
+	{
+		Loger(LEVEL_INFOR, "[ERROR] DetectObjs is error!");
+		DoCallback(ret);
+		CMeasureInfo::Clear();
+		return ret;
+		//assert(0);
+	}
+	DoCallbackWithData(TO_CLIENT_NOTIFY_DETECTION_END);
+	Loger(LEVEL_INFOR, "DetectObjs is success!");
+
+	return ret;
+}
+
+PluginCameraProcessing::PluginCameraProcessing() {
+
+
+};
+
+PluginCameraProcessing::~PluginCameraProcessing()
+{
+
+};
+
+int PluginCameraProcessing::OnProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	int ret = CAL_OK;
+
+	MsgBase* pCameraMsg = (MsgBase*)pMsg;
+	CMeasureInfo* measureInfoPtr = CMeasureInfo::Init(1, "test");
+	bool bCircle = true;
+
+	// 处理广角图片
+	if (pCameraMsg->mMsgType == "PythonProcessing")
+	{
+		Param p = pCameraMsg->params[PARAM_POS_SRC_IMAGE];
+		std::shared_ptr<cv::Mat> im = std::make_shared<cv::Mat>();
+		im->create(p.height, p.width, CV_8UC3);
+		memcpy(im.get()->data, (char*)p.spData.get(), p.height * p.width * 3);
+		Loger(LEVEL_INFOR, " cap image size is w: %d, h: %d", p.height, p.width);
+		measureInfoPtr->SetIm(im);
+		Loger(LEVEL_INFOR, "get image");
+		return pythonProcessing(measureInfoPtr);
+	}
+
+	InitLog();
+
+	while (bCircle)
+	{
+		std::chrono::high_resolution_clock::time_point m_start = std::chrono::high_resolution_clock::now();
+		DoCallback(TO_CLIENT_NOTIFY_CAMERA_CAP_START);
+		ret = CapHqImage(measureInfoPtr);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "[ERROR] CapHqImage is error!");
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_STOP_DETECTION);
+			DoCallback(ret);
+			CMeasureInfo::Clear();
+			return ret;
+			//assert(0);
+		}
+		DoCallback(TO_CLIENT_NOTIFY_CAMERA_CAP_END);
+		Loger(LEVEL_INFOR, "CapHqImage is success!");
+
+
+		DoCallback(TO_CLIENT_NOTIFY_DETECTION_START);
+		ret = DetectObjs(measureInfoPtr);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "[ERROR] DetectObjs is error!");
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_STOP_DETECTION);
+			DoCallback(ret);
+			CMeasureInfo::Clear();
+			return ret;
+			//assert(0);
+		}
+		DoCallbackWithData(TO_CLIENT_NOTIFY_DETECTION_END);
+		Loger(LEVEL_INFOR, "DetectObjs is success!");
+
+
+		DoCallback(TO_CLIENT_NOTIFY_CONNER2D_START);
+		ret = CalConners2D(measureInfoPtr);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "[ERROR] CalConners2D is error!");
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_STOP_DETECTION);
+			DoCallback(ret);
+			CMeasureInfo::Clear();
+			return ret;
+			//assert(0);
+		}
+		if (!hasGoodConners(measureInfoPtr))
+		{
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_STOP_DETECTION);
+			DoCallback(CAL_HAS_NO_GOOD_CONNER);
+			CMeasureInfo::Clear();
+			Loger(LEVEL_INFOR, "[ERROR] CalConners2D has no good conner !");
+			return ret;
+			//assert(0);
+		}
+		Loger(LEVEL_INFOR, "CalConners2D is success!");
+		DoCallbackWithData(TO_CLIENT_NOTIFY_CONNER2D_END);
+
+		// send msg to client
+		// wait client nake sure
+		int msg_rst = MsgBase::WaitInt(MsgBase::iClinetMsg);
+		switch (msg_rst)
+		{
+		case CLIENT_MSG_NONE:
+			assert(0);
+		case CLIENT_MSG_CONTINUE:
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_CONTINUE);
+			bCircle = false;
+			break;
+		case CLIENT_MSG_RESTART_DETECTION:
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_RESTART_DETECTION);
+			CMeasureInfo::Clear();
+			continue;
+		case CLIENT_MSG_STOP_DETECTION:
+			MsgBase::SetWaitInt(MsgBase::iCameraToLidarMsg, CLIENT_MSG_STOP_DETECTION);
+			CMeasureInfo::Clear();
+			return ret;
+		default:
+			assert(0);
+		}
+		DoCallback(TO_CLIENT_NOTIFY_CONNER3D_START);
+
+		// 等待点云处理完成
+		MsgBase::WaitBool(MsgBase::bCloudProjectIsOk);
+		if (measureInfoPtr->GetIm2D3D() == nullptr)
+		{
+			DoCallback(CAL_PRAMA_EMPUTY);
+			CMeasureInfo::Clear();
+			return CAL_PRAMA_EMPUTY;
+		}
+
+		ret = CalConners3D(measureInfoPtr);
+		if (ret != CAL_OK)
+		{
+			DoCallback(ret);
+			CMeasureInfo::Clear();
+			Loger(LEVEL_INFOR, "[ERROR] CalConners3D is error!");
+			return ret;
+			//assert(0);
+		}
+		DoCallback(TO_CLIENT_NOTIFY_CONNER3D_END);
+		Loger(LEVEL_INFOR, "CalConners3D is success!");
+
+		DoCallback(TO_CLIENT_NOTIFY_MEASURE_START);
+		ret = CalData(measureInfoPtr);
+		if (ret != CAL_OK)
+		{
+			DoCallback(ret);
+			CMeasureInfo::Clear();
+			Loger(LEVEL_INFOR, "[ERROR] CalData is error!");
+			return ret;
+			//assert(0);
+		}
+		Loger(LEVEL_INFOR, "CalData is success!");
+		DoCallbackWithData(TO_CLIENT_NOTIFY_MEASURE_END);
+
+		// 清楚当此所有信息
+		CMeasureInfo::Clear();
+
+		std::chrono::high_resolution_clock::time_point m_end = std::chrono::high_resolution_clock::now();
+		std::chrono::duration<double> elapsex = m_end - m_start;
+		std::cout << "PluginCameraProcessing::OnProcess time is : " << elapsex.count() << std::endl;
+	};
+
+	Log::getInstance().quit();
+	return ret;
+}
+
+void PluginCameraProcessing::OnEndProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	MACRO_RECORD_RUN_TIME(pThisThread->get_name());
+	//std::cout << " PluginCameraProcessing is end! " << std::endl;
+}

image_framework/plugins/PluginCameraProcessing.h

@@ -0,0 +1,20 @@
+#ifndef PLGUIN_CAMERA_PROCESSING_H
+#define PLGUIN_CAMERA_PROCESSING_H
+
+#include "LibapiThread.h"
+#include <opencv2/opencv.hpp>
+
+class PluginCameraProcessing : BaseRunnable
+{
+private:
+	cv::Mat mDonut;
+	cv::Mat mDonut1;
+	int idx = 0;
+public:
+	PluginCameraProcessing();
+	virtual ~PluginCameraProcessing();
+	int OnProcess(LibapiThread* pThisThread, void* pMsg);
+	void OnEndProcess(LibapiThread* pThisThread, void* pMsg);
+};
+
+#endif

image_framework/plugins/PluginLidarProcessing.cpp

@@ -0,0 +1,180 @@
+#include "PluginLidarProcessing.h"
+#include "MsgBase.h"
+#include "Libapi3d.h"
+#include "IniHelper.h"
+#include "Log.h"
+
+
+PluginLidarProcessing::PluginLidarProcessing() {
+
+
+};
+
+PluginLidarProcessing::~PluginLidarProcessing()
+{
+
+};
+
+static int CapCloudPointsAndPretreatment(
+	std::shared_ptr<geometry::PointCloud>& cloud_ptr,
+	std::shared_ptr<geometry::PointCloud>& cloud_ptr_by_dist, 
+	std::shared_ptr<geometry::PointCloud>& cloud_ptr_by_correct)
+{
+	int ret = CAL_OK;
+
+	ret = Cal3D::LibapiCapCloudPoints(cloud_ptr);
+	if (ret != CAL_OK)
+	{
+		return ret;
+		//assert(0);
+	}
+		
+	ret = Cal3D::LibapiRotAndTrans(cloud_ptr);
+	if (ret != CAL_OK)
+	{
+		return ret;
+		//assert(0);
+	}
+
+	ret = Cal3D::LibapiFilterCloudPointsByDist(cloud_ptr, cloud_ptr_by_dist, -2.5, 2.5, -2.5, 2.5, 0, 3.8);
+	if (ret != CAL_OK)
+	{
+		return ret;
+		//assert(0);
+	}
+
+	if (cloud_ptr_by_dist->IsEmpty())
+	{
+		return ret;
+		//assert(0);
+	}
+
+	ret = Cal3D::LibapiCorrectCloudPoint(cloud_ptr_by_dist, cloud_ptr_by_correct, 0);
+	if (ret != CAL_OK)
+	{
+		return ret;
+		//assert(0);
+	}
+
+	return ret;
+}
+
+int PluginLidarProcessing::OnProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	int ret = 0;
+	bool bCircle = true;
+
+	//utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
+	while(bCircle)
+	{
+		auto cloud_ptr = std::make_shared<geometry::PointCloud>();
+		auto cloud_ptr_by_dist = std::make_shared<geometry::PointCloud>();
+		auto cloud_ptr_by_correct = std::make_shared<geometry::PointCloud>();
+
+		ret = CapCloudPointsAndPretreatment(cloud_ptr, cloud_ptr_by_dist, cloud_ptr_by_correct);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "[ERROR] CapCloudPointsAndPretreatment is error!");
+			DoCallback(ret);
+		}
+		Loger(LEVEL_INFOR, "CapCloudPointsAndPretreatment is success!");
+
+		std::vector<cv::Point3d> vec_point_3d;
+		ret = Cal3D::LibapiCloudPointToVec(cloud_ptr_by_correct, vec_point_3d);
+		if (ret != CAL_OK)
+		{
+			Loger(LEVEL_INFOR, "[ERROR] LibapiCloudPointToVec is error!");
+			DoCallback(ret);
+		}
+		Loger(LEVEL_INFOR, "LibapiCloudPointToVec is success!");
+
+		// 等待相机线程发来的消息
+		int msg_rst = MsgBase::WaitInt(MsgBase::iCameraToLidarMsg);
+		switch (msg_rst)
+		{
+		case CLIENT_MSG_NONE:
+			assert(0);
+		case CLIENT_MSG_CONTINUE:
+			bCircle = false;
+			break;
+		case CLIENT_MSG_RESTART_DETECTION:
+			continue;
+		case CLIENT_MSG_STOP_DETECTION:
+			return ret;
+		default:
+			assert(0);
+		}
+
+		if (cloud_ptr.get()->IsEmpty())
+		{
+			DoCallback(CAL_PRAMA_EMPUTY);
+			MsgBase::SetWaitBool(MsgBase::bCloudProjectIsOk);
+			Loger(LEVEL_INFOR, "[ERROR] cloud_ptr.get()->IsEmpty()");
+			return CAL_PRAMA_EMPUTY;
+		}
+	
+		cv::Mat cameraMatrix = (cv::Mat_<double>(3, 3) << G(fx), 0, G(cx), 0, G(fy), G(cy), 0, 0, 1);
+		std::vector<cv::Point2d> vec_point_2d;
+		//cv::Mat test_src_im = cv::imread("output.png");
+		cv::Mat test_src_im;
+
+		//生成点云2D-3D数据
+		std::shared_ptr<cv::Mat> im_2D3D = std::make_shared<cv::Mat>(cv::Size(9344, 7000), CV_32FC3);
+		im_2D3D->setTo(cv::Scalar(0, 0, 0)); // 设置为全黑背景
+		//ret = Cal3D::LibapiCloudPointsPorject(vec_point_3d, cameraMatrix, vec_point_2d, im_2D3D.get(), false, test_src_im);
+		CMeasureInfo* measureInfo = CMeasureInfo::Get();
+		int roiSize = measureInfo->GetSubRois().size();
+		std::vector<std::vector<cv::Point2f>> vecInConners2D(roiSize);
+		std::vector<std::vector<cv::Point3f>> vecInConners3D(roiSize);
+	
+		std::vector <std::vector<cv::Point2f>> vecConners = measureInfo->GetAllRoiConners();
+
+		ret = Cal3D::LibapiCloudPointsPorject(vec_point_3d, cameraMatrix, vecConners, im_2D3D.get(), vecInConners2D, vecInConners3D);
+		if (ret != CAL_OK)
+		{
+			DoCallback(ret);
+			std::shared_ptr<cv::Mat> empty = nullptr;
+			measureInfo->SetIm2D3D(empty);
+			MsgBase::SetWaitBool(MsgBase::bCloudProjectIsOk);
+			Loger(LEVEL_INFOR, "[ERROR] LibapiCloudPointsPorject is error");
+			return ret;
+			//assert(0);
+		}
+		Loger(LEVEL_INFOR, "LibapiCloudPointsPorject is success!");
+		measureInfo->SetIm2D3D(im_2D3D);
+		
+		std::vector<std::shared_ptr<CSubRoi>> rois = measureInfo->GetSubRois();
+		for (int i = 0; i < rois.size(); ++i)
+		{
+			CSubRoi* roi = rois[i].get();
+			roi->mVc2D.resize(vecInConners3D[i].size());
+			roi->mVc3D.resize(vecInConners3D[i].size());
+			std::copy_n(vecInConners3D[i].begin(), vecInConners3D[i].size(), roi->mVc3D.begin());
+			std::copy_n(vecInConners2D[i].begin(), vecInConners2D[i].size(), roi->mVc2D.begin());
+		}
+	
+		MsgBase::SetWaitBool(MsgBase::bCloudProjectIsOk);
+
+		// 查看点云的投影(用于测试)
+		//ret = Cal3D::LibapiCloudPointProjectTest(*im_2D3D);
+
+		// 创建CMeasureInfo数据结构
+		//long id;
+		//ret = CalUtils::LibapiGenRandomId(id);
+		//std::string info = "abc";
+		//CMeasureInfo* measureInfoPtr = CMeasureInfo::Init(id, info);
+		//measureInfoPtr->SetIm2D3D(im_2D3D);
+		//MsgBase::set_spointer_to_msg<CMeasureInfo>((LibapiMsg*)pCameraMsg, PARAM_POS_LIDAR_2D3D, CMeasureInfo_ptr);
+
+		//visualization::DrawGeometries({ cloud_ptr_by_correct }, "TestFileFormat", 1920, 1080);
+	}	
+
+	return ret;
+}
+
+void PluginLidarProcessing::OnEndProcess(LibapiThread* pThisThread, void* pMsg)
+{
+	MACRO_RECORD_RUN_TIME(pThisThread->get_name());
+
+	std::cout << " PluginLidarProcessing is end! " << std::endl;
+}

image_framework/plugins/PluginLidarProcessing.h

@@ -0,0 +1,20 @@
+#ifndef PLGUIN_LIDAR_PROCESSING_H
+#define PLGUIN_LIDAR_PROCESSING_H
+
+#include "LibapiThread.h"
+#include <opencv2/opencv.hpp>
+
+class PluginLidarProcessing : BaseRunnable
+{
+private:
+	cv::Mat mDonut;
+	cv::Mat mDonut1;
+	int idx = 0;
+public:
+	PluginLidarProcessing();
+	virtual ~PluginLidarProcessing();
+	int OnProcess(LibapiThread* pThisThread, void* pMsg);
+	void OnEndProcess(LibapiThread* pThisThread, void* pMsg);
+};
+
+#endif

image_framework/thead/LibapiMsg.h

@@ -0,0 +1,239 @@
+#ifndef MSG_H
+#define MSG_H
+
+#include <opencv2/opencv.hpp>
+
+#define MAX_STRING_LENGTH 128
+//最多64个参数
+#define MAX_PARAMS_LENGTH 64
+
+// msg1
+enum ParmaType
+{
+	PARMATYPE_INPUT_IMAGE = 0,
+	PARMATYPE_OPTION,
+	PARMATYPE_OUTPUT_DATA,
+	PARMATYPE_TEMP_DATA,
+};
+
+enum DataType
+{
+	DATATYPE_NONE = 0,
+	DATATYPE_INT,
+	DATATYPE_INT_ARRAY,
+	DATATYPE_CHAR,
+	DATATYPE_CHAR_ARRAY,
+	DATATYPE_FLOAT,
+	DATATYPE_FLOAT_ARRAY,
+	DATATYPE_BOOL,
+	DATATYPE_BOOL_ARRAY,
+	DATATYPE_ENUM,
+};
+
+struct Param
+{
+public:
+	char name[32] = "";
+	//void* data = 0;
+	long data_len = 0;
+	int width = 0;
+	int height = 0;
+	int flag = 0;
+	int run_times = 0;
+	bool need_delete = false;
+	long used_time = 0;
+	void (*delete_msg_func_ptr)(Param*) = 0;
+	std::shared_ptr<char> spData;
+	ParmaType param_type = PARMATYPE_OPTION;
+	DataType data_type = DATATYPE_NONE;
+};
+// msg1
+
+
+template<class T>
+struct LibapiDeleter
+{
+	inline void operator()(void* pData)
+	{
+		delete static_cast<T*>(pData);
+	}
+};
+
+template<class T>
+struct LibapiDeleter<T[]>
+{
+	inline void operator()(void* pData)
+	{
+		delete[] static_cast<T*>(pData);
+	}
+};
+
+struct LibapiMsg
+{
+// msg1
+public:
+	char creator_type[32] = "";
+	int creator_id = 0;
+	char version[32] = "";
+	long used_time = 0;
+	int cmd_id = 0;
+	Param params[MAX_PARAMS_LENGTH];
+
+public:
+
+	virtual void set_used_time(long time)
+	{
+		this->used_time = time;
+	}
+
+	virtual void delete_msg()
+	{
+		LibapiMsg::delete_msg(this);
+	}
+
+	static void delete_msg(LibapiMsg* pMsg)
+	{
+		if (pMsg == NULL)
+		{
+			std::cout << "pMsg is null" << std::endl;
+			assert(0);
+		}
+
+		LibapiMsg* _pMsg = (LibapiMsg*)pMsg;
+		for (int i = 0; i < MAX_PARAMS_LENGTH; i++)
+		{
+			Param* _param = &_pMsg->params[i];
+			if (_param->need_delete)
+			{
+				_param->need_delete = false;
+				_param->spData = nullptr;
+			}
+		}
+
+		delete pMsg;
+		pMsg = NULL;
+	}
+
+	static int copy_image_to_msg(void* pMsg, int pos, int param_type,
+		void* image_data, int width, int height, int flag)
+	{
+		if (pMsg == NULL)
+		{
+			std::cout << "pMsg == NULL" << std::endl;
+			assert(0);
+		}
+
+		if (pos > MAX_PARAMS_LENGTH)
+		{
+			std::cout << "pos > MAX_PARAMS_LENGTH" << std::endl;
+			assert(0);
+		}
+
+		LibapiMsg* _pMsg = (LibapiMsg*)pMsg;
+		Param* _param = &_pMsg->params[pos];
+		int image_data_len = width * height * flag;
+
+		if (_param->spData != NULL)
+		{
+			std::cout << "_param->spData != NULL" << std::endl;
+			assert(0);
+
+		}
+
+		char* pCharData = new char[image_data_len];
+		std::shared_ptr<char> spCharData(reinterpret_cast<char*>(pCharData), LibapiDeleter<char[]>());
+		memcpy(pCharData, image_data, image_data_len);
+		memcpy(_param->name, "IMAGE", sizeof("IMAGE"));
+		_param->spData = spCharData;
+		_param->width = width;
+		_param->height = height;
+		_param->flag = flag;
+		_param->need_delete = true;
+
+		return 0;
+	}
+
+	static cv::Mat get_image_from_msg(void* pMsg, int pos)
+	{
+		LibapiMsg* _pMsg = (LibapiMsg*)pMsg;
+
+		return cv::Mat(
+			_pMsg->params[pos].height,
+			_pMsg->params[pos].width,
+			CV_8UC3,
+			_pMsg->params[pos].spData.get());
+	}
+
+	template<class T>
+	static int set_spointer_to_msg(LibapiMsg* pMsg, int pos, void* p)
+	{
+		if (p != nullptr)
+		{
+			std::shared_ptr<char> spMatData(reinterpret_cast<char*>(p), LibapiDeleter<T>());
+			pMsg->params[pos].spData = spMatData;
+			pMsg->params[pos].need_delete = true;
+		}
+		else
+		{
+			pMsg->params[pos].spData = nullptr;
+			pMsg->params[pos].need_delete = false;
+		}
+		
+
+		return 0;
+	}
+
+	template<class T>
+	static T* get_spointer_from_msg(LibapiMsg* pMsg, int pos)
+	{
+		if (pMsg->params[pos].spData == nullptr)
+			return NULL;
+
+		return (T*)pMsg->params[pos].spData.get();
+	}
+
+	// msg1
+public:
+	//virtual void set_used_time(long time) = 0;
+	//virtual void delete_msg() = 0;
+	int add_ref()
+	{
+		std::unique_lock<std::mutex> lock(m_ref_mutex);
+		this->mRef++;
+		return mRef;
+	};
+
+	int sub_ref()
+	{
+		std::unique_lock<std::mutex> lock(m_ref_mutex);
+		this->mRef--;
+		return this->mRef;
+	};
+
+	int get_ref()
+	{
+		std::unique_lock<std::mutex> lock(m_ref_mutex);
+		return this->mRef;
+	};
+
+	bool select_one_process(bool need)
+	{
+		std::unique_lock<std::mutex> lock(m_ref_mutex_process);
+		this->mNeedOneProcess = need;
+		return need;
+	}
+
+	bool is_one_process(bool need = true)
+	{
+		std::unique_lock<std::mutex> lock(m_ref_mutex_process);
+		return this->mNeedOneProcess;
+	}
+
+private:
+	int mRef = 0;
+	std::mutex m_ref_mutex;
+	std::mutex m_ref_mutex_process;
+	bool mNeedOneProcess = false;
+};
+
+#endif

image_framework/thead/LibapiNanoTime.h

@@ -0,0 +1,858 @@
+#ifndef _include_guard_nanotime_
+#define _include_guard_nanotime_
+
+/*
+ * You can choose this license, if possible in your jurisdiction:
+ *
+ * Unlicense
+ *
+ * This is free and unencumbered software released into the public domain.
+ *
+ * Anyone is free to copy, modify, publish, use, compile, sell, or distribute
+ * this software, either in source code form or as a compiled binary, for any
+ * purpose, commercial or non-commercial, and by any means.
+ *
+ * In jurisdictions that recognize copyright laws, the author or authors of
+ * this software dedicate any and all copyright interest in the software to the
+ * public domain. We make this dedication for the benefit of the public at
+ * large and to the detriment of our heirs and successors. We intend this
+ * dedication to be an overt act of relinquishment in perpetuity of all present
+ * and future rights to this software under copyright law.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
+ * AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * For more information, please refer to <http://unlicense.org/>
+ *
+ *
+ * Alternative license choice, if works can't be directly submitted to the
+ * public domain in your jurisdiction:
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (C) 2022 Brandon McGriff <nightmareci@gmail.com>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#if defined(_MSC_VER)
+	#if (_MSC_VER < 1600)
+		#error "Current Visual Studio version is not at least Visual Studio 2010, the nanotime library requires at least 2010."
+	#endif
+#elif defined(__cplusplus)
+	#if (__cplusplus < 201103L)
+		#error "Current C++ standard is not at least C++11, the nanotime library requires at least C++11."
+	#endif
+#elif defined(__STDC_VERSION__)
+	#if (__STDC_VERSION__ < 199901L)
+		#error "Current C standard is not at least C99, the nanotime library requires at least C99."
+	#endif
+#else
+	#error "Current C or C++ standard is unknown, the nanotime library requires stdint.h and stdbool.h to be available (C99 or higher, C++11 or higher, Visual Studio 2010 or higher)."
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Implementor's note: This library directly uses Win32 APIs both for MSVC and
+ * MinGW GCC, as they work for both, and produce better behavior in MinGW
+ * builds. Detection of them is accomplished via checking if _WIN32 is defined,
+ * as it's defined in both MSVC and MinGW GCC. Though it's convenient to have
+ * UNIX-like APIs on Windows provided by MinGW, they just aren't as good as
+ * directly using Win32 APIs on Windows.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+
+#define NANOTIME_NSEC_PER_SEC UINT64_C(1000000000)
+
+#ifndef NANOTIME_ONLY_STEP
+
+/*
+ * Returns the current time since some unspecified epoch. With the exception of
+ * the standard C11 implementation and non-Apple/Mach kernel POSIX
+ * implementation when neither CLOCK_MONOTONIC_RAW nor CLOCK_MONOTONIC are
+ * available, the time values monotonically increase, so they're not equivalent
+ * to calendar time (i.e., no leap seconds are accounted for, etc.). Calendar
+ * time has to be used as a last resort sometimes, as monotonic time isn't
+ * always available.
+ */
+uint64_t nanotime_now();
+
+/*
+ * Returns the maximum possible timestamp value. Use of this value is required
+ * to properly handle overflow of timestamp values, such as when calculating the
+ * interval between a time value before overflow and the next time value after
+ * overflow.
+ */
+uint64_t nanotime_now_max();
+
+/*
+ * Sleeps the current thread for the requested count of nanoseconds. The slept
+ * duration may be less than, equal to, or greater than the time requested.
+ */
+void nanotime_sleep(uint64_t nsec_count);
+
+/*
+ * Yield the CPU/core that called nanotime_yield to the operating system for a
+ * small time slice.
+ */
+void nanotime_yield();
+
+#endif
+
+/*
+ * Calculates the time interval between two nanosecond time values, correctly
+ * handling the case when the end time value overflows past max. You should
+ * probably use this function when calculating time intervals, as not all
+ * platforms' maximum timestamp value is UINT64_MAX, which is required for the
+ * trivial "end - start" formula for interval calculation to work as expected.
+ */
+uint64_t nanotime_interval(const uint64_t start, const uint64_t end, const uint64_t max);
+
+typedef struct nanotime_step_data {
+	uint64_t sleep_duration;
+	uint64_t now_max;
+	uint64_t (* now)();
+	void (* sleep)(uint64_t nsec_count);
+
+	uint64_t zero_sleep_duration;
+	uint64_t accumulator;
+	uint64_t sleep_point;
+} nanotime_step_data;
+
+/*
+ * Initializes the nanotime precise fixed timestep object. Call immediately
+ * before entering the loop using the stepper object.
+ */
+void nanotime_step_init(
+	nanotime_step_data* const stepper,
+	const uint64_t sleep_duration,
+	const uint64_t now_max,
+	uint64_t (* const now)(),
+	void (* const sleep)(uint64_t nsec_count)
+);
+
+/*
+ * Does one step of sleeping for a fixed timestep logic update cycle. It makes
+ * a best-attempt at a precise delay per iteration, but might skip a cycle of
+ * sleeping if skipping sleeps is required to catch up to the correct
+ * wall-clock time. Returns true if a sleep up to the latest target sleep end
+ * time occurred, otherwise returns false in the case of a sleep step skip.
+ */
+bool nanotime_step(nanotime_step_data* const stepper);
+
+#if !defined(NANOTIME_ONLY_STEP) && defined(NANOTIME_IMPLEMENTATION)
+
+/*
+ * Non-portable, platform-specific implementations are first. If none of them
+ * match the current platform, the standard C/C++ versions are used as a last
+ * resort.
+ */
+
+/*
+ * Checking _WIN32 must be above the UNIX-like implementations, so MinGW is
+ * guaranteed to use it.
+ */
+#ifdef _WIN32
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+#ifndef NOMINMAX
+#define NOMINMAX
+#endif
+#include <Windows.h>
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+uint64_t nanotime_now() {
+	static uint64_t scale = UINT64_C(0);
+	static bool multiply;
+	if (scale == 0u) {
+		LARGE_INTEGER frequency;
+		QueryPerformanceFrequency(&frequency);
+		if (frequency.QuadPart < NANOTIME_NSEC_PER_SEC) {
+			scale = NANOTIME_NSEC_PER_SEC / frequency.QuadPart;
+			multiply = true;
+		}
+		else {
+			scale = frequency.QuadPart / NANOTIME_NSEC_PER_SEC;
+			multiply = false;
+		}
+	}
+	LARGE_INTEGER performanceCount;
+	QueryPerformanceCounter(&performanceCount);
+	if (multiply) {
+		return performanceCount.QuadPart * scale;
+	}
+	else {
+		return performanceCount.QuadPart / scale;
+	}
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+
+#ifndef NANOTIME_NOW_MAX_IMPLEMENTED
+uint64_t nanotime_now_max() {
+	static uint64_t now_max;
+	if (now_max == UINT64_C(0)) {
+		LARGE_INTEGER frequency;
+		QueryPerformanceFrequency(&frequency);
+		if (frequency.QuadPart < NANOTIME_NSEC_PER_SEC) {
+			now_max = UINT64_MAX * (NANOTIME_NSEC_PER_SEC / frequency.QuadPart);
+		}
+		else {
+			now_max = UINT64_MAX / (frequency.QuadPart / NANOTIME_NSEC_PER_SEC);
+		}
+	}
+	return now_max;
+}
+#define NANOTIME_NOW_MAX_IMPLEMENTED
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+void nanotime_sleep(uint64_t nsec_count) {
+	LARGE_INTEGER dueTime;
+
+	if (nsec_count < UINT64_C(100)) {
+		/*
+		 * Allows the OS to schedule another process for a single time
+		 * slice. Better than a delay of 0, which immediately returns
+		 * with no actual non-CPU-hogging delay. The time-slice-yield
+		 * behavior is specified in Microsoft's Windows documentation.
+		 */
+		SleepEx(0UL, FALSE);
+	}
+	else {
+		HANDLE timer = NULL;
+		if (
+			#ifdef CREATE_WAITABLE_TIMER_HIGH_RESOLUTION
+			/*
+			 * Requesting a high resolution timer can make quite the
+			 * difference, so always request high resolution if available. It's
+			 * available in Windows 10 1803 and above. This arrangement of
+			 * building it if the build system supports it will allow the
+			 * executable to use high resolution if available on a user's
+			 * system, but revert to low resolution if the user's system
+			 * doesn't support high resolution.
+			 */
+			(timer = CreateWaitableTimerEx(NULL, NULL, CREATE_WAITABLE_TIMER_HIGH_RESOLUTION, TIMER_ALL_ACCESS)) == NULL &&
+			#endif
+			(timer = CreateWaitableTimer(NULL, TRUE, NULL)) == NULL
+		) {
+			return;
+		}
+
+		dueTime.QuadPart = -(LONGLONG)(nsec_count / UINT64_C(100));
+
+		SetWaitableTimer(timer, &dueTime, 0L, NULL, NULL, FALSE);
+		WaitForSingleObject(timer, INFINITE);
+
+		CloseHandle(timer);
+	}
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+#ifndef NOMINMAX
+#define NOMINMAX
+#endif
+#include <Windows.h>
+void nanotime_yield() {
+	YieldProcessor();
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#endif
+
+#endif
+
+/*
+ * To avoid using standard UNIX APIs on UNIX-like platforms, the
+ * platform-specific implementations must be first. That way, the
+ * lower-overhead kernel APIs can be used, that aren't UNIX-like.
+ */
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#if defined(__APPLE__) || defined(__MACH__)
+/*
+ * The current platform is some Apple operating system, or at least uses some
+ * Mach kernel. The POSIX implementation below using clock_gettime works on at
+ * least Apple platforms, though this version using Mach functions has lower
+ * overhead.
+ */
+#include <mach/mach_time.h>
+uint64_t nanotime_now() {
+	static mach_timebase_info_data_t info = { 0 };
+	if (info.denom == UINT32_C(0)) {
+		const kern_return_t status = mach_timebase_info(&info);
+		assert(status == KERN_SUCCESS);
+		if (status != KERN_SUCCESS) {
+			return UINT64_C(0);
+		}
+	}
+	return (mach_absolute_time() * info.numer) / info.denom;
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_NOW_MAX_IMPLEMENTED
+#if defined(__APPLE__) || defined(__MACH__)
+#include <mach/mach_time.h>
+uint64_t nanotime_now_max() {
+	static uint64_t now_max = UINT64_C(0);
+	if (now_max == UINT64_C(0)) {
+		mach_timebase_info_data_t info;
+		const kern_return_t status = mach_timebase_info(&info);
+		assert(status == KERN_SUCCESS);
+		if (status != KERN_SUCCESS) {
+			return UINT64_C(0);
+		}
+		else {
+			now_max = UINT64_MAX / info.denom;
+		}
+	}
+	return now_max;
+}
+#define NANOTIME_NOW_MAX_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#if defined(__unix__) && defined(_POSIX_VERSION) && (_POSIX_VERSION >= 199309L) && !defined(NANOTIME_NOW_IMPLEMENTED)
+/*
+ * Current platform is some version of POSIX, that might have clock_gettime.
+ */
+#include <unistd.h>
+#include <time.h>
+#include <errno.h>
+uint64_t nanotime_now() {
+	struct timespec now;
+	const int status = clock_gettime(
+		#if defined(CLOCK_MONOTONIC_RAW)
+		/*
+		 * Monotonic raw is more precise, but not always available. For
+		 * the sorts of applications this code is intended for, mainly
+		 * soft real time applications such as game programming, the
+		 * subtle inconsistencies of it vs. monotonic aren't an issue.
+		 */
+		CLOCK_MONOTONIC_RAW
+		#elif defined(CLOCK_MONOTONIC)
+		/*
+		 * Monotonic is quite good, and widely available, but not as
+		 * precise as monotonic raw, so it's only used if required.
+		 */
+		CLOCK_MONOTONIC
+		#else
+		/*
+		 * Realtime isn't fully correct, as it's calendar time, but is
+		 * even more widely available than monotonic. Monotonic is only
+		 * unavailable on very old platforms though, so old they're
+		 * likely unused now (as of last editing this, 2023).
+		 */
+		CLOCK_REALTIME
+		#endif
+	, &now);
+	assert(status == 0 || (status == -1 && errno != EOVERFLOW));
+	if (status == 0 || (status == -1 && errno != EOVERFLOW)) {
+		return (uint64_t)now.tv_sec * NANOTIME_NSEC_PER_SEC + (uint64_t)now.tv_nsec;
+	}
+	else {
+		return UINT64_C(0);
+	}
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__)) || defined(__MINGW32__) || defined(__MINGW64__)
+#include <unistd.h>
+#include <time.h>
+#include <errno.h>
+void nanotime_sleep(uint64_t nsec_count) {
+	const struct timespec req = {
+		.tv_sec = (time_t)(nsec_count / NANOTIME_NSEC_PER_SEC),
+		.tv_nsec = (long)(nsec_count % NANOTIME_NSEC_PER_SEC)
+	};
+	#ifndef NDEBUG
+	const int status =
+	#endif
+	nanosleep(&req, NULL);
+	assert(status == 0 || (status == -1 && errno != EINVAL));
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#if (defined(__unix__) || defined(__APPLE__)) && defined(_POSIX_VERSION) && (_POSIX_VERSION >= 200112L)
+#include <sched.h>
+void nanotime_yield() {
+	(void)sched_yield();
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#endif
+#endif
+
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#if defined(__vita__)
+#include <psp2/kernel/processmgr.h>
+uint64_t nanotime_now() {
+	return sceKernelGetProcessTimeWide() * UINT64_C(1000);
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#if defined(__vita__)
+#include <psp2/kernel/processmgr.h>
+void nanotime_sleep(uint64_t nsec_count) {
+	sceKernelDelayThreadCB(nsec_count / UINT64_C(1000));
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#ifdef __EMSCRIPTEN__
+#include <emscripten.h>
+/*
+ * NOTE: You *must* have asyncify enabled in the Emscripten build (pass
+ * -sASYNCIFY to the compiler/linker) or sleeping won't work.
+ */
+void nanotime_sleep(uint64_t nsec_count) {
+	emscripten_sleep(nsec_count / UINT64_C(1000000));
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#ifdef __EMSCRIPTEN__
+#include <emscripten.h>
+uint64_t nanotime_now() {
+	const double now = emscripten_get_now();
+	return (uint64_t)now * UINT64_C(1000000);
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#ifdef __SWITCH__
+#include <switch.h>
+void nanotime_sleep(uint64_t nsec_count) {
+	if (nsec_count > INT64_MAX) {
+		svcSleepThread(INT64_MAX);
+	}
+	else {
+		svcSleepThread((s64)nsec_count);
+	}
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#ifdef __SWITCH__
+#include <switch.h>
+uint64_t nanotime_now() {
+	return armTicksToNs(armGetSystemTick());
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#if defined(__SWITCH__)
+#include <switch.h>
+void nanotime_yield() {
+	svcSleepThread(YieldType_ToAnyThread);
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#endif
+#endif
+
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)
+#include <time.h>
+uint64_t nanotime_now() {
+	struct timespec now;
+	const int status = timespec_get(&now, TIME_UTC);
+	assert(status == TIME_UTC);
+	if (status == TIME_UTC) {
+		return (uint64_t)now.tv_sec * NANOTIME_NSEC_PER_SEC + (uint64_t)now.tv_nsec;
+	}
+	else {
+		return UINT64_C(0);
+	}
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_THREADS__)
+#include <threads.h>
+void nanotime_sleep(uint64_t nsec_count) {
+	const struct timespec req = {
+		.tv_sec = (time_t)(nsec_count / NANOTIME_NSEC_PER_SEC),
+		.tv_nsec = (long)(nsec_count % NANOTIME_NSEC_PER_SEC)
+	};
+	const int status = thrd_sleep(&req, NULL);
+	assert(status == 0 || status == -1);
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_THREADS__)
+#include <threads.h>
+void nanotime_yield() {
+	thrd_yield();
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#endif
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+
+/*
+ * C++ implementations follow here, but defined with C linkage.
+ */
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#ifdef __cplusplus
+#include <cstdint>
+#include <chrono>
+extern "C" uint64_t nanotime_now() {
+	return static_cast<uint64_t>(
+		std::chrono::time_point_cast<std::chrono::nanoseconds>(
+			std::chrono::steady_clock::now()
+		).time_since_epoch().count()
+	);
+}
+#define NANOTIME_NOW_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#ifdef __cplusplus
+#include <cstdint>
+#include <thread>
+#include <exception>
+extern "C" void nanotime_sleep(uint64_t nsec_count) {
+	try {
+		std::this_thread::sleep_for(std::chrono::nanoseconds(nsec_count));
+	}
+	catch (std::exception e) {
+	}
+}
+#define NANOTIME_SLEEP_IMPLEMENTED
+#endif
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#ifdef __cplusplus
+#include <thread>
+extern "C" void nanotime_yield() {
+	std::this_thread::yield();
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#endif
+#endif
+
+
+#ifndef NANOTIME_NOW_IMPLEMENTED
+#error "Failed to implement nanotime_now (try using C11 with C11 threads support or C++11)."
+#endif
+
+#ifndef NANOTIME_SLEEP_IMPLEMENTED
+#error "Failed to implement nanotime_sleep (try using C11 with C11 threads support or C++11)."
+#endif
+
+#ifndef NANOTIME_YIELD_IMPLEMENTED
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * As a last resort, make a zero-duration sleep request to implement yield.
+ * Such sleep requests often have the desired yielding behavior on many
+ * platforms.
+ */
+void nanotime_yield() {
+	nanotime_sleep(0u);
+}
+#define NANOTIME_YIELD_IMPLEMENTED
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef NANOTIME_NOW_MAX_IMPLEMENTED
+/*
+ * Might not be correct on some platforms, but it's the best we can do as a last
+ * resort.
+ */
+uint64_t nanotime_now_max() {
+	return UINT64_MAX;
+}
+#define NANOTIME_NOW_MAX_IMPLEMENTED
+#endif
+
+#endif
+
+
+#ifdef NANOTIME_IMPLEMENTATION
+
+uint64_t nanotime_interval(const uint64_t start, const uint64_t end, const uint64_t max) {
+	assert(max > UINT64_C(0));
+	assert(start <= max);
+	assert(end <= max);
+
+	if (end >= start) {
+		return end - start;
+	}
+	else {
+		return end + (max - start) + UINT64_C(1);
+	}
+}
+
+void nanotime_step_init(
+	nanotime_step_data* const stepper,
+	const uint64_t sleep_duration,
+	const uint64_t now_max,
+	uint64_t (* const now)(),
+	void (* const sleep)(uint64_t nsec_count)
+) {
+	assert(stepper != NULL);
+	assert(sleep_duration > UINT64_C(0));
+	assert(now_max > UINT64_C(0));
+	assert(now != NULL);
+	assert(sleep != NULL);
+
+	stepper->sleep_duration = sleep_duration;
+	stepper->now_max = now_max;
+	stepper->now = now;
+	stepper->sleep = sleep;
+
+	const uint64_t start = now();
+	sleep(UINT64_C(0));
+	stepper->zero_sleep_duration = nanotime_interval(start, now(), now_max);
+	stepper->accumulator = UINT64_C(0);
+
+	/*
+	 * This should be last here, so the sleep point is close to what it
+	 * should be.
+	 */
+	stepper->sleep_point = now();
+}
+
+bool nanotime_step(nanotime_step_data* const stepper) {
+	assert(stepper != NULL);
+
+	const uint64_t start_point = stepper->now();
+
+	if (nanotime_interval(stepper->sleep_point, start_point, stepper->now_max) >= stepper->sleep_duration + NANOTIME_NSEC_PER_SEC / UINT64_C(10)) {
+		stepper->sleep_point = start_point;
+		stepper->accumulator = UINT64_C(0);
+	}
+
+	bool slept;
+	if (stepper->accumulator < stepper->sleep_duration) {
+		const uint64_t total_sleep_duration = stepper->sleep_duration - stepper->accumulator;
+		uint64_t current_sleep_duration = total_sleep_duration;
+		const uint64_t shift = UINT64_C(4);
+
+		/*
+		 * The algorithm implemented here takes the assumption that a
+		 * sequence of repeated sleep requests of the same requested
+		 * duration end up being approximately of equal actual sleep
+		 * duration, even if they're all well above the requested
+		 * duration. In practice, such an assumption proves out to be
+		 * true on various platforms.
+		 */
+
+		/*
+		 * A big initial sleep lowers power usage on any platform, as
+		 * more small sleep requests use more power than fewer bigger,
+		 * equivalent sleep requests. In practice, operating systems
+		 * "actually sleep" when 1ms or more is requested, and 1ms is
+		 * the minimum request duration you can make on some platforms
+		 * (like older versions of Windows). Additionally, power usage
+		 * is nice and low when doing the number of 1ms sleeps that's
+		 * (hopefully) short of the target duration.
+		 *
+		 * But, the loop here maintains a maximum of the actual slept
+		 * durations, breaking out when the time remaining is greater
+		 * than or equal to the maximum found. By breaking out on the
+		 * maximum found rather than just 1ms-or-less remaining,
+		 * sleeping beyond the target deadline is reduced.
+		 */
+		{
+			uint64_t max = NANOTIME_NSEC_PER_SEC / UINT64_C(1000);
+			uint64_t start = stepper->now();
+			while (nanotime_interval(stepper->sleep_point, start, stepper->now_max) + max < total_sleep_duration) {
+				stepper->sleep(NANOTIME_NSEC_PER_SEC / UINT64_C(1000));
+				const uint64_t next = stepper->now();
+				const uint64_t current_interval = nanotime_interval(start, next, stepper->now_max);
+				if (current_interval > max) {
+					max = current_interval;
+				}
+				start = next;
+			}
+			const uint64_t initial_duration = nanotime_interval(start_point, stepper->now(), stepper->now_max);
+			if (initial_duration < current_sleep_duration) {
+				current_sleep_duration -= initial_duration;
+			}
+			else {
+				goto step_end;
+			}
+		}
+
+		/*
+		 * This has the flavor of Zeno's dichotomous paradox of motion,
+		 * as it successively divides the time remaining to sleep, but
+		 * attempts to stop short of the deadline to hopefully be able
+		 * to precisely sleep up to the deadline below this loop. The
+		 * divisor is larger than two though, as it produces better
+		 * behavior, and seems to work fine in testing on real
+		 * hardware. The same method of keeping track of the max
+		 * duration per loop of same sleep request durations above is
+		 * used here. The overshoot possible in the loop below this one
+		 * won't overshoot much, or in the best case won't overshoot,
+		 * so the busyloop can finish up the sleep precisely.
+		 */
+		current_sleep_duration >>= shift;
+		for (
+			uint64_t max = stepper->zero_sleep_duration;
+			nanotime_interval(stepper->sleep_point, stepper->now(), stepper->now_max) + max < total_sleep_duration && current_sleep_duration > UINT64_C(0);
+			current_sleep_duration >>= shift
+		) {
+			max = stepper->zero_sleep_duration;
+			uint64_t start;
+			while (max < stepper->sleep_duration && nanotime_interval(stepper->sleep_point, start = stepper->now(), stepper->now_max) + max < total_sleep_duration) {
+				stepper->sleep(current_sleep_duration);
+				uint64_t slept_duration;
+				if ((slept_duration = nanotime_interval(start, stepper->now(), stepper->now_max)) > max) {
+					max = slept_duration;
+				}
+			}
+		}
+		if (nanotime_interval(stepper->sleep_point, stepper->now(), stepper->now_max) >= total_sleep_duration) {
+			goto step_end;
+		}
+
+		{
+			/*
+			 * After (hopefully) stopping short of the deadline by
+			 * a small amount, do small sleeps here to get closer
+			 * to the deadline, but again attempting to stop short
+			 * by an even smaller amount. It's best to do larger
+			 * sleeps as done in the above loops, to reduce
+			 * CPU/power usage, as each sleep iteration has a
+			 * more-or-less fixed overhead of CPU/power usage.
+			 *
+			 * In testing on an M1 Mac mini running macOS, power
+			 * usage is lower using zero-duration sleeps vs.
+			 * nanotime_yield(), with no loss of timing precision.
+			 * The same might be true for other hardwares/operating
+			 * systems.
+			 */
+			uint64_t max = stepper->zero_sleep_duration;
+			uint64_t start;
+			while (nanotime_interval(stepper->sleep_point, start = stepper->now(), stepper->now_max) + max < total_sleep_duration) {
+				stepper->sleep(UINT64_C(0));
+				if ((stepper->zero_sleep_duration = nanotime_interval(start, stepper->now(), stepper->now_max)) > max) {
+					max = stepper->zero_sleep_duration;
+				}
+			}
+		}
+
+		step_end:
+		{
+			/*
+			 * Finally, do a busyloop to precisely sleep up to the
+			 * deadline. The code above this loop attempts to
+			 * reduce the remaining time to sleep to a minimum via
+			 * process-yielding sleeps, so the amount of time spent
+			 * spinning here is hopefully quite low.
+			 *
+			 * In testing on an M1 Mac mini running macOS,
+			 * busylooping here produces the absolute greatest
+			 * precision possible on the hardware, down to the
+			 * sub-10ns-off-per-update range for longish stretches
+			 * during 60 Hz updates, but in the
+			 * hundreds-to-thousands of nanoseconds off when using
+			 * nanotime_yield() or zero-duration sleeps. And,
+			 * because the sleeping algorithm above does such a
+			 * good job of stopping very close to the deadline,
+			 * busylooping here has basically negligible difference
+			 * in power usage vs. yields/zero-duration sleeps.
+			 */
+			uint64_t current_time;
+			uint64_t accumulated;
+			while ((accumulated = nanotime_interval(stepper->sleep_point, current_time = stepper->now(), stepper->now_max)) < total_sleep_duration);
+
+			stepper->accumulator += accumulated;
+			stepper->sleep_point = current_time;
+			slept = true;
+		}
+	}
+	else {
+		slept = false;
+	}
+	stepper->accumulator -= stepper->sleep_duration;
+	return slept;
+}
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _include_guard_nanotime_ */

image_framework/thead/LibapiProcessThread.cpp

@@ -0,0 +1,192 @@
+#include <iostream>
+#include <chrono>
+#include <mutex>
+#include <cassert>
+#include <typeinfo>
+#include <iostream>
+//#include <spdlog/async.h>
+#include "LibapiProcessThread.h"
+#include "LibapiMsg.h"
+
+using namespace std;
+
+LibapiProcessThread::LibapiProcessThread(int id, std::string name, BaseRunnable* runnable):
+	LibapiThread(id, name, runnable)
+{
+}
+
+LibapiProcessThread::~LibapiProcessThread()
+{
+
+}
+
+void LibapiProcessThread::set_parent_thread(LibapiProcessThread* pParentThread)
+{
+	pParentThread->add_sub_thread(this);
+	this->m_parent = pParentThread;
+}
+
+void LibapiProcessThread::add_sub_thread(LibapiProcessThread* pSubThread)
+{
+	for (auto it = m_sub_threads.begin(); it < m_sub_threads.end(); it++)
+	{
+		if ((*it)->m_id == pSubThread->get_id() || (*it)->m_name == pSubThread->get_name())
+		{
+			//spdlog::info(this->get_name() + " 添加重名子线程 " + pSubThread->get_name());
+			std::cout << this->get_name() << " 添加重名子线程 " << pSubThread->get_name() << std::endl;
+			assert(0);
+		}
+	}
+	if (pSubThread->m_parent != nullptr)
+	{
+		//spdlog::info(this->get_name() + " pSubThread->m_parent != nullptr " + pSubThread->get_name());
+		std::cout << this->get_name() << " pSubThread->m_parent != nullptr " << pSubThread->get_name() << std::endl;
+		assert(0);
+	}
+
+	this->m_sub_threads.emplace_back(pSubThread);
+	Signal sig = { pSubThread->get_id(), false };
+	this->m_sub_thread_signal.emplace_back(sig);
+	pSubThread->m_parent = this;
+}
+
+void LibapiProcessThread::set_next_thread(LibapiProcessThread* pNextThread)
+{
+	m_next_threads.emplace_back(pNextThread);
+	//m_next_thread = pNextThread;
+}
+
+void LibapiProcessThread::reset_sub_thread_signal(std::vector<Signal>& sub_thread_signal)
+{
+	std::unique_lock<std::mutex> lock(m_sig_mutex);
+
+	for (auto it = sub_thread_signal.begin(); it < sub_thread_signal.end(); it++)
+	{
+		(*it).end = false;
+	}
+}
+
+void LibapiProcessThread::update_sub_thread_signal(LibapiProcessThread* pThread)
+{
+	std::unique_lock<std::mutex> lock(m_sig_mutex);
+
+	for (auto it = m_sub_thread_signal.begin(); it < m_sub_thread_signal.end(); it++)
+	{
+		if ((*it).id == pThread->get_id())
+		{
+			(*it).end = true;
+			return;
+		}
+	}
+}
+
+bool LibapiProcessThread::check_all_sub_complete()
+{
+	std::unique_lock<std::mutex> lock(m_sig_mutex);
+
+	for (auto it = m_sub_thread_signal.begin(); it < m_sub_thread_signal.end(); it++)
+	{
+		if ((*it).end == false)
+		{
+			return false;
+		}
+	}
+	return true;
+}
+
+// override function
+void LibapiProcessThread::run()
+{
+	int ret = 0;
+	while (!m_stopFlag)
+	{
+		if (m_pauseFlag)
+		{
+			unique_lock<mutex> locker(m_mutex);
+			while (m_pauseFlag)
+			{
+				m_condition.wait(locker); 
+			}
+			locker.unlock();
+		}
+
+		void* pMsg = NULL;
+		m_queue->pop(pMsg);
+		
+		if (m_prunnable != NULL && pMsg != NULL)
+		{
+			m_prunnable->get_start_time();
+			ret = m_prunnable->OnProcess(this, pMsg);
+			//处理完，如果pMsg为null，则不再处理了
+			if (ret == -1) continue;
+		}
+
+		reset_sub_thread_signal(m_sub_thread_signal);
+		if (m_sub_threads.size() > 0)
+		{
+			bool succ = false;
+			for (auto it = m_sub_threads.begin(); it < m_sub_threads.end(); it++)
+			{
+				LibapiThread* subThread = (LibapiThread*)(*it);
+				((LibapiMsg*)pMsg)->add_ref();
+				succ = subThread->push(pMsg);
+				// 如果push成功，加引用
+				if (!succ)
+				{
+					((LibapiMsg*)pMsg)->sub_ref();
+					update_sub_thread_signal((LibapiProcessThread*)subThread);
+				}
+			}
+
+			if (!check_all_sub_complete())
+			{
+				unique_lock<mutex> locker(m_mutex); 
+				while (!check_all_sub_complete())
+				{
+					m_condition.wait(locker); 
+					// LibapiThread::delay_second(0.001);
+				}
+				locker.unlock();
+			}
+		}
+
+		if (m_prunnable != NULL && pMsg != NULL)
+		{
+			m_prunnable->OnEndProcess(this, pMsg);
+		}
+
+		int next_thread_size = m_next_threads.size();
+		if (next_thread_size == 1)
+		{
+			((LibapiMsg*)pMsg)->add_ref();
+			int succ = m_next_threads[0]->push(pMsg);
+			if (!succ)
+				((LibapiMsg*)pMsg)->sub_ref();
+		}
+		else if (next_thread_size > 1)
+		{
+			((LibapiMsg*)pMsg)->add_ref();
+			int succ = m_next_threads[m_cur_index % next_thread_size]->push(pMsg);
+			// 如果push不成功，减引用
+			if (!succ)
+				((LibapiMsg*)pMsg)->sub_ref();
+			m_cur_index++;
+			if (m_cur_index == next_thread_size) m_cur_index = 0;
+		}
+
+		if (m_parent != NULL)
+		{
+			m_parent->update_sub_thread_signal(this);
+			m_parent->notify();
+		}
+
+		// 消息处理完成，减引用
+		int ref = ((LibapiMsg*)pMsg)->sub_ref();
+		if (ref==0) ((LibapiMsg*)pMsg)->delete_msg();
+	}
+
+	m_pauseFlag = false;
+	m_stopFlag = false;
+
+	//spdlog::info("exit thread:%d", get_id());
+}

image_framework/thead/LibapiProcessThread.h

@@ -0,0 +1,93 @@
+#ifndef LIBAPI_PROCESS_THREAD_H
+#define LIBAPI_PROCESS_THREAD_H
+
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <vector>
+#include <string>
+#include <iostream>
+#include <condition_variable>
+#include "LibapiThread.h"
+#include "LibapiQueue.h"
+#include "LibapiQueues.h"
+
+struct Signal
+{
+	int id;
+	bool end = false;
+};
+
+class LibapiProcessThread;
+typedef LibapiProcessThread ProThread;
+typedef std::shared_ptr<LibapiProcessThread> SharedThread;
+
+// 全局线程管理
+static std::vector<SharedThread> shared_threads;
+static std::mutex g_mutex;
+
+class LibapiProcessThread : public LibapiThread
+{
+public:
+	static std::vector<SharedThread>* get_shared_threads()
+	{
+		return &shared_threads;
+	};
+
+	template<class  T>
+	static std::shared_ptr<LibapiProcessThread> create(std::string thread_name = "")
+	{
+		std::unique_lock<std::mutex> locker(g_mutex);
+
+		T* plugin = new T();
+
+		std::string type_name;
+		if (thread_name == "") type_name = typeid(plugin).name();
+		else type_name = thread_name;
+
+		SharedThread ptr = std::make_shared<LibapiProcessThread>(-1, type_name,(IRunnable*)plugin);
+		shared_threads.push_back(ptr);
+		return ptr;
+	};
+
+	template<class  T>
+	static std::shared_ptr<LibapiProcessThread> create_and_start(std::string thread_name = "")
+	{
+		std::unique_lock<std::mutex> locker(g_mutex);
+
+		T* plugin = new T();
+
+		std::string type_name;
+		if (thread_name == "") type_name = typeid(plugin).name();
+		else type_name = thread_name;
+
+		SharedThread ptr = std::make_shared<LibapiProcessThread>(-1, type_name, (BaseRunnable*)plugin);
+		ptr->start();
+		shared_threads.push_back(ptr);
+		return ptr;
+	};
+
+public:
+	LibapiProcessThread(int id, std::string name, BaseRunnable* runnable);
+	virtual ~LibapiProcessThread();
+	void set_parent_thread(LibapiProcessThread* pThread);
+	void add_sub_thread(LibapiProcessThread* pParentThread);
+	void set_next_thread(LibapiProcessThread* pSubThread);
+	void update_sub_thread_signal(LibapiProcessThread* pThread);
+	void run(); // override function
+	
+private:
+	void reset_sub_thread_signal(std::vector<Signal>& sub_thread_signal);
+	bool check_all_sub_complete();
+
+private:
+	LibapiProcessThread* m_parent = NULL;
+	std::vector<LibapiProcessThread*> m_sub_threads;
+	std::vector<Signal> m_sub_thread_signal;
+	//LibapiProcessThread* m_next_thread = NULL;
+	std::vector<LibapiProcessThread*> m_next_threads;
+	int m_cur_index = 0;
+	std::mutex m_sig_mutex;
+};
+
+#endif // LIBAPITHREAD_H

image_framework/thead/LibapiQueue.h

@@ -0,0 +1,350 @@
+/*
+ * LibapiQueue.hpp
+ * Copyright (C) 2019 Alfredo Pons Menargues <apons@linucleus.com>
+ *
+ * This program is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#ifndef SAFEQUEUE_HPP_
+#define SAFEQUEUE_HPP_
+
+#include <queue>
+#include <list>
+#include <mutex>
+#include <thread>
+#include <cstdint>
+#include <condition_variable>
+//#include "spdlog/spdlog.h"
+
+ 
+/** A thread-safe asynchronous queue */
+template <class T, class Container = std::list<T>>
+class LibapiQueue
+{
+    typedef typename Container::value_type value_type;
+    typedef typename Container::size_type size_type;
+    typedef Container container_type;
+
+public:
+     /*! Create safe queue. */
+    LibapiQueue() = default;
+
+    LibapiQueue(int id, std::string name)
+    {
+        m_id = id;
+        m_name = name;
+        // 测试使用，默认两张图
+        m_max_num_items = 32;
+    }
+
+    LibapiQueue (LibapiQueue&& sq)
+    {
+      m_queue = std::move (sq.m_queue);
+    }
+
+    LibapiQueue (const LibapiQueue& sq)
+    {
+      std::lock_guard<std::mutex> lock (sq.m_mutex);
+      m_queue = sq.m_queue;
+    }
+
+ 
+    /*! Destroy safe queue. */
+    ~LibapiQueue()
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+    }
+ 
+    /**
+     * Sets the maximum number of items in the queue. Defaults is 0: No limit
+     * \param[in] item An item.
+     */
+    void set_max_num_items (unsigned int max_num_items)
+    {
+      m_max_num_items = max_num_items;
+    }
+ 
+    /**
+     *  Pushes the item into the queue.
+     * \param[in] item An item.
+     * \return true if an item was pushed into the queue
+     */
+    bool push (const value_type& item)
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+ 
+      if (m_max_num_items > 0 && m_queue.size() > m_max_num_items)
+        return false;
+ 
+      m_queue.push (item);
+      m_condition.notify_all();
+      return true;
+    }
+ 
+    /**
+     *  Pushes the item into the queue.
+     * \param[in] item An item.
+     * \return true if an item was pushed into the queue
+     */
+    bool push (const value_type&& item)
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+ 
+      if (m_max_num_items > 0 && m_queue.size() > m_max_num_items)
+        return false;
+ 
+      m_queue.push (item);
+      m_condition.notify_one();
+      return true;
+    }
+ 
+    /**
+     *  Pops item from the queue. If queue is empty, this function blocks until item becomes available.
+     * \param[out] item The item.
+     */
+    void pop (value_type& item)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+      while (m_queue.empty())
+      {
+        m_condition.wait (lock, [this]() // Lambda funct
+        {
+          return !m_queue.empty();
+        });
+      }
+      
+      item = m_queue.front();
+      m_queue.pop();
+    }
+ 
+    /**
+     *  Pops item from the queue using the contained type's move assignment operator, if it has one..
+     *  This method is identical to the pop() method if that type has no move assignment operator.
+     *  If queue is empty, this function blocks until item becomes available.
+     * \param[out] item The item.
+     */
+    void move_pop (value_type& item)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+      while (m_queue.empty())
+      {
+         m_condition.wait(lock, [this]() // Lambda funct
+        { 
+            return !m_queue.empty();
+        });
+      }
+
+      item = std::move (m_queue.front());
+      m_queue.pop();
+    }
+ 
+    /**
+     *  Tries to pop item from the queue.
+     * \param[out] item The item.
+     * \return False is returned if no item is available.
+     */
+    bool try_pop (value_type& item)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+ 
+      if (m_queue.empty())
+        return false;
+ 
+      item = m_queue.front();
+      m_queue.pop();
+      return true;
+    }
+ 
+    /**
+     *  Tries to pop item from the queue using the contained type's move assignment operator, if it has one..
+     *  This method is identical to the try_pop() method if that type has no move assignment operator.
+     * \param[out] item The item.
+     * \return False is returned if no item is available.
+     */
+    bool try_move_pop (value_type& item)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+ 
+      if (m_queue.empty())
+        return false;
+ 
+      item = std::move (m_queue.front());
+      m_queue.pop();
+      return true;
+    }
+ 
+    /**
+     *  Pops item from the queue. If the queue is empty, blocks for timeout microseconds, or until item becomes available.
+     * \param[out] t An item.
+     * \param[in] timeout The number of microseconds to wait.
+     * \return true if get an item from the queue, false if no item is received before the timeout.
+     */
+    bool timeout_pop (value_type& item, std::uint64_t timeout)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+ 
+      if (m_queue.empty())
+        {
+          if (timeout == 0)
+            return false;
+ 
+          if (m_condition.wait_for (lock, std::chrono::microseconds (timeout)) == std::cv_status::timeout)
+            return false;
+        }
+ 
+      item = m_queue.front();
+      m_queue.pop();
+      return true;
+    }
+ 
+    /**
+     *  Pops item from the queue using the contained type's move assignment operator, if it has one..
+     *  If the queue is empty, blocks for timeout microseconds, or until item becomes available.
+     *  This method is identical to the try_pop() method if that type has no move assignment operator.
+     * \param[out] t An item.
+     * \param[in] timeout The number of microseconds to wait.
+     * \return true if get an item from the queue, false if no item is received before the timeout.
+     */
+    bool timeout_move_pop (value_type& item, std::uint64_t timeout)
+    {
+      std::unique_lock<std::mutex> lock (m_mutex);
+ 
+      if (m_queue.empty())
+        {
+          if (timeout == 0)
+            return false;
+ 
+          if (m_condition.wait_for (lock, std::chrono::microseconds (timeout)) == std::cv_status::timeout)
+            return false;
+        }
+ 
+      item = std::move (m_queue.front());
+      m_queue.pop();
+      return true;
+    }
+ 
+    /**
+     *  Gets the number of items in the queue.
+     * \return Number of items in the queue.
+     */
+    size_type size() const
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+      return m_queue.size();
+    }
+ 
+    /**
+     *  Check if the queue is empty.
+     * \return true if queue is empty.
+     */
+    bool empty() const
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+      return m_queue.empty();
+    }
+ 
+    /**
+     *  Swaps the contents.
+     * \param[out] sq The LibapiQueue to swap with 'this'.
+     */
+    void swap (LibapiQueue& sq)
+    {
+      if (this != &sq)
+        {
+          std::lock_guard<std::mutex> lock1 (m_mutex);
+          std::lock_guard<std::mutex> lock2 (sq.m_mutex);
+          m_queue.swap (sq.m_queue);
+ 
+          if (!m_queue.empty())
+            m_condition.notify_all();
+ 
+          if (!sq.m_queue.empty())
+            sq.m_condition.notify_all();
+        }
+    }
+ 
+    /*! The copy assignment operator */
+    LibapiQueue& operator= (const LibapiQueue& sq)
+    {
+      if (this != &sq)
+        {
+          std::lock_guard<std::mutex> lock1 (m_mutex);
+          std::lock_guard<std::mutex> lock2 (sq.m_mutex);
+          std::queue<T, Container> temp {sq.m_queue};
+          m_queue.swap (temp);
+ 
+          if (!m_queue.empty())
+            m_condition.notify_all();
+        }
+ 
+      return *this;
+    }
+ 
+    /*! The move assignment operator */
+    LibapiQueue& operator= (LibapiQueue && sq)
+    {
+      std::lock_guard<std::mutex> lock (m_mutex);
+      m_queue = std::move (sq.m_queue);
+ 
+      if (!m_queue.empty())  m_condition.notify_all();
+ 
+      return *this;
+    }
+
+    void set_id(int id)
+    {
+        m_id = id;
+    }
+
+    int get_id()
+    {
+        return m_id;
+    }
+
+    void set_name(std::string name)
+    {
+        m_name = name;
+    }
+
+    std::string get_name()
+    {
+        return m_name;
+    }
+ 
+ private:
+    int m_id;
+    std::string m_name;
+    std::queue<T, Container> m_queue;
+    mutable std::mutex m_mutex;
+    std::condition_variable m_condition;
+    unsigned int m_max_num_items = 32;
+};
+ 
+/*! Swaps the contents of two LibapiQueue objects. */
+template <class T, class Container>
+void swap(LibapiQueue<T, Container>& q1, LibapiQueue<T, Container>& q2)
+{
+    q1.swap(q2);
+}
+#endif /* SAFEQUEUE_HPP_ */
+
+// #include <LibapiQueue.hpp>
+ 
+// int main()
+// {
+//   LibapiQueue <int> my_queue;
+ 
+//   my_queue.push(1);
+ 
+//   return 0;
+// }

image_framework/thead/LibapiQueues.cpp

@@ -0,0 +1,104 @@
+#include "LibapiQueues.h"
+#include <cassert>
+#include <iostream>
+
+
+static std::vector<LibapiQueue<void*>*> _queues;
+
+void Queues::add_to_queue_list(LibapiQueue<void*>* queue)
+{
+    for (auto it=_queues.begin(); it!=_queues.end(); it++)
+    {
+        
+        LibapiQueue<void*>* sq = (LibapiQueue<void*>*)(*it);
+        if (sq->get_id() == queue->get_id() || sq->get_name() == queue->get_name())
+        {
+            assert(0);
+        }
+    }
+    _queues.push_back(queue);
+}
+
+void Queues::remove_from_queue_list(int& id)
+{
+    for (auto it = _queues.begin(); it != _queues.end(); it++)
+    {
+        LibapiQueue<void*>* sq = (LibapiQueue<void*>*)(*it);
+        if (sq->get_id() == id)
+        {
+            _queues.erase(it);
+            break;
+        }
+    }
+}
+
+LibapiQueue<void*>* Queues::find_queue(int& id)
+{
+    for (auto it = _queues.begin(); it != _queues.end(); it++)
+    {
+        LibapiQueue<void*>* sq = (LibapiQueue<void*>*)(*it);
+        if (sq->get_id() == id) return sq;
+    }
+    return NULL;
+    //auto it = std::find_if(LibapiQueue::get_queues().begin(), LibapiQueue::get_queues().end(), [&](const LibapiQueue* sq)
+    //    return sq->get_id() == id);
+    //if (it != LibapiQueue::get_queues().end())  return (LibapiQueue*)it;
+    //else return NULL;
+}
+
+LibapiQueue<void*>* Queues::find_queue(std::string& name)
+{
+    for (auto it = _queues.begin(); it != _queues.end(); it++)
+    {
+        LibapiQueue<void*>* sq = (LibapiQueue<void*>*)(*it);
+        if (sq->get_name() == name) return sq;
+    }
+    return NULL;
+    //auto it = std::find_if(LibapiQueue::get_queues().begin(), LibapiQueue::get_queues().end(), [&](const LibapiQueue* sq)
+    //    return sq - get_name() == name);
+    //if (it != LibapiQueue::get_queues().end())  return (LibapiQueue*)it;
+    //else return NULL;
+}
+
+std::vector<LibapiQueue<void*>*> Queues::get_queues()
+{
+    return _queues;
+}
+
+LibapiQueue<void*>* Queues::create_queue(int& id, std::string& name)
+{
+    LibapiQueue<void*>* sq = new LibapiQueue<void*>(id, name);
+    add_to_queue_list(sq);
+    return sq;
+}
+
+void Queues::delete_queue(LibapiQueue<void*>* queue)
+{
+    if (queue != NULL)
+    {
+        int id = queue->get_id();
+        remove_from_queue_list(id);
+        delete queue;
+        queue = NULL;
+    }
+}
+
+void Queues::clear()
+{
+    for (auto it = _queues.begin(); it != _queues.end(); it++)
+        if ((*it) != NULL)
+            delete (*it);
+    _queues.clear();
+}
+
+int Queues::push_to_queue(char* queue_name, void* msg)
+{
+    std::string qname(queue_name);
+    LibapiQueue<void*>* queue = find_queue(qname);
+    if (queue == NULL) return -1;
+    bool ret = queue->push(msg);
+    if (ret)
+        return 0;
+    else
+        return -1;
+}

image_framework/thead/LibapiQueues.h

@@ -0,0 +1,31 @@
+#ifndef LIBAPIQUEUE_HPP_
+#define LIBAPIQUEUE_HPP_
+
+#include "LibapiQueue.h"
+
+class Queues
+{
+
+public:
+
+	static void add_to_queue_list(LibapiQueue<void*>* queue);
+
+	static void remove_from_queue_list(int& id);
+
+	static LibapiQueue<void*>* find_queue(int& id);
+
+	static LibapiQueue<void*>* find_queue(std::string& name);
+
+	static std::vector<LibapiQueue<void*>*> get_queues();
+
+	static LibapiQueue<void*>* create_queue(int& id, std::string& name);
+
+	static void delete_queue(LibapiQueue<void*>* queue);
+
+	static void clear();
+
+	static int push_to_queue(char* queue_name, void* msg);
+
+};
+
+#endif /* LIBAPIQUEUE_HPP_ */

image_framework/thead/LibapiThread.cpp

@@ -0,0 +1,207 @@
+#include <iostream>
+#include <time.h>
+#include <stdio.h>
+#include <chrono>
+#include "LibapiThread.h"
+#include "LibapiQueue.h"
+#include "LibapiQueues.h"
+#include <iostream>
+
+using namespace std;
+
+static int id_max = -1;
+
+LibapiThread::LibapiThread(int id, std::string name, BaseRunnable* runnable)
+	: m_pthread(nullptr),
+	m_pauseFlag(false),
+	m_stopFlag(false),
+	m_state(Stoped),
+	m_id(id),
+	m_name(name),
+	m_prunnable(runnable)
+{
+	if (m_id == -1)
+	{
+		m_id = id_max + 1;
+		id_max++;
+	}
+	m_queue = Queues::create_queue(m_id, m_name);
+}
+
+LibapiThread::~LibapiThread()
+{
+	Queues::delete_queue(this->m_queue);
+	stop();
+}
+
+LibapiThread::State LibapiThread::state() const
+{
+	return m_state;
+}
+
+void LibapiThread::start()
+{
+	if (m_pthread == nullptr)
+	{
+		std::cout << this->get_name() << " thread start! " << std::endl;
+		//spdlog::info(this->get_name() + "thread start!");
+
+		m_pthread = new thread(&LibapiThread::run, this);
+		m_pauseFlag = false;
+		m_stopFlag = false;
+		m_state = Running;
+	}
+}
+
+void LibapiThread::stop()
+{
+	if (m_pthread != nullptr)
+	{
+		m_pauseFlag = false;
+		m_stopFlag = true;
+		m_condition.notify_one(); // Notify one waiting thread, if there is one.
+		m_pthread->join(); // wait for thread finished
+		delete m_pthread;
+		m_pthread = nullptr;
+		m_state = Stoped;
+	}
+}
+
+void LibapiThread::join()
+{
+	if (m_pthread != nullptr)
+	{
+		m_pthread->join(); // wait for thread finished
+	}
+}
+
+void LibapiThread::pause()
+{
+	if (m_pthread != nullptr)
+	{
+		m_pauseFlag = true;
+		m_state = Paused;
+	}
+}
+
+void LibapiThread::resume()
+{
+	if (m_pthread != nullptr)
+	{
+		m_pauseFlag = false;
+		m_condition.notify_all();
+		m_state = Running;
+	}
+}
+
+bool LibapiThread::push(void* pMsg)
+{
+	return m_queue->push(pMsg);
+}
+
+void* LibapiThread::pop()
+{
+	std::cout<<"LibapiThread::pop()"<<std::endl;
+	void* p = NULL;
+	m_queue->pop(p);
+	return p;
+}
+
+void LibapiThread::notify()
+{
+	m_condition.notify_one();
+}
+
+void LibapiThread::run()
+{
+	//cout << "enter thread:" << this_thread::get_id() << endl;
+	cout << "enter thread:" << get_id() << endl;
+	//spdlog::info("enter thread:%d", get_id());
+
+	while (!m_stopFlag)
+	{
+		if (/*!m_queue->empty() && */m_prunnable!=NULL)
+		{
+			void* pMsg = NULL;
+			m_queue->pop(pMsg);
+			m_prunnable->OnProcess(this, pMsg);
+		}
+
+		if (m_pauseFlag)
+		{
+			unique_lock<mutex> locker(m_mutex);
+			while (m_pauseFlag)
+			{
+				m_condition.wait(locker); // Unlock m_mutex and wait to be notified
+			}
+			locker.unlock();
+		}
+	}
+	m_pauseFlag = false;
+	m_stopFlag = false;
+
+	//cout << "exit thread:" << this_thread::get_id() << endl;
+	cout << "exit thread:" << get_id() << endl;
+	//spdlog::info("exit thread:%d", get_id());
+}
+
+int LibapiThread::get_id()
+{
+	return this->m_id;
+}
+
+void LibapiThread::set_id(int& id)
+{
+	this->m_id = id;
+}
+
+std::string LibapiThread::get_name()
+{
+	return this->m_name;
+}
+
+void LibapiThread::set_name(std::string& name)
+{
+	this->m_name = name;
+}
+
+// 阻塞式的SLEEP
+void LibapiThread::delay_microseconds(int microseconds)
+{
+#ifndef _WIN32
+	struct timespec req, rem;
+	req.tv_sec = microseconds / 1000000L;
+	req.tv_nsec = (microseconds % 1000000L) * 1000L;
+
+	while ((nanosleep(&req, &rem) == -1) && (errno == EINTR)) {
+		req.tv_sec = rem.tv_sec;
+		req.tv_nsec = rem.tv_nsec;
+	}
+#endif
+
+	auto start = std::chrono::system_clock::now();
+	while (true)
+	{
+		auto duration =
+			std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start).count();
+		if (duration > microseconds)
+		{
+			//LOGGING_ERROR("timeout occurred,timeout %d ms", timeout_ms);
+			break;
+		}
+		//std::this_thread::sleep_for(std::chrono::nanoseconds(1000));
+	}
+}
+
+// 消耗cpu资源，定时器很准，最高精度1ms
+void LibapiThread::delay_second(double second)
+{
+	clock_t start_time;
+	start_time = clock();
+	for (; (clock() - start_time) < second * CLOCKS_PER_SEC;);
+}
+
+LibapiQueue<void*>* LibapiThread::get_queue()
+{
+	return m_queue;
+}

image_framework/thead/LibapiThread.h

@@ -0,0 +1,141 @@
+#ifndef LIBAPITHREAD_H
+#define LIBAPITHREAD_H
+
+
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <chrono>
+#include <condition_variable>
+//#include <spdlog/async.h>
+#include "LibapiQueue.h"
+#include "LibapiMsg.h"
+
+#define MACRO_FRAMES_RATE_DEFINE(x) \
+	static int count##x = 0; \
+	static int count_last##x = 0;\
+	auto start##x = std::chrono::high_resolution_clock::now();\
+
+//#define MACRO_FRAMES_RATE_DEFINE_END(x, log)\
+//	count##x++;\
+//	auto finish##x = std::chrono::high_resolution_clock::now();\
+//	std::chrono::duration<double> elapsed##x = finish##x - start##x;\
+//	if (elapsed##x.count() > 1.0)\
+//	{\
+//		start##x = std::chrono::high_resolution_clock::now();\
+//		spdlog::info(log##" : frames per second is {}", count##x);\
+//		count##x = 0;\
+//	}\
+
+#define MACRO_FRAMES_RATE_DEFINE_END(x, log)\
+	count##x++;\
+	auto finish##x = std::chrono::high_resolution_clock::now();\
+	std::chrono::duration<double> elapsed##x = finish##x - start##x;\
+	if (elapsed##x.count() > 1.0)\
+	{\
+		start##x = std::chrono::high_resolution_clock::now();\
+		count##x = 0;\
+	}\
+
+#define MACRO_START_TIME(thread_name)\
+	m_start = std::chrono::high_resolution_clock::now();\
+
+
+#define MACRO_RECORD_RUN_TIME(thread_name)\
+	m_end = std::chrono::high_resolution_clock::now();\
+	m_elapsed = m_end - m_start;\
+	//spdlog::info(pThisThread->get_name() + ":Elapsed Time:{} ms\n", m_elapsed.count());\
+
+class LibapiThread;
+class IRunnable 
+{
+public:
+	virtual int OnProcess(LibapiThread* pthread, void* pMsg) = 0;
+	virtual void OnEndProcess(LibapiThread* pthread, void* pMsg) = 0;
+	virtual void OnDeleteMsg(LibapiThread* pthread, void* pMsg) = 0;
+};
+
+
+class BaseRunnable : IRunnable
+{
+public:
+	std::chrono::high_resolution_clock::time_point m_start;
+	std::chrono::high_resolution_clock::time_point m_end;
+	std::chrono::duration<double, std::milli> m_elapsed;
+public:
+	virtual int OnProcess(LibapiThread* pthread, void* pMsg) { return 0; };
+	virtual void OnEndProcess(LibapiThread* pthread, void* pMsg) {};
+	virtual void OnDeleteMsg(LibapiThread* pthread, void* pMsg) {};
+public:
+	void get_start_time()
+	{
+		m_start = std::chrono::high_resolution_clock::now();
+	}
+
+	long get_used_time()
+	{
+		m_end = std::chrono::high_resolution_clock::now();
+		std::chrono::duration<double> elapsex = m_end - m_start;
+		long seconds = static_cast<long>(elapsex.count());
+
+		return seconds;
+	}
+};
+
+class IDeleteMsgCallBack
+{
+public:
+	virtual void delete_msg(void* pMsg) = 0;
+};
+
+class LibapiThread
+{
+public:
+	static void delay_microseconds(int microseconds);
+	static void delay_second(double second);
+
+public:
+	LibapiThread(int id, std::string name, BaseRunnable* runnable);
+	virtual ~LibapiThread();
+
+	enum State
+	{
+		Stoped,     ///<停止状态，包括从未启动过和启动后被停止
+		Running,    ///<运行状态
+		Paused      ///<暂停状态
+	};
+
+	State state() const;
+	void start();
+	void stop();
+	void join();
+	void pause();
+	void resume();
+	bool push(void* pMsg); //push到本线程
+	//void push_to(int queue_id, void* pMsg); //从本线程push到其他线程
+	void* pop();
+	void notify();
+	int get_id();
+	void set_id(int& id);
+	std::string get_name();
+	void set_name(std::string& name);
+	LibapiQueue<void*>* get_queue();
+
+protected:
+	virtual void run();
+
+protected:
+	int m_id;
+	std::string m_name;
+	std::thread* m_pthread;
+	BaseRunnable* m_prunnable;
+	std::mutex m_mutex;
+	std::mutex m_msg_mutex;
+	std::condition_variable m_condition;
+	std::atomic_bool m_pauseFlag;  ///<暂停标识
+	std::atomic_bool m_stopFlag;   ///<停止标识
+	State m_state;
+	LibapiQueue<void*>* m_queue;
+};
+
+#endif // LIBAPITHREAD_H

image_framework/thead/LibapiThread.h.bak

@@ -0,0 +1,132 @@
+#ifndef LIBAPITHREAD_H
+#define LIBAPITHREAD_H
+
+
+#include <thread>
+#include <atomic>
+#include <mutex>
+#include <chrono>
+#include <condition_variable>
+#include <spdlog/async.h>
+#include "LibapiQueue.h"
+#include "LibapiMsg.h"
+
+#define MACRO_FRAMES_RATE_DEFINE(x) \
+	static int count##x = 0; \
+	static int count_last##x = 0;\
+	auto start##x = std::chrono::high_resolution_clock::now();\
+
+#define MACRO_FRAMES_RATE_DEFINE_END(x, log)\
+	count##x++;\
+	auto finish##x = std::chrono::high_resolution_clock::now();\
+	std::chrono::duration<double> elapsed##x = finish##x - start##x;\
+	if (elapsed##x.count() > 1.0)\
+	{\
+		start##x = std::chrono::high_resolution_clock::now();\
+		spdlog::info(log##" : frames per second is {}", count##x);\
+		count##x = 0;\
+	}\
+
+#define MACRO_START_TIME(thread_name)\
+	auto start = std::chrono::high_resolution_clock::now();\
+
+
+#define MACRO_RECORD_RUN_TIME(thread_name)\
+	auto end = std::chrono::high_resolution_clock::now();\
+	// m_elapsed = end - m_start;\
+	// spdlog::info(pThisThread->get_name() + ":Elapsed Time:{} ms\n", m_elapsed.count());\
+
+class LibapiThread;
+class IRunnable 
+{
+public:
+	virtual int OnProcess(LibapiThread* pthread, void* pMsg) = 0;
+	virtual void OnEndProcess(LibapiThread* pthread, void* pMsg) = 0;
+	virtual void OnDeleteMsg(LibapiThread* pthread, void* pMsg) = 0;
+};
+
+
+class BaseRunnable : IRunnable
+{
+public:
+	std::chrono::steady_clock::time_point m_start;
+	// std::chrono::steady_clock::time_point m_end;
+	std::chrono::duration<double, std::milli> m_elapsed;
+public:
+	virtual int OnProcess(LibapiThread* pthread, void* pMsg) { return 0; };
+	virtual void OnEndProcess(LibapiThread* pthread, void* pMsg) {};
+	virtual void OnDeleteMsg(LibapiThread* pthread, void* pMsg) {};
+public:
+	void get_start_time()
+	{
+		auto start = std::chrono::high_resolution_clock::now();
+		// m_start = start;
+	}
+
+	// long get_used_time()
+	// {
+	// 	m_end = std::chrono::high_resolution_clock::now();
+	// 	std::chrono::duration<double> elapsex = m_end - m_start; 
+	// 	long seconds = static_cast<long>(elapsex.count());
+
+	// 	return seconds;
+	// }
+};
+
+class IDeleteMsgCallBack
+{
+public:
+	virtual void delete_msg(void* pMsg) = 0;
+};
+
+class LibapiThread
+{
+public:
+	static void delay_microseconds(int microseconds);
+	static void delay_second(double second);
+
+public:
+	LibapiThread(int id, std::string name, BaseRunnable* runnable);
+	virtual ~LibapiThread();
+
+	enum State
+	{
+		Stoped,     ///<停止状态，包括从未启动过和启动后被停止
+		Running,    ///<运行状态
+		Paused      ///<暂停状态
+	};
+
+	State state() const;
+	void start();
+	void stop();
+	void join();
+	void pause();
+	void resume();
+	bool push(void* pMsg); //push到本线程
+	//void push_to(int queue_id, void* pMsg); //从本线程push到其他线程
+	void* pop();
+	void notify();
+	int get_id();
+	void set_id(int& id);
+	std::string get_name();
+	void set_name(std::string& name);
+	LibapiQueue<void*>* get_queue();
+
+protected:
+	virtual void run();
+
+protected:
+	int m_id;
+	std::string m_name;
+	std::thread* m_pthread;
+	BaseRunnable* m_prunnable;
+	std::mutex m_mutex;
+	std::mutex m_msg_mutex;
+	std::condition_variable m_condition;
+	std::atomic_bool m_pauseFlag;  ///<暂停标识
+	std::atomic_bool m_stopFlag;   ///<停止标识
+	State m_state;
+	LibapiQueue<void*>* m_queue;
+};
+
+#endif // LIBAPITHREAD_H

image_framework/thead/LibapiThreadPool.h

@@ -0,0 +1,112 @@
+#ifndef THREAD_POOL_H
+#define THREAD_POOL_H
+
+#include <vector>
+#include <queue>
+#include <memory>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <future>
+#include <functional>
+#include <stdexcept>
+
+class ThreadPool {
+public:
+    explicit ThreadPool(size_t);
+    template<class F, class... Args>//可变参数模版
+    //值得注意的是这里F&&表示universal reference而不是右值引用
+    //如果存在推断类型如template或auto那么&&即表示universal reference，具体是左值引用还是右值引用由初始化决定
+    auto enqueue(F&& f, Args&&... args)//f是函数名，args是参数
+    ->std::future<decltype(f(args...))>;//尾置返回类型，返回 函数f返回值类型的future
+    ~ThreadPool();
+private:
+    // need to keep track of threads so we can join them
+    std::vector< std::thread > workers;
+    // the task queue
+    std::queue< std::function<void()> > tasks;//std::function通用的函数封装，要求一个返回值类型为void的无参函数
+
+    // synchronization
+    std::mutex queue_mutex;//锁，负责保护任务队列和stop
+    std::condition_variable condition;//条件变量
+    bool stop;
+};
+
+// the constructor just launches some amount of workers
+inline ThreadPool::ThreadPool(size_t threads)//构造时设定线程数量
+        :   stop(false)
+{
+    for(size_t i = 0;i<threads;++i)
+        workers.emplace_back(//push_back的优化版本
+            [this]//lambda表达式捕获this指针
+            {
+                for(;;)//比while(1)更优
+                {
+                    std::function<void()> task;
+                    {//{}内相当于新的作用域
+                        std::unique_lock<std::mutex> lock(this->queue_mutex);
+                        //在等待任务队列中出现任务的过程中解锁queue_mutex
+                        //由notify_one或notify_all唤醒
+                        //线程池初始化后将有threads个线程在此处等待，每个线程执行完分配到的任务将执行循环，再取任务执行或等待任务加入队列
+                        /* 我们需要知道这么做的目的是，std::thread本身仅能绑定一个函数，而我们需要仅用threads个线程去帮我们执行m个任务，
+                            * 而不是每执行一个任务创建一个线程，如果这样我们将创建m个线程，而创建线程是需要开销的，这引起了不必要的浪费，线程池就是为此而生的
+                            * 通过这种方式，每个std::thread仍然是只绑定了一个函数，但是这一个函数会执行我们想要的多个任务
+                            */
+                        this->condition.wait(lock,
+                                                [this]{ return this->stop || !this->tasks.empty(); });
+                        if(this->stop && this->tasks.empty())//stop=true，仍需执行任务队列中剩余任务
+                            return;
+                        task = std::move(this->tasks.front());//std::move避免拷贝
+                        this->tasks.pop();
+                    }
+
+                    task();//执行任务
+                }
+            }
+        );
+}
+// add new work item to the pool
+template<class F, class... Args>
+auto ThreadPool::enqueue(F&& f, Args&&... args)
+-> std::future<decltype(f(args...))>
+{
+    using return_type = decltype(f(args...));
+
+    //基本类型是std::shared_ptr，指向类型是std::packaged_task，类型是返回值类型为return_type的无参函数
+    auto task = std::make_shared< std::packaged_task<return_type()> >(
+            /* 现在该说说为什么std::packaged_task的类型是一个返回值为return_type的无参数函数了
+             * 返回值是return_type这没有问题，至于参数消失的原因是因为：std::bind
+             * 在这里它创建了一个无参数（参数均被指定）版本的函数f
+             */
+            //std::forward配合universal reference使用，完美转发，实际效果是如果是右值引用那么还是右值引用，如果是左值引用那么还是左值引用
+            std::bind(std::forward<F>(f), std::forward<Args>(args)...)
+    );
+
+    std::future<return_type> res = task->get_future();//任务函数实际执行后的返回值
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex);
+
+        // don't allow enqueueing after stopping the pool
+        if(stop)
+            throw std::runtime_error("enqueue on stopped ThreadPool");
+
+        tasks.emplace([task](){ (*task)(); });//往tasks队列压入一个无参无返回值的函数，函数体内调用task（不要忘记task是shared_ptr类型）
+    }
+    //任务压入队列，唤醒等待的线程
+    condition.notify_one();
+    return res;
+}
+
+// the destructor joins all threads
+inline ThreadPool::~ThreadPool()
+{
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex);
+        stop = true;
+    }
+    condition.notify_all();//唤醒所有等待的进程
+    for(std::thread &worker: workers)
+        worker.join();//等待所有线程结束
+}
+
+#endif

image_framework/thead/TestMain.cpp

@@ -0,0 +1,130 @@
+#include "LibapiProcessThread.h"
+#include "LibapiQueue.h"
+#include "LibapiQueues.h"
+#include "MsgBase.h"
+#include <memory>
+#include <chrono>
+#include <opencv2/opencv.hpp>
+#include <iostream>
+#include <locale>
+#include <codecvt>
+#include <string>
+#include <fstream>
+#include "PlguinConfig.h"
+
+#include "Libapi.h"
+#include "IniHelper.h"
+#include "Log.h"
+#include "Yolov5For928.h"
+
+// for ext
+int main()
+{
+	int ret = 0;
+
+	// init config
+	GINIT();
+
+	// init yolo for 928
+	ret = CYolov5For928::Get()->Init();
+	if (ret != 0) return ret;
+
+	// init task
+	PlguinConfig::getInstance()->LibapiInitCameraProcessing(nullptr);
+	PlguinConfig::getInstance()->LibapiInitLidarProcessing(nullptr);
+	PlguinConfig::getInstance()->LibapiInitRoiProcessing(nullptr);
+	LibapiThread::delay_second(2);
+
+	MsgBase* pMsgCamera = nullptr;
+	MsgBase* pMsgLidar = nullptr;
+	char msg_type[32] = "MsgBase";
+
+	while (true)
+	{
+		char msg_type[32] = "MsgBase";
+		pMsgCamera = nullptr;
+		pMsgLidar = nullptr;
+		libapi_create_MsgBase(msg_type, (void**)&pMsgCamera);
+		libapi_create_MsgBase(msg_type, (void**)&pMsgLidar);
+		ret = libapi_push_to_queue((char*)"_t_PluginCameraPro", pMsgCamera);
+		ret = libapi_push_to_queue((char*)"_t_PlguinLidarPro", pMsgLidar);
+		LibapiThread::delay_second(2);
+		LibapiThread::delay_second(5);
+
+		//#define CLIENT_MSG_CONTINUE 1
+		//#define CLIENT_MSG_RESTART_DETECTION 2
+		//#define CLIENT_MSG_STOP_DETECTION 3
+		MsgBase::SetWaitInt(MsgBase::iClinetMsg, CLIENT_MSG_CONTINUE); 
+	}
+	return 0;
+}
+
+// for dll
+#ifdef  _WIN32
+#include <windows.h>
+#endif //  _WIN32
+
+typedef int (*DLLLibapiInit)(int, char*, void*);
+typedef int (*DLLLLibapiStartDetection)();
+typedef int (*DLLLibapiContinuetDetection)();
+typedef int (*DLLLibapRestartConnerDetection)();
+typedef int (*DLLLibapStopDetectiont)();
+static const char* dllName = "./image_framework.dll";
+
+//static const char* DLLLibapiInit_name = "LibapiInit";
+//static const char* DLLLLibapiStartDetection_name = "LibapiStartDetection";
+//static const char* DLLLibapiContinuetDetection_name = "LibapiContinuetDetection";
+//static const char* DLLLibapRestartConnerDetection_name = "LibapRestartConnerDetection";
+//static const char* DLLLibapStopDetectiont_name = "LibapStopDetectiont";
+
+//static wchar_t* char2wchar(const char* c)
+//{
+//	int bufferSize = MultiByteToWideChar(CP_UTF8, 0, c, -1, NULL, 0);
+//	wchar_t* wideString = new wchar_t[bufferSize];
+//	MultiByteToWideChar(CP_UTF8, 0, c, -1, wideString, bufferSize);
+//	return wideString;
+//}
+//int main()
+//{
+//	wchar_t* ws = char2wchar(dllName);
+//
+//	HINSTANCE hinst = LoadLibrary(ws);
+//	if (hinst == NULL)
+//	{
+//		DWORD error = GetLastError();
+//		if (error == ERROR_MOD_NOT_FOUND)
+//		{
+//			// 处理DLL找不到的情况
+//			std::cout << "DLL找不到的情况" << std::endl;
+//			return 0;
+//		}
+//		else if (error == ERROR_PROC_NOT_FOUND)
+//		{
+//			// 处理DLL中的特定函数找不到的情况
+//			std::cout << "DLL中的特定函数找不到的情况" << std::endl;
+//			return 0;
+//		}
+//		// 其他错误处理...
+//	}
+//	DLLLibapiInit funcDLLLibapiInit = 
+//		(DLLLibapiInit)GetProcAddress(hinst, "LibapiInit");
+//	DLLLLibapiStartDetection funcDLLLLibapiStartDetection = 
+//		(DLLLLibapiStartDetection)GetProcAddress(hinst, "LibapiStartDetection");
+//	DLLLibapiContinuetDetection funcDLLLibapiContinuetDetection = 
+//		(DLLLibapiContinuetDetection)GetProcAddress(hinst, "LibapiContinuetDetection");
+//	DLLLibapRestartConnerDetection funcDLLLibapRestartConnerDetection = 
+//		(DLLLibapRestartConnerDetection)GetProcAddress(hinst, "LibapRestartConnerDetection");
+//	DLLLibapStopDetectiont funcDLLLibapStopDetectiont = 
+//		(DLLLibapStopDetectiont)GetProcAddress(hinst, "LibapStopDetection");
+//
+//	char c[256] = "1111";
+//	funcDLLLibapiInit(1, c, nullptr);
+//	while (true)
+//	{
+//		funcDLLLLibapiStartDetection();
+//		
+//		LibapiThread::delay_second(10);
+//
+//		funcDLLLibapiContinuetDetection();
+//	}
+//}

image_framework/utils/Ini/IniHelper.cpp

@@ -0,0 +1,135 @@
+#include "IniParser.h"
+#include "IniHelper.h"
+#include <iostream>
+
+IniHelper* IniHelper::m_instance;
+
+#ifdef _WIN32
+static xini_file_t xini_file("./config.ini");
+#else
+static xini_file_t xini_file("./config.ini");
+#endif
+
+IniHelper* IniHelper::Get()
+{
+	if (IniHelper::m_instance == nullptr) {
+		IniHelper::m_instance = new IniHelper();
+
+		// 2D section
+		G(w) = IniHelper::Get()->GetInt("2D", "w");
+		G(h) = IniHelper::Get()->GetFloat("2D", "h");
+		
+		G(fx) = IniHelper::Get()->GetFloat("2D", "fx");
+		G(fy) = IniHelper::Get()->GetFloat("2D", "fy");
+		G(cx) = IniHelper::Get()->GetFloat("2D", "cx");
+		G(cy) = IniHelper::Get()->GetFloat("2D", "cy");
+		G(k1) = IniHelper::Get()->GetFloat("2D", "k1");
+		G(k2) = IniHelper::Get()->GetFloat("2D", "k2");
+		G(p1) = IniHelper::Get()->GetFloat("2D", "p1");
+		G(p2) = IniHelper::Get()->GetFloat("2D", "p2");
+		G(k3) = IniHelper::Get()->GetFloat("2D", "k3");
+
+		G(yolo_label) = IniHelper::Get()->GetInt("2D", "yolo_label");
+		G(yolo_prob) = IniHelper::Get()->GetFloat("2D", "yolo_prob");
+		G(yolo_modol_path) = IniHelper::Get()->GetStr("2D", "yolo_modol_path");
+		G(save_image) = IniHelper::Get()->GetStr("2D", "save_image");
+		G(roi_y_offset) = IniHelper::Get()->GetInt("2D", "roi_y_offset");
+		
+		G(edge_min_line_len) = IniHelper::Get()->GetInt("2D", "edge_min_line_len");
+		G(edge_max_line_gap) = IniHelper::Get()->GetInt("2D", "edge_max_line_gap");
+		G(edge_min_angle_th) = IniHelper::Get()->GetInt("2D", "edge_min_angle_th");
+
+		G(kk) = IniHelper::Get()->GetFloat("2D", "kk");
+		
+		
+		// 3D section
+		G(r) = IniHelper::Get()->GetFloat("3D", "r");
+		G(p) = IniHelper::Get()->GetFloat("3D", "p");
+		G(y) = IniHelper::Get()->GetFloat("3D", "y");
+
+		G(tx) = IniHelper::Get()->GetFloat("3D", "tx");
+		G(ty) = IniHelper::Get()->GetFloat("3D", "ty");
+		G(tz) = IniHelper::Get()->GetFloat("3D", "tz");
+
+		G(dminx) = IniHelper::Get()->GetFloat("3D", "dminx");
+		G(dmaxx) = IniHelper::Get()->GetFloat("3D", "dmaxx");
+		G(dminy) = IniHelper::Get()->GetFloat("3D", "dminy");
+		G(dmaxy) = IniHelper::Get()->GetFloat("3D", "dmaxy");
+		G(dminz) = IniHelper::Get()->GetFloat("3D", "dminz");
+		G(dmaxz) = IniHelper::Get()->GetFloat("3D", "dmaxz");
+		G(cloud_need_points_size) = IniHelper::Get()->GetInt("3D", "cloud_need_points_size");
+		G(save_cload) = IniHelper::Get()->GetStr("3D", "save_cload");
+		
+
+		G(fake) = IniHelper::Get()->GetStr("sys", "fake");
+		G(camera_cap_fake) = IniHelper::Get()->GetStr("sys", "camera_cap_fake");
+		G(lidar_cap_fake) = IniHelper::Get()->GetStr("sys", "lidar_cap_fake");
+		G(npu_fake) = IniHelper::Get()->GetStr("sys", "npu_fake");
+		G(conners_detect_fake) = IniHelper::Get()->GetStr("sys", "conners_detect_fake");
+		G(fake_image_fpath) = IniHelper::Get()->GetStr("sys", "fake_image_fpath");
+		G(fake_lidar_fpath) = IniHelper::Get()->GetStr("sys", "fake_lidar_fpath");
+		G(export_time) = IniHelper::Get()->GetInt("sys", "export_time");
+	}
+
+	return IniHelper::m_instance;
+}
+
+static std::string floatToString(float value) {
+	std::ostringstream oss;
+	oss << value;
+	return oss.str();
+}
+
+static std::string intToString(int value) {
+	std::ostringstream oss;
+	oss << value;
+	return oss.str();
+}
+
+IniHelper::IniHelper()
+{
+	
+}
+
+IniHelper::~IniHelper()
+{
+
+}
+
+std::string IniHelper::GetStr(std::string section, std::string item)
+{
+	std::string val = (const char*)xini_file[section][item];
+	//std::cout << item << ": " << val << std::endl;
+	this->mRecord += item;
+	this->mRecord += ": ";
+	this->mRecord += val;
+	this->mRecord += "\n";
+	return val;
+}
+
+float IniHelper::GetFloat(std::string section, std::string item)
+{
+	float val = xini_file[section][item];
+	//std::cout << item << ": " << val << std::endl;
+	this->mRecord += item;
+	this->mRecord += ": ";
+	this->mRecord += floatToString(val);
+	this->mRecord += "\n";
+	return val;
+}
+
+int IniHelper::GetInt(std::string section, std::string item)
+{
+	int val = xini_file[section][item];
+	//std::cout << item << ": " << val << std::endl;
+	this->mRecord += item;
+	this->mRecord += ": ";
+	this->mRecord += intToString(val);
+	this->mRecord += "\n";
+	return val;
+}
+
+std::string IniHelper::GetRecord()
+{
+	return this->mRecord;
+}

image_framework/utils/Ini/IniHelper.h

@@ -0,0 +1,74 @@
+#ifndef INI_HELPER_H
+#define INI_HELPER_H
+
+#include <string>
+
+#define G(x) IniHelper::Get()->x
+#define GINIT() IniHelper::Get()->w
+
+class IniHelper
+{
+public:
+	static IniHelper* Get();
+public:
+	static IniHelper* m_instance;
+	IniHelper();
+	~IniHelper();
+
+public:
+	std::string GetStr(std::string section, std::string item);
+	float GetFloat(std::string section, std::string item);
+	int GetInt(std::string section, std::string item);
+	std::string GetRecord();
+
+private:
+	std::string mRecord;
+
+public:
+	int w;
+	int h;
+	float fx;
+	float fy;
+	float cx;
+	float cy;
+	float k1;
+	float k2;
+	float p1;
+	float p2;
+	float k3;
+	int yolo_label;
+	float yolo_prob;
+	std::string yolo_modol_path;
+	std::string save_image;
+	int roi_y_offset;
+	int edge_min_line_len;
+	int edge_max_line_gap;
+	int edge_min_angle_th;
+	float kk;
+
+	float r;
+	float p;
+	float y;
+	float tx;
+	float ty;
+	float tz;
+	float dminx;
+	float dmaxx;
+	float dminy;
+	float dmaxy;
+	float dminz;
+	float dmaxz;
+	int cloud_need_points_size;
+	std::string save_cload;
+
+	std::string fake;
+	std::string camera_cap_fake;
+	std::string lidar_cap_fake;
+	std::string npu_fake;
+	std::string conners_detect_fake;
+	std::string fake_image_fpath;
+	std::string fake_lidar_fpath;
+	int export_time;
+};
+
+#endif

image_framework/utils/Log/Log.cpp

@@ -0,0 +1,249 @@
+#include "Log.h"
+#include <cstdarg>
+#include <cstring>
+#include <chrono>
+#include <ctime>
+#include <cstdio>
+#include <sstream>
+using namespace std;
+using namespace std::chrono;
+#define LOG_BUF_SIZE 20480
+#define TIME_BUF_SIZE 64
+Log Log::m_log;
+int Log::m_counter = 0;
+
+
+Log::Log()
+    :LogTask(),
+    m_bExit(false),
+    m_fLog(nullptr),
+    m_logLevel(LEVEL_NORMAL)
+{
+}
+
+Log::~Log()
+{
+    // wait data write end
+    while (!m_logQue.empty())
+    {
+        milliseconds drua(10);
+        this_thread::sleep_for(drua);
+    }
+    if (m_fLog)
+    {
+        fclose(m_fLog);
+        m_fLog = nullptr;
+    }
+}
+
+std::string Log::getSysTime()
+{
+    time_t tt = system_clock::to_time_t(system_clock::now());
+    char timeBuf[TIME_BUF_SIZE];
+    memset(timeBuf, 0, sizeof(timeBuf));
+    struct tm* pTime = localtime(&tt);
+    sprintf(timeBuf, "%4d/%02d/%02d %02d:%02d:%02d", pTime->tm_year + 1900, pTime->tm_mon + 1,
+        pTime->tm_mday, pTime->tm_hour, pTime->tm_min, pTime->tm_sec);
+    return string(timeBuf);
+}
+
+Log& Log::getInstance()
+{
+    return m_log;
+}
+
+void Log::init(int level, const char* pLogModuleName)
+{
+    std::unique_lock <std::mutex> lck(m_mutex);
+    m_logLevel = level;
+    // 每次init都重新打开一个log文件
+    if (m_fLog != nullptr)
+    {
+        fclose(m_fLog);
+        m_fLog = nullptr;
+    }
+    if (m_fLog == nullptr && m_logLevel > 0)
+    {
+        time_t tt = system_clock::to_time_t(system_clock::now());
+        char timeBuf[TIME_BUF_SIZE];
+        memset(timeBuf, 0, sizeof(timeBuf));
+        struct tm* pTime = localtime(&tt);
+        sprintf(timeBuf, "%4d-%02d-%02d %02d-%02d-%02d", pTime->tm_year + 1900, pTime->tm_mon + 1,
+            pTime->tm_mday, pTime->tm_hour, pTime->tm_min, pTime->tm_sec);
+
+        string strpath = "./log/log_";
+        if (pLogModuleName)
+        {
+            strpath += pLogModuleName;
+            strpath += "_";
+        }
+        strpath += timeBuf;
+        strpath += ".txt";
+        m_fLog = fopen(strpath.c_str(), "a+");
+        // 开启写入文件线程
+        m_log.log_write_thread();
+    }
+}
+
+void Log::log(int level, const char* file, const char* func, int lineNo, const char* cFormat, ...)
+{
+    if (level <= LEVEL_NORMAL || level > LEVEL_DEBUG)
+        return;
+    va_list args;
+    ostringstream oss;
+    //oss << file << ' : ' << lineNo << ' : ' << func << "() \n";
+    oss << lineNo << " : " << func << "() ==> " << cFormat << "\n";
+    va_start(args, cFormat);
+    push_log(level, const_cast<char*>(oss.str().c_str()), args);
+    va_end(args);
+}
+
+void Log::log2(int level, const char* cFormat, ...)
+{
+    if (level <= LEVEL_NORMAL || level > LEVEL_DEBUG)
+        return;
+    va_list args;
+    va_start(args, cFormat);
+    push_log(level, (char*)cFormat, args);
+    va_end(args);
+}
+
+void Log::debugBin(const char* szInfo, uint8_t* szData, uint32_t nDataLen)
+{
+    // 不输出debug信息
+    if (m_logLevel < LEVEL_DEBUG)
+        return;
+    char szBuf[LOG_BUF_SIZE];
+    hex2Str(szBuf, sizeof(szBuf), szData, nDataLen);
+    log2(LEVEL_DEBUG, "%s %s", szInfo, szBuf);
+}
+
+void Log::debugStr(const char* szInfo, const char* cFormat, ...)
+{
+    if (m_logLevel < LEVEL_DEBUG)
+        return;
+    va_list args;
+    va_start(args, cFormat);
+    char logbuf[LOG_BUF_SIZE];
+    memset(logbuf, 0, sizeof(logbuf));
+    string&& sysTime = getSysTime();
+    sprintf(logbuf, "%s [DEBUG] %s", sysTime.c_str(), szInfo);
+    size_t lens = strlen(logbuf);
+    vsnprintf(logbuf + lens, LOG_BUF_SIZE - 1 - lens, cFormat, args);// last bit'\0'
+    va_end(args);
+
+    string LogString(logbuf);
+    push_logstr(LogString);
+
+}
+
+void Log::info(const char* szInfo, const char* cFormat, ...)
+{
+    if (m_logLevel < LEVEL_INFOR)
+        return;
+    va_list args;
+    va_start(args, cFormat);
+    char logbuf[LOG_BUF_SIZE];
+    memset(logbuf, 0, sizeof(logbuf));
+    string&& sysTime = getSysTime();
+    sprintf(logbuf, "%s  %s", sysTime.c_str(), szInfo);
+    size_t lens = strlen(logbuf);
+    vsnprintf(logbuf + lens, LOG_BUF_SIZE - 1 - lens, cFormat, args);// last bit'\0'
+    va_end(args);
+
+    string LogString(logbuf);
+    push_logstr(LogString);
+}
+
+void Log::hex2Str(char* outBuf, uint32_t nbufLen, uint8_t* szData, uint32_t nDataLen)
+{
+    memset(outBuf, 0, nbufLen);
+    uint32_t i = 0, j = 0;
+    for (; i < nDataLen && j < nbufLen - 4; ++i)
+    {
+
+        if (i % 24 == 0)
+        {
+            sprintf(outBuf + j, "%s", "\n");
+            j += 1;
+        }
+        sprintf(outBuf + j, "%02X ", szData[i]);
+        j += 3;
+    }
+    sprintf(outBuf + j, "%s", "\n");
+}
+
+void Log::push_log(int level, char* cFormat, va_list vlist)
+{
+    if (level <= m_logLevel)
+    {
+        char levelstr[20];
+        switch (level)
+        {
+        case LEVEL_DEBUG:
+            strcpy(levelstr, "DEBUG");
+            break;
+        case LEVEL_ERROR:
+            strcpy(levelstr, "ERROR");
+            break;
+        case LEVEL_INFOR:
+        default:
+            strcpy(levelstr, "INFOR");
+            break;
+        }
+        char logbuf[LOG_BUF_SIZE];
+        memset(logbuf, 0, sizeof(logbuf));
+        string&& sysTime = getSysTime();
+        sprintf(logbuf, "%s [%s] ", sysTime.c_str(), levelstr);
+        int lens = strlen(logbuf);
+        vsnprintf(logbuf + lens, LOG_BUF_SIZE - 1 - lens, cFormat, vlist);// last bit'\0'
+
+        string LogString(logbuf);
+        push_logstr(LogString);
+    }
+}
+
+void Log::push_logstr(std::string& strLog)
+{
+    std::unique_lock <std::mutex> lck(m_mutex);
+    m_logQue.push(strLog);
+    m_cv.notify_all();
+}
+
+void Log::quit()
+{
+    std::unique_lock <std::mutex> lck(m_mutex);
+    m_bExit = true;
+    m_cv.notify_all();
+}
+
+std::string Log::pop_log()
+{
+    std::string LogString;
+    std::unique_lock <std::mutex> lck(m_mutex);
+    if (m_logQue.empty())
+    {
+        m_cv.wait(lck);
+    }
+    if (!m_logQue.empty())
+    {
+        LogString = m_logQue.front();
+        m_logQue.pop();
+    }
+    return LogString;
+}
+
+void Log::run()
+{
+
+    while (!m_bExit)
+    {
+        std::string LogString = pop_log();
+        if (m_fLog && !LogString.empty())
+        {
+            fprintf(m_fLog, "%s", LogString.c_str());
+            fflush(m_fLog);
+        }
+        fprintf(stderr, "%s", LogString.c_str());
+    }
+}

image_framework/utils/Log/Log.h

@@ -0,0 +1,60 @@
+#ifndef _LOG_H
+#define _LOG_H
+#include "LogTask.h"
+#include <queue>
+#include <string>
+#include <mutex>
+#include <condition_variable>
+#define LEVEL_NORMAL	0
+#define LEVEL_ERROR		1
+#define LEVEL_INFOR		2
+#define LEVEL_DEBUG		3
+
+
+class Log :
+	public LogTask
+{
+public:
+	static Log& getInstance();
+    // 初始化日志打印, 不调用，不记录日子信息,
+    // level 日志等级，pLogModuleName: 日志模块名称
+    void init(int level, const char* pLogModuleName = nullptr);
+    void log(int level, const char* file, const char* func, int lineNo, const char* cFormat, ...);
+    void debugBin(const char* szInfo, uint8_t* szData = nullptr, uint32_t nDataLen = 0);
+    void debugStr(const char* szInfo, const char *cFormat, ...);
+    void info(const char* szInfo, const char *cFormat, ...);
+	void quit();
+protected:
+    void hex2Str(char* outBuf, uint32_t nbufLen, uint8_t* szData, uint32_t nDataLen);
+    void log2(int level,const char* cFormat, ...);
+	void push_log(int level, char* cFormat, va_list vlist);
+    void push_logstr(std::string& strLog);
+	
+	virtual void run() override;
+private:
+	std::string pop_log();
+	Log();
+	Log(const Log&) = delete;
+	Log(const Log&&) = delete;
+	Log& operator=(const Log&) = delete;
+	Log& operator=(const Log&&) = delete;
+	std::string getSysTime();
+	virtual ~Log();
+
+	bool m_bExit;
+	FILE* m_fLog;
+    static Log m_log;
+	static int m_counter;
+	int m_logLevel;
+	std::queue<std::string> m_logQue;
+	std::mutex m_mutex;
+    std::condition_variable m_cv;
+};
+#define Loger(level,cFormat,...) Log::getInstance().log(level, __FILE__, /*__PRETTY_FUNCTION__*/__FUNCTION__, __LINE__, cFormat, ##__VA_ARGS__);
+#define LogDebugBin(szInfo, szData, nDataLen)    Log::getInstance().debugBin(szInfo, szData, nDataLen);
+#define LogDebugStr(szInfo, cFormat, ...) Log::getInstance().debugStr(szInfo, cFormat, ##__VA_ARGS__);
+#define LogInfoStr(szInfo, cFormat, ...) Log::getInstance().info(szInfo, cFormat, ##__VA_ARGS__);
+#define LogFunctionBegin() Loger(LEVEL_INFOR, "%s", "\tbegin!!!!")
+#define LogFunctionEnd() Loger(LEVEL_INFOR, "%s", "\tend!!!!")
+
+#endif // _LOG_H

image_framework/utils/Log/LogTask.cpp

@@ -0,0 +1,22 @@
+#include "LogTask.h"
+
+LogTask::LogTask()
+	:m_pThread(nullptr)
+{
+}
+
+
+LogTask::~LogTask()
+{
+}
+
+void LogTask::log_write_thread()
+{
+	m_pThread = new std::thread(start, this);
+    m_pThread->detach();
+}
+
+void LogTask::start(LogTask* pLog)
+{
+	pLog->run();
+}

image_framework/utils/Log/LogTask.h

@@ -0,0 +1,22 @@
+#ifndef _LOGINTERFACE_H
+#define _LOGINTERFACE_H
+
+#include <thread>
+
+class LogTask
+{
+protected:
+    void log_write_thread();
+    static void start(LogTask* plog);
+	virtual void run() = 0;
+    LogTask();
+    LogTask(const LogTask&) = delete;
+    LogTask(const LogTask&&) = delete;
+    LogTask& operator=(const LogTask&) = delete;
+    LogTask& operator=(const LogTask&&) = delete;
+    virtual ~LogTask();
+private:
+	std::thread* m_pThread;
+};
+
+#endif // _LOGINTERFACE_H

include/Livox/comm/comm_port.h

@@ -0,0 +1,72 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef COMM_COMM_PORT_H_
+#define COMM_COMM_PORT_H_
+
+#include <stdint.h>
+#include "protocol.h"
+
+namespace livox {
+const uint32_t kCacheSize = 8192;
+const uint32_t kMoveCacheLimit = 1536;
+
+typedef struct {
+  uint8_t buf[kCacheSize];
+  uint32_t rd_idx;
+  uint32_t wr_idx;
+  uint32_t size;
+} PortCache;
+
+class CommPort {
+ public:
+  CommPort();
+
+  ~CommPort();
+
+  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);
+
+  uint8_t *FetchCacheFreeSpace(uint32_t *o_len);
+
+  int32_t UpdateCacheWrIdx(uint32_t used_size);
+
+  uint16_t GetAndUpdateSeqNum();
+
+ private:
+  uint32_t GetCacheTailSize();
+
+  uint32_t GetValidDataSize();
+
+  void UpdateCache(void);
+
+  PortCache cache_;
+  Protocol *protocol_;
+  uint32_t parse_step_;
+  uint16_t seq_num_;
+};
+
+}  // namespace livox
+#endif  // COMM_COMM_PORT_H_

include/Livox/comm/protocol.h

@@ -0,0 +1,82 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef COMM_PROTOCOL_H_
+#define COMM_PROTOCOL_H_
+
+#include <stdint.h>
+
+namespace livox {
+typedef struct CommPacket CommPacket;
+
+typedef int (*RequestPackCb)(CommPacket *packet);
+
+typedef enum { kRequestPack, kAckPack, kMsgPack } PacketType;
+
+typedef enum { kLidarSdk, kRsvd1, kProtocolUndef } ProtocolType;
+
+typedef enum { kNoNeed, kNeedAck, kDelayAck } NeedAckType;
+
+typedef enum { kParseSuccess, kParseFail } ParseResult;
+
+typedef struct CommPacket {
+  uint8_t packet_type;
+  uint8_t protocol;
+  uint8_t protocol_version;
+  uint8_t cmd_set;
+  uint32_t cmd_code;
+  uint32_t sender;
+  uint32_t sub_sender;
+  uint32_t receiver;
+  uint32_t sub_receiver;
+  uint32_t seq_num;
+  uint8_t *data;
+  uint16_t data_len;
+  uint32_t padding;
+  //  RequestPackCb *ack_request_cb;
+  //  uint32_t retry_times;
+  //  uint32_t timeout;
+} CommPacket;
+
+class Protocol {
+ public:
+  virtual ~Protocol(){};
+
+  virtual int32_t ParsePacket(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, const CommPacket &i_packet) = 0;
+
+  virtual uint32_t GetPreambleLen() = 0;
+
+  virtual uint32_t GetPacketWrapperLen() = 0;
+
+  virtual uint32_t GetPacketLen(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPreamble(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPacket(uint8_t *buf) = 0;
+};
+
+}  // namespace livox
+#endif  // COMM_PROTOCOL_H_

include/Livox/config.h

@@ -0,0 +1,49 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef CONFIG_H_
+#define CONFIG_H_
+
+#if defined(__linux__)
+    #include <sys/epoll.h>
+    #include <sys/time.h>
+    #include <unistd.h>
+    #define HAVE_EPOLL 1
+#elif defined(_WIN32)
+    #include <winsock2.h>
+    #define HAVE_SELECT 1
+#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__OpenBSD__) || defined (__NetBSD__)
+    #include <sys/event.h>
+    #include <sys/types.h>
+    #include <fcntl.h>
+    #include <unistd.h>
+    #define HAVE_KQUEUE 1
+#else
+    #include <sys/poll.h>
+    #define HAVE_POLL 1
+#endif
+
+#endif  // CONFIG_H_
+
+

include/Livox/livox_def.h

@@ -0,0 +1,855 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_DEF_H_
+#define LIVOX_DEF_H_
+
+#include <stdint.h>
+
+#define kMaxLidarCount 32
+
+/** Device type. */
+typedef enum {
+  kDeviceTypeHub = 0,          /**< Livox Hub. */
+  kDeviceTypeLidarMid40 = 1,   /**< Mid-40. */
+  kDeviceTypeLidarTele = 2,    /**< Tele. */
+  kDeviceTypeLidarHorizon = 3,  /**< Horizon. */
+  kDeviceTypeLidarMid70 = 6,    /**< Livox Mid-70. */
+  kDeviceTypeLidarAvia = 7     /**< Avia. */
+} DeviceType;
+
+/** Lidar state. */
+typedef enum {
+  kLidarStateInit = 0,        /**< Initialization state. */
+  kLidarStateNormal = 1,      /**< Normal work state. */
+  kLidarStatePowerSaving = 2, /**< Power-saving state. */
+  kLidarStateStandBy = 3,     /**< Standby state. */
+  kLidarStateError = 4,       /**< Error state. */
+  kLidarStateUnknown = 5      /**< Unknown state. */
+} LidarState;
+
+/** Lidar mode. */
+typedef enum {
+  kLidarModeNormal = 1,      /**< Normal mode. */
+  kLidarModePowerSaving = 2, /**< Power-saving mode. */
+  kLidarModeStandby = 3      /**< Standby mode. */
+} LidarMode;
+
+/** Lidar feature. */
+typedef enum {
+  kLidarFeatureNone = 0,   /**< No feature. */
+  kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
+} LidarFeature;
+
+/** Lidar IP mode. */
+typedef enum {
+  kLidarDynamicIpMode = 0,   /**< Dynamic IP. */
+  kLidarStaticIpMode = 1     /**< Static IP. */
+} LidarIpMode;
+
+/** Lidar Scan Pattern. */
+typedef enum {
+  kNoneRepetitiveScanPattern = 0,  /**< None Repetitive Scan Pattern. */
+  kRepetitiveScanPattern = 1,      /**< Repetitive Scan Pattern. */
+} LidarScanPattern;
+
+/** Function return value definition. */
+typedef enum {
+  kStatusSendFailed = -9,           /**< Command send failed. */
+  kStatusHandlerImplNotExist = -8,  /**< Handler implementation not exist. */
+  kStatusInvalidHandle = -7,        /**< Device handle invalid. */
+  kStatusChannelNotExist = -6,      /**< Command channel not exist. */
+  kStatusNotEnoughMemory = -5,      /**< No enough memory. */
+  kStatusTimeout = -4,              /**< Operation timeouts. */
+  kStatusNotSupported = -3,         /**< Operation is not supported on this device. */
+  kStatusNotConnected = -2,         /**< Requested device is not connected. */
+  kStatusFailure = -1,              /**< Failure. */
+  kStatusSuccess = 0                /**< Success. */
+} LivoxStatus;
+
+/** Fuction return value defination, refer to \ref LivoxStatus. */
+typedef int32_t livox_status;
+
+/** Device update type, indicating the change of device connection or working state. */
+typedef enum {
+  kEventConnect = 0,              /**< Device is connected. */
+  kEventDisconnect = 1,           /**< Device is removed. */
+  kEventStateChange = 2,          /**< Device working state changes or an error occurs. */
+  kEventHubConnectionChange = 3   /**< Hub is connected or LiDAR unit(s) is/are removed. */
+} DeviceEvent;
+
+/** Timestamp sync mode define. */
+typedef enum {
+  kTimestampTypeNoSync = 0, /**< No sync signal mode. */
+  kTimestampTypePtp = 1,    /**< 1588v2.0 PTP sync mode. */
+  kTimestampTypeRsvd = 2,   /**< Reserved use. */
+  kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
+  kTimestampTypePps = 4,    /**< pps only sync mode. */
+  kTimestampTypeUnknown = 5 /**< Unknown mode. */
+} TimestampType;
+
+/** Point data type. */
+typedef enum {
+  kCartesian,               /**< Cartesian coordinate point cloud. */
+  kSpherical,               /**< Spherical coordinate point cloud. */
+  kExtendCartesian,         /**< Extend cartesian coordinate point cloud. */
+  kExtendSpherical,         /**< Extend spherical coordinate point cloud. */
+  kDualExtendCartesian,     /**< Dual extend cartesian coordinate  point cloud. */
+  kDualExtendSpherical,     /**< Dual extend spherical coordinate point cloud. */
+  kImu,                     /**< IMU data. */
+  kTripleExtendCartesian,   /**< Triple extend cartesian coordinate  point cloud. */
+  kTripleExtendSpherical,   /**< Triple extend spherical coordinate  point cloud. */
+  kMaxPointDataType         /**< Max Point Data Type. */
+} PointDataType;
+
+/** Point cloud return mode. */
+typedef enum {
+  kFirstReturn,             /**< First single return mode . */
+  kStrongestReturn,         /**< Strongest single return mode. */
+  kDualReturn,              /**< Dual return mode. */
+  kTripleReturn,            /**< Triple return mode. */
+} PointCloudReturnMode;
+
+/** IMU push frequency. */
+typedef enum {
+  kImuFreq0Hz,              /**< IMU push closed. */
+  kImuFreq200Hz,            /**< IMU push frequency 200Hz. */
+} ImuFreq;
+
+#pragma pack(1)
+
+#define LIVOX_SDK_MAJOR_VERSION       2
+#define LIVOX_SDK_MINOR_VERSION       3
+#define LIVOX_SDK_PATCH_VERSION       0
+
+#define kBroadcastCodeSize 16
+
+/** The numeric version information struct.  */
+typedef struct {
+  int major;      /**< major number */
+  int minor;      /**< minor number */
+  int patch;      /**< patch number */
+} LivoxSdkVersion;
+
+/** Cartesian coordinate format. */
+typedef struct {
+  int32_t x;            /**< X axis, Unit:mm */
+  int32_t y;            /**< Y axis, Unit:mm */
+  int32_t z;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxRawPoint;
+
+/** Spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Depth, Unit: mm */
+  uint16_t theta;       /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;         /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxSpherPoint;
+
+/** Standard point cloud format */
+typedef struct {
+  float x;              /**< X axis, Unit:m */
+  float y;              /**< Y axis, Unit:m */
+  float z;              /**< Z axis, Unit:m */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxPoint;
+
+/** Extend cartesian coordinate format. */
+typedef struct {
+  int32_t x;            /**< X axis, Unit:mm */
+  int32_t y;            /**< Y axis, Unit:mm */
+  int32_t z;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity; /**< Reflectivity */
+  uint8_t tag;          /**< Tag */
+} LivoxExtendRawPoint;
+
+/** Extend spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Depth, Unit: mm */
+  uint16_t theta;       /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;         /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint8_t reflectivity; /**< Reflectivity */
+  uint8_t tag;          /**< Tag */
+} LivoxExtendSpherPoint;
+
+/** Dual extend cartesian coordinate format. */
+typedef struct {
+  int32_t x1;            /**< X axis, Unit:mm */
+  int32_t y1;            /**< Y axis, Unit:mm */
+  int32_t z1;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  int32_t x2;            /**< X axis, Unit:mm */
+  int32_t y2;            /**< Y axis, Unit:mm */
+  int32_t z2;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+} LivoxDualExtendRawPoint;
+
+/** Dual extend spherical coordinate format. */
+typedef struct {
+  uint16_t theta;        /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;          /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint32_t depth1;       /**< Depth, Unit: mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  uint32_t depth2;       /**< Depth, Unit: mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+} LivoxDualExtendSpherPoint;
+
+/** Triple extend cartesian coordinate format. */
+typedef struct {
+  int32_t x1;            /**< X axis, Unit:mm */
+  int32_t y1;            /**< Y axis, Unit:mm */
+  int32_t z1;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  int32_t x2;            /**< X axis, Unit:mm */
+  int32_t y2;            /**< Y axis, Unit:mm */
+  int32_t z2;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+  int32_t x3;            /**< X axis, Unit:mm */
+  int32_t y3;            /**< Y axis, Unit:mm */
+  int32_t z3;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity3; /**< Reflectivity */
+  uint8_t tag3;          /**< Tag */
+} LivoxTripleExtendRawPoint;
+
+/** Triple extend spherical coordinate format. */
+typedef struct {
+  uint16_t theta;        /**< Zenith angle[0, 18000], Unit: 0.01 degree */
+  uint16_t phi;          /**< Azimuth[0, 36000], Unit: 0.01 degree */
+  uint32_t depth1;       /**< Depth, Unit: mm */
+  uint8_t reflectivity1; /**< Reflectivity */
+  uint8_t tag1;          /**< Tag */
+  uint32_t depth2;       /**< Depth, Unit: mm */
+  uint8_t reflectivity2; /**< Reflectivity */
+  uint8_t tag2;          /**< Tag */
+  uint32_t depth3;       /**< Depth, Unit: mm */
+  uint8_t reflectivity3; /**< Reflectivity */
+  uint8_t tag3;          /**< Tag */
+} LivoxTripleExtendSpherPoint;
+
+/** IMU data format. */
+typedef struct {
+  float gyro_x;        /**< Gyroscope X axis, Unit:rad/s */
+  float gyro_y;        /**< Gyroscope Y axis, Unit:rad/s */
+  float gyro_z;        /**< Gyroscope Z axis, Unit:rad/s */
+  float acc_x;         /**< Accelerometer X axis, Unit:g */
+  float acc_y;         /**< Accelerometer Y axis, Unit:g */
+  float acc_z;         /**< Accelerometer Z axis, Unit:g */
+} LivoxImuPoint;
+
+/** LiDAR error code. */
+typedef struct {
+  uint32_t temp_status : 2;      /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
+  uint32_t volt_status : 2;      /**< 0: Voltage in Normal State. 1: High. 2: Extremely High. */
+  uint32_t motor_status : 2;     /**< 0: Motor in Normal State. 1: Motor in Warning State. 2:Motor in Error State, Unable to Work. */
+  uint32_t dirty_warn : 2;       /**< 0: Not Dirty or Blocked. 1: Dirty or Blocked. */
+  uint32_t firmware_err : 1;     /**< 0: Firmware is OK. 1: Firmware is Abnormal, Need to be Upgraded. */
+  uint32_t pps_status : 1;       /**< 0: No PPS Signal. 1: PPS Signal is OK. */
+  uint32_t device_status : 1;    /**< 0: Normal. 1: Warning for Approaching the End of Service Life. */
+  uint32_t fan_status : 1;       /**< 0: Fan in Normal State. 1: Fan in Warning State. */
+  uint32_t self_heating : 1;     /**< 0: Normal. 1: Low Temperature Self Heating On. */
+  uint32_t ptp_status : 1;       /**< 0: No 1588 Signal. 1: 1588 Signal is OK. */
+  /** 0: System dose not start time synchronization.
+   * 1: Using PTP 1588 synchronization.
+   * 2: Using GPS synchronization.
+   * 3: Using PPS synchronization.
+   * 4: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
+  */
+  uint32_t time_sync_status : 3;
+  uint32_t rsvd : 13;            /**< Reserved. */
+  uint32_t system_status : 2;    /**< 0: Normal. 1: Warning. 2: Error. */
+} LidarErrorCode;
+
+/** Hub error code. */
+typedef struct {
+  /** 0: No synchronization signal.
+   * 1: 1588 synchronization.
+   * 2: GPS synchronization.
+   * 3: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
+   */
+  uint32_t sync_status : 2;
+  uint32_t temp_status : 2;        /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
+  uint32_t lidar_status : 1;       /**< 0: LiDAR State is Normal. 1: LiDAR State is Abnormal. */
+  uint32_t lidar_link_status : 1;  /**< 0: LiDAR Connection is Normal. 1: LiDAR Connection is Abnormal. */
+  uint32_t firmware_err : 1;       /**< 0: LiDAR Firmware is OK. 1: LiDAR Firmware is Abnormal, Need to be Upgraded. */
+  uint32_t rsvd : 23;              /**< Reserved. */
+  uint32_t system_status : 2;      /**< 0: Normal. 1: Warning. 2: Error. */
+} HubErrorCode;
+
+/**
+ * Device error message.
+ */
+typedef union {
+  uint32_t error_code;                /**< Error code. */
+  LidarErrorCode lidar_error_code;    /**< Lidar error code. */
+  HubErrorCode hub_error_code;        /**< Hub error code. */
+} ErrorMessage;
+
+/** Point cloud packet. */
+typedef struct {
+  uint8_t version;              /**< Packet protocol version. */
+  uint8_t slot;                 /**< Slot number used for connecting LiDAR. */
+  uint8_t id;                   /**< LiDAR id. */
+  uint8_t rsvd;                 /**< Reserved. */
+  uint32_t err_code;      /**< Device error status indicator information. */
+  uint8_t timestamp_type;       /**< Timestamp type. */
+  /** Point cloud coordinate format, refer to \ref PointDataType . */
+  uint8_t data_type;
+  uint8_t timestamp[8];         /**< Nanosecond or UTC format timestamp. */
+  uint8_t data[1];              /**< Point cloud data. */
+} LivoxEthPacket;
+
+/** Information of LiDAR work state. */
+typedef union {
+  uint32_t progress;    /**< LiDAR work state switching progress. */
+  ErrorMessage status_code; /**< LiDAR work state status code. */
+} StatusUnion;
+
+/** Information of the connected LiDAR or hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t handle;                          /**< Device handle. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR. */
+  uint8_t id;                              /**< LiDAR id. */
+  uint8_t type;                            /**< Device type, refer to \ref DeviceType. */
+  uint16_t data_port;                      /**< Point cloud data UDP port. */
+  uint16_t cmd_port;                       /**< Control command UDP port. */
+  uint16_t sensor_port;                    /**< IMU data UDP port. */
+  char ip[16];                             /**< IP address. */
+  LidarState state;                        /**< LiDAR state. */
+  LidarFeature feature;                    /**< LiDAR feature. */
+  StatusUnion status;                      /**< LiDAR work state status. */
+  uint8_t firmware_version[4];             /**< Firmware version. */
+} DeviceInfo;
+
+/** The information of broadcast device. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint16_t reserved;                       /**< Reserved. */
+  char ip[16];                             /**< Device ip. */
+} BroadcastDeviceInfo;
+
+/** The information of LiDAR units that are connected to the Livox Hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint8_t version[4];                      /**< Firmware version. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR units. */
+  uint8_t id;                              /**< Device id. */
+} ConnectedLidarInfo;
+
+/** LiDAR mode configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t state;                           /**< LiDAR state, refer to \ref LidarMode. */
+} LidarModeRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} ReturnCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} DeviceBroadcastCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t feature;                         /**< Close or open the rain and fog feature. */
+} RainFogSuppressRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t state;                           /**< Fan state: 1 for turn on fan, 0 for turn off fan. */
+} FanControlRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetFanStateRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t state;                           /**< Fan state: 1 for fan is on, 0 for fan is off. */
+} GetFanStateResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t mode;                            /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} SetPointCloudReturnModeRequestItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetPointCloudReturnModeRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t mode;                            /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} GetPointCloudReturnModeResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t freq;                            /**< IMU push frequency, refer to \ref ImuFreq. */
+} SetImuPushFrequencyRequestItem;
+
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} GetImuPushFrequencyRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t freq;                            /**< IMU push frequency, refer to \ref ImuFreq. */
+} GetImuPushFrequencyResponseItem;
+
+/** LiDAR configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterRequestItem;
+
+/** LiDAR extrinsic parameters. */
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  uint8_t state;                           /**< LiDAR state. */
+  uint8_t feature;                         /**< LiDAR feature. */
+  StatusUnion error_union;                 /**< LiDAR work state. */
+} LidarStateItem;
+
+/**
+ * The request body for the command of handshake.
+ */
+typedef struct {
+  uint32_t ip_addr;     /**< IP address of the device. */
+  uint16_t data_port;   /**< UDP port of the data connection. */
+  uint16_t cmd_port;    /**< UDP port of the command connection. */
+  uint16_t sensor_port; /**< UDP port of the sensor connection. */
+} HandshakeRequest;
+
+/**
+ * The response body of querying device information.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t firmware_version[4]; /**< Firmware version. */
+} DeviceInformationResponse;
+
+/**
+ * The request body of the command for setting device's IP mode.
+ */
+typedef struct {
+  uint8_t ip_mode;  /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
+  uint32_t ip_addr; /**< IP address. */
+} SetDeviceIPModeRequest;
+
+/**
+ * The response body of getting device's IP mode.
+ */
+typedef struct {
+  uint8_t ret_code;  /**< Return code. */
+  uint8_t ip_mode;   /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
+  uint32_t ip_addr;  /**< IP address. */
+  uint32_t net_mask; /**< Subnet mask. */
+  uint32_t gw_addr;  /**< Gateway address. */
+} GetDeviceIpModeResponse;
+
+/**
+ * The request body of the command for setting static device's IP mode.
+ */
+typedef struct {
+  uint32_t ip_addr;  /**< IP address. */
+  uint32_t net_mask; /**< Subnet mask. */
+  uint32_t gw_addr;  /**< Gateway address. */
+} SetStaticDeviceIpModeRequest;
+
+/**
+ * The body of heartbeat response.
+ */
+typedef struct {
+  uint8_t ret_code;        /**< Return code. */
+  uint8_t state;           /**< Working state. */
+  uint8_t feature;         /**< LiDAR feature. */
+  StatusUnion error_union; /**< LiDAR work state. */
+} HeartbeatResponse;
+
+/**
+ * The error code of Getting/Setting Device's Parameters.
+ */
+typedef enum {
+  kKeyNoError = 0,                  /**< No Error. */
+  kKeyNotSupported = 1,             /**< The key is not supported. */
+  kKeyExecFailed = 2,               /**< Execution failed. */
+  kKeyNotSupportedWritingState = 3, /**< The key cannot be written. */
+  kKeyValueError = 4,               /**< Wrong value. */
+  kKeyValueLengthError = 5,         /**< Wrong value length. */
+  kKeyNoEnoughMemory = 6,           /**< Reading parameter length limit. */
+  kKeyLengthError = 7,              /**< The number of parameters does not match. */
+} KeyErrorCode;
+
+/**
+ * The response body of setting device's parameter.
+ */
+typedef struct {
+  uint8_t ret_code;              /**< Return code. */
+  uint16_t error_param_key;      /**< Error Key. */
+  uint8_t error_code;            /**< Error code, refer to \ref KeyErrorCode. */
+} DeviceParameterResponse;
+
+/**
+ * Keys of device's parameters.
+ */
+typedef enum {
+  kKeyDefault = 0,              /**< Default key name. */
+  kKeyHighSensetivity = 1,      /**< Key to get/set LiDAR' Sensetivity. */
+  kKeyScanPattern =  2,         /**< Key to get/set LiDAR' ScanPattern. */
+  kKeySlotNum = 3,              /**< Key to get/set LiDAR' Slot number. */
+} DeviceParamKeyName;
+
+/**
+ * Key and value of device's parameters.
+ */
+typedef struct {
+  uint16_t key;                /*< Key, refer to \ref DeviceParamKeyName. */
+  uint16_t length;             /*< Length of value */
+  uint8_t value[1];            /*< Value */
+} KeyValueParam;
+
+/**
+ * The response body of getting device's parameter.
+ */
+typedef struct {
+  DeviceParameterResponse rsp;     /*< Return code. */
+  KeyValueParam kv;                /*< Key and value of device's parameters. */
+} GetDeviceParameterResponse;
+
+/**
+ * The request body for the command of getting device's parameters.
+ */
+typedef struct {
+  uint8_t param_num;           /*< Number of key. */
+  uint16_t key[1];             /*< Key, refer to \ref DeviceParamKeyName. */
+} GetDeviceParameterRequest;
+
+/**
+ * The request body for the command of resetting device's parameters.
+ */
+typedef struct {
+  uint8_t flag;                /*< 0: for resetting all keys, 1: for resetting part of keys. */
+  uint8_t key_num;             /*< number of keys to reset. */
+  uint16_t key[1];             /*< Keys to reset, refer to \ref DeviceParamKeyName. */
+} ResetDeviceParameterRequest;
+
+/**
+ * The request body for the command of setting Livox LiDAR's parameters.
+ */
+typedef struct {
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarSetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting Livox LiDAR's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarGetExtrinsicParameterResponse;
+
+/**
+ * The response body of getting the Livox LiDAR's fan state.
+ */
+typedef struct {
+  uint8_t ret_code;     /**< Return code. */
+  uint8_t state;        /**< Fan state: 1 for fan is on, 0 for fan is off. */
+} LidarGetFanStateResponse;
+
+/**
+ * The response body of getting the Livox LiDAR's point cloud return mode.
+ */
+typedef struct {
+  uint8_t ret_code;    /**< Return code. */
+  uint8_t mode;        /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
+} LidarGetPointCloudReturnModeResponse;
+
+
+/**
+ * The response body of getting the Livox LiDAR's IMU push frequency.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t freq;                /**< IMU push frequency, refer to \ref ImuFreq. */
+} LidarGetImuPushFrequencyResponse;
+
+/**
+ * The response body of setting the Livox LiDAR's Sync time.
+ */
+typedef struct {
+  uint8_t year;
+  uint8_t month;
+  uint8_t day;
+  uint8_t hour;
+  uint32_t microsecond;
+} LidarSetUtcSyncTimeRequest;
+
+/**
+ * The response body of querying the information of LiDAR units connected to the Livox Hub.
+ */
+typedef struct {
+  uint8_t ret_code;                       /**< Return code. */
+  uint8_t count;                          /**< Count of device_info_list. */
+  ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information list. */
+} HubQueryLidarInformationResponse;
+
+/**
+ * The request body of setting Livox Hub's working mode.
+ */
+typedef struct {
+  uint8_t count;                       /**< Count of config_list. */
+  LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
+} HubSetModeRequest;
+
+/**
+ * The response of setting Livox Hub's working mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return status list. */
+} HubSetModeResponse;
+
+/**
+ * The request body of toggling the power supply of the slot.
+ */
+typedef struct {
+  uint8_t slot;  /**< Slot of the hub. */
+  uint8_t state; /**< Status of toggling the power supply. */
+} HubControlSlotPowerRequest;
+
+/**
+ * The request body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of cfg_param_list. */
+  ExtrinsicParameterRequestItem parameter_list[1]; /**< Extrinsic parameter configuration list. */
+} HubSetExtrinsicParameterRequest;
+
+/**
+ * The response body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t count;               /**< Count of ret_code_list. */
+  ReturnCode ret_code_list[1]; /**< Return code list. */
+} HubSetExtrinsicParameterResponse;
+
+/**
+ * The request body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                    /**< Count of code_list. */
+  DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
+} HubGetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;        /**< Return code. */
+  uint8_t count;           /**< Count of code_list. */
+  ExtrinsicParameterResponseItem parameter_list[1]; /**< Extrinsic parameter list. */
+} HubGetExtrinsicParameterResponse;
+
+/**
+ * The response body of getting sub LiDAR's state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of state_list. */
+  LidarStateItem state_list[1]; /**< LiDAR units state list. */
+} HubQueryLidarStatusResponse;
+
+/**
+ * The request body of toggling the Livox Hub's rain and fog mode.
+ */
+typedef struct {
+  uint8_t count;                                /**< Count of lidar_cfg_list. */
+  RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Rain fog suppress configuration list. */
+} HubRainFogSuppressRequest;
+
+/**
+ * The response body of toggling the Livox Hub's rain and fog mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return state list */
+} HubRainFogSuppressResponse;
+
+/**
+* The response body of getting Hub slots' power state.
+*/
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint16_t slot_power_state;    /**< Slot power status. */
+} HubQuerySlotPowerStatusResponse;
+
+/**
+ * The request body of controlling the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                /**< Count of lidar_cfg_list. */
+  FanControlRequestItem lidar_cfg_list[1]; /**< Fan control configuration list. */
+} HubFanControlRequest;
+
+/**
+ * The response body of controlling the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of return_list. */
+  ReturnCode return_list[1];    /**< Return list */
+} HubFanControlResponse;
+
+/**
+ * The request body of getting the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                             /**< Count of lidar_cfg_list. */
+  GetFanStateRequestItem lidar_cfg_list[1];  /**< Get Fan state list. */
+} HubGetFanStateRequest;
+
+/**
+ * The response body of getting the sub LiDAR's fan state conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;                         /**< Return code. */
+  uint8_t count;                            /**< Count of return_list. */
+  GetFanStateResponseItem return_list[1];   /**< Fan state list. */
+} HubGetFanStateResponse;
+
+/**
+ * The request body of setting point cloud return mode of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;         /**< Count of lidar_cfg_list. */
+  SetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Point cloud return mode configuration list. */
+} HubSetPointCloudReturnModeRequest;
+
+/**
+ * The response body of setting point cloud return mode of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of return_list. */
+  ReturnCode return_list[1];    /**< Return list. */
+} HubSetPointCloudReturnModeResponse;
+
+/**
+ * The request body of getting sub LiDAR's point cloud return mode conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                /**< Count of lidar_cfg_list. */
+  GetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Get point cloud return mode list. */
+} HubGetPointCloudReturnModeRequest;
+
+/**
+ * The response body of getting sub LiDAR's point cloud return mode conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;               /**< Return code. */
+  uint8_t count;                  /**< Count of return_list. */
+  GetPointCloudReturnModeResponseItem return_list[1];  /**< Point cloud return mode list. */
+} HubGetPointCloudReturnModeResponse;
+
+/**
+ * The request body of setting IMU push frequency of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of lidar_cfg_list. */
+  SetImuPushFrequencyRequestItem lidar_cfg_list[1]; /**< IMU push frequency configuration list. */
+} HubSetImuPushFrequencyRequest;
+
+/**
+ * The response body of setting IMU push frequency of sub LiDAR conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;               /**< Return code. */
+  uint8_t count;                  /**< Count of return_list. */
+  ReturnCode return_list[1];      /**< Return list. */
+} HubSetImuPushFrequencyResponse;
+
+/**
+ * The request body of getting sub LiDAR's IMU push frequency conneted to Hub.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of lidar_cfg_list. */
+  GetImuPushFrequencyRequestItem lidar_cfg_list[1];  /**< Get IMU push frequency list. */
+} HubGetImuPushFrequencyRequest;
+
+/**
+ * The response body of getting sub LiDAR's IMU push frequency conneted to Hub.
+ */
+typedef struct {
+  uint8_t ret_code;              /**< Return code. */
+  uint8_t count;                 /**< Count of return_list. */
+  GetImuPushFrequencyResponseItem return_list[1];    /**< IMU push frequency list. */
+} HubGetImuPushFrequencyResponse;
+
+#pragma pack()
+
+#endif  // LIVOX_DEF_H_

include/Livox/livox_sdk.h

@@ -0,0 +1,999 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_SDK_H_
+#define LIVOX_SDK_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "livox_def.h"
+
+/**
+* Return SDK's version information in a numeric form.
+* @param version Pointer to a version structure for returning the version information.
+*/
+void GetLivoxSdkVersion(LivoxSdkVersion *version);
+
+/**
+ * Disable console log output.
+ */
+void DisableConsoleLogger();
+
+/**
+ * Initialize the SDK.
+ * @return true if successfully initialized, otherwise false.
+ */
+bool Init();
+
+/**
+ * Start the device scanning routine which runs on a separate thread.
+ * @return true if successfully started, otherwise false.
+ */
+bool Start();
+
+/**
+ * Uninitialize the SDK.
+ */
+void Uninit();
+
+/**
+* Save the log file.
+*/
+void SaveLoggerFile();
+
+/**
+ * @c SetBroadcastCallback response callback function.
+ * @param info information of the broadcast device, becomes invalid after the function returns.
+ */
+typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
+
+/**
+ * Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
+ * is called.
+ * @param cb callback for device broadcast.
+ */
+void SetBroadcastCallback(DeviceBroadcastCallback cb);
+
+/**
+ * @c SetDeviceStateUpdateCallback response callback function.
+ * @param device  information of the connected device.
+ * @param type    the update type that indicates connection/disconnection of the device or change of working state.
+ */
+typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
+
+/**
+ * @brief Add a callback for device connection or working state changing event.
+ * @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
+ * the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
+ * this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
+ * you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
+ * @note 3 conditions can trigger this callback:
+ *         1. Connection and disconnection of device.
+ *         2. A change of device working state.
+ *         3. An error occurs.
+ * @param cb callback for device connection/disconnection.
+ */
+void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
+ * the corresponding handle is (slot-1)*3+id-1.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status AddHubToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Get all connected devices' information.
+ * @param devices list of connected devices' information.
+ * @param size    number of devices connected.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
+
+/**
+ * Function type of callback that queries device's information.
+ * @param status   kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle   device handle.
+ * @param response response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DeviceInformationCallback)(livox_status status,
+                                          uint8_t handle,
+                                          DeviceInformationResponse *response,
+                                          void *client_data);
+
+/**
+ * Command to query device's information.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
+
+/**
+ * Callback function for receiving point cloud data.
+ * @param handle      device handle.
+ * @param data        device's data.
+ * @param data_num    number of points in data.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
+
+/**
+ * Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
+ * cloud data callback before beginning sampling.
+ * @param handle      device handle.
+ * @param cb callback to receive point cloud data.
+ * @note 1: Don't do any blocking operations in callback function, it will affects further data's receiving;
+ * 2: For different device handle, callback to receive point cloud data will run on its own thread. If you bind
+ * different handle to same callback function, please make sure that operations in callback function are thread-safe;
+ * 3: callback function's data pointer will be invalid after callback fuction returns. It's recommended to
+ * copy all data_num of point cloud every time callback is triggered.
+ * @param client_data user data associated with the command.
+ */
+void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
+
+/**
+ * Function type of callback with 1 byte of response.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*CommonCommandCallback)(livox_status status, uint8_t handle, uint8_t response, void *client_data);
+
+/**
+ * Start hub sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubStartSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop the Livox Hub's sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubStopSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
+ * @param  slot   Livox Hub's slot.
+ * @param  id     Livox Hub's id.
+ * @return LiDAR unit handle.
+ */
+uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
+
+/**
+ * Disconnect divice.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DisconnectDevice(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Change point cloud coordinate system to cartesian coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Change point cloud coordinate system to spherical coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Callback of the error status message.
+ * kStatusSuccess on successful return, see \ref LivoxStatus for other
+ * @param handle      device handle.
+ * @param response    response from the device.
+ */
+typedef void (*ErrorMessageCallback)(livox_status status, uint8_t handle, ErrorMessage *message);
+
+/**
+ * Add error status callback for the device.
+ * error code.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
+
+/**
+ * Set device's IP mode.
+ * @note \ref SetStaticDynamicIP only supports setting Hub or Mid40/100's IP mode.
+ * If you want to set Horizon or Tele's IP mode, see \ref SetStaticIp and \ref SetDynamicIp.
+ * @param  handle        device handle.
+ * @param  req           request sent to device.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetStaticDynamicIP(uint8_t handle,
+                                SetDeviceIPModeRequest *req,
+                                CommonCommandCallback cb,
+                                void *client_data);
+/**
+ * Set device's static IP mode.
+ * @note Mid40/100 is not supported to set subnet mask and gateway address. 
+ * \ref SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.
+ * @param  handle        device handle.
+ * @param  req           request sent to device.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetStaticIp(uint8_t handle,
+                         SetStaticDeviceIpModeRequest *req,
+                         CommonCommandCallback cb,
+                         void *client_data);
+
+/**
+ * Set device's dynamic IP mode.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetDynamicIp(uint8_t handle,
+                          CommonCommandCallback cb,
+                          void *client_data);
+/**
+ * Callback function that gets device's IP information.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*GetDeviceIpInformationCallback)(livox_status status,
+                                               uint8_t handle,
+                                               GetDeviceIpModeResponse *response,
+                                               void *client_data);
+
+/**
+ * Get device's IP mode.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status GetDeviceIpInformation(uint8_t handle, GetDeviceIpInformationCallback cb, void *client_data);
+
+/**
+ * Reboot device.
+ * @note \ref RebootDevice is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  timeout       reboot device after [timeout] ms.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c SetDeviceParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*SetDeviceParametersCallback)(livox_status status,
+                                            uint8_t handle,
+                                            DeviceParameterResponse *response,
+                                            void *client_data);
+
+/**
+ * LiDAR Enable HighSensitivity.
+ * @note \ref LidarEnableHighSensitivity only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Disable HighSensitivity.
+ * @note \ref LidarDisableHighSensitivity only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarDisableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * @c GetDeviceParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*GetDeviceParametersCallback)(livox_status status,
+                                            uint8_t handle,
+                                            GetDeviceParameterResponse *response,
+                                            void *client_data);
+
+/**
+ * LiDAR Get HighSensitivity State.
+ * @note \ref LidarGetHighSensitivityState only support for Tele/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Set Scan Pattern.
+ * @note \ref LidarSetScanPattern only support for Avia.
+ * @param  handle        device handle.
+ * @param  pattern       scan pattern of LiDAR, see \ref LidarScanPattern for detail.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetScanPattern(uint8_t handle, LidarScanPattern pattern, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Get Scan Pattern.
+ * @note \ref LidarGetScanPattern only support for Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetScanPattern(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Set Slot Number.
+ * @note \ref LidarSetSlotNum only support for Mid70/Avia.
+ * @param  handle        device handle.
+ * @param  slot          slot number of LiDAR, range from 1 to 9.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetSlotNum(uint8_t handle, uint8_t slot, SetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * LiDAR Get Slot Number.
+ * @note \ref LidarGetSlotNum only support for Mid70/Avia.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetSlotNum(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
+
+/**
+ * @c DeviceResetParameters' response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DeviceResetParametersCallback)(livox_status status,
+                                              uint8_t handle,
+                                              DeviceParameterResponse *response,
+                                              void *client_data);
+
+/**
+ * Reset LiDAR/Hub's All Parameters, see \ref DeviceParamKeyName for all parameters.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command. 
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DeviceResetAllParameters(uint8_t handle, DeviceResetParametersCallback cb, void *client_data);
+
+/**
+ * Reset LiDAR/Hub's Parameters, see \ref DeviceParamKeyName for all parameters.
+ * @param  handle        device handle.
+ * @param  keys          keys to reset, see \ref DeviceParamKeyName for all parameters.
+ * @param  num           num of keys to reset.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status DeviceResetParameters(uint8_t handle, DeviceParamKeyName * keys, uint8_t num, DeviceResetParametersCallback cb, void *client_data);
+
+
+/**
+ * @c HubQueryLidarInformation response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarInformationCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubQueryLidarInformationResponse *response,
+                                                 void *client_data);
+
+/**
+ * Query the information of LiDARs connected to the hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
+
+/**
+ * @c HubSetMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetModeCallback)(livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data);
+
+/**
+ * Set the mode of LiDAR unit connected to the Livox Hub.
+ * @param  req           mode configuration of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
+
+/**
+ * @c HubQueryLidarStatus response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarStatusCallback)(livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
+
+/**
+ * Get the state of LiDAR units connected to the Livox Hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
+
+/**
+ * Toggle the power supply of designated slots.
+ * @param  req           request whether to enable or disable the power of designated slots.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubSetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetExtrinsicParameterCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubSetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Set extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  req           the parameters to write.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
+                                      uint16_t length,
+                                      HubSetExtrinsicParameterCallback cb,
+                                      void *client_data);
+
+/**
+ * @c HubGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetExtrinsicParameterCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 HubGetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Get extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
+
+/**
+ * Turn on or off the calculation of extrinsic parameters.
+ * @param  enable        the request whether enable or disable calculating the extrinsic parameters.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubRainFogSuppress response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubRainFogSuppressCallback)(livox_status status,
+                                           uint8_t handle,
+                                           HubRainFogSuppressResponse *response,
+                                           void *client_data);
+
+/**
+ * Toggling the rain and fog mode for lidars connected to the hub.
+ * @param  req           the request whether open or close the rain and fog mode.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubRainFogSuppress(HubRainFogSuppressRequest *req,
+                                uint16_t length,
+                                HubRainFogSuppressCallback cb,
+                                void *client_data);
+
+/**
+* @c HubQuerySlotPowerStatus response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void(*HubQuerySlotPowerStatusCallback)(livox_status status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data);
+
+/**
+* Get the power supply state of each hub slot.
+* @param  cb            callback for the command.
+* @param  client_data   user data associated with the command.
+* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+*/
+livox_status HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
+
+/**
+* @c HubFanControl response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void (*HubFanControlCallback)(livox_status status,
+                                      uint8_t handle,
+                                      HubFanControlResponse *response,
+                                      void *client_data);
+
+/**
+ * Turn on or off the fan of LiDAR unit connected to the Livox Hub.
+ * @param  req           Fan control of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubFanControl(HubFanControlRequest *req, uint16_t length, HubFanControlCallback cb, void *client_data);
+
+/**
+* @c HubGetFanControl response callback function.
+* @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+* error code.
+* @param handle      device handle.
+* @param response    response from the device.
+* @param client_data user data associated with the command.
+*/
+typedef void (*HubGetFanStateCallback)(livox_status status,
+                                       uint8_t handle,
+                                       HubGetFanStateResponse *response,
+                                       void *client_data);
+
+/**
+ * Get fan state of LiDAR unit connected to the Livox Hub.
+ * @param  req           Get fan state of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetFanState(HubGetFanStateRequest *req,
+                            uint16_t length,
+                            HubGetFanStateCallback cb,
+                            void *client_data);
+
+/**
+ * @c HubSetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetPointCloudReturnModeCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   HubSetPointCloudReturnModeResponse *response,
+                                                   void *client_data);
+
+/**
+ * Set point cloud return mode of LiDAR units connected to the Livox Hub.
+ * @param  req           set point cloud return mode of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
+                                        uint16_t length,
+                                        HubSetPointCloudReturnModeCallback cb,
+                                        void *client_data);
+
+/**
+ * @c HubGetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetPointCloudReturnModeCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   HubGetPointCloudReturnModeResponse *response,
+                                                   void *client_data);
+
+/**
+ * Get point cloud return mode of LiDAR unit connected to the Livox Hub.
+ * @param  req           Get point cloud return mode of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
+                                        uint16_t length,
+                                        HubGetPointCloudReturnModeCallback cb,
+                                        void *client_data);
+
+/**
+ * @c HubSetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetImuPushFrequencyCallback)(livox_status status,
+                                               uint8_t handle,
+                                               HubSetImuPushFrequencyResponse *response,
+                                               void *client_data);
+
+/**
+ * Set IMU push frequency of LiDAR units connected to the Livox Hub.
+ * @param  req           set IMU push frequency of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
+                                    uint16_t length,
+                                    HubSetImuPushFrequencyCallback cb,
+                                    void *client_data);
+
+/**
+ * @c HubGetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetImuPushFrequencyCallback)(livox_status status,
+                                               uint8_t handle,
+                                               HubGetImuPushFrequencyResponse *response,
+                                               void *client_data);
+
+/**
+ * Get IMU push frequency of LiDAR units connected to the Livox Hub.
+ * @param  req           get IMU push frequency of LiDAR units.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
+                                    uint16_t length,
+                                    HubGetImuPushFrequencyCallback cb,
+                                    void *client_data);
+
+/**
+ * Start LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR mode.
+ * @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
+ * You need to observe the actually change of mode in DeviceStateUpdateCallback function.
+ * @param  handle        device handle.
+ * @param  mode          the mode to change.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  req         the parameters to write.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetExtrinsicParameter(uint8_t handle,
+                                        LidarSetExtrinsicParameterRequest *req,
+                                        CommonCommandCallback cb,
+                                        void *client_data);
+
+/**
+ * @c LidarGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetExtrinsicParameterCallback)(livox_status status,
+                                                   uint8_t handle,
+                                                   LidarGetExtrinsicParameterResponse *response,
+                                                   void *client_data);
+
+/**
+ * Get LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
+
+/**
+ * Enable and disable the rain/fog suppression.
+ * @note \ref LidarRainFogSuppress only support for Mid40/100.
+ * @param  handle        device handle.
+ * @param  enable        enable and disable the rain/fog suppression.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Turn off the fan.
+ * @note \ref LidarTurnOffFan is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarTurnOffFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Turn on the fan.
+ * @note \ref LidarTurnOnFan is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarTurnOnFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c LidarGetFanState response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetFanStateCallback)(livox_status status,
+                                        uint8_t handle,
+                                        LidarGetFanStateResponse *response,
+                                        void *client_data);
+
+/**
+ * Get state of the fan.
+ * @note \ref LidarGetFanState is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetFanState(uint8_t handle, LidarGetFanStateCallback cb, void * client_data) ;
+
+/**
+ * Set point cloud return mode.
+ * @note \ref LidarSetPointCloudReturnMode is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  mode          point cloud return mode.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetPointCloudReturnMode(uint8_t handle, PointCloudReturnMode mode,  CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c LidaGetPointCloudReturnMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetPointCloudReturnModeCallback)(livox_status status,
+                                                     uint8_t handle,
+                                                     LidarGetPointCloudReturnModeResponse *response,
+                                                     void *client_data);
+
+/**
+ * Get point cloud return mode.
+ * @note \ref LidarGetPointCloudReturnMode is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetPointCloudReturnMode(uint8_t handle, LidarGetPointCloudReturnModeCallback cb, void * client_data);
+
+/**
+ * Set IMU push frequency.
+ * @note \ref LidarSetImuPushFrequency is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  freq          IMU push frequency.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetImuPushFrequency(uint8_t handle, ImuFreq freq, CommonCommandCallback cb, void * client_data);
+
+/**
+ * @c LidaGetImuPushFrequency response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetImuPushFrequencyCallback)(livox_status status,
+                                                 uint8_t handle,
+                                                 LidarGetImuPushFrequencyResponse *response,
+                                                 void *client_data);
+
+/**
+ * Get IMU push frequency.
+ * @note \ref LidarGetImuPushFrequency is not supported for Mid40/100.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarGetImuPushFrequency(uint8_t handle, LidarGetImuPushFrequencyCallback cb, void * client_data);
+
+/**
+ * Set GPRMC formate synchronization time.
+ * @note \ref LidarSetRmcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  rmc           GPRMC/GNRMC format data.
+ * @param  rmc_length    lenth of gprmc.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetRmcSyncTime(uint8_t handle,
+                                 const char* rmc,
+                                 uint16_t rmc_length,
+                                 CommonCommandCallback cb,
+                                 void *client_data);
+
+/**
+ * Set UTC formate synchronization time.
+ * @note \ref LidarSetUtcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
+ * @param  handle        device handle.
+ * @param  req           UTC format data.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status LidarSetUtcSyncTime(uint8_t handle,
+                                 LidarSetUtcSyncTimeRequest* req,
+                                 CommonCommandCallback cb,
+                                 void *client_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // LIVOX_SDK_H_

include/Livox/third_party/FastCRC/FastCRC.h

@@ -0,0 +1,79 @@
+/* FastCRC library code is placed under the MIT license
+ * Copyright (c) 2014,2015 Frank Bosing
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+
+// Teensy 3.0, Teensy 3.1:
+// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC Device
+// See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
+//
+// So, ALL HW-calculations are done as 32 bit.
+//
+//
+//
+// Thanks to:
+// - Catalogue of parametrised CRC algorithms, CRC RevEng
+// http://reveng.sourceforge.net/crc-catalogue/
+//
+// - Danjel McGougan (CRC-Table-Generator)
+//
+
+//
+// modify from FastCRC library @ 2018/11/20
+//
+
+#ifndef FASTCRC_FASTCRC_H_
+#define FASTCRC_FASTCRC_H_
+
+#include <stdint.h>
+
+
+// ================= 16-BIT CRC ===================
+
+class FastCRC16 {
+public:
+  FastCRC16(uint16_t seed);
+
+  // change function name from mcrf4xx_upd to mcrf4xx
+  uint16_t mcrf4xx_calc(const uint8_t *data,const uint16_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
+
+private:
+  uint16_t seed_;
+
+};
+
+// ================= 32-BIT CRC ===================
+
+class FastCRC32 {
+public:
+  FastCRC32(uint32_t seed);
+
+  // change function name from crc32_upd to crc32
+  uint32_t crc32_calc(const uint8_t *data, uint16_t len);			// Call for subsequent calculations with previous seed
+
+private:
+  uint32_t seed_;
+};
+
+#endif // FASTCRC_FASTCRC_H_
+

include/Livox/third_party/cmdline/cmdline.h

@@ -0,0 +1,823 @@
+/*
+  Copyright (c) 2009, Hideyuki Tanaka
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+  * Redistributions of source code must retain the above copyright
+  notice, this list of conditions and the following disclaimer.
+  * Redistributions in binary form must reproduce the above copyright
+  notice, this list of conditions and the following disclaimer in the
+  documentation and/or other materials provided with the distribution.
+  * Neither the name of the <organization> nor the
+  names of its contributors may be used to endorse or promote products
+  derived from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY <copyright holder> ''AS IS'' AND ANY
+  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
+  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <map>
+#include <string>
+#include <stdexcept>
+#include <typeinfo>
+#include <cstring>
+#include <algorithm>
+#if defined(_MSC_VER)
+#include <windows.h>
+#include <dbghelp.h>
+#undef max
+#pragma comment(lib, "dbghelp.lib")
+#elif defined(__clang__) || defined(__GNUC__)
+#include <cxxabi.h>
+#endif
+#include <cstdlib>
+
+namespace cmdline{
+
+namespace detail{
+
+template <typename Target, typename Source, bool Same>
+class lexical_cast_t{
+public:
+  static Target cast(const Source &arg){
+    Target ret;
+    std::stringstream ss;
+    if (!(ss<<arg && ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    
+    return ret;
+  }
+};
+
+template <typename Target, typename Source>
+class lexical_cast_t<Target, Source, true>{
+public:
+  static Target cast(const Source &arg){
+    return arg;
+  }  
+};
+
+template <typename Source>
+class lexical_cast_t<std::string, Source, false>{
+public:
+  static std::string cast(const Source &arg){
+    std::ostringstream ss;
+    ss<<arg;
+    return ss.str();
+  }
+};
+
+template <typename Target>
+class lexical_cast_t<Target, std::string, false>{
+public:
+  static Target cast(const std::string &arg){
+    Target ret;
+    std::istringstream ss(arg);
+    if (!(ss>>ret && ss.eof()))
+      throw std::bad_cast();
+    return ret;
+  }
+};
+
+template <typename T1, typename T2>
+struct is_same {
+  static const bool value = false;
+};
+
+template <typename T>
+struct is_same<T, T>{
+  static const bool value = true;
+};
+
+template<typename Target, typename Source>
+Target lexical_cast(const Source &arg)
+{
+  return lexical_cast_t<Target, Source, detail::is_same<Target, Source>::value>::cast(arg);
+}
+
+static inline std::string demangle(const std::string &name)
+{
+#if defined(_MSC_VER)
+  TCHAR ret[256];
+  std::memset(ret, 0, 256);
+  ::UnDecorateSymbolName(name.c_str(), ret, 256, 0);
+  return ret;
+#else
+  int status=0;
+  char *p=abi::__cxa_demangle(name.c_str(), 0, 0, &status);
+  std::string ret(p);
+  free(p);
+  return ret;
+#endif
+}
+
+template <class T>
+std::string readable_typename()
+{
+  return demangle(typeid(T).name());
+}
+
+template <class T>
+std::string default_value(T def)
+{
+  return detail::lexical_cast<std::string>(def);
+}
+
+template <>
+inline std::string readable_typename<std::string>()
+{
+  return "string";
+}
+
+} // detail
+
+//-----
+
+class cmdline_error : public std::exception {
+public:
+  cmdline_error(const std::string &msg): msg(msg){}
+  ~cmdline_error() throw() {}
+  const char *what() const throw() { return msg.c_str(); }
+private:
+  std::string msg;
+};
+
+template <class T>
+struct default_reader{
+  T operator()(const std::string &str){
+    return detail::lexical_cast<T>(str);
+  }
+};
+
+template <class T>
+struct range_reader{
+  range_reader(const T &low, const T &high): low(low), high(high) {}
+  T operator()(const std::string &s) const {
+    T ret=default_reader<T>()(s);
+    if (!(ret>=low && ret<=high)) throw cmdline::cmdline_error("range_error");
+    return ret;
+  }
+private:
+  T low, high;
+};
+
+template <class T>
+range_reader<T> range(const T &low, const T &high)
+{
+  return range_reader<T>(low, high);
+}
+
+template <class T>
+struct oneof_reader{
+  T operator()(const std::string &s){
+    T ret=default_reader<T>()(s);
+    if (std::find(alt.begin(), alt.end(), ret)==alt.end())
+      throw cmdline_error("");
+    return ret;
+  }
+  void add(const T &v){ alt.push_back(v); }
+private:
+  std::vector<T> alt;
+};
+
+template <class T>
+oneof_reader<T> oneof(T a1)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  return ret;
+}
+
+template <class T>
+oneof_reader<T> oneof(T a1, T a2, T a3, T a4, T a5, T a6, T a7, T a8, T a9, T a10)
+{
+  oneof_reader<T> ret;
+  ret.add(a1);
+  ret.add(a2);
+  ret.add(a3);
+  ret.add(a4);
+  ret.add(a5);
+  ret.add(a6);
+  ret.add(a7);
+  ret.add(a8);
+  ret.add(a9);
+  ret.add(a10);
+  return ret;
+}
+
+//-----
+
+class parser{
+public:
+  parser(){
+  }
+  ~parser(){
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      delete p->second;
+  }
+
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc=""){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_without_value(name, short_name, desc);
+    ordered.push_back(options[name]);
+  }
+
+  template <class T>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T()){
+    add(name, short_name, desc, need, def, default_reader<T>());
+  }
+
+  template <class T, class F>
+  void add(const std::string &name,
+           char short_name=0,
+           const std::string &desc="",
+           bool need=true,
+           const T def=T(),
+           F reader=F()){
+    if (options.count(name)) throw cmdline_error("multiple definition: "+name);
+    options[name]=new option_with_value_with_reader<T, F>(name, short_name, need, def, desc, reader);
+    ordered.push_back(options[name]);
+  }
+
+  void footer(const std::string &f){
+    ftr=f;
+  }
+
+  void set_program_name(const std::string &name){
+    prog_name=name;
+  }
+
+  bool exist(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    return options.find(name)->second->has_set();
+  }
+
+  template <class T>
+  const T &get(const std::string &name) const {
+    if (options.count(name)==0) throw cmdline_error("there is no flag: --"+name);
+    const option_with_value<T> *p=dynamic_cast<const option_with_value<T>*>(options.find(name)->second);
+    if (p==NULL) throw cmdline_error("type mismatch flag '"+name+"'");
+    return p->get();
+  }
+
+  const std::vector<std::string> &rest() const {
+    return others;
+  }
+
+  bool parse(const std::string &arg){
+    std::vector<std::string> args;
+
+    std::string buf;
+    bool in_quote=false;
+    for (std::string::size_type i=0; i<arg.length(); i++){
+      if (arg[i]=='\"'){
+        in_quote=!in_quote;
+        continue;
+      }
+
+      if (arg[i]==' ' && !in_quote){
+        args.push_back(buf);
+        buf="";
+        continue;
+      }
+
+      if (arg[i]=='\\'){
+        i++;
+        if (i>=arg.length()){
+          errors.push_back("unexpected occurrence of '\\' at end of string");
+          return false;
+        }
+      }
+
+      buf+=arg[i];
+    }
+
+    if (in_quote){
+      errors.push_back("quote is not closed");
+      return false;
+    }
+
+    if (buf.length()>0)
+      args.push_back(buf);
+
+    for (size_t i=0; i<args.size(); i++)
+      std::cout<<"\""<<args[i]<<"\""<<std::endl;
+
+    return parse(args);
+  }
+
+  bool parse(const std::vector<std::string> &args){
+    int argc=static_cast<int>(args.size());
+    std::vector<const char*> argv(argc);
+
+    for (int i=0; i<argc; i++)
+      argv[i]=args[i].c_str();
+
+    return parse(argc, &argv[0]);
+  }
+
+  bool parse(int argc, const char * const argv[]){
+    errors.clear();
+    others.clear();
+
+    if (argc<1){
+      errors.push_back("argument number must be longer than 0");
+      return false;
+    }
+    if (prog_name=="")
+      prog_name=argv[0];
+
+    std::map<char, std::string> lookup;
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++){
+      if (p->first.length()==0) continue;
+      char initial=p->second->short_name();
+      if (initial){
+        if (lookup.count(initial)>0){
+          lookup[initial]="";
+          errors.push_back(std::string("short option '")+initial+"' is ambiguous");
+          return false;
+        }
+        else lookup[initial]=p->first;
+      }
+    }
+
+    for (int i=1; i<argc; i++){
+      if (strncmp(argv[i], "--", 2)==0){
+        const char *p=strchr(argv[i]+2, '=');
+        if (p){
+          std::string name(argv[i]+2, p);
+          std::string val(p+1);
+          set_option(name, val);
+        }
+        else{
+          std::string name(argv[i]+2);
+          if (options.count(name)==0){
+            errors.push_back("undefined option: --"+name);
+            continue;
+          }
+          if (options[name]->has_value()){
+            if (i+1>=argc){
+              errors.push_back("option needs value: --"+name);
+              continue;
+            }
+            else{
+              i++;
+              set_option(name, argv[i]);
+            }
+          }
+          else{
+            set_option(name);
+          }
+        }
+      }
+      else if (strncmp(argv[i], "-", 1)==0){
+        if (!argv[i][1]) continue;
+        char last=argv[i][1];
+        for (int j=2; argv[i][j]; j++){
+          last=argv[i][j];
+          if (lookup.count(argv[i][j-1])==0){
+            errors.push_back(std::string("undefined short option: -")+argv[i][j-1]);
+            continue;
+          }
+          if (lookup[argv[i][j-1]]==""){
+            errors.push_back(std::string("ambiguous short option: -")+argv[i][j-1]);
+            continue;
+          }
+          set_option(lookup[argv[i][j-1]]);
+        }
+
+        if (lookup.count(last)==0){
+          errors.push_back(std::string("undefined short option: -")+last);
+          continue;
+        }
+        if (lookup[last]==""){
+          errors.push_back(std::string("ambiguous short option: -")+last);
+          continue;
+        }
+
+        if (i+1<argc && options[lookup[last]]->has_value()){
+          set_option(lookup[last], argv[i+1]);
+          i++;
+        }
+        else{
+          set_option(lookup[last]);
+        }
+      }
+      else{
+        others.push_back(argv[i]);
+      }
+    }
+
+    for (std::map<std::string, option_base*>::iterator p=options.begin();
+         p!=options.end(); p++)
+      if (!p->second->valid())
+        errors.push_back("need option: --"+std::string(p->first));
+
+    return errors.size()==0;
+  }
+
+  void parse_check(const std::string &arg){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(0, parse(arg));
+  }
+
+  void parse_check(const std::vector<std::string> &args){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(args.size(), parse(args));
+  }
+
+  void parse_check(int argc, char *argv[]){
+    if (!options.count("help"))
+      add("help", '?', "print this message");
+    check(argc, parse(argc, argv));
+  }
+
+  std::string error() const{
+    return errors.size()>0?errors[0]:"";
+  }
+
+  std::string error_full() const{
+    std::ostringstream oss;
+    for (size_t i=0; i<errors.size(); i++)
+      oss<<errors[i]<<std::endl;
+    return oss.str();
+  }
+
+  std::string usage() const {
+    std::ostringstream oss;
+    oss<<"usage: "<<prog_name<<" ";
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->must())
+        oss<<ordered[i]->short_description()<<" ";
+    }
+    
+    oss<<"[options] ... "<<ftr<<std::endl;
+    oss<<"options:"<<std::endl;
+
+    size_t max_width=0;
+    for (size_t i=0; i<ordered.size(); i++){
+      max_width=std::max(max_width, ordered[i]->name().length());
+    }
+    for (size_t i=0; i<ordered.size(); i++){
+      if (ordered[i]->short_name()){
+        oss<<"  -"<<ordered[i]->short_name()<<", ";
+      }
+      else{
+        oss<<"      ";
+      }
+
+      oss<<"--"<<ordered[i]->name();
+      for (size_t j=ordered[i]->name().length(); j<max_width+4; j++)
+        oss<<' ';
+      oss<<ordered[i]->description()<<std::endl;
+    }
+    return oss.str();
+  }
+
+private:
+
+  void check(int argc, bool ok){
+    if ((argc==1 && !ok) || exist("help")){
+      std::cerr<<usage();
+      exit(0);
+    }
+
+    if (!ok){
+      std::cerr<<error()<<std::endl<<usage();
+      exit(1);
+    }
+  }
+
+  void set_option(const std::string &name){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set()){
+      errors.push_back("option needs value: --"+name);
+      return;
+    }
+  }
+
+  void set_option(const std::string &name, const std::string &value){
+    if (options.count(name)==0){
+      errors.push_back("undefined option: --"+name);
+      return;
+    }
+    if (!options[name]->set(value)){
+      errors.push_back("option value is invalid: --"+name+"="+value);
+      return;
+    }
+  }
+
+  class option_base{
+  public:
+    virtual ~option_base(){}
+
+    virtual bool has_value() const=0;
+    virtual bool set()=0;
+    virtual bool set(const std::string &value)=0;
+    virtual bool has_set() const=0;
+    virtual bool valid() const=0;
+    virtual bool must() const=0;
+
+    virtual const std::string &name() const=0;
+    virtual char short_name() const=0;
+    virtual const std::string &description() const=0;
+    virtual std::string short_description() const=0;
+  };
+
+  class option_without_value : public option_base {
+  public:
+    option_without_value(const std::string &name,
+                         char short_name,
+                         const std::string &desc)
+      :nam(name), snam(short_name), desc(desc), has(false){
+    }
+    ~option_without_value(){}
+
+    bool has_value() const { return false; }
+
+    bool set(){
+      has=true;
+      return true;
+    }
+
+    bool set(const std::string &){
+      return false;
+    }
+
+    bool has_set() const {
+      return has;
+    }
+
+    bool valid() const{
+      return true;
+    }
+
+    bool must() const{
+      return false;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam;
+    }
+
+  private:
+    std::string nam;
+    char snam;
+    std::string desc;
+    bool has;
+  };
+
+  template <class T>
+  class option_with_value : public option_base {
+  public:
+    option_with_value(const std::string &name,
+                      char short_name,
+                      bool need,
+                      const T &def,
+                      const std::string &desc)
+      : nam(name), snam(short_name), need(need), has(false)
+      , def(def), actual(def) {
+      this->desc=full_description(desc);
+    }
+    ~option_with_value(){}
+
+    const T &get() const {
+      return actual;
+    }
+
+    bool has_value() const { return true; }
+
+    bool set(){
+      return false;
+    }
+
+    bool set(const std::string &value){
+      try{
+        actual=read(value);
+        has=true;
+      }
+      catch(const std::exception &){
+        return false;
+      }
+      return true;
+    }
+
+    bool has_set() const{
+      return has;
+    }
+
+    bool valid() const{
+      if (need && !has) return false;
+      return true;
+    }
+
+    bool must() const{
+      return need;
+    }
+
+    const std::string &name() const{
+      return nam;
+    }
+
+    char short_name() const{
+      return snam;
+    }
+
+    const std::string &description() const {
+      return desc;
+    }
+
+    std::string short_description() const{
+      return "--"+nam+"="+detail::readable_typename<T>();
+    }
+
+  protected:
+    std::string full_description(const std::string &desc){
+      return
+        desc+" ("+detail::readable_typename<T>()+
+        (need?"":" [="+detail::default_value<T>(def)+"]")
+        +")";
+    }
+
+    virtual T read(const std::string &s)=0;
+
+    std::string nam;
+    char snam;
+    bool need;
+    std::string desc;
+
+    bool has;
+    T def;
+    T actual;
+  };
+
+  template <class T, class F>
+  class option_with_value_with_reader : public option_with_value<T> {
+  public:
+    option_with_value_with_reader(const std::string &name,
+                                  char short_name,
+                                  bool need,
+                                  const T def,
+                                  const std::string &desc,
+                                  F reader)
+      : option_with_value<T>(name, short_name, need, def, desc), reader(reader){
+    }
+
+  private:
+    T read(const std::string &s){
+      return reader(s);
+    }
+
+    F reader;
+  };
+
+  std::map<std::string, option_base*> options;
+  std::vector<option_base*> ordered;
+  std::string ftr;
+
+  std::string prog_name;
+  std::vector<std::string> others;
+
+  std::vector<std::string> errors;
+};
+
+} // cmdline

include/Livox/third_party/spdlog/spdlog/async.h

@@ -0,0 +1,87 @@
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Async logging using global thread pool
+// All loggers created here share same global thread pool.
+// Each log message is pushed to a queue along withe a shared pointer to the
+// logger.
+// If a logger deleted while having pending messages in the queue, it's actual
+// destruction will defer
+// until all its messages are processed by the thread pool.
+// This is because each message in the queue holds a shared_ptr to the
+// originating logger.
+
+#include "spdlog/async_logger.h"
+#include "spdlog/details/registry.h"
+#include "spdlog/details/thread_pool.h"
+
+#include <memory>
+#include <mutex>
+
+namespace spdlog {
+
+namespace details {
+static const size_t default_async_q_size = 8192;
+}
+
+// async logger factory - creates async loggers backed with thread pool.
+// if a global thread pool doesn't already exist, create it with default queue
+// size of 8192 items and single thread.
+template<async_overflow_policy OverflowPolicy = async_overflow_policy::block>
+struct async_factory_impl
+{
+    template<typename Sink, typename... SinkArgs>
+    static std::shared_ptr<async_logger> create(std::string logger_name, SinkArgs &&... args)
+    {
+        auto &registry_inst = details::registry::instance();
+
+        // create global thread pool if not already exists..
+        std::lock_guard<std::recursive_mutex> tp_lock(registry_inst.tp_mutex());
+        auto tp = registry_inst.get_tp();
+        if (tp == nullptr)
+        {
+            tp = std::make_shared<details::thread_pool>(details::default_async_q_size, 1);
+            registry_inst.set_tp(tp);
+        }
+
+        auto sink = std::make_shared<Sink>(std::forward<SinkArgs>(args)...);
+        auto new_logger = std::make_shared<async_logger>(std::move(logger_name), std::move(sink), std::move(tp), OverflowPolicy);
+        registry_inst.initialize_logger(new_logger);
+        return new_logger;
+    }
+};
+
+using async_factory = async_factory_impl<async_overflow_policy::block>;
+using async_factory_nonblock = async_factory_impl<async_overflow_policy::overrun_oldest>;
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async(std::string logger_name, SinkArgs &&... sink_args)
+{
+    return async_factory::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+template<typename Sink, typename... SinkArgs>
+inline std::shared_ptr<spdlog::logger> create_async_nb(std::string logger_name, SinkArgs &&... sink_args)
+{
+    return async_factory_nonblock::create<Sink>(std::move(logger_name), std::forward<SinkArgs>(sink_args)...);
+}
+
+// set global thread pool.
+inline void init_thread_pool(size_t q_size, size_t thread_count)
+{
+    auto tp = std::make_shared<details::thread_pool>(q_size, thread_count);
+    details::registry::instance().set_tp(std::move(tp));
+}
+
+// get the global thread pool.
+inline std::shared_ptr<spdlog::details::thread_pool> thread_pool()
+{
+    return details::registry::instance().get_tp();
+}
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/async_logger.h

@@ -0,0 +1,73 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Very fast asynchronous logger (millions of logs per second on an average
+// desktop)
+// Uses pre allocated lockfree queue for maximum throughput even under large
+// number of threads.
+// Creates a single back thread to pop messages from the queue and log them.
+//
+// Upon each log write the logger:
+//    1. Checks if its log level is enough to log the message
+//    2. Push a new copy of the message to a queue (or block the caller until
+//    space is available in the queue)
+//    3. will throw spdlog_ex upon log exceptions
+// Upon destruction, logs all remaining messages in the queue before
+// destructing..
+
+#include "spdlog/common.h"
+#include "spdlog/logger.h"
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+namespace spdlog {
+
+// Async overflow policy - block by default.
+enum class async_overflow_policy
+{
+    block,         // Block until message can be enqueued
+    overrun_oldest // Discard oldest message in the queue if full when trying to
+                   // add new item.
+};
+
+namespace details {
+class thread_pool;
+}
+
+class async_logger final : public std::enable_shared_from_this<async_logger>, public logger
+{
+    friend class details::thread_pool;
+
+public:
+    template<typename It>
+    async_logger(std::string logger_name, It begin, It end, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    async_logger(std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    async_logger(std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp,
+        async_overflow_policy overflow_policy = async_overflow_policy::block);
+
+    std::shared_ptr<logger> clone(std::string new_name) override;
+
+protected:
+    void sink_it_(details::log_msg &msg) override;
+    void flush_() override;
+
+    void backend_log_(const details::log_msg &incoming_log_msg);
+    void backend_flush_();
+
+private:
+    std::weak_ptr<details::thread_pool> thread_pool_;
+    async_overflow_policy overflow_policy_;
+};
+} // namespace spdlog
+
+#include "details/async_logger_impl.h"

include/Livox/third_party/spdlog/spdlog/common.h

@@ -0,0 +1,246 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/tweakme.h"
+
+#include <atomic>
+#include <chrono>
+#include <functional>
+#include <initializer_list>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <cstring>
+#include <type_traits>
+#include <unordered_map>
+
+#if defined(SPDLOG_WCHAR_FILENAMES) || defined(SPDLOG_WCHAR_TO_UTF8_SUPPORT)
+#include <codecvt>
+#include <locale>
+#endif
+
+#include "spdlog/details/null_mutex.h"
+
+#include "spdlog/fmt/fmt.h"
+
+// visual studio upto 2013 does not support noexcept nor constexpr
+#if defined(_MSC_VER) && (_MSC_VER < 1900)
+#define SPDLOG_NOEXCEPT throw()
+#define SPDLOG_CONSTEXPR
+#else
+#define SPDLOG_NOEXCEPT noexcept
+#define SPDLOG_CONSTEXPR constexpr
+#endif
+
+#if defined(__GNUC__) || defined(__clang__)
+#define SPDLOG_DEPRECATED __attribute__((deprecated))
+#elif defined(_MSC_VER)
+#define SPDLOG_DEPRECATED __declspec(deprecated)
+#else
+#define SPDLOG_DEPRECATED
+#endif
+
+// disable thread local on msvc 2013
+#ifndef SPDLOG_NO_TLS
+#if (defined(_MSC_VER) && (_MSC_VER < 1900)) || defined(__cplusplus_winrt)
+#define SPDLOG_NO_TLS 1
+#endif
+#endif
+
+// Get the basename of __FILE__ (at compile time if possible)
+#if FMT_HAS_FEATURE(__builtin_strrchr)
+#define SPDLOG_STRRCHR(str, sep) __builtin_strrchr(str, sep)
+#else
+#define SPDLOG_STRRCHR(str, sep) strrchr(str, sep)
+#endif //__builtin_strrchr not defined
+
+#ifdef _WIN32
+#define SPDLOG_FILE_BASENAME(file) SPDLOG_STRRCHR("\\" file, '\\') + 1
+#else
+#define SPDLOG_FILE_BASENAME(file) SPDLOG_STRRCHR("/" file, '/') + 1
+#endif
+
+#ifndef SPDLOG_FUNCTION
+#define SPDLOG_FUNCTION __FUNCTION__
+#endif
+
+namespace spdlog {
+
+class formatter;
+
+namespace sinks {
+class sink;
+}
+
+using log_clock = std::chrono::system_clock;
+using sink_ptr = std::shared_ptr<sinks::sink>;
+using sinks_init_list = std::initializer_list<sink_ptr>;
+using log_err_handler = std::function<void(const std::string &err_msg)>;
+
+// string_view type - either std::string_view or fmt::string_view (pre c++17)
+#if defined(FMT_USE_STD_STRING_VIEW)
+using string_view_t = std::string_view;
+#else
+using string_view_t = fmt::string_view;
+#endif
+
+#if defined(SPDLOG_NO_ATOMIC_LEVELS)
+using level_t = details::null_atomic_int;
+#else
+using level_t = std::atomic<int>;
+#endif
+
+#define SPDLOG_LEVEL_TRACE 0
+#define SPDLOG_LEVEL_DEBUG 1
+#define SPDLOG_LEVEL_INFO 2
+#define SPDLOG_LEVEL_WARN 3
+#define SPDLOG_LEVEL_ERROR 4
+#define SPDLOG_LEVEL_CRITICAL 5
+#define SPDLOG_LEVEL_OFF 6
+
+#if !defined(SPDLOG_ACTIVE_LEVEL)
+#define SPDLOG_ACTIVE_LEVEL SPDLOG_LEVEL_INFO
+#endif
+
+// Log level enum
+namespace level {
+enum level_enum
+{
+    trace = SPDLOG_LEVEL_TRACE,
+    debug = SPDLOG_LEVEL_DEBUG,
+    info = SPDLOG_LEVEL_INFO,
+    warn = SPDLOG_LEVEL_WARN,
+    err = SPDLOG_LEVEL_ERROR,
+    critical = SPDLOG_LEVEL_CRITICAL,
+    off = SPDLOG_LEVEL_OFF,
+};
+
+#if !defined(SPDLOG_LEVEL_NAMES)
+#define SPDLOG_LEVEL_NAMES                                                                                                                 \
+    {                                                                                                                                      \
+        "trace", "debug", "info", "warning", "error", "critical", "off"                                                                    \
+    }
+#endif
+static string_view_t level_string_views[] SPDLOG_LEVEL_NAMES;
+
+#if !defined(SPDLOG_SHORT_LEVEL_NAMES)
+#define SPDLOG_SHORT_LEVEL_NAMES {"T", "D", "I", "W", "E", "C", "O"}
+#endif
+static const char *short_level_names[] SPDLOG_SHORT_LEVEL_NAMES;
+
+inline string_view_t &to_string_view(spdlog::level::level_enum l) SPDLOG_NOEXCEPT
+{
+    return level_string_views[l];
+}
+
+inline const char *to_short_c_str(spdlog::level::level_enum l) SPDLOG_NOEXCEPT
+{
+    return short_level_names[l];
+}
+
+inline spdlog::level::level_enum from_str(const std::string &name) SPDLOG_NOEXCEPT
+{
+    int level = 0;
+    for (const auto &level_str : level_string_views)
+    {
+        if (level_str == name)
+        {
+            return static_cast<level::level_enum>(level);
+        }
+        level++;
+    }
+    return level::off;
+}
+
+using level_hasher = std::hash<int>;
+} // namespace level
+
+//
+// Pattern time - specific time getting to use for pattern_formatter.
+// local time by default
+//
+enum class pattern_time_type
+{
+    local, // log localtime
+    utc    // log utc
+};
+
+//
+// Log exception
+//
+class spdlog_ex : public std::exception
+{
+public:
+    explicit spdlog_ex(std::string msg)
+        : msg_(std::move(msg))
+    {
+    }
+
+    spdlog_ex(const std::string &msg, int last_errno)
+    {
+        fmt::memory_buffer outbuf;
+        fmt::format_system_error(outbuf, last_errno, msg);
+        msg_ = fmt::to_string(outbuf);
+    }
+
+    const char *what() const SPDLOG_NOEXCEPT override
+    {
+        return msg_.c_str();
+    }
+
+private:
+    std::string msg_;
+};
+
+//
+// wchar support for windows file names (SPDLOG_WCHAR_FILENAMES must be defined)
+//
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+using filename_t = std::wstring;
+#else
+using filename_t = std::string;
+#endif
+
+struct source_loc
+{
+    SPDLOG_CONSTEXPR source_loc()
+        : filename{""}
+        , line{0}
+        , funcname{""}
+    {
+    }
+    SPDLOG_CONSTEXPR source_loc(const char *filename_in, int line_in, const char *funcname_in)
+        : filename{filename_in}
+        , line{static_cast<uint32_t>(line_in)}
+        , funcname{funcname_in}
+    {
+    }
+
+    SPDLOG_CONSTEXPR bool empty() const SPDLOG_NOEXCEPT
+    {
+        return line == 0;
+    }
+    const char *filename;
+    uint32_t line;
+    const char *funcname;
+};
+
+namespace details {
+// make_unique support for pre c++14
+
+#if __cplusplus >= 201402L // C++14 and beyond
+using std::make_unique;
+#else
+template<typename T, typename... Args>
+std::unique_ptr<T> make_unique(Args &&... args)
+{
+    static_assert(!std::is_array<T>::value, "arrays not supported");
+    return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
+}
+#endif
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/async_logger_impl.h

@@ -0,0 +1,110 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// async logger implementation
+// uses a thread pool to perform the actual logging
+
+#include "spdlog/details/thread_pool.h"
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+template<typename It>
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, It begin, It end, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : logger(std::move(logger_name), begin, end)
+    , thread_pool_(std::move(tp))
+    , overflow_policy_(overflow_policy)
+{
+}
+
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, sinks_init_list sinks_list, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), sinks_list.begin(), sinks_list.end(), std::move(tp), overflow_policy)
+{
+}
+
+inline spdlog::async_logger::async_logger(
+    std::string logger_name, sink_ptr single_sink, std::weak_ptr<details::thread_pool> tp, async_overflow_policy overflow_policy)
+    : async_logger(std::move(logger_name), {std::move(single_sink)}, std::move(tp), overflow_policy)
+{
+}
+
+// send the log message to the thread pool
+inline void spdlog::async_logger::sink_it_(details::log_msg &msg)
+{
+#if defined(SPDLOG_ENABLE_MESSAGE_COUNTER)
+    incr_msg_counter_(msg);
+#endif
+    if (auto pool_ptr = thread_pool_.lock())
+    {
+        pool_ptr->post_log(shared_from_this(), msg, overflow_policy_);
+    }
+    else
+    {
+        throw spdlog_ex("async log: thread pool doesn't exist anymore");
+    }
+}
+
+// send flush request to the thread pool
+inline void spdlog::async_logger::flush_()
+{
+    if (auto pool_ptr = thread_pool_.lock())
+    {
+        pool_ptr->post_flush(shared_from_this(), overflow_policy_);
+    }
+    else
+    {
+        throw spdlog_ex("async flush: thread pool doesn't exist anymore");
+    }
+}
+
+//
+// backend functions - called from the thread pool to do the actual job
+//
+inline void spdlog::async_logger::backend_log_(const details::log_msg &incoming_log_msg)
+{
+    try
+    {
+        for (auto &s : sinks_)
+        {
+            if (s->should_log(incoming_log_msg.level))
+            {
+                s->log(incoming_log_msg);
+            }
+        }
+    }
+    SPDLOG_CATCH_AND_HANDLE
+
+    if (should_flush_(incoming_log_msg))
+    {
+        backend_flush_();
+    }
+}
+
+inline void spdlog::async_logger::backend_flush_()
+{
+    try
+    {
+        for (auto &sink : sinks_)
+        {
+            sink->flush();
+        }
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline std::shared_ptr<spdlog::logger> spdlog::async_logger::clone(std::string new_name)
+{
+    auto cloned = std::make_shared<spdlog::async_logger>(std::move(new_name), sinks_.begin(), sinks_.end(), thread_pool_, overflow_policy_);
+
+    cloned->set_level(this->level());
+    cloned->flush_on(this->flush_level());
+    cloned->set_error_handler(this->error_handler());
+    return std::move(cloned);
+}

include/Livox/third_party/spdlog/spdlog/details/circular_q.h

@@ -0,0 +1,72 @@
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+// cirucal q view of std::vector.
+#pragma once
+
+#include <vector>
+
+namespace spdlog {
+namespace details {
+template<typename T>
+class circular_q
+{
+public:
+    using item_type = T;
+
+    explicit circular_q(size_t max_items)
+        : max_items_(max_items + 1) // one item is reserved as marker for full q
+        , v_(max_items_)
+    {
+    }
+
+    // push back, overrun (oldest) item if no room left
+    void push_back(T &&item)
+    {
+        v_[tail_] = std::move(item);
+        tail_ = (tail_ + 1) % max_items_;
+
+        if (tail_ == head_) // overrun last item if full
+        {
+            head_ = (head_ + 1) % max_items_;
+            ++overrun_counter_;
+        }
+    }
+
+    // Pop item from front.
+    // If there are no elements in the container, the behavior is undefined.
+    void pop_front(T &popped_item)
+    {
+        popped_item = std::move(v_[head_]);
+        head_ = (head_ + 1) % max_items_;
+    }
+
+    bool empty()
+    {
+        return tail_ == head_;
+    }
+
+    bool full()
+    {
+        // head is ahead of the tail by 1
+        return ((tail_ + 1) % max_items_) == head_;
+    }
+
+    size_t overrun_counter() const
+    {
+        return overrun_counter_;
+    }
+
+private:
+    size_t max_items_;
+    typename std::vector<T>::size_type head_ = 0;
+    typename std::vector<T>::size_type tail_ = 0;
+
+    std::vector<T> v_;
+
+    size_t overrun_counter_ = 0;
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/console_globals.h

@@ -0,0 +1,74 @@
+#pragma once
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#include "spdlog/details/null_mutex.h"
+#include <cstdio>
+#include <mutex>
+
+#ifdef _WIN32
+
+#ifndef NOMINMAX
+#define NOMINMAX // prevent windows redefining min/max
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+
+#include <windows.h>
+#endif
+
+namespace spdlog {
+namespace details {
+struct console_stdout
+{
+    static std::FILE *stream()
+    {
+        return stdout;
+    }
+#ifdef _WIN32
+    static HANDLE handle()
+    {
+        return ::GetStdHandle(STD_OUTPUT_HANDLE);
+    }
+#endif
+};
+
+struct console_stderr
+{
+    static std::FILE *stream()
+    {
+        return stderr;
+    }
+#ifdef _WIN32
+    static HANDLE handle()
+    {
+        return ::GetStdHandle(STD_ERROR_HANDLE);
+    }
+#endif
+};
+
+struct console_mutex
+{
+    using mutex_t = std::mutex;
+    static mutex_t &mutex()
+    {
+        static mutex_t s_mutex;
+        return s_mutex;
+    }
+};
+
+struct console_nullmutex
+{
+    using mutex_t = null_mutex;
+    static mutex_t &mutex()
+    {
+        static mutex_t s_mutex;
+        return s_mutex;
+    }
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/file_helper.h

@@ -0,0 +1,152 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Helper class for file sinks.
+// When failing to open a file, retry several times(5) with a delay interval(10 ms).
+// Throw spdlog_ex exception on errors.
+
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/os.h"
+
+#include <cerrno>
+#include <chrono>
+#include <cstdio>
+#include <string>
+#include <thread>
+#include <tuple>
+
+namespace spdlog {
+namespace details {
+
+class file_helper
+{
+
+public:
+    const int open_tries = 5;
+    const int open_interval = 10;
+
+    explicit file_helper() = default;
+
+    file_helper(const file_helper &) = delete;
+    file_helper &operator=(const file_helper &) = delete;
+
+    ~file_helper()
+    {
+        close();
+    }
+
+    void open(const filename_t &fname, bool truncate = false)
+    {
+        close();
+        auto *mode = truncate ? SPDLOG_FILENAME_T("wb") : SPDLOG_FILENAME_T("ab");
+        _filename = fname;
+        for (int tries = 0; tries < open_tries; ++tries)
+        {
+            if (!os::fopen_s(&fd_, fname, mode))
+            {
+                return;
+            }
+
+            details::os::sleep_for_millis(open_interval);
+        }
+
+        throw spdlog_ex("Failed opening file " + os::filename_to_str(_filename) + " for writing", errno);
+    }
+
+    void reopen(bool truncate)
+    {
+        if (_filename.empty())
+        {
+            throw spdlog_ex("Failed re opening file - was not opened before");
+        }
+        open(_filename, truncate);
+    }
+
+    void flush()
+    {
+        std::fflush(fd_);
+    }
+
+    void close()
+    {
+        if (fd_ != nullptr)
+        {
+            std::fclose(fd_);
+            fd_ = nullptr;
+        }
+    }
+
+    void write(const fmt::memory_buffer &buf)
+    {
+        size_t msg_size = buf.size();
+        auto data = buf.data();
+        if (std::fwrite(data, 1, msg_size, fd_) != msg_size)
+        {
+            throw spdlog_ex("Failed writing to file " + os::filename_to_str(_filename), errno);
+        }
+    }
+
+    size_t size() const
+    {
+        if (fd_ == nullptr)
+        {
+            throw spdlog_ex("Cannot use size() on closed file " + os::filename_to_str(_filename));
+        }
+        return os::filesize(fd_);
+    }
+
+    const filename_t &filename() const
+    {
+        return _filename;
+    }
+
+    static bool file_exists(const filename_t &fname)
+    {
+        return os::file_exists(fname);
+    }
+
+    //
+    // return file path and its extension:
+    //
+    // "mylog.txt" => ("mylog", ".txt")
+    // "mylog" => ("mylog", "")
+    // "mylog." => ("mylog.", "")
+    // "/dir1/dir2/mylog.txt" => ("/dir1/dir2/mylog", ".txt")
+    //
+    // the starting dot in filenames is ignored (hidden files):
+    //
+    // ".mylog" => (".mylog". "")
+    // "my_folder/.mylog" => ("my_folder/.mylog", "")
+    // "my_folder/.mylog.txt" => ("my_folder/.mylog", ".txt")
+    static std::tuple<filename_t, filename_t> split_by_extension(const spdlog::filename_t &fname)
+    {
+        auto ext_index = fname.rfind('.');
+
+        // no valid extension found - return whole path and empty string as
+        // extension
+        if (ext_index == filename_t::npos || ext_index == 0 || ext_index == fname.size() - 1)
+        {
+            return std::make_tuple(fname, spdlog::filename_t());
+        }
+
+        // treat casese like "/etc/rc.d/somelogfile or "/abc/.hiddenfile"
+        auto folder_index = fname.rfind(details::os::folder_sep);
+        if (folder_index != filename_t::npos && folder_index >= ext_index - 1)
+        {
+            return std::make_tuple(fname, spdlog::filename_t());
+        }
+
+        // finally - return a valid base and extension tuple
+        return std::make_tuple(fname.substr(0, ext_index), fname.substr(ext_index));
+    }
+
+private:
+    std::FILE *fd_{nullptr};
+    filename_t _filename;
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/fmt_helper.h

@@ -0,0 +1,122 @@
+//
+// Created by gabi on 6/15/18.
+//
+
+#pragma once
+
+#include <chrono>
+#include <type_traits>
+#include "spdlog/fmt/fmt.h"
+
+// Some fmt helpers to efficiently format and pad ints and strings
+namespace spdlog {
+namespace details {
+namespace fmt_helper {
+
+template<size_t Buffer_Size>
+inline spdlog::string_view_t to_string_view(const fmt::basic_memory_buffer<char, Buffer_Size> &buf) SPDLOG_NOEXCEPT
+{
+    return spdlog::string_view_t(buf.data(), buf.size());
+}
+
+template<size_t Buffer_Size1, size_t Buffer_Size2>
+inline void append_buf(const fmt::basic_memory_buffer<char, Buffer_Size1> &buf, fmt::basic_memory_buffer<char, Buffer_Size2> &dest)
+{
+    auto *buf_ptr = buf.data();
+    dest.append(buf_ptr, buf_ptr + buf.size());
+}
+
+template<size_t Buffer_Size>
+inline void append_string_view(spdlog::string_view_t view, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    auto *buf_ptr = view.data();
+    if (buf_ptr != nullptr)
+    {
+        dest.append(buf_ptr, buf_ptr + view.size());
+    }
+}
+
+template<typename T, size_t Buffer_Size>
+inline void append_int(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    fmt::format_int i(n);
+    dest.append(i.data(), i.data() + i.size());
+}
+
+template<typename T>
+inline unsigned count_digits(T n)
+{
+    using count_type = typename std::conditional<(sizeof(T) > sizeof(uint32_t)), uint64_t, uint32_t>::type;
+    return static_cast<unsigned>(fmt::internal::count_digits(static_cast<count_type>(n)));
+}
+
+template<size_t Buffer_Size>
+inline void pad2(int n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    if (n > 99)
+    {
+        append_int(n, dest);
+    }
+    else if (n > 9) // 10-99
+    {
+        dest.push_back(static_cast<char>('0' + n / 10));
+        dest.push_back(static_cast<char>('0' + n % 10));
+    }
+    else if (n >= 0) // 0-9
+    {
+        dest.push_back('0');
+        dest.push_back(static_cast<char>('0' + n));
+    }
+    else // negatives (unlikely, but just in case, let fmt deal with it)
+    {
+        fmt::format_to(dest, "{:02}", n);
+    }
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad_uint(T n, unsigned int width, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    static_assert(std::is_unsigned<T>::value, "pad_uint must get unsigned T");
+    auto digits = count_digits(n);
+    if (width > digits)
+    {
+        const char *zeroes = "0000000000000000000";
+        dest.append(zeroes, zeroes + width - digits);
+    }
+    append_int(n, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad3(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 3, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad6(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 6, dest);
+}
+
+template<typename T, size_t Buffer_Size>
+inline void pad9(T n, fmt::basic_memory_buffer<char, Buffer_Size> &dest)
+{
+    pad_uint(n, 9, dest);
+}
+
+// return fraction of a second of the given time_point.
+// e.g.
+// fraction<std::milliseconds>(tp) -> will return the millis part of the second
+template<typename ToDuration>
+inline ToDuration time_fraction(const log_clock::time_point &tp)
+{
+    using std::chrono::duration_cast;
+    using std::chrono::seconds;
+    auto duration = tp.time_since_epoch();
+    auto secs = duration_cast<seconds>(duration);
+    return duration_cast<ToDuration>(duration) - duration_cast<ToDuration>(secs);
+}
+
+} // namespace fmt_helper
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/log_msg.h

@@ -0,0 +1,55 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/common.h"
+#include "spdlog/details/os.h"
+
+#include <string>
+#include <utility>
+
+namespace spdlog {
+namespace details {
+struct log_msg
+{
+
+    log_msg(source_loc loc, const std::string *loggers_name, level::level_enum lvl, string_view_t view)
+        : logger_name(loggers_name)
+        , level(lvl)
+#ifndef SPDLOG_NO_DATETIME
+        , time(os::now())
+#endif
+
+#ifndef SPDLOG_NO_THREAD_ID
+        , thread_id(os::thread_id())
+#endif
+        , source(loc)
+        , payload(view)
+    {
+    }
+
+    log_msg(const std::string *loggers_name, level::level_enum lvl, string_view_t view)
+        : log_msg(source_loc{}, loggers_name, lvl, view)
+    {
+    }
+
+    log_msg(const log_msg &other) = default;
+
+    const std::string *logger_name{nullptr};
+    level::level_enum level{level::off};
+    log_clock::time_point time;
+    size_t thread_id{0};
+    size_t msg_id{0};
+
+    // wrapping the formatted text with color (updated by pattern_formatter).
+    mutable size_t color_range_start{0};
+    mutable size_t color_range_end{0};
+
+    source_loc source;
+    const string_view_t payload;
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/logger_impl.h

@@ -0,0 +1,435 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/details/fmt_helper.h"
+
+#include <memory>
+#include <string>
+
+#define SPDLOG_CATCH_AND_HANDLE                                                                                                            \
+    catch (const std::exception &ex)                                                                                                       \
+    {                                                                                                                                      \
+        err_handler_(ex.what());                                                                                                           \
+    }                                                                                                                                      \
+    catch (...)                                                                                                                            \
+    {                                                                                                                                      \
+        err_handler_("Unknown exception in logger");                                                                                       \
+    }
+
+// create logger with given name, sinks and the default pattern formatter
+// all other ctors will call this one
+template<typename It>
+inline spdlog::logger::logger(std::string logger_name, It begin, It end)
+    : name_(std::move(logger_name))
+    , sinks_(begin, end)
+{
+}
+
+// ctor with sinks as init list
+inline spdlog::logger::logger(std::string logger_name, sinks_init_list sinks_list)
+    : logger(std::move(logger_name), sinks_list.begin(), sinks_list.end())
+{
+}
+
+// ctor with single sink
+inline spdlog::logger::logger(std::string logger_name, spdlog::sink_ptr single_sink)
+    : logger(std::move(logger_name), {std::move(single_sink)})
+{
+}
+
+inline spdlog::logger::~logger() = default;
+
+inline void spdlog::logger::set_formatter(std::unique_ptr<spdlog::formatter> f)
+{
+    for (auto &sink : sinks_)
+    {
+        sink->set_formatter(f->clone());
+    }
+}
+
+inline void spdlog::logger::set_pattern(std::string pattern, pattern_time_type time_type)
+{
+    auto new_formatter = details::make_unique<spdlog::pattern_formatter>(std::move(pattern), time_type);
+    set_formatter(std::move(new_formatter));
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const char *fmt, const Args &... args)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        using details::fmt_helper::to_string_view;
+        fmt::memory_buffer buf;
+        fmt::format_to(buf, fmt, args...);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(level::level_enum lvl, const char *fmt, const Args &... args)
+{
+    log(source_loc{}, lvl, fmt, args...);
+}
+
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const char *msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        details::log_msg log_msg(source, &name_, lvl, spdlog::string_view_t(msg));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline void spdlog::logger::log(level::level_enum lvl, const char *msg)
+{
+    log(source_loc{}, lvl, msg);
+}
+
+template<class T>
+inline void spdlog::logger::log(level::level_enum lvl, const T &msg)
+{
+    log(source_loc{}, lvl, msg);
+}
+
+template<class T, typename std::enable_if<std::is_convertible<T, spdlog::string_view_t>::value, T>::type *>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const T &msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+    try
+    {
+        details::log_msg log_msg(source, &name_, lvl, msg);
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<class T, typename std::enable_if<!std::is_convertible<T, spdlog::string_view_t>::value, T>::type *>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const T &msg)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+    try
+    {
+        using details::fmt_helper::to_string_view;
+        fmt::memory_buffer buf;
+        fmt::format_to(buf, "{}", msg);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::trace(const char *fmt, const Args &... args)
+{
+    log(level::trace, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::debug(const char *fmt, const Args &... args)
+{
+    log(level::debug, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::info(const char *fmt, const Args &... args)
+{
+    log(level::info, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::warn(const char *fmt, const Args &... args)
+{
+    log(level::warn, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::error(const char *fmt, const Args &... args)
+{
+    log(level::err, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::critical(const char *fmt, const Args &... args)
+{
+    log(level::critical, fmt, args...);
+}
+
+template<typename T>
+inline void spdlog::logger::trace(const T &msg)
+{
+    log(level::trace, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::debug(const T &msg)
+{
+    log(level::debug, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::info(const T &msg)
+{
+    log(level::info, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::warn(const T &msg)
+{
+    log(level::warn, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::error(const T &msg)
+{
+    log(level::err, msg);
+}
+
+template<typename T>
+inline void spdlog::logger::critical(const T &msg)
+{
+    log(level::critical, msg);
+}
+
+#ifdef SPDLOG_WCHAR_TO_UTF8_SUPPORT
+
+inline void wbuf_to_utf8buf(const fmt::wmemory_buffer &wbuf, fmt::memory_buffer &target)
+{
+    int wbuf_size = static_cast<int>(wbuf.size());
+    if (wbuf_size == 0)
+    {
+        return;
+    }
+
+    auto result_size = ::WideCharToMultiByte(CP_UTF8, 0, wbuf.data(), wbuf_size, NULL, 0, NULL, NULL);
+
+    if (result_size > 0)
+    {
+        target.resize(result_size);
+        ::WideCharToMultiByte(CP_UTF8, 0, wbuf.data(), wbuf_size, &target.data()[0], result_size, NULL, NULL);
+    }
+    else
+    {
+        throw spdlog::spdlog_ex(fmt::format("WideCharToMultiByte failed. Last error: {}", ::GetLastError()));
+    }
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(source_loc source, level::level_enum lvl, const wchar_t *fmt, const Args &... args)
+{
+    if (!should_log(lvl))
+    {
+        return;
+    }
+
+    try
+    {
+        // format to wmemory_buffer and convert to utf8
+        using details::fmt_helper::to_string_view;
+        fmt::wmemory_buffer wbuf;
+        fmt::format_to(wbuf, fmt, args...);
+        fmt::memory_buffer buf;
+        wbuf_to_utf8buf(wbuf, buf);
+        details::log_msg log_msg(source, &name_, lvl, to_string_view(buf));
+        sink_it_(log_msg);
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+template<typename... Args>
+inline void spdlog::logger::log(level::level_enum lvl, const wchar_t *fmt, const Args &... args)
+{
+    log(source_loc{}, lvl, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::trace(const wchar_t *fmt, const Args &... args)
+{
+    log(level::trace, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::debug(const wchar_t *fmt, const Args &... args)
+{
+    log(level::debug, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::info(const wchar_t *fmt, const Args &... args)
+{
+    log(level::info, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::warn(const wchar_t *fmt, const Args &... args)
+{
+    log(level::warn, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::error(const wchar_t *fmt, const Args &... args)
+{
+    log(level::err, fmt, args...);
+}
+
+template<typename... Args>
+inline void spdlog::logger::critical(const wchar_t *fmt, const Args &... args)
+{
+    log(level::critical, fmt, args...);
+}
+
+#endif // SPDLOG_WCHAR_TO_UTF8_SUPPORT
+
+//
+// name and level
+//
+inline const std::string &spdlog::logger::name() const
+{
+    return name_;
+}
+
+inline void spdlog::logger::set_level(spdlog::level::level_enum log_level)
+{
+    level_.store(log_level);
+}
+
+inline void spdlog::logger::set_error_handler(spdlog::log_err_handler err_handler)
+{
+    err_handler_ = std::move(err_handler);
+}
+
+inline spdlog::log_err_handler spdlog::logger::error_handler() const
+{
+    return err_handler_;
+}
+
+inline void spdlog::logger::flush()
+{
+    try
+    {
+        flush_();
+    }
+    SPDLOG_CATCH_AND_HANDLE
+}
+
+inline void spdlog::logger::flush_on(level::level_enum log_level)
+{
+    flush_level_.store(log_level);
+}
+
+inline spdlog::level::level_enum spdlog::logger::flush_level() const
+{
+    return static_cast<spdlog::level::level_enum>(flush_level_.load(std::memory_order_relaxed));
+}
+
+inline bool spdlog::logger::should_flush_(const details::log_msg &msg)
+{
+    auto flush_level = flush_level_.load(std::memory_order_relaxed);
+    return (msg.level >= flush_level) && (msg.level != level::off);
+}
+
+inline spdlog::level::level_enum spdlog::logger::default_level()
+{
+    return static_cast<spdlog::level::level_enum>(SPDLOG_ACTIVE_LEVEL);
+}
+
+inline spdlog::level::level_enum spdlog::logger::level() const
+{
+    return static_cast<spdlog::level::level_enum>(level_.load(std::memory_order_relaxed));
+}
+
+inline bool spdlog::logger::should_log(spdlog::level::level_enum msg_level) const
+{
+    return msg_level >= level_.load(std::memory_order_relaxed);
+}
+
+//
+// protected virtual called at end of each user log call (if enabled) by the
+// line_logger
+//
+inline void spdlog::logger::sink_it_(details::log_msg &msg)
+{
+#if defined(SPDLOG_ENABLE_MESSAGE_COUNTER)
+    incr_msg_counter_(msg);
+#endif
+    for (auto &sink : sinks_)
+    {
+        if (sink->should_log(msg.level))
+        {
+            sink->log(msg);
+        }
+    }
+
+    if (should_flush_(msg))
+    {
+        flush_();
+    }
+}
+
+inline void spdlog::logger::flush_()
+{
+    for (auto &sink : sinks_)
+    {
+        sink->flush();
+    }
+}
+
+inline void spdlog::logger::default_err_handler_(const std::string &msg)
+{
+    auto now = time(nullptr);
+    if (now - last_err_time_ < 60)
+    {
+        return;
+    }
+    last_err_time_ = now;
+    auto tm_time = details::os::localtime(now);
+    char date_buf[100];
+    std::strftime(date_buf, sizeof(date_buf), "%Y-%m-%d %H:%M:%S", &tm_time);
+    fmt::print(stderr, "[*** LOG ERROR ***] [{}] [{}] {}\n", date_buf, name(), msg);
+}
+
+inline void spdlog::logger::incr_msg_counter_(details::log_msg &msg)
+{
+    msg.msg_id = msg_counter_.fetch_add(1, std::memory_order_relaxed);
+}
+
+inline const std::vector<spdlog::sink_ptr> &spdlog::logger::sinks() const
+{
+    return sinks_;
+}
+
+inline std::vector<spdlog::sink_ptr> &spdlog::logger::sinks()
+{
+    return sinks_;
+}
+
+inline std::shared_ptr<spdlog::logger> spdlog::logger::clone(std::string logger_name)
+{
+    auto cloned = std::make_shared<spdlog::logger>(std::move(logger_name), sinks_.begin(), sinks_.end());
+    cloned->set_level(this->level());
+    cloned->flush_on(this->flush_level());
+    cloned->set_error_handler(this->error_handler());
+    return cloned;
+}

include/Livox/third_party/spdlog/spdlog/details/mpmc_blocking_q.h

@@ -0,0 +1,121 @@
+#pragma once
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+// multi producer-multi consumer blocking queue.
+// enqueue(..) - will block until room found to put the new message.
+// enqueue_nowait(..) - will return immediately with false if no room left in
+// the queue.
+// dequeue_for(..) - will block until the queue is not empty or timeout have
+// passed.
+
+#include "spdlog/details/circular_q.h"
+
+#include <condition_variable>
+#include <mutex>
+
+namespace spdlog {
+namespace details {
+
+template<typename T>
+class mpmc_blocking_queue
+{
+public:
+    using item_type = T;
+    explicit mpmc_blocking_queue(size_t max_items)
+        : q_(max_items)
+    {
+    }
+
+#ifndef __MINGW32__
+    // try to enqueue and block if no room left
+    void enqueue(T &&item)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            pop_cv_.wait(lock, [this] { return !this->q_.full(); });
+            q_.push_back(std::move(item));
+        }
+        push_cv_.notify_one();
+    }
+
+    // enqueue immediately. overrun oldest message in the queue if no room left.
+    void enqueue_nowait(T &&item)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            q_.push_back(std::move(item));
+        }
+        push_cv_.notify_one();
+    }
+
+    // try to dequeue item. if no item found. wait upto timeout and try again
+    // Return true, if succeeded dequeue item, false otherwise
+    bool dequeue_for(T &popped_item, std::chrono::milliseconds wait_duration)
+    {
+        {
+            std::unique_lock<std::mutex> lock(queue_mutex_);
+            if (!push_cv_.wait_for(lock, wait_duration, [this] { return !this->q_.empty(); }))
+            {
+                return false;
+            }
+            q_.pop_front(popped_item);
+        }
+        pop_cv_.notify_one();
+        return true;
+    }
+
+#else
+    // apparently mingw deadlocks if the mutex is released before cv.notify_one(),
+    // so release the mutex at the very end each function.
+
+    // try to enqueue and block if no room left
+    void enqueue(T &&item)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        pop_cv_.wait(lock, [this] { return !this->q_.full(); });
+        q_.push_back(std::move(item));
+        push_cv_.notify_one();
+    }
+
+    // enqueue immediately. overrun oldest message in the queue if no room left.
+    void enqueue_nowait(T &&item)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        q_.push_back(std::move(item));
+        push_cv_.notify_one();
+    }
+
+    // try to dequeue item. if no item found. wait upto timeout and try again
+    // Return true, if succeeded dequeue item, false otherwise
+    bool dequeue_for(T &popped_item, std::chrono::milliseconds wait_duration)
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        if (!push_cv_.wait_for(lock, wait_duration, [this] { return !this->q_.empty(); }))
+        {
+            return false;
+        }
+        q_.pop_front(popped_item);
+        pop_cv_.notify_one();
+        return true;
+    }
+
+#endif
+
+    size_t overrun_counter()
+    {
+        std::unique_lock<std::mutex> lock(queue_mutex_);
+        return q_.overrun_counter();
+    }
+
+private:
+    std::mutex queue_mutex_;
+    std::condition_variable push_cv_;
+    std::condition_variable pop_cv_;
+    spdlog::details::circular_q<T> q_;
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/null_mutex.h

@@ -0,0 +1,45 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include <atomic>
+// null, no cost dummy "mutex" and dummy "atomic" int
+
+namespace spdlog {
+namespace details {
+struct null_mutex
+{
+    void lock() {}
+    void unlock() {}
+    bool try_lock()
+    {
+        return true;
+    }
+};
+
+struct null_atomic_int
+{
+    int value;
+    null_atomic_int() = default;
+
+    explicit null_atomic_int(int val)
+        : value(val)
+    {
+    }
+
+    int load(std::memory_order) const
+    {
+        return value;
+    }
+
+    void store(int val)
+    {
+        value = val;
+    }
+};
+
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/os.h

@@ -0,0 +1,421 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+#pragma once
+
+#include "../common.h"
+
+#include <algorithm>
+#include <chrono>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <ctime>
+#include <functional>
+#include <string>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <thread>
+
+#ifdef _WIN32
+
+#ifndef NOMINMAX
+#define NOMINMAX // prevent windows redefining min/max
+#endif
+
+#ifndef WIN32_LEAN_AND_MEAN
+#define WIN32_LEAN_AND_MEAN
+#endif
+#include <io.h>      // _get_osfhandle and _isatty support
+#include <process.h> //  _get_pid support
+#include <windows.h>
+
+#ifdef __MINGW32__
+#include <share.h>
+#endif
+
+#else // unix
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#ifdef __linux__
+#include <sys/syscall.h> //Use gettid() syscall under linux to get thread id
+
+#elif __FreeBSD__
+#include <sys/thr.h> //Use thr_self() syscall under FreeBSD to get thread id
+#endif
+
+#endif // unix
+
+#ifndef __has_feature      // Clang - feature checking macros.
+#define __has_feature(x) 0 // Compatibility with non-clang compilers.
+#endif
+
+namespace spdlog {
+namespace details {
+namespace os {
+
+inline spdlog::log_clock::time_point now() SPDLOG_NOEXCEPT
+{
+
+#if defined __linux__ && defined SPDLOG_CLOCK_COARSE
+    timespec ts;
+    ::clock_gettime(CLOCK_REALTIME_COARSE, &ts);
+    return std::chrono::time_point<log_clock, typename log_clock::duration>(
+        std::chrono::duration_cast<typename log_clock::duration>(std::chrono::seconds(ts.tv_sec) + std::chrono::nanoseconds(ts.tv_nsec)));
+
+#else
+    return log_clock::now();
+#endif
+}
+inline std::tm localtime(const std::time_t &time_tt) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    std::tm tm;
+    localtime_s(&tm, &time_tt);
+#else
+    std::tm tm;
+    localtime_r(&time_tt, &tm);
+#endif
+    return tm;
+}
+
+inline std::tm localtime() SPDLOG_NOEXCEPT
+{
+    std::time_t now_t = time(nullptr);
+    return localtime(now_t);
+}
+
+inline std::tm gmtime(const std::time_t &time_tt) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    std::tm tm;
+    gmtime_s(&tm, &time_tt);
+#else
+    std::tm tm;
+    gmtime_r(&time_tt, &tm);
+#endif
+    return tm;
+}
+
+inline std::tm gmtime() SPDLOG_NOEXCEPT
+{
+    std::time_t now_t = time(nullptr);
+    return gmtime(now_t);
+}
+
+// eol definition
+#if !defined(SPDLOG_EOL)
+#ifdef _WIN32
+#define SPDLOG_EOL "\r\n"
+#else
+#define SPDLOG_EOL "\n"
+#endif
+#endif
+
+SPDLOG_CONSTEXPR static const char *default_eol = SPDLOG_EOL;
+
+// folder separator
+#ifdef _WIN32
+SPDLOG_CONSTEXPR static const char folder_sep = '\\';
+#else
+SPDLOG_CONSTEXPR static const char folder_sep = '/';
+#endif
+
+inline void prevent_child_fd(FILE *f)
+{
+
+#ifdef _WIN32
+#if !defined(__cplusplus_winrt)
+    auto file_handle = (HANDLE)_get_osfhandle(_fileno(f));
+    if (!::SetHandleInformation(file_handle, HANDLE_FLAG_INHERIT, 0))
+        throw spdlog_ex("SetHandleInformation failed", errno);
+#endif
+#else
+    auto fd = fileno(f);
+    if (fcntl(fd, F_SETFD, FD_CLOEXEC) == -1)
+    {
+        throw spdlog_ex("fcntl with FD_CLOEXEC failed", errno);
+    }
+#endif
+}
+
+// fopen_s on non windows for writing
+inline bool fopen_s(FILE **fp, const filename_t &filename, const filename_t &mode)
+{
+#ifdef _WIN32
+#ifdef SPDLOG_WCHAR_FILENAMES
+    *fp = _wfsopen((filename.c_str()), mode.c_str(), _SH_DENYNO);
+#else
+    *fp = _fsopen((filename.c_str()), mode.c_str(), _SH_DENYNO);
+#endif
+#else // unix
+    *fp = fopen((filename.c_str()), mode.c_str());
+#endif
+
+#ifdef SPDLOG_PREVENT_CHILD_FD
+    if (*fp != nullptr)
+    {
+        prevent_child_fd(*fp);
+    }
+#endif
+    return *fp == nullptr;
+}
+
+inline int remove(const filename_t &filename) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+    return _wremove(filename.c_str());
+#else
+    return std::remove(filename.c_str());
+#endif
+}
+
+inline int rename(const filename_t &filename1, const filename_t &filename2) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+    return _wrename(filename1.c_str(), filename2.c_str());
+#else
+    return std::rename(filename1.c_str(), filename2.c_str());
+#endif
+}
+
+// Return if file exists
+inline bool file_exists(const filename_t &filename) SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+#ifdef SPDLOG_WCHAR_FILENAMES
+    auto attribs = GetFileAttributesW(filename.c_str());
+#else
+    auto attribs = GetFileAttributesA(filename.c_str());
+#endif
+    return (attribs != INVALID_FILE_ATTRIBUTES && !(attribs & FILE_ATTRIBUTE_DIRECTORY));
+#else // common linux/unix all have the stat system call
+    struct stat buffer;
+    return (stat(filename.c_str(), &buffer) == 0);
+#endif
+}
+
+// Return file size according to open FILE* object
+inline size_t filesize(FILE *f)
+{
+    if (f == nullptr)
+    {
+        throw spdlog_ex("Failed getting file size. fd is null");
+    }
+#if defined(_WIN32) && !defined(__CYGWIN__)
+    int fd = _fileno(f);
+#if _WIN64 // 64 bits
+    __int64 ret = _filelengthi64(fd);
+    if (ret >= 0)
+    {
+        return static_cast<size_t>(ret);
+    }
+
+#else // windows 32 bits
+    long ret = _filelength(fd);
+    if (ret >= 0)
+    {
+        return static_cast<size_t>(ret);
+    }
+#endif
+
+#else // unix
+    int fd = fileno(f);
+// 64 bits(but not in osx or cygwin, where fstat64 is deprecated)
+#if !defined(__FreeBSD__) && !defined(__APPLE__) && (defined(__x86_64__) || defined(__ppc64__)) && !defined(__CYGWIN__)
+    struct stat64 st;
+    if (fstat64(fd, &st) == 0)
+    {
+        return static_cast<size_t>(st.st_size);
+    }
+#else // unix 32 bits or cygwin
+    struct stat st;
+
+    if (fstat(fd, &st) == 0)
+    {
+        return static_cast<size_t>(st.st_size);
+    }
+#endif
+#endif
+    throw spdlog_ex("Failed getting file size from fd", errno);
+}
+
+// Return utc offset in minutes or throw spdlog_ex on failure
+inline int utc_minutes_offset(const std::tm &tm = details::os::localtime())
+{
+
+#ifdef _WIN32
+#if _WIN32_WINNT < _WIN32_WINNT_WS08
+    TIME_ZONE_INFORMATION tzinfo;
+    auto rv = GetTimeZoneInformation(&tzinfo);
+#else
+    DYNAMIC_TIME_ZONE_INFORMATION tzinfo;
+    auto rv = GetDynamicTimeZoneInformation(&tzinfo);
+#endif
+    if (rv == TIME_ZONE_ID_INVALID)
+        throw spdlog::spdlog_ex("Failed getting timezone info. ", errno);
+
+    int offset = -tzinfo.Bias;
+    if (tm.tm_isdst)
+    {
+        offset -= tzinfo.DaylightBias;
+    }
+    else
+    {
+        offset -= tzinfo.StandardBias;
+    }
+    return offset;
+#else
+
+#if defined(sun) || defined(__sun) || defined(_AIX)
+    // 'tm_gmtoff' field is BSD extension and it's missing on SunOS/Solaris
+    struct helper
+    {
+        static long int calculate_gmt_offset(const std::tm &localtm = details::os::localtime(), const std::tm &gmtm = details::os::gmtime())
+        {
+            int local_year = localtm.tm_year + (1900 - 1);
+            int gmt_year = gmtm.tm_year + (1900 - 1);
+
+            long int days = (
+                // difference in day of year
+                localtm.tm_yday -
+                gmtm.tm_yday
+
+                // + intervening leap days
+                + ((local_year >> 2) - (gmt_year >> 2)) - (local_year / 100 - gmt_year / 100) +
+                ((local_year / 100 >> 2) - (gmt_year / 100 >> 2))
+
+                // + difference in years * 365 */
+                + (long int)(local_year - gmt_year) * 365);
+
+            long int hours = (24 * days) + (localtm.tm_hour - gmtm.tm_hour);
+            long int mins = (60 * hours) + (localtm.tm_min - gmtm.tm_min);
+            long int secs = (60 * mins) + (localtm.tm_sec - gmtm.tm_sec);
+
+            return secs;
+        }
+    };
+
+    auto offset_seconds = helper::calculate_gmt_offset(tm);
+#else
+    auto offset_seconds = tm.tm_gmtoff;
+#endif
+
+    return static_cast<int>(offset_seconds / 60);
+#endif
+}
+
+// Return current thread id as size_t
+// It exists because the std::this_thread::get_id() is much slower(especially
+// under VS 2013)
+inline size_t _thread_id() SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+    return static_cast<size_t>(::GetCurrentThreadId());
+#elif __linux__
+#if defined(__ANDROID__) && defined(__ANDROID_API__) && (__ANDROID_API__ < 21)
+#define SYS_gettid __NR_gettid
+#endif
+    return static_cast<size_t>(syscall(SYS_gettid));
+#elif __FreeBSD__
+    long tid;
+    thr_self(&tid);
+    return static_cast<size_t>(tid);
+#elif __APPLE__
+    uint64_t tid;
+    pthread_threadid_np(nullptr, &tid);
+    return static_cast<size_t>(tid);
+#else // Default to standard C++11 (other Unix)
+    return static_cast<size_t>(std::hash<std::thread::id>()(std::this_thread::get_id()));
+#endif
+}
+
+// Return current thread id as size_t (from thread local storage)
+inline size_t thread_id() SPDLOG_NOEXCEPT
+{
+#if defined(SPDLOG_NO_TLS)
+    return _thread_id();
+#else // cache thread id in tls
+    static thread_local const size_t tid = _thread_id();
+    return tid;
+#endif
+}
+
+// This is avoid msvc issue in sleep_for that happens if the clock changes.
+// See https://github.com/gabime/spdlog/issues/609
+inline void sleep_for_millis(int milliseconds) SPDLOG_NOEXCEPT
+{
+#if defined(_WIN32)
+    ::Sleep(milliseconds);
+#else
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+#endif
+}
+
+// wchar support for windows file names (SPDLOG_WCHAR_FILENAMES must be defined)
+#if defined(_WIN32) && defined(SPDLOG_WCHAR_FILENAMES)
+#define SPDLOG_FILENAME_T(s) L##s
+inline std::string filename_to_str(const filename_t &filename)
+{
+    std::wstring_convert<std::codecvt_utf8<wchar_t>, wchar_t> c;
+    return c.to_bytes(filename);
+}
+#else
+#define SPDLOG_FILENAME_T(s) s
+inline std::string filename_to_str(const filename_t &filename)
+{
+    return filename;
+}
+#endif
+
+inline int pid()
+{
+
+#ifdef _WIN32
+    return static_cast<int>(::GetCurrentProcessId());
+#else
+    return static_cast<int>(::getpid());
+#endif
+}
+
+// Determine if the terminal supports colors
+// Source: https://github.com/agauniyal/rang/
+inline bool is_color_terminal() SPDLOG_NOEXCEPT
+{
+#ifdef _WIN32
+    return true;
+#else
+    static constexpr const char *Terms[] = {
+        "ansi", "color", "console", "cygwin", "gnome", "konsole", "kterm", "linux", "msys", "putty", "rxvt", "screen", "vt100", "xterm"};
+
+    const char *env_p = std::getenv("TERM");
+    if (env_p == nullptr)
+    {
+        return false;
+    }
+
+    static const bool result =
+        std::any_of(std::begin(Terms), std::end(Terms), [&](const char *term) { return std::strstr(env_p, term) != nullptr; });
+    return result;
+#endif
+}
+
+// Detrmine if the terminal attached
+// Source: https://github.com/agauniyal/rang/
+inline bool in_terminal(FILE *file) SPDLOG_NOEXCEPT
+{
+
+#ifdef _WIN32
+    return _isatty(_fileno(file)) != 0;
+#else
+    return isatty(fileno(file)) != 0;
+#endif
+}
+} // namespace os
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/periodic_worker.h

@@ -0,0 +1,71 @@
+
+//
+// Copyright(c) 2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// periodic worker thread - periodically executes the given callback function.
+//
+// RAII over the owned thread:
+//    creates the thread on construction.
+//    stops and joins the thread on destruction (if the thread is executing a callback, wait for it to finish first).
+
+#include <chrono>
+#include <condition_variable>
+#include <functional>
+#include <mutex>
+#include <thread>
+namespace spdlog {
+namespace details {
+
+class periodic_worker
+{
+public:
+    periodic_worker(const std::function<void()> &callback_fun, std::chrono::seconds interval)
+    {
+        active_ = (interval > std::chrono::seconds::zero());
+        if (!active_)
+        {
+            return;
+        }
+
+        worker_thread_ = std::thread([this, callback_fun, interval]() {
+            for (;;)
+            {
+                std::unique_lock<std::mutex> lock(this->mutex_);
+                if (this->cv_.wait_for(lock, interval, [this] { return !this->active_; }))
+                {
+                    return; // active_ == false, so exit this thread
+                }
+                callback_fun();
+            }
+        });
+    }
+
+    periodic_worker(const periodic_worker &) = delete;
+    periodic_worker &operator=(const periodic_worker &) = delete;
+
+    // stop the worker thread and join it
+    ~periodic_worker()
+    {
+        if (worker_thread_.joinable())
+        {
+            {
+                std::lock_guard<std::mutex> lock(mutex_);
+                active_ = false;
+            }
+            cv_.notify_one();
+            worker_thread_.join();
+        }
+    }
+
+private:
+    bool active_;
+    std::thread worker_thread_;
+    std::mutex mutex_;
+    std::condition_variable cv_;
+};
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/registry.h

@@ -0,0 +1,285 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+// Loggers registy of unique name->logger pointer
+// An attempt to create a logger with an already existing name will be ignored
+// If user requests a non existing logger, nullptr will be returned
+// This class is thread safe
+
+#include "spdlog/common.h"
+#include "spdlog/details/periodic_worker.h"
+#include "spdlog/logger.h"
+
+#ifndef SPDLOG_DISABLE_DEFAULT_LOGGER
+// support for the default stdout color logger
+#ifdef _WIN32
+#include "spdlog/sinks/wincolor_sink.h"
+#else
+#include "spdlog/sinks/ansicolor_sink.h"
+#endif
+#endif // SPDLOG_DISABLE_DEFAULT_LOGGER
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <unordered_map>
+
+namespace spdlog {
+namespace details {
+class thread_pool;
+
+class registry
+{
+public:
+    registry(const registry &) = delete;
+    registry &operator=(const registry &) = delete;
+
+    void register_logger(std::shared_ptr<logger> new_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        register_logger_(std::move(new_logger));
+    }
+
+    void initialize_logger(std::shared_ptr<logger> new_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        new_logger->set_formatter(formatter_->clone());
+
+        if (err_handler_)
+        {
+            new_logger->set_error_handler(err_handler_);
+        }
+
+        new_logger->set_level(level_);
+        new_logger->flush_on(flush_level_);
+
+        if (automatic_registration_)
+        {
+            register_logger_(std::move(new_logger));
+        }
+    }
+
+    std::shared_ptr<logger> get(const std::string &logger_name)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        auto found = loggers_.find(logger_name);
+        return found == loggers_.end() ? nullptr : found->second;
+    }
+
+    std::shared_ptr<logger> default_logger()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        return default_logger_;
+    }
+
+    // Return raw ptr to the default logger.
+    // To be used directly by the spdlog default api (e.g. spdlog::info)
+    // This make the default API faster, but cannot be used concurrently with set_default_logger().
+    // e.g do not call set_default_logger() from one thread while calling spdlog::info() from another.
+    logger *get_default_raw()
+    {
+        return default_logger_.get();
+    }
+
+    // set default logger.
+    // default logger is stored in default_logger_ (for faster retrieval) and in the loggers_ map.
+    void set_default_logger(std::shared_ptr<logger> new_default_logger)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        // remove previous default logger from the map
+        if (default_logger_ != nullptr)
+        {
+            loggers_.erase(default_logger_->name());
+        }
+        if (new_default_logger != nullptr)
+        {
+            loggers_[new_default_logger->name()] = new_default_logger;
+        }
+        default_logger_ = std::move(new_default_logger);
+    }
+
+    void set_tp(std::shared_ptr<thread_pool> tp)
+    {
+        std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+        tp_ = std::move(tp);
+    }
+
+    std::shared_ptr<thread_pool> get_tp()
+    {
+        std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+        return tp_;
+    }
+
+    // Set global formatter. Each sink in each logger will get a clone of this object
+    void set_formatter(std::unique_ptr<formatter> formatter)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        formatter_ = std::move(formatter);
+        for (auto &l : loggers_)
+        {
+            l.second->set_formatter(formatter_->clone());
+        }
+    }
+
+    void set_level(level::level_enum log_level)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->set_level(log_level);
+        }
+        level_ = log_level;
+    }
+
+    void flush_on(level::level_enum log_level)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->flush_on(log_level);
+        }
+        flush_level_ = log_level;
+    }
+
+    void flush_every(std::chrono::seconds interval)
+    {
+        std::lock_guard<std::mutex> lock(flusher_mutex_);
+        std::function<void()> clbk = std::bind(&registry::flush_all, this);
+        periodic_flusher_ = details::make_unique<periodic_worker>(clbk, interval);
+    }
+
+    void set_error_handler(log_err_handler handler)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->set_error_handler(handler);
+        }
+        err_handler_ = handler;
+    }
+
+    void apply_all(const std::function<void(const std::shared_ptr<logger>)> &fun)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            fun(l.second);
+        }
+    }
+
+    void flush_all()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        for (auto &l : loggers_)
+        {
+            l.second->flush();
+        }
+    }
+
+    void drop(const std::string &logger_name)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        loggers_.erase(logger_name);
+        if (default_logger_ && default_logger_->name() == logger_name)
+        {
+            default_logger_.reset();
+        }
+    }
+
+    void drop_all()
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        loggers_.clear();
+        default_logger_.reset();
+    }
+
+    // clean all resources and threads started by the registry
+    void shutdown()
+    {
+        {
+            std::lock_guard<std::mutex> lock(flusher_mutex_);
+            periodic_flusher_.reset();
+        }
+
+        drop_all();
+
+        {
+            std::lock_guard<std::recursive_mutex> lock(tp_mutex_);
+            tp_.reset();
+        }
+    }
+
+    std::recursive_mutex &tp_mutex()
+    {
+        return tp_mutex_;
+    }
+
+    void set_automatic_registration(bool automatic_regsistration)
+    {
+        std::lock_guard<std::mutex> lock(logger_map_mutex_);
+        automatic_registration_ = automatic_regsistration;
+    }
+
+    static registry &instance()
+    {
+        static registry s_instance;
+        return s_instance;
+    }
+
+private:
+    registry()
+        : formatter_(new pattern_formatter())
+    {
+
+#ifndef SPDLOG_DISABLE_DEFAULT_LOGGER
+        // create default logger (ansicolor_stdout_sink_mt or wincolor_stdout_sink_mt in windows).
+#ifdef _WIN32
+        auto color_sink = std::make_shared<sinks::wincolor_stdout_sink_mt>();
+#else
+        auto color_sink = std::make_shared<sinks::ansicolor_stdout_sink_mt>();
+#endif
+
+        const char *default_logger_name = "";
+        default_logger_ = std::make_shared<spdlog::logger>(default_logger_name, std::move(color_sink));
+        loggers_[default_logger_name] = default_logger_;
+
+#endif // SPDLOG_DISABLE_DEFAULT_LOGGER
+    }
+
+    ~registry() = default;
+
+    void throw_if_exists_(const std::string &logger_name)
+    {
+        if (loggers_.find(logger_name) != loggers_.end())
+        {
+            throw spdlog_ex("logger with name '" + logger_name + "' already exists");
+        }
+    }
+
+    void register_logger_(std::shared_ptr<logger> new_logger)
+    {
+        auto logger_name = new_logger->name();
+        throw_if_exists_(logger_name);
+        loggers_[logger_name] = std::move(new_logger);
+    }
+
+    std::mutex logger_map_mutex_, flusher_mutex_;
+    std::recursive_mutex tp_mutex_;
+    std::unordered_map<std::string, std::shared_ptr<logger>> loggers_;
+    std::unique_ptr<formatter> formatter_;
+    level::level_enum level_ = spdlog::logger::default_level();
+    level::level_enum flush_level_ = level::off;
+    log_err_handler err_handler_;
+    std::shared_ptr<thread_pool> tp_;
+    std::unique_ptr<periodic_worker> periodic_flusher_;
+    std::shared_ptr<logger> default_logger_;
+    bool automatic_registration_ = true;
+};
+
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/details/thread_pool.h

@@ -0,0 +1,238 @@
+#pragma once
+
+#include "spdlog/details/fmt_helper.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/mpmc_blocking_q.h"
+#include "spdlog/details/os.h"
+
+#include <chrono>
+#include <memory>
+#include <thread>
+#include <vector>
+
+namespace spdlog {
+namespace details {
+
+using async_logger_ptr = std::shared_ptr<spdlog::async_logger>;
+
+enum class async_msg_type
+{
+    log,
+    flush,
+    terminate
+};
+
+// Async msg to move to/from the queue
+// Movable only. should never be copied
+struct async_msg
+{
+    async_msg_type msg_type;
+    level::level_enum level;
+    log_clock::time_point time;
+    size_t thread_id;
+    fmt::basic_memory_buffer<char, 176> raw;
+
+    size_t msg_id;
+    source_loc source;
+    async_logger_ptr worker_ptr;
+
+    async_msg() = default;
+    ~async_msg() = default;
+
+    // should only be moved in or out of the queue..
+    async_msg(const async_msg &) = delete;
+
+// support for vs2013 move
+#if defined(_MSC_VER) && _MSC_VER <= 1800
+    async_msg(async_msg &&other) SPDLOG_NOEXCEPT : msg_type(other.msg_type),
+                                                   level(other.level),
+                                                   time(other.time),
+                                                   thread_id(other.thread_id),
+                                                   raw(move(other.raw)),
+                                                   msg_id(other.msg_id),
+                                                   source(other.source),
+                                                   worker_ptr(std::move(other.worker_ptr))
+    {
+    }
+
+    async_msg &operator=(async_msg &&other) SPDLOG_NOEXCEPT
+    {
+        msg_type = other.msg_type;
+        level = other.level;
+        time = other.time;
+        thread_id = other.thread_id;
+        raw = std::move(other.raw);
+        msg_id = other.msg_id;
+        source = other.source;
+        worker_ptr = std::move(other.worker_ptr);
+        return *this;
+    }
+#else // (_MSC_VER) && _MSC_VER <= 1800
+    async_msg(async_msg &&) = default;
+    async_msg &operator=(async_msg &&) = default;
+#endif
+
+    // construct from log_msg with given type
+    async_msg(async_logger_ptr &&worker, async_msg_type the_type, details::log_msg &m)
+        : msg_type(the_type)
+        , level(m.level)
+        , time(m.time)
+        , thread_id(m.thread_id)
+        , msg_id(m.msg_id)
+        , source(m.source)
+        , worker_ptr(std::move(worker))
+    {
+        fmt_helper::append_string_view(m.payload, raw);
+    }
+
+    async_msg(async_logger_ptr &&worker, async_msg_type the_type)
+        : msg_type(the_type)
+        , level(level::off)
+        , time()
+        , thread_id(0)
+        , msg_id(0)
+        , source()
+        , worker_ptr(std::move(worker))
+    {
+    }
+
+    explicit async_msg(async_msg_type the_type)
+        : async_msg(nullptr, the_type)
+    {
+    }
+
+    // copy into log_msg
+    log_msg to_log_msg()
+    {
+        log_msg msg(&worker_ptr->name(), level, string_view_t(raw.data(), raw.size()));
+        msg.time = time;
+        msg.thread_id = thread_id;
+        msg.msg_id = msg_id;
+        msg.source = source;
+        msg.color_range_start = 0;
+        msg.color_range_end = 0;
+        return msg;
+    }
+};
+
+class thread_pool
+{
+public:
+    using item_type = async_msg;
+    using q_type = details::mpmc_blocking_queue<item_type>;
+
+    thread_pool(size_t q_max_items, size_t threads_n)
+        : q_(q_max_items)
+    {
+        // std::cout << "thread_pool()  q_size_bytes: " << q_size_bytes <<
+        // "\tthreads_n: " << threads_n << std::endl;
+        if (threads_n == 0 || threads_n > 1000)
+        {
+            throw spdlog_ex("spdlog::thread_pool(): invalid threads_n param (valid "
+                            "range is 1-1000)");
+        }
+        for (size_t i = 0; i < threads_n; i++)
+        {
+            threads_.emplace_back(&thread_pool::worker_loop_, this);
+        }
+    }
+
+    // message all threads to terminate gracefully join them
+    ~thread_pool()
+    {
+        try
+        {
+            for (size_t i = 0; i < threads_.size(); i++)
+            {
+                post_async_msg_(async_msg(async_msg_type::terminate), async_overflow_policy::block);
+            }
+
+            for (auto &t : threads_)
+            {
+                t.join();
+            }
+        }
+        catch (...)
+        {
+        }
+    }
+
+    thread_pool(const thread_pool &) = delete;
+    thread_pool &operator=(thread_pool &&) = delete;
+
+    void post_log(async_logger_ptr &&worker_ptr, details::log_msg &msg, async_overflow_policy overflow_policy)
+    {
+        async_msg async_m(std::move(worker_ptr), async_msg_type::log, msg);
+        post_async_msg_(std::move(async_m), overflow_policy);
+    }
+
+    void post_flush(async_logger_ptr &&worker_ptr, async_overflow_policy overflow_policy)
+    {
+        post_async_msg_(async_msg(std::move(worker_ptr), async_msg_type::flush), overflow_policy);
+    }
+
+    size_t overrun_counter()
+    {
+        return q_.overrun_counter();
+    }
+
+private:
+    q_type q_;
+
+    std::vector<std::thread> threads_;
+
+    void post_async_msg_(async_msg &&new_msg, async_overflow_policy overflow_policy)
+    {
+        if (overflow_policy == async_overflow_policy::block)
+        {
+            q_.enqueue(std::move(new_msg));
+        }
+        else
+        {
+            q_.enqueue_nowait(std::move(new_msg));
+        }
+    }
+
+    void worker_loop_()
+    {
+        while (process_next_msg_()) {};
+    }
+
+    // process next message in the queue
+    // return true if this thread should still be active (while no terminate msg
+    // was received)
+    bool process_next_msg_()
+    {
+        async_msg incoming_async_msg;
+        bool dequeued = q_.dequeue_for(incoming_async_msg, std::chrono::seconds(10));
+        if (!dequeued)
+        {
+            return true;
+        }
+
+        switch (incoming_async_msg.msg_type)
+        {
+        case async_msg_type::log:
+        {
+            auto msg = incoming_async_msg.to_log_msg();
+            incoming_async_msg.worker_ptr->backend_log_(msg);
+            return true;
+        }
+        case async_msg_type::flush:
+        {
+            incoming_async_msg.worker_ptr->backend_flush_();
+            return true;
+        }
+
+        case async_msg_type::terminate:
+        {
+            return false;
+        }
+        }
+        assert(false && "Unexpected async_msg_type");
+        return true;
+    }
+};
+
+} // namespace details
+} // namespace spdlog

include/Livox/third_party/spdlog/spdlog/fmt/bin_to_hex.h

@@ -0,0 +1,172 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Support for logging binary data as hex
+// format flags:
+// {:X} - print in uppercase.
+// {:s} - don't separate each byte with space.
+// {:p} - don't print the position on each line start.
+// {:n} - don't split the output to lines.
+
+//
+// Examples:
+//
+// std::vector<char> v(200, 0x0b);
+// logger->info("Some buffer {}", spdlog::to_hex(v));
+// char buf[128];
+// logger->info("Some buffer {:X}", spdlog::to_hex(std::begin(buf), std::end(buf)));
+
+namespace spdlog {
+namespace details {
+
+template<typename It>
+class bytes_range
+{
+public:
+    bytes_range(It range_begin, It range_end)
+        : begin_(range_begin)
+        , end_(range_end)
+    {
+    }
+
+    It begin() const
+    {
+        return begin_;
+    }
+    It end() const
+    {
+        return end_;
+    }
+
+private:
+    It begin_, end_;
+};
+} // namespace details
+
+// create a bytes_range that wraps the given container
+template<typename Container>
+inline details::bytes_range<typename Container::const_iterator> to_hex(const Container &container)
+{
+    static_assert(sizeof(typename Container::value_type) == 1, "sizeof(Container::value_type) != 1");
+    using Iter = typename Container::const_iterator;
+    return details::bytes_range<Iter>(std::begin(container), std::end(container));
+}
+
+// create bytes_range from ranges
+template<typename It>
+inline details::bytes_range<It> to_hex(const It range_begin, const It range_end)
+{
+    return details::bytes_range<It>(range_begin, range_end);
+}
+
+} // namespace spdlog
+
+namespace fmt {
+
+template<typename T>
+struct formatter<spdlog::details::bytes_range<T>>
+{
+    const std::size_t line_size = 100;
+    const char delimiter = ' ';
+
+    bool put_newlines = true;
+    bool put_delimiters = true;
+    bool use_uppercase = false;
+    bool put_positions = true; // position on start of each line
+
+    // parse the format string flags
+    template<typename ParseContext>
+    auto parse(ParseContext &ctx) -> decltype(ctx.begin())
+    {
+        auto it = ctx.begin();
+        while (*it && *it != '}')
+        {
+            switch (*it)
+            {
+            case 'X':
+                use_uppercase = true;
+                break;
+            case 's':
+                put_delimiters = false;
+                break;
+            case 'p':
+                put_positions = false;
+                break;
+            case 'n':
+                put_newlines = false;
+                break;
+            }
+
+            ++it;
+        }
+        return it;
+    }
+
+    // format the given bytes range as hex
+    template<typename FormatContext, typename Container>
+    auto format(const spdlog::details::bytes_range<Container> &the_range, FormatContext &ctx) -> decltype(ctx.out())
+    {
+        SPDLOG_CONSTEXPR const char *hex_upper = "0123456789ABCDEF";
+        SPDLOG_CONSTEXPR const char *hex_lower = "0123456789abcdef";
+        const char *hex_chars = use_uppercase ? hex_upper : hex_lower;
+
+        std::size_t pos = 0;
+        std::size_t column = line_size;
+        auto inserter = ctx.begin();
+
+        for (auto &item : the_range)
+        {
+            auto ch = static_cast<unsigned char>(item);
+            pos++;
+
+            if (put_newlines && column >= line_size)
+            {
+                column = put_newline(inserter, pos);
+
+                // put first byte without delimiter in front of it
+                *inserter++ = hex_chars[(ch >> 4) & 0x0f];
+                *inserter++ = hex_chars[ch & 0x0f];
+                column += 2;
+                continue;
+            }
+
+            if (put_delimiters)
+            {
+                *inserter++ = delimiter;
+                ++column;
+            }
+
+            *inserter++ = hex_chars[(ch >> 4) & 0x0f];
+            *inserter++ = hex_chars[ch & 0x0f];
+            column += 2;
+        }
+        return inserter;
+    }
+
+    // put newline(and position header)
+    // return the next column
+    template<typename It>
+    std::size_t put_newline(It inserter, std::size_t pos)
+    {
+#ifdef _WIN32
+        *inserter++ = '\r';
+#endif
+        *inserter++ = '\n';
+
+        if (put_positions)
+        {
+            fmt::format_to(inserter, "{:<04X}: ", pos - 1);
+            return 7;
+        }
+        else
+        {
+            return 1;
+        }
+    }
+};
+} // namespace fmt

include/Livox/third_party/spdlog/spdlog/fmt/bundled/LICENSE.rst

@@ -0,0 +1,23 @@
+Copyright (c) 2012 - 2016, Victor Zverovich
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

include/Livox/third_party/spdlog/spdlog/fmt/bundled/chrono.h

@@ -0,0 +1,452 @@
+// Formatting library for C++ - chrono support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_CHRONO_H_
+#define FMT_CHRONO_H_
+
+#include "format.h"
+#include "locale.h"
+
+#include <chrono>
+#include <ctime>
+#include <locale>
+#include <sstream>
+
+FMT_BEGIN_NAMESPACE
+
+namespace internal{
+
+enum class numeric_system {
+  standard,
+  // Alternative numeric system, e.g. 十二 instead of 12 in ja_JP locale.
+  alternative
+};
+
+// Parses a put_time-like format string and invokes handler actions.
+template <typename Char, typename Handler>
+FMT_CONSTEXPR const Char *parse_chrono_format(
+    const Char *begin, const Char *end, Handler &&handler) {
+  auto ptr = begin;
+  while (ptr != end) {
+    auto c = *ptr;
+    if (c == '}') break;
+    if (c != '%') {
+      ++ptr;
+      continue;
+    }
+    if (begin != ptr)
+      handler.on_text(begin, ptr);
+    ++ptr; // consume '%'
+    if (ptr == end)
+      throw format_error("invalid format");
+    c = *ptr++;
+    switch (c) {
+    case '%':
+      handler.on_text(ptr - 1, ptr);
+      break;
+    case 'n': {
+      const char newline[] = "\n";
+      handler.on_text(newline, newline + 1);
+      break;
+    }
+    case 't': {
+      const char tab[] = "\t";
+      handler.on_text(tab, tab + 1);
+      break;
+    }
+    // Day of the week:
+    case 'a':
+      handler.on_abbr_weekday();
+      break;
+    case 'A':
+      handler.on_full_weekday();
+      break;
+    case 'w':
+      handler.on_dec0_weekday(numeric_system::standard);
+      break;
+    case 'u':
+      handler.on_dec1_weekday(numeric_system::standard);
+      break;
+    // Month:
+    case 'b':
+      handler.on_abbr_month();
+      break;
+    case 'B':
+      handler.on_full_month();
+      break;
+    // Hour, minute, second:
+    case 'H':
+      handler.on_24_hour(numeric_system::standard);
+      break;
+    case 'I':
+      handler.on_12_hour(numeric_system::standard);
+      break;
+    case 'M':
+      handler.on_minute(numeric_system::standard);
+      break;
+    case 'S':
+      handler.on_second(numeric_system::standard);
+      break;
+    // Other:
+    case 'c':
+      handler.on_datetime(numeric_system::standard);
+      break;
+    case 'x':
+      handler.on_loc_date(numeric_system::standard);
+      break;
+    case 'X':
+      handler.on_loc_time(numeric_system::standard);
+      break;
+    case 'D':
+      handler.on_us_date();
+      break;
+    case 'F':
+      handler.on_iso_date();
+      break;
+    case 'r':
+      handler.on_12_hour_time();
+      break;
+    case 'R':
+      handler.on_24_hour_time();
+      break;
+    case 'T':
+      handler.on_iso_time();
+      break;
+    case 'p':
+      handler.on_am_pm();
+      break;
+    case 'z':
+      handler.on_utc_offset();
+      break;
+    case 'Z':
+      handler.on_tz_name();
+      break;
+    // Alternative representation:
+    case 'E': {
+      if (ptr == end)
+        throw format_error("invalid format");
+      c = *ptr++;
+      switch (c) {
+      case 'c':
+        handler.on_datetime(numeric_system::alternative);
+        break;
+      case 'x':
+        handler.on_loc_date(numeric_system::alternative);
+        break;
+      case 'X':
+        handler.on_loc_time(numeric_system::alternative);
+        break;
+      default:
+        throw format_error("invalid format");
+      }
+      break;
+    }
+    case 'O':
+      if (ptr == end)
+        throw format_error("invalid format");
+      c = *ptr++;
+      switch (c) {
+      case 'w':
+        handler.on_dec0_weekday(numeric_system::alternative);
+        break;
+      case 'u':
+        handler.on_dec1_weekday(numeric_system::alternative);
+        break;
+      case 'H':
+        handler.on_24_hour(numeric_system::alternative);
+        break;
+      case 'I':
+        handler.on_12_hour(numeric_system::alternative);
+        break;
+      case 'M':
+        handler.on_minute(numeric_system::alternative);
+        break;
+      case 'S':
+        handler.on_second(numeric_system::alternative);
+        break;
+      default:
+        throw format_error("invalid format");
+      }
+      break;
+    default:
+      throw format_error("invalid format");
+    }
+    begin = ptr;
+  }
+  if (begin != ptr)
+    handler.on_text(begin, ptr);
+  return ptr;
+}
+
+struct chrono_format_checker {
+  void report_no_date() { throw format_error("no date"); }
+
+  template <typename Char>
+  void on_text(const Char *, const Char *) {}
+  void on_abbr_weekday() { report_no_date(); }
+  void on_full_weekday() { report_no_date(); }
+  void on_dec0_weekday(numeric_system) { report_no_date(); }
+  void on_dec1_weekday(numeric_system) { report_no_date(); }
+  void on_abbr_month() { report_no_date(); }
+  void on_full_month() { report_no_date(); }
+  void on_24_hour(numeric_system) {}
+  void on_12_hour(numeric_system) {}
+  void on_minute(numeric_system) {}
+  void on_second(numeric_system) {}
+  void on_datetime(numeric_system) { report_no_date(); }
+  void on_loc_date(numeric_system) { report_no_date(); }
+  void on_loc_time(numeric_system) { report_no_date(); }
+  void on_us_date() { report_no_date(); }
+  void on_iso_date() { report_no_date(); }
+  void on_12_hour_time() {}
+  void on_24_hour_time() {}
+  void on_iso_time() {}
+  void on_am_pm() {}
+  void on_utc_offset() { report_no_date(); }
+  void on_tz_name() { report_no_date(); }
+};
+
+template <typename Int>
+inline int to_int(Int value) {
+  FMT_ASSERT(value >= (std::numeric_limits<int>::min)() &&
+             value <= (std::numeric_limits<int>::max)(), "invalid value");
+  return static_cast<int>(value);
+}
+
+template <typename FormatContext, typename OutputIt>
+struct chrono_formatter {
+  FormatContext &context;
+  OutputIt out;
+  std::chrono::seconds s;
+  std::chrono::milliseconds ms;
+
+  typedef typename FormatContext::char_type char_type;
+
+  explicit chrono_formatter(FormatContext &ctx, OutputIt o)
+    : context(ctx), out(o) {}
+
+  int hour() const { return to_int((s.count() / 3600) % 24); }
+
+  int hour12() const {
+    auto hour = to_int((s.count() / 3600) % 12);
+    return hour > 0 ? hour : 12;
+  }
+
+  int minute() const { return to_int((s.count() / 60) % 60); }
+  int second() const { return to_int(s.count() % 60); }
+
+  std::tm time() const {
+    auto time = std::tm();
+    time.tm_hour = hour();
+    time.tm_min = minute();
+    time.tm_sec = second();
+    return time;
+  }
+
+  void write(int value, int width) {
+    typedef typename int_traits<int>::main_type main_type;
+    main_type n = to_unsigned(value);
+    int num_digits = internal::count_digits(n);
+    if (width > num_digits)
+      out = std::fill_n(out, width - num_digits, '0');
+    out = format_decimal<char_type>(out, n, num_digits);
+  }
+
+  void format_localized(const tm &time, const char *format) {
+    auto locale = context.locale().template get<std::locale>();
+    auto &facet = std::use_facet<std::time_put<char_type>>(locale);
+    std::basic_ostringstream<char_type> os;
+    os.imbue(locale);
+    facet.put(os, os, ' ', &time, format, format + std::strlen(format));
+    auto str = os.str();
+    std::copy(str.begin(), str.end(), out);
+  }
+
+  void on_text(const char_type *begin, const char_type *end) {
+    std::copy(begin, end, out);
+  }
+
+  // These are not implemented because durations don't have date information.
+  void on_abbr_weekday() {}
+  void on_full_weekday() {}
+  void on_dec0_weekday(numeric_system) {}
+  void on_dec1_weekday(numeric_system) {}
+  void on_abbr_month() {}
+  void on_full_month() {}
+  void on_datetime(numeric_system) {}
+  void on_loc_date(numeric_system) {}
+  void on_loc_time(numeric_system) {}
+  void on_us_date() {}
+  void on_iso_date() {}
+  void on_utc_offset() {}
+  void on_tz_name() {}
+
+  void on_24_hour(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(hour(), 2);
+    auto time = tm();
+    time.tm_hour = hour();
+    format_localized(time, "%OH");
+  }
+
+  void on_12_hour(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(hour12(), 2);
+    auto time = tm();
+    time.tm_hour = hour();
+    format_localized(time, "%OI");
+  }
+
+  void on_minute(numeric_system ns) {
+    if (ns == numeric_system::standard)
+      return write(minute(), 2);
+    auto time = tm();
+    time.tm_min = minute();
+    format_localized(time, "%OM");
+  }
+
+  void on_second(numeric_system ns) {
+    if (ns == numeric_system::standard) {
+      write(second(), 2);
+      if (ms != std::chrono::milliseconds(0)) {
+        *out++ = '.';
+        write(to_int(ms.count()), 3);
+      }
+      return;
+    }
+    auto time = tm();
+    time.tm_sec = second();
+    format_localized(time, "%OS");
+  }
+
+  void on_12_hour_time() { format_localized(time(), "%r"); }
+
+  void on_24_hour_time() {
+    write(hour(), 2);
+    *out++ = ':';
+    write(minute(), 2);
+  }
+
+  void on_iso_time() {
+    on_24_hour_time();
+    *out++ = ':';
+    write(second(), 2);
+  }
+
+  void on_am_pm() { format_localized(time(), "%p"); }
+};
+}  // namespace internal
+
+template <typename Period> FMT_CONSTEXPR const char *get_units() {
+  return FMT_NULL;
+}
+template <> FMT_CONSTEXPR const char *get_units<std::atto>() { return "as"; }
+template <> FMT_CONSTEXPR const char *get_units<std::femto>() { return "fs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::pico>() { return "ps"; }
+template <> FMT_CONSTEXPR const char *get_units<std::nano>() { return "ns"; }
+template <> FMT_CONSTEXPR const char *get_units<std::micro>() { return "µs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::milli>() { return "ms"; }
+template <> FMT_CONSTEXPR const char *get_units<std::centi>() { return "cs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::deci>() { return "ds"; }
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<1>>() { return "s"; }
+template <> FMT_CONSTEXPR const char *get_units<std::deca>() { return "das"; }
+template <> FMT_CONSTEXPR const char *get_units<std::hecto>() { return "hs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::kilo>() { return "ks"; }
+template <> FMT_CONSTEXPR const char *get_units<std::mega>() { return "Ms"; }
+template <> FMT_CONSTEXPR const char *get_units<std::giga>() { return "Gs"; }
+template <> FMT_CONSTEXPR const char *get_units<std::tera>() { return "Ts"; }
+template <> FMT_CONSTEXPR const char *get_units<std::peta>() { return "Ps"; }
+template <> FMT_CONSTEXPR const char *get_units<std::exa>() { return "Es"; }
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<60>>() {
+  return "m";
+}
+template <> FMT_CONSTEXPR const char *get_units<std::ratio<3600>>() {
+  return "h";
+}
+
+template <typename Rep, typename Period, typename Char>
+struct formatter<std::chrono::duration<Rep, Period>, Char> {
+ private:
+  align_spec spec;
+  internal::arg_ref<Char> width_ref;
+  mutable basic_string_view<Char> format_str;
+  typedef std::chrono::duration<Rep, Period> duration;
+
+  struct spec_handler {
+    formatter &f;
+    basic_parse_context<Char> &context;
+
+    typedef internal::arg_ref<Char> arg_ref_type;
+
+    template <typename Id>
+    FMT_CONSTEXPR arg_ref_type make_arg_ref(Id arg_id) {
+      context.check_arg_id(arg_id);
+      return arg_ref_type(arg_id);
+    }
+
+    FMT_CONSTEXPR arg_ref_type make_arg_ref(internal::auto_id) {
+      return arg_ref_type(context.next_arg_id());
+    }
+
+    void on_error(const char *msg) { throw format_error(msg); }
+    void on_fill(Char fill) { f.spec.fill_ = fill; }
+    void on_align(alignment align) { f.spec.align_ = align; }
+    void on_width(unsigned width) { f.spec.width_ = width; }
+
+    template <typename Id>
+    void on_dynamic_width(Id arg_id) {
+      f.width_ref = make_arg_ref(arg_id);
+    }
+  };
+
+ public:
+  formatter() : spec() {}
+
+  FMT_CONSTEXPR auto parse(basic_parse_context<Char> &ctx)
+      -> decltype(ctx.begin()) {
+    auto begin = ctx.begin(), end = ctx.end();
+    if (begin == end) return begin;
+    spec_handler handler{*this, ctx};
+    begin = internal::parse_align(begin, end, handler);
+    if (begin == end) return begin;
+    begin = internal::parse_width(begin, end, handler);
+    end = parse_chrono_format(begin, end, internal::chrono_format_checker());
+    format_str = basic_string_view<Char>(&*begin, internal::to_unsigned(end - begin));
+    return end;
+  }
+
+  template <typename FormatContext>
+  auto format(const duration &d, FormatContext &ctx)
+      -> decltype(ctx.out()) {
+    auto begin = format_str.begin(), end = format_str.end();
+    memory_buffer buf;
+    typedef output_range<decltype(ctx.out()), Char> range;
+    basic_writer<range> w(range(ctx.out()));
+    if (begin == end || *begin == '}') {
+      if (const char *unit = get_units<Period>())
+        format_to(buf, "{}{}", d.count(), unit);
+      else if (Period::den == 1)
+        format_to(buf, "{}[{}]s", d.count(), Period::num);
+      else
+        format_to(buf, "{}[{}/{}]s", d.count(), Period::num, Period::den);
+      internal::handle_dynamic_spec<internal::width_checker>(
+        spec.width_, width_ref, ctx);
+    } else {
+      auto out = std::back_inserter(buf);
+      internal::chrono_formatter<FormatContext, decltype(out)> f(ctx, out);
+      f.s = std::chrono::duration_cast<std::chrono::seconds>(d);
+      f.ms = std::chrono::duration_cast<std::chrono::milliseconds>(d - f.s);
+      parse_chrono_format(begin, end, f);
+    }
+    w.write(buf.data(), buf.size(), spec);
+    return w.out();
+  }
+};
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_CHRONO_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/color.h

@@ -0,0 +1,577 @@
+// Formatting library for C++ - color support
+//
+// Copyright (c) 2018 - present, Victor Zverovich and fmt contributors
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_COLOR_H_
+#define FMT_COLOR_H_
+
+#include "format.h"
+
+FMT_BEGIN_NAMESPACE
+
+#ifdef FMT_DEPRECATED_COLORS
+
+// color and (v)print_colored are deprecated.
+enum color { black, red, green, yellow, blue, magenta, cyan, white };
+FMT_API void vprint_colored(color c, string_view format, format_args args);
+FMT_API void vprint_colored(color c, wstring_view format, wformat_args args);
+template <typename... Args>
+inline void print_colored(color c, string_view format_str,
+                          const Args & ... args) {
+  vprint_colored(c, format_str, make_format_args(args...));
+}
+template <typename... Args>
+inline void print_colored(color c, wstring_view format_str,
+                          const Args & ... args) {
+  vprint_colored(c, format_str, make_format_args<wformat_context>(args...));
+}
+
+inline void vprint_colored(color c, string_view format, format_args args) {
+  char escape[] = "\x1b[30m";
+  escape[3] = static_cast<char>('0' + c);
+  std::fputs(escape, stdout);
+  vprint(format, args);
+  std::fputs(internal::data::RESET_COLOR, stdout);
+}
+
+inline void vprint_colored(color c, wstring_view format, wformat_args args) {
+  wchar_t escape[] = L"\x1b[30m";
+  escape[3] = static_cast<wchar_t>('0' + c);
+  std::fputws(escape, stdout);
+  vprint(format, args);
+  std::fputws(internal::data::WRESET_COLOR, stdout);
+}
+
+#else
+
+enum class color : uint32_t {
+  alice_blue              = 0xF0F8FF, // rgb(240,248,255)
+  antique_white           = 0xFAEBD7, // rgb(250,235,215)
+  aqua                    = 0x00FFFF, // rgb(0,255,255)
+  aquamarine              = 0x7FFFD4, // rgb(127,255,212)
+  azure                   = 0xF0FFFF, // rgb(240,255,255)
+  beige                   = 0xF5F5DC, // rgb(245,245,220)
+  bisque                  = 0xFFE4C4, // rgb(255,228,196)
+  black                   = 0x000000, // rgb(0,0,0)
+  blanched_almond         = 0xFFEBCD, // rgb(255,235,205)
+  blue                    = 0x0000FF, // rgb(0,0,255)
+  blue_violet             = 0x8A2BE2, // rgb(138,43,226)
+  brown                   = 0xA52A2A, // rgb(165,42,42)
+  burly_wood              = 0xDEB887, // rgb(222,184,135)
+  cadet_blue              = 0x5F9EA0, // rgb(95,158,160)
+  chartreuse              = 0x7FFF00, // rgb(127,255,0)
+  chocolate               = 0xD2691E, // rgb(210,105,30)
+  coral                   = 0xFF7F50, // rgb(255,127,80)
+  cornflower_blue         = 0x6495ED, // rgb(100,149,237)
+  cornsilk                = 0xFFF8DC, // rgb(255,248,220)
+  crimson                 = 0xDC143C, // rgb(220,20,60)
+  cyan                    = 0x00FFFF, // rgb(0,255,255)
+  dark_blue               = 0x00008B, // rgb(0,0,139)
+  dark_cyan               = 0x008B8B, // rgb(0,139,139)
+  dark_golden_rod         = 0xB8860B, // rgb(184,134,11)
+  dark_gray               = 0xA9A9A9, // rgb(169,169,169)
+  dark_green              = 0x006400, // rgb(0,100,0)
+  dark_khaki              = 0xBDB76B, // rgb(189,183,107)
+  dark_magenta            = 0x8B008B, // rgb(139,0,139)
+  dark_olive_green        = 0x556B2F, // rgb(85,107,47)
+  dark_orange             = 0xFF8C00, // rgb(255,140,0)
+  dark_orchid             = 0x9932CC, // rgb(153,50,204)
+  dark_red                = 0x8B0000, // rgb(139,0,0)
+  dark_salmon             = 0xE9967A, // rgb(233,150,122)
+  dark_sea_green          = 0x8FBC8F, // rgb(143,188,143)
+  dark_slate_blue         = 0x483D8B, // rgb(72,61,139)
+  dark_slate_gray         = 0x2F4F4F, // rgb(47,79,79)
+  dark_turquoise          = 0x00CED1, // rgb(0,206,209)
+  dark_violet             = 0x9400D3, // rgb(148,0,211)
+  deep_pink               = 0xFF1493, // rgb(255,20,147)
+  deep_sky_blue           = 0x00BFFF, // rgb(0,191,255)
+  dim_gray                = 0x696969, // rgb(105,105,105)
+  dodger_blue             = 0x1E90FF, // rgb(30,144,255)
+  fire_brick              = 0xB22222, // rgb(178,34,34)
+  floral_white            = 0xFFFAF0, // rgb(255,250,240)
+  forest_green            = 0x228B22, // rgb(34,139,34)
+  fuchsia                 = 0xFF00FF, // rgb(255,0,255)
+  gainsboro               = 0xDCDCDC, // rgb(220,220,220)
+  ghost_white             = 0xF8F8FF, // rgb(248,248,255)
+  gold                    = 0xFFD700, // rgb(255,215,0)
+  golden_rod              = 0xDAA520, // rgb(218,165,32)
+  gray                    = 0x808080, // rgb(128,128,128)
+  green                   = 0x008000, // rgb(0,128,0)
+  green_yellow            = 0xADFF2F, // rgb(173,255,47)
+  honey_dew               = 0xF0FFF0, // rgb(240,255,240)
+  hot_pink                = 0xFF69B4, // rgb(255,105,180)
+  indian_red              = 0xCD5C5C, // rgb(205,92,92)
+  indigo                  = 0x4B0082, // rgb(75,0,130)
+  ivory                   = 0xFFFFF0, // rgb(255,255,240)
+  khaki                   = 0xF0E68C, // rgb(240,230,140)
+  lavender                = 0xE6E6FA, // rgb(230,230,250)
+  lavender_blush          = 0xFFF0F5, // rgb(255,240,245)
+  lawn_green              = 0x7CFC00, // rgb(124,252,0)
+  lemon_chiffon           = 0xFFFACD, // rgb(255,250,205)
+  light_blue              = 0xADD8E6, // rgb(173,216,230)
+  light_coral             = 0xF08080, // rgb(240,128,128)
+  light_cyan              = 0xE0FFFF, // rgb(224,255,255)
+  light_golden_rod_yellow = 0xFAFAD2, // rgb(250,250,210)
+  light_gray              = 0xD3D3D3, // rgb(211,211,211)
+  light_green             = 0x90EE90, // rgb(144,238,144)
+  light_pink              = 0xFFB6C1, // rgb(255,182,193)
+  light_salmon            = 0xFFA07A, // rgb(255,160,122)
+  light_sea_green         = 0x20B2AA, // rgb(32,178,170)
+  light_sky_blue          = 0x87CEFA, // rgb(135,206,250)
+  light_slate_gray        = 0x778899, // rgb(119,136,153)
+  light_steel_blue        = 0xB0C4DE, // rgb(176,196,222)
+  light_yellow            = 0xFFFFE0, // rgb(255,255,224)
+  lime                    = 0x00FF00, // rgb(0,255,0)
+  lime_green              = 0x32CD32, // rgb(50,205,50)
+  linen                   = 0xFAF0E6, // rgb(250,240,230)
+  magenta                 = 0xFF00FF, // rgb(255,0,255)
+  maroon                  = 0x800000, // rgb(128,0,0)
+  medium_aquamarine       = 0x66CDAA, // rgb(102,205,170)
+  medium_blue             = 0x0000CD, // rgb(0,0,205)
+  medium_orchid           = 0xBA55D3, // rgb(186,85,211)
+  medium_purple           = 0x9370DB, // rgb(147,112,219)
+  medium_sea_green        = 0x3CB371, // rgb(60,179,113)
+  medium_slate_blue       = 0x7B68EE, // rgb(123,104,238)
+  medium_spring_green     = 0x00FA9A, // rgb(0,250,154)
+  medium_turquoise        = 0x48D1CC, // rgb(72,209,204)
+  medium_violet_red       = 0xC71585, // rgb(199,21,133)
+  midnight_blue           = 0x191970, // rgb(25,25,112)
+  mint_cream              = 0xF5FFFA, // rgb(245,255,250)
+  misty_rose              = 0xFFE4E1, // rgb(255,228,225)
+  moccasin                = 0xFFE4B5, // rgb(255,228,181)
+  navajo_white            = 0xFFDEAD, // rgb(255,222,173)
+  navy                    = 0x000080, // rgb(0,0,128)
+  old_lace                = 0xFDF5E6, // rgb(253,245,230)
+  olive                   = 0x808000, // rgb(128,128,0)
+  olive_drab              = 0x6B8E23, // rgb(107,142,35)
+  orange                  = 0xFFA500, // rgb(255,165,0)
+  orange_red              = 0xFF4500, // rgb(255,69,0)
+  orchid                  = 0xDA70D6, // rgb(218,112,214)
+  pale_golden_rod         = 0xEEE8AA, // rgb(238,232,170)
+  pale_green              = 0x98FB98, // rgb(152,251,152)
+  pale_turquoise          = 0xAFEEEE, // rgb(175,238,238)
+  pale_violet_red         = 0xDB7093, // rgb(219,112,147)
+  papaya_whip             = 0xFFEFD5, // rgb(255,239,213)
+  peach_puff              = 0xFFDAB9, // rgb(255,218,185)
+  peru                    = 0xCD853F, // rgb(205,133,63)
+  pink                    = 0xFFC0CB, // rgb(255,192,203)
+  plum                    = 0xDDA0DD, // rgb(221,160,221)
+  powder_blue             = 0xB0E0E6, // rgb(176,224,230)
+  purple                  = 0x800080, // rgb(128,0,128)
+  rebecca_purple          = 0x663399, // rgb(102,51,153)
+  red                     = 0xFF0000, // rgb(255,0,0)
+  rosy_brown              = 0xBC8F8F, // rgb(188,143,143)
+  royal_blue              = 0x4169E1, // rgb(65,105,225)
+  saddle_brown            = 0x8B4513, // rgb(139,69,19)
+  salmon                  = 0xFA8072, // rgb(250,128,114)
+  sandy_brown             = 0xF4A460, // rgb(244,164,96)
+  sea_green               = 0x2E8B57, // rgb(46,139,87)
+  sea_shell               = 0xFFF5EE, // rgb(255,245,238)
+  sienna                  = 0xA0522D, // rgb(160,82,45)
+  silver                  = 0xC0C0C0, // rgb(192,192,192)
+  sky_blue                = 0x87CEEB, // rgb(135,206,235)
+  slate_blue              = 0x6A5ACD, // rgb(106,90,205)
+  slate_gray              = 0x708090, // rgb(112,128,144)
+  snow                    = 0xFFFAFA, // rgb(255,250,250)
+  spring_green            = 0x00FF7F, // rgb(0,255,127)
+  steel_blue              = 0x4682B4, // rgb(70,130,180)
+  tan                     = 0xD2B48C, // rgb(210,180,140)
+  teal                    = 0x008080, // rgb(0,128,128)
+  thistle                 = 0xD8BFD8, // rgb(216,191,216)
+  tomato                  = 0xFF6347, // rgb(255,99,71)
+  turquoise               = 0x40E0D0, // rgb(64,224,208)
+  violet                  = 0xEE82EE, // rgb(238,130,238)
+  wheat                   = 0xF5DEB3, // rgb(245,222,179)
+  white                   = 0xFFFFFF, // rgb(255,255,255)
+  white_smoke             = 0xF5F5F5, // rgb(245,245,245)
+  yellow                  = 0xFFFF00, // rgb(255,255,0)
+  yellow_green            = 0x9ACD32  // rgb(154,205,50)
+};  // enum class color
+
+enum class terminal_color : uint8_t {
+  black = 30,
+  red,
+  green,
+  yellow,
+  blue,
+  magenta,
+  cyan,
+  white,
+  bright_black = 90,
+  bright_red,
+  bright_green,
+  bright_yellow,
+  bright_blue,
+  bright_magenta,
+  bright_cyan,
+  bright_white
+};  // enum class terminal_color
+
+enum class emphasis : uint8_t {
+  bold = 1,
+  italic = 1 << 1,
+  underline = 1 << 2,
+  strikethrough = 1 << 3
+};  // enum class emphasis
+
+// rgb is a struct for red, green and blue colors.
+// We use rgb as name because some editors will show it as color direct in the
+// editor.
+struct rgb {
+  FMT_CONSTEXPR_DECL rgb() : r(0), g(0), b(0) {}
+  FMT_CONSTEXPR_DECL rgb(uint8_t r_, uint8_t g_, uint8_t b_)
+    : r(r_), g(g_), b(b_) {}
+  FMT_CONSTEXPR_DECL rgb(uint32_t hex)
+    : r((hex >> 16) & 0xFF), g((hex >> 8) & 0xFF), b((hex) & 0xFF) {}
+  FMT_CONSTEXPR_DECL rgb(color hex)
+    : r((uint32_t(hex) >> 16) & 0xFF), g((uint32_t(hex) >> 8) & 0xFF),
+      b(uint32_t(hex) & 0xFF) {}
+  uint8_t r;
+  uint8_t g;
+  uint8_t b;
+};
+
+namespace internal {
+
+// color is a struct of either a rgb color or a terminal color.
+struct color_type {
+  FMT_CONSTEXPR color_type() FMT_NOEXCEPT
+    : is_rgb(), value{} {}
+  FMT_CONSTEXPR color_type(color rgb_color) FMT_NOEXCEPT
+    : is_rgb(true), value{} {
+    value.rgb_color = static_cast<uint32_t>(rgb_color);
+  }
+  FMT_CONSTEXPR color_type(rgb rgb_color) FMT_NOEXCEPT
+    : is_rgb(true), value{} {
+    value.rgb_color = (static_cast<uint32_t>(rgb_color.r) << 16)
+       | (static_cast<uint32_t>(rgb_color.g) << 8) | rgb_color.b;
+  }
+  FMT_CONSTEXPR color_type(terminal_color term_color) FMT_NOEXCEPT
+    : is_rgb(), value{} {
+    value.term_color = static_cast<uint8_t>(term_color);
+  }
+  bool is_rgb;
+  union color_union {
+    uint8_t term_color;
+    uint32_t rgb_color;
+  } value;
+};
+} // namespace internal
+
+// Experimental text formatting support.
+class text_style {
+ public:
+  FMT_CONSTEXPR text_style(emphasis em = emphasis()) FMT_NOEXCEPT
+      : set_foreground_color(), set_background_color(), ems(em) {}
+
+  FMT_CONSTEXPR text_style &operator|=(const text_style &rhs) {
+    if (!set_foreground_color) {
+      set_foreground_color = rhs.set_foreground_color;
+      foreground_color = rhs.foreground_color;
+    } else if (rhs.set_foreground_color) {
+      if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb)
+        throw format_error("can't OR a terminal color");
+      foreground_color.value.rgb_color |= rhs.foreground_color.value.rgb_color;
+    }
+
+    if (!set_background_color) {
+      set_background_color = rhs.set_background_color;
+      background_color = rhs.background_color;
+    } else if (rhs.set_background_color) {
+      if (!background_color.is_rgb || !rhs.background_color.is_rgb)
+        throw format_error("can't OR a terminal color");
+      background_color.value.rgb_color |= rhs.background_color.value.rgb_color;
+    }
+
+    ems = static_cast<emphasis>(static_cast<uint8_t>(ems) |
+                                static_cast<uint8_t>(rhs.ems));
+    return *this;
+  }
+
+  friend FMT_CONSTEXPR
+  text_style operator|(text_style lhs, const text_style &rhs) {
+    return lhs |= rhs;
+  }
+
+  FMT_CONSTEXPR text_style &operator&=(const text_style &rhs) {
+    if (!set_foreground_color) {
+      set_foreground_color = rhs.set_foreground_color;
+      foreground_color = rhs.foreground_color;
+    } else if (rhs.set_foreground_color) {
+      if (!foreground_color.is_rgb || !rhs.foreground_color.is_rgb)
+        throw format_error("can't AND a terminal color");
+      foreground_color.value.rgb_color &= rhs.foreground_color.value.rgb_color;
+    }
+
+    if (!set_background_color) {
+      set_background_color = rhs.set_background_color;
+      background_color = rhs.background_color;
+    } else if (rhs.set_background_color) {
+      if (!background_color.is_rgb || !rhs.background_color.is_rgb)
+        throw format_error("can't AND a terminal color");
+      background_color.value.rgb_color &= rhs.background_color.value.rgb_color;
+    }
+
+    ems = static_cast<emphasis>(static_cast<uint8_t>(ems) &
+                                static_cast<uint8_t>(rhs.ems));
+    return *this;
+  }
+
+  friend FMT_CONSTEXPR
+  text_style operator&(text_style lhs, const text_style &rhs) {
+    return lhs &= rhs;
+  }
+
+  FMT_CONSTEXPR bool has_foreground() const FMT_NOEXCEPT {
+    return set_foreground_color;
+  }
+  FMT_CONSTEXPR bool has_background() const FMT_NOEXCEPT {
+    return set_background_color;
+  }
+  FMT_CONSTEXPR bool has_emphasis() const FMT_NOEXCEPT {
+    return static_cast<uint8_t>(ems) != 0;
+  }
+  FMT_CONSTEXPR internal::color_type get_foreground() const FMT_NOEXCEPT {
+    assert(has_foreground() && "no foreground specified for this style");
+    return foreground_color;
+  }
+  FMT_CONSTEXPR internal::color_type get_background() const FMT_NOEXCEPT {
+    assert(has_background() && "no background specified for this style");
+    return background_color;
+  }
+  FMT_CONSTEXPR emphasis get_emphasis() const FMT_NOEXCEPT {
+    assert(has_emphasis() && "no emphasis specified for this style");
+    return ems;
+  }
+
+private:
+ FMT_CONSTEXPR text_style(bool is_foreground,
+                          internal::color_type text_color) FMT_NOEXCEPT
+     : set_foreground_color(),
+       set_background_color(),
+       ems() {
+   if (is_foreground) {
+     foreground_color = text_color;
+     set_foreground_color = true;
+   } else {
+     background_color = text_color;
+     set_background_color = true;
+   }
+ }
+
+  friend FMT_CONSTEXPR_DECL text_style fg(internal::color_type foreground)
+      FMT_NOEXCEPT;
+  friend FMT_CONSTEXPR_DECL text_style bg(internal::color_type background)
+      FMT_NOEXCEPT;
+
+  internal::color_type foreground_color;
+  internal::color_type background_color;
+  bool set_foreground_color;
+  bool set_background_color;
+  emphasis ems;
+};
+
+FMT_CONSTEXPR text_style fg(internal::color_type foreground) FMT_NOEXCEPT {
+  return text_style(/*is_foreground=*/true, foreground);
+}
+
+FMT_CONSTEXPR text_style bg(internal::color_type background) FMT_NOEXCEPT {
+  return text_style(/*is_foreground=*/false, background);
+}
+
+FMT_CONSTEXPR text_style operator|(emphasis lhs, emphasis rhs) FMT_NOEXCEPT {
+  return text_style(lhs) | rhs;
+}
+
+namespace internal {
+
+template <typename Char>
+struct ansi_color_escape {
+  FMT_CONSTEXPR ansi_color_escape(internal::color_type text_color,
+                                  const char * esc) FMT_NOEXCEPT {
+    // If we have a terminal color, we need to output another escape code
+    // sequence.
+    if (!text_color.is_rgb) {
+      bool is_background = esc == internal::data::BACKGROUND_COLOR;
+      uint32_t value = text_color.value.term_color;
+      // Background ASCII codes are the same as the foreground ones but with
+      // 10 more.
+      if (is_background)
+        value += 10u;
+
+      std::size_t index = 0;
+      buffer[index++] = static_cast<Char>('\x1b');
+      buffer[index++] = static_cast<Char>('[');
+
+      if (value >= 100u) {
+        buffer[index++] = static_cast<Char>('1');
+        value %= 100u;
+      }
+      buffer[index++] = static_cast<Char>('0' + value / 10u);
+      buffer[index++] = static_cast<Char>('0' + value % 10u);
+
+      buffer[index++] = static_cast<Char>('m');
+      buffer[index++] = static_cast<Char>('\0');
+      return;
+    }
+
+    for (int i = 0; i < 7; i++) {
+      buffer[i] = static_cast<Char>(esc[i]);
+    }
+    rgb color(text_color.value.rgb_color);
+    to_esc(color.r, buffer +  7, ';');
+    to_esc(color.g, buffer + 11, ';');
+    to_esc(color.b, buffer + 15, 'm');
+    buffer[19] = static_cast<Char>(0);
+  }
+  FMT_CONSTEXPR ansi_color_escape(emphasis em) FMT_NOEXCEPT {
+    uint8_t em_codes[4] = {};
+    uint8_t em_bits = static_cast<uint8_t>(em);
+    if (em_bits & static_cast<uint8_t>(emphasis::bold))
+      em_codes[0] = 1;
+    if (em_bits & static_cast<uint8_t>(emphasis::italic))
+      em_codes[1] = 3;
+    if (em_bits & static_cast<uint8_t>(emphasis::underline))
+      em_codes[2] = 4;
+    if (em_bits & static_cast<uint8_t>(emphasis::strikethrough))
+      em_codes[3] = 9;
+
+    std::size_t index = 0;
+    for (int i = 0; i < 4; ++i) {
+      if (!em_codes[i])
+        continue;
+      buffer[index++] = static_cast<Char>('\x1b');
+      buffer[index++] = static_cast<Char>('[');
+      buffer[index++] = static_cast<Char>('0' + em_codes[i]);
+      buffer[index++] = static_cast<Char>('m');
+    }
+    buffer[index++] = static_cast<Char>(0);
+  }
+  FMT_CONSTEXPR operator const Char *() const FMT_NOEXCEPT { return buffer; }
+
+private:
+  Char buffer[7u + 3u * 4u + 1u];
+
+  static FMT_CONSTEXPR void to_esc(uint8_t c, Char *out,
+                                   char delimiter) FMT_NOEXCEPT {
+    out[0] = static_cast<Char>('0' + c / 100);
+    out[1] = static_cast<Char>('0' + c / 10 % 10);
+    out[2] = static_cast<Char>('0' + c % 10);
+    out[3] = static_cast<Char>(delimiter);
+  }
+};
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_foreground_color(internal::color_type foreground) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(foreground, internal::data::FOREGROUND_COLOR);
+}
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_background_color(internal::color_type background) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(background, internal::data::BACKGROUND_COLOR);
+}
+
+template <typename Char>
+FMT_CONSTEXPR ansi_color_escape<Char>
+make_emphasis(emphasis em) FMT_NOEXCEPT {
+  return ansi_color_escape<Char>(em);
+}
+
+template <typename Char>
+inline void fputs(const Char *chars, FILE *stream) FMT_NOEXCEPT {
+  std::fputs(chars, stream);
+}
+
+template <>
+inline void fputs<wchar_t>(const wchar_t *chars, FILE *stream) FMT_NOEXCEPT {
+  std::fputws(chars, stream);
+}
+
+template <typename Char>
+inline void reset_color(FILE *stream) FMT_NOEXCEPT {
+  fputs(internal::data::RESET_COLOR, stream);
+}
+
+template <>
+inline void reset_color<wchar_t>(FILE *stream) FMT_NOEXCEPT {
+  fputs(internal::data::WRESET_COLOR, stream);
+}
+
+// The following specialiazation disables using std::FILE as a character type,
+// which is needed because or else
+//   fmt::print(stderr, fmt::emphasis::bold, "");
+// would take stderr (a std::FILE *) as the format string.
+template <>
+struct is_string<std::FILE *> : std::false_type {};
+template <>
+struct is_string<const std::FILE *> : std::false_type {};
+} // namespace internal
+
+template <
+  typename S, typename Char = typename internal::char_t<S>::type>
+void vprint(std::FILE *f, const text_style &ts, const S &format,
+            basic_format_args<typename buffer_context<Char>::type> args) {
+  bool has_style = false;
+  if (ts.has_emphasis()) {
+    has_style = true;
+    internal::fputs<Char>(
+          internal::make_emphasis<Char>(ts.get_emphasis()), f);
+  }
+  if (ts.has_foreground()) {
+    has_style = true;
+    internal::fputs<Char>(
+          internal::make_foreground_color<Char>(ts.get_foreground()), f);
+  }
+  if (ts.has_background()) {
+    has_style = true;
+    internal::fputs<Char>(
+        internal::make_background_color<Char>(ts.get_background()), f);
+  }
+  vprint(f, format, args);
+  if (has_style) {
+    internal::reset_color<Char>(f);
+  }
+}
+
+/**
+  Formats a string and prints it to the specified file stream using ANSI
+  escape sequences to specify text formatting.
+  Example:
+    fmt::print(fmt::emphasis::bold | fg(fmt::color::red),
+               "Elapsed time: {0:.2f} seconds", 1.23);
+ */
+template <typename String, typename... Args>
+typename std::enable_if<internal::is_string<String>::value>::type print(
+    std::FILE *f, const text_style &ts, const String &format_str,
+    const Args &... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef typename internal::char_t<String>::type char_t;
+  typedef typename buffer_context<char_t>::type context_t;
+  format_arg_store<context_t, Args...> as{args...};
+  vprint(f, ts, format_str, basic_format_args<context_t>(as));
+}
+
+/**
+  Formats a string and prints it to stdout using ANSI escape sequences to
+  specify text formatting.
+  Example:
+    fmt::print(fmt::emphasis::bold | fg(fmt::color::red),
+               "Elapsed time: {0:.2f} seconds", 1.23);
+ */
+template <typename String, typename... Args>
+typename std::enable_if<internal::is_string<String>::value>::type print(
+    const text_style &ts, const String &format_str,
+    const Args &... args) {
+  return print(stdout, ts, format_str, args...);
+}
+
+#endif
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_COLOR_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/format-inl.h

@@ -0,0 +1,972 @@
+// Formatting library for C++
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_FORMAT_INL_H_
+#define FMT_FORMAT_INL_H_
+
+#include "format.h"
+
+#include <string.h>
+
+#include <cctype>
+#include <cerrno>
+#include <climits>
+#include <cmath>
+#include <cstdarg>
+#include <cstddef>  // for std::ptrdiff_t
+#include <cstring>  // for std::memmove
+#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR)
+# include <locale>
+#endif
+
+#if FMT_USE_WINDOWS_H
+# if !defined(FMT_HEADER_ONLY) && !defined(WIN32_LEAN_AND_MEAN)
+#  define WIN32_LEAN_AND_MEAN
+# endif
+# if defined(NOMINMAX) || defined(FMT_WIN_MINMAX)
+#  include <windows.h>
+# else
+#  define NOMINMAX
+#  include <windows.h>
+#  undef NOMINMAX
+# endif
+#endif
+
+#if FMT_EXCEPTIONS
+# define FMT_TRY try
+# define FMT_CATCH(x) catch (x)
+#else
+# define FMT_TRY if (true)
+# define FMT_CATCH(x) if (false)
+#endif
+
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable: 4127)  // conditional expression is constant
+# pragma warning(disable: 4702)  // unreachable code
+// Disable deprecation warning for strerror. The latter is not called but
+// MSVC fails to detect it.
+# pragma warning(disable: 4996)
+#endif
+
+// Dummy implementations of strerror_r and strerror_s called if corresponding
+// system functions are not available.
+inline fmt::internal::null<> strerror_r(int, char *, ...) {
+  return fmt::internal::null<>();
+}
+inline fmt::internal::null<> strerror_s(char *, std::size_t, ...) {
+  return fmt::internal::null<>();
+}
+
+FMT_BEGIN_NAMESPACE
+
+namespace {
+
+#ifndef _MSC_VER
+# define FMT_SNPRINTF snprintf
+#else  // _MSC_VER
+inline int fmt_snprintf(char *buffer, size_t size, const char *format, ...) {
+  va_list args;
+  va_start(args, format);
+  int result = vsnprintf_s(buffer, size, _TRUNCATE, format, args);
+  va_end(args);
+  return result;
+}
+# define FMT_SNPRINTF fmt_snprintf
+#endif  // _MSC_VER
+
+#if defined(_WIN32) && defined(__MINGW32__) && !defined(__NO_ISOCEXT)
+# define FMT_SWPRINTF snwprintf
+#else
+# define FMT_SWPRINTF swprintf
+#endif // defined(_WIN32) && defined(__MINGW32__) && !defined(__NO_ISOCEXT)
+
+typedef void (*FormatFunc)(internal::buffer &, int, string_view);
+
+// Portable thread-safe version of strerror.
+// Sets buffer to point to a string describing the error code.
+// This can be either a pointer to a string stored in buffer,
+// or a pointer to some static immutable string.
+// Returns one of the following values:
+//   0      - success
+//   ERANGE - buffer is not large enough to store the error message
+//   other  - failure
+// Buffer should be at least of size 1.
+int safe_strerror(
+    int error_code, char *&buffer, std::size_t buffer_size) FMT_NOEXCEPT {
+  FMT_ASSERT(buffer != FMT_NULL && buffer_size != 0, "invalid buffer");
+
+  class dispatcher {
+   private:
+    int error_code_;
+    char *&buffer_;
+    std::size_t buffer_size_;
+
+    // A noop assignment operator to avoid bogus warnings.
+    void operator=(const dispatcher &) {}
+
+    // Handle the result of XSI-compliant version of strerror_r.
+    int handle(int result) {
+      // glibc versions before 2.13 return result in errno.
+      return result == -1 ? errno : result;
+    }
+
+    // Handle the result of GNU-specific version of strerror_r.
+    int handle(char *message) {
+      // If the buffer is full then the message is probably truncated.
+      if (message == buffer_ && strlen(buffer_) == buffer_size_ - 1)
+        return ERANGE;
+      buffer_ = message;
+      return 0;
+    }
+
+    // Handle the case when strerror_r is not available.
+    int handle(internal::null<>) {
+      return fallback(strerror_s(buffer_, buffer_size_, error_code_));
+    }
+
+    // Fallback to strerror_s when strerror_r is not available.
+    int fallback(int result) {
+      // If the buffer is full then the message is probably truncated.
+      return result == 0 && strlen(buffer_) == buffer_size_ - 1 ?
+            ERANGE : result;
+    }
+
+#if !FMT_MSC_VER
+    // Fallback to strerror if strerror_r and strerror_s are not available.
+    int fallback(internal::null<>) {
+      errno = 0;
+      buffer_ = strerror(error_code_);
+      return errno;
+    }
+#endif
+
+   public:
+    dispatcher(int err_code, char *&buf, std::size_t buf_size)
+      : error_code_(err_code), buffer_(buf), buffer_size_(buf_size) {}
+
+    int run() {
+      return handle(strerror_r(error_code_, buffer_, buffer_size_));
+    }
+  };
+  return dispatcher(error_code, buffer, buffer_size).run();
+}
+
+void format_error_code(internal::buffer &out, int error_code,
+                       string_view message) FMT_NOEXCEPT {
+  // Report error code making sure that the output fits into
+  // inline_buffer_size to avoid dynamic memory allocation and potential
+  // bad_alloc.
+  out.resize(0);
+  static const char SEP[] = ": ";
+  static const char ERROR_STR[] = "error ";
+  // Subtract 2 to account for terminating null characters in SEP and ERROR_STR.
+  std::size_t error_code_size = sizeof(SEP) + sizeof(ERROR_STR) - 2;
+  typedef internal::int_traits<int>::main_type main_type;
+  main_type abs_value = static_cast<main_type>(error_code);
+  if (internal::is_negative(error_code)) {
+    abs_value = 0 - abs_value;
+    ++error_code_size;
+  }
+  error_code_size += internal::to_unsigned(internal::count_digits(abs_value));
+  writer w(out);
+  if (message.size() <= inline_buffer_size - error_code_size) {
+    w.write(message);
+    w.write(SEP);
+  }
+  w.write(ERROR_STR);
+  w.write(error_code);
+  assert(out.size() <= inline_buffer_size);
+}
+
+void report_error(FormatFunc func, int error_code,
+                  string_view message) FMT_NOEXCEPT {
+  memory_buffer full_message;
+  func(full_message, error_code, message);
+  // Use Writer::data instead of Writer::c_str to avoid potential memory
+  // allocation.
+  std::fwrite(full_message.data(), full_message.size(), 1, stderr);
+  std::fputc('\n', stderr);
+}
+}  // namespace
+
+FMT_FUNC size_t internal::count_code_points(basic_string_view<char8_t> s) {
+  const char8_t *data = s.data();
+  size_t num_code_points = 0;
+  for (size_t i = 0, size = s.size(); i != size; ++i) {
+    if ((data[i] & 0xc0) != 0x80)
+      ++num_code_points;
+  }
+  return num_code_points;
+}
+
+#if !defined(FMT_STATIC_THOUSANDS_SEPARATOR)
+namespace internal {
+
+template <typename Locale>
+locale_ref::locale_ref(const Locale &loc) : locale_(&loc) {
+  static_assert(std::is_same<Locale, std::locale>::value, "");
+}
+
+template <typename Locale>
+Locale locale_ref::get() const {
+  static_assert(std::is_same<Locale, std::locale>::value, "");
+  return locale_ ? *static_cast<const std::locale*>(locale_) : std::locale();
+}
+
+template <typename Char>
+FMT_FUNC Char thousands_sep_impl(locale_ref loc) {
+  return std::use_facet<std::numpunct<Char> >(
+    loc.get<std::locale>()).thousands_sep();
+}
+}
+#else
+template <typename Char>
+FMT_FUNC Char internal::thousands_sep_impl(locale_ref) {
+  return FMT_STATIC_THOUSANDS_SEPARATOR;
+}
+#endif
+
+FMT_FUNC void system_error::init(
+    int err_code, string_view format_str, format_args args) {
+  error_code_ = err_code;
+  memory_buffer buffer;
+  format_system_error(buffer, err_code, vformat(format_str, args));
+  std::runtime_error &base = *this;
+  base = std::runtime_error(to_string(buffer));
+}
+
+namespace internal {
+template <typename T>
+int char_traits<char>::format_float(
+    char *buf, std::size_t size, const char *format, int precision, T value) {
+  return precision < 0 ?
+      FMT_SNPRINTF(buf, size, format, value) :
+      FMT_SNPRINTF(buf, size, format, precision, value);
+}
+
+template <typename T>
+int char_traits<wchar_t>::format_float(
+    wchar_t *buf, std::size_t size, const wchar_t *format, int precision,
+    T value) {
+  return precision < 0 ?
+      FMT_SWPRINTF(buf, size, format, value) :
+      FMT_SWPRINTF(buf, size, format, precision, value);
+}
+
+template <typename T>
+const char basic_data<T>::DIGITS[] =
+    "0001020304050607080910111213141516171819"
+    "2021222324252627282930313233343536373839"
+    "4041424344454647484950515253545556575859"
+    "6061626364656667686970717273747576777879"
+    "8081828384858687888990919293949596979899";
+
+#define FMT_POWERS_OF_10(factor) \
+  factor * 10, \
+  factor * 100, \
+  factor * 1000, \
+  factor * 10000, \
+  factor * 100000, \
+  factor * 1000000, \
+  factor * 10000000, \
+  factor * 100000000, \
+  factor * 1000000000
+
+template <typename T>
+const uint32_t basic_data<T>::POWERS_OF_10_32[] = {
+  1, FMT_POWERS_OF_10(1)
+};
+
+template <typename T>
+const uint32_t basic_data<T>::ZERO_OR_POWERS_OF_10_32[] = {
+  0, FMT_POWERS_OF_10(1)
+};
+
+template <typename T>
+const uint64_t basic_data<T>::ZERO_OR_POWERS_OF_10_64[] = {
+  0,
+  FMT_POWERS_OF_10(1),
+  FMT_POWERS_OF_10(1000000000ull),
+  10000000000000000000ull
+};
+
+// Normalized 64-bit significands of pow(10, k), for k = -348, -340, ..., 340.
+// These are generated by support/compute-powers.py.
+template <typename T>
+const uint64_t basic_data<T>::POW10_SIGNIFICANDS[] = {
+  0xfa8fd5a0081c0288, 0xbaaee17fa23ebf76, 0x8b16fb203055ac76,
+  0xcf42894a5dce35ea, 0x9a6bb0aa55653b2d, 0xe61acf033d1a45df,
+  0xab70fe17c79ac6ca, 0xff77b1fcbebcdc4f, 0xbe5691ef416bd60c,
+  0x8dd01fad907ffc3c, 0xd3515c2831559a83, 0x9d71ac8fada6c9b5,
+  0xea9c227723ee8bcb, 0xaecc49914078536d, 0x823c12795db6ce57,
+  0xc21094364dfb5637, 0x9096ea6f3848984f, 0xd77485cb25823ac7,
+  0xa086cfcd97bf97f4, 0xef340a98172aace5, 0xb23867fb2a35b28e,
+  0x84c8d4dfd2c63f3b, 0xc5dd44271ad3cdba, 0x936b9fcebb25c996,
+  0xdbac6c247d62a584, 0xa3ab66580d5fdaf6, 0xf3e2f893dec3f126,
+  0xb5b5ada8aaff80b8, 0x87625f056c7c4a8b, 0xc9bcff6034c13053,
+  0x964e858c91ba2655, 0xdff9772470297ebd, 0xa6dfbd9fb8e5b88f,
+  0xf8a95fcf88747d94, 0xb94470938fa89bcf, 0x8a08f0f8bf0f156b,
+  0xcdb02555653131b6, 0x993fe2c6d07b7fac, 0xe45c10c42a2b3b06,
+  0xaa242499697392d3, 0xfd87b5f28300ca0e, 0xbce5086492111aeb,
+  0x8cbccc096f5088cc, 0xd1b71758e219652c, 0x9c40000000000000,
+  0xe8d4a51000000000, 0xad78ebc5ac620000, 0x813f3978f8940984,
+  0xc097ce7bc90715b3, 0x8f7e32ce7bea5c70, 0xd5d238a4abe98068,
+  0x9f4f2726179a2245, 0xed63a231d4c4fb27, 0xb0de65388cc8ada8,
+  0x83c7088e1aab65db, 0xc45d1df942711d9a, 0x924d692ca61be758,
+  0xda01ee641a708dea, 0xa26da3999aef774a, 0xf209787bb47d6b85,
+  0xb454e4a179dd1877, 0x865b86925b9bc5c2, 0xc83553c5c8965d3d,
+  0x952ab45cfa97a0b3, 0xde469fbd99a05fe3, 0xa59bc234db398c25,
+  0xf6c69a72a3989f5c, 0xb7dcbf5354e9bece, 0x88fcf317f22241e2,
+  0xcc20ce9bd35c78a5, 0x98165af37b2153df, 0xe2a0b5dc971f303a,
+  0xa8d9d1535ce3b396, 0xfb9b7cd9a4a7443c, 0xbb764c4ca7a44410,
+  0x8bab8eefb6409c1a, 0xd01fef10a657842c, 0x9b10a4e5e9913129,
+  0xe7109bfba19c0c9d, 0xac2820d9623bf429, 0x80444b5e7aa7cf85,
+  0xbf21e44003acdd2d, 0x8e679c2f5e44ff8f, 0xd433179d9c8cb841,
+  0x9e19db92b4e31ba9, 0xeb96bf6ebadf77d9, 0xaf87023b9bf0ee6b,
+};
+
+// Binary exponents of pow(10, k), for k = -348, -340, ..., 340, corresponding
+// to significands above.
+template <typename T>
+const int16_t basic_data<T>::POW10_EXPONENTS[] = {
+  -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
+};
+
+template <typename T> const char basic_data<T>::FOREGROUND_COLOR[] = "\x1b[38;2;";
+template <typename T> const char basic_data<T>::BACKGROUND_COLOR[] = "\x1b[48;2;";
+template <typename T> const char basic_data<T>::RESET_COLOR[] = "\x1b[0m";
+template <typename T> const wchar_t basic_data<T>::WRESET_COLOR[] = L"\x1b[0m";
+
+// A handmade floating-point number f * pow(2, e).
+class fp {
+ private:
+  typedef uint64_t significand_type;
+
+  // All sizes are in bits.
+  static FMT_CONSTEXPR_DECL const int char_size =
+    std::numeric_limits<unsigned char>::digits;
+  // Subtract 1 to account for an implicit most significant bit in the
+  // normalized form.
+  static FMT_CONSTEXPR_DECL const int double_significand_size =
+    std::numeric_limits<double>::digits - 1;
+  static FMT_CONSTEXPR_DECL const uint64_t implicit_bit =
+    1ull << double_significand_size;
+
+ public:
+  significand_type f;
+  int e;
+
+  static FMT_CONSTEXPR_DECL const int significand_size =
+    sizeof(significand_type) * char_size;
+
+  fp(): f(0), e(0) {}
+  fp(uint64_t f_val, int e_val): f(f_val), e(e_val) {}
+
+  // Constructs fp from an IEEE754 double. It is a template to prevent compile
+  // errors on platforms where double is not IEEE754.
+  template <typename Double>
+  explicit fp(Double d) {
+    // Assume double is in the format [sign][exponent][significand].
+    typedef std::numeric_limits<Double> limits;
+    const int double_size = static_cast<int>(sizeof(Double) * char_size);
+    const int exponent_size =
+      double_size - double_significand_size - 1;  // -1 for sign
+    const uint64_t significand_mask = implicit_bit - 1;
+    const uint64_t exponent_mask = (~0ull >> 1) & ~significand_mask;
+    const int exponent_bias = (1 << exponent_size) - limits::max_exponent - 1;
+    auto u = bit_cast<uint64_t>(d);
+    auto biased_e = (u & exponent_mask) >> double_significand_size;
+    f = u & significand_mask;
+    if (biased_e != 0)
+      f += implicit_bit;
+    else
+      biased_e = 1;  // Subnormals use biased exponent 1 (min exponent).
+    e = static_cast<int>(biased_e - exponent_bias - double_significand_size);
+  }
+
+  // Normalizes the value converted from double and multiplied by (1 << SHIFT).
+  template <int SHIFT = 0>
+  void normalize() {
+    // Handle subnormals.
+    auto shifted_implicit_bit = implicit_bit << SHIFT;
+    while ((f & shifted_implicit_bit) == 0) {
+      f <<= 1;
+      --e;
+    }
+    // Subtract 1 to account for hidden bit.
+    auto offset = significand_size - double_significand_size - SHIFT - 1;
+    f <<= offset;
+    e -= offset;
+  }
+
+  // Compute lower and upper boundaries (m^- and m^+ in the Grisu paper), where
+  // a boundary is a value half way between the number and its predecessor
+  // (lower) or successor (upper). The upper boundary is normalized and lower
+  // has the same exponent but may be not normalized.
+  void compute_boundaries(fp &lower, fp &upper) const {
+    lower = f == implicit_bit ?
+          fp((f << 2) - 1, e - 2) : fp((f << 1) - 1, e - 1);
+    upper = fp((f << 1) + 1, e - 1);
+    upper.normalize<1>();  // 1 is to account for the exponent shift above.
+    lower.f <<= lower.e - upper.e;
+    lower.e = upper.e;
+  }
+};
+
+// Returns an fp number representing x - y. Result may not be normalized.
+inline fp operator-(fp x, fp y) {
+  FMT_ASSERT(x.f >= y.f && x.e == y.e, "invalid operands");
+  return fp(x.f - y.f, x.e);
+}
+
+// Computes an fp number r with r.f = x.f * y.f / pow(2, 64) rounded to nearest
+// with half-up tie breaking, r.e = x.e + y.e + 64. Result may not be normalized.
+FMT_API fp operator*(fp x, fp y);
+
+// Returns cached power (of 10) c_k = c_k.f * pow(2, c_k.e) such that its
+// (binary) exponent satisfies min_exponent <= c_k.e <= min_exponent + 3.
+FMT_API fp get_cached_power(int min_exponent, int &pow10_exponent);
+
+FMT_FUNC fp operator*(fp x, fp y) {
+  // Multiply 32-bit parts of significands.
+  uint64_t mask = (1ULL << 32) - 1;
+  uint64_t a = x.f >> 32, b = x.f & mask;
+  uint64_t c = y.f >> 32, d = y.f & mask;
+  uint64_t ac = a * c, bc = b * c, ad = a * d, bd = b * d;
+  // Compute mid 64-bit of result and round.
+  uint64_t mid = (bd >> 32) + (ad & mask) + (bc & mask) + (1U << 31);
+  return fp(ac + (ad >> 32) + (bc >> 32) + (mid >> 32), x.e + y.e + 64);
+}
+
+FMT_FUNC fp get_cached_power(int min_exponent, int &pow10_exponent) {
+  const double one_over_log2_10 = 0.30102999566398114;  // 1 / log2(10)
+  int index = static_cast<int>(std::ceil(
+        (min_exponent + fp::significand_size - 1) * one_over_log2_10));
+  // Decimal exponent of the first (smallest) cached power of 10.
+  const int first_dec_exp = -348;
+  // Difference between 2 consecutive decimal exponents in cached powers of 10.
+  const int dec_exp_step = 8;
+  index = (index - first_dec_exp - 1) / dec_exp_step + 1;
+  pow10_exponent = first_dec_exp + index * dec_exp_step;
+  return fp(data::POW10_SIGNIFICANDS[index], data::POW10_EXPONENTS[index]);
+}
+
+FMT_FUNC bool grisu2_round(
+    char *buf, int &size, int max_digits, uint64_t delta,
+    uint64_t remainder, uint64_t exp, uint64_t diff, int &exp10) {
+  while (remainder < diff && delta - remainder >= exp &&
+        (remainder + exp < diff || diff - remainder > remainder + exp - diff)) {
+    --buf[size - 1];
+    remainder += exp;
+  }
+  if (size > max_digits) {
+    --size;
+    ++exp10;
+    if (buf[size] >= '5')
+      return false;
+  }
+  return true;
+}
+
+// Generates output using Grisu2 digit-gen algorithm.
+FMT_FUNC bool grisu2_gen_digits(
+    char *buf, int &size, uint32_t hi, uint64_t lo, int &exp,
+    uint64_t delta, const fp &one, const fp &diff, int max_digits) {
+  // Generate digits for the most significant part (hi).
+  while (exp > 0) {
+    uint32_t digit = 0;
+    // This optimization by miloyip reduces the number of integer divisions by
+    // one per iteration.
+    switch (exp) {
+    case 10: digit = hi / 1000000000; hi %= 1000000000; break;
+    case  9: digit = hi /  100000000; hi %=  100000000; break;
+    case  8: digit = hi /   10000000; hi %=   10000000; break;
+    case  7: digit = hi /    1000000; hi %=    1000000; break;
+    case  6: digit = hi /     100000; hi %=     100000; break;
+    case  5: digit = hi /      10000; hi %=      10000; break;
+    case  4: digit = hi /       1000; hi %=       1000; break;
+    case  3: digit = hi /        100; hi %=        100; break;
+    case  2: digit = hi /         10; hi %=         10; break;
+    case  1: digit = hi;              hi =           0; break;
+    default:
+      FMT_ASSERT(false, "invalid number of digits");
+    }
+    if (digit != 0 || size != 0)
+      buf[size++] = static_cast<char>('0' + digit);
+    --exp;
+    uint64_t remainder = (static_cast<uint64_t>(hi) << -one.e) + lo;
+    if (remainder <= delta || size > max_digits) {
+      return grisu2_round(
+            buf, size, max_digits, delta, remainder,
+            static_cast<uint64_t>(data::POWERS_OF_10_32[exp]) << -one.e,
+            diff.f, exp);
+    }
+  }
+  // Generate digits for the least significant part (lo).
+  for (;;) {
+    lo *= 10;
+    delta *= 10;
+    char digit = static_cast<char>(lo >> -one.e);
+    if (digit != 0 || size != 0)
+      buf[size++] = static_cast<char>('0' + digit);
+    lo &= one.f - 1;
+    --exp;
+    if (lo < delta || size > max_digits) {
+      return grisu2_round(buf, size, max_digits, delta, lo, one.f,
+                          diff.f * data::POWERS_OF_10_32[-exp], exp);
+    }
+  }
+}
+
+#if FMT_CLANG_VERSION
+# define FMT_FALLTHROUGH [[clang::fallthrough]];
+#elif FMT_GCC_VERSION >= 700
+# define FMT_FALLTHROUGH [[gnu::fallthrough]];
+#else
+# define FMT_FALLTHROUGH
+#endif
+
+struct gen_digits_params {
+  int num_digits;
+  bool fixed;
+  bool upper;
+  bool trailing_zeros;
+};
+
+struct prettify_handler {
+  char *data;
+  ptrdiff_t size;
+  buffer &buf;
+
+  explicit prettify_handler(buffer &b, ptrdiff_t n)
+    : data(b.data()), size(n), buf(b) {}
+  ~prettify_handler() {
+    assert(buf.size() >= to_unsigned(size));
+    buf.resize(to_unsigned(size));
+  }
+
+  template <typename F>
+  void insert(ptrdiff_t pos, ptrdiff_t n, F f) {
+    std::memmove(data + pos + n, data + pos, to_unsigned(size - pos));
+    f(data + pos);
+    size += n;
+  }
+
+  void insert(ptrdiff_t pos, char c) {
+    std::memmove(data + pos + 1, data + pos, to_unsigned(size - pos));
+    data[pos] = c;
+    ++size;
+  }
+
+  void append(ptrdiff_t n, char c) {
+    std::uninitialized_fill_n(data + size, n, c);
+    size += n;
+  }
+
+  void append(char c) { data[size++] = c; }
+
+  void remove_trailing(char c) {
+    while (data[size - 1] == c) --size;
+  }
+};
+
+// Writes the exponent exp in the form "[+-]d{2,3}" to buffer.
+template <typename Handler>
+FMT_FUNC void write_exponent(int exp, Handler &&h) {
+  FMT_ASSERT(-1000 < exp && exp < 1000, "exponent out of range");
+  if (exp < 0) {
+    h.append('-');
+    exp = -exp;
+  } else {
+    h.append('+');
+  }
+  if (exp >= 100) {
+    h.append(static_cast<char>('0' + exp / 100));
+    exp %= 100;
+    const char *d = data::DIGITS + exp * 2;
+    h.append(d[0]);
+    h.append(d[1]);
+  } else {
+    const char *d = data::DIGITS + exp * 2;
+    h.append(d[0]);
+    h.append(d[1]);
+  }
+}
+
+struct fill {
+  size_t n;
+  void operator()(char *buf) const {
+    buf[0] = '0';
+    buf[1] = '.';
+    std::uninitialized_fill_n(buf + 2, n, '0');
+  }
+};
+
+// The number is given as v = f * pow(10, exp), where f has size digits.
+template <typename Handler>
+FMT_FUNC void grisu2_prettify(const gen_digits_params &params,
+                              int size, int exp, Handler &&handler) {
+  if (!params.fixed) {
+    // Insert a decimal point after the first digit and add an exponent.
+    handler.insert(1, '.');
+    exp += size - 1;
+    if (size < params.num_digits)
+      handler.append(params.num_digits - size, '0');
+    handler.append(params.upper ? 'E' : 'e');
+    write_exponent(exp, handler);
+    return;
+  }
+  // pow(10, full_exp - 1) <= v <= pow(10, full_exp).
+  int full_exp = size + exp;
+  const int exp_threshold = 21;
+  if (size <= full_exp && full_exp <= exp_threshold) {
+    // 1234e7 -> 12340000000[.0+]
+    handler.append(full_exp - size, '0');
+    int num_zeros = params.num_digits - full_exp;
+    if (num_zeros > 0 && params.trailing_zeros) {
+      handler.append('.');
+      handler.append(num_zeros, '0');
+    }
+  } else if (full_exp > 0) {
+    // 1234e-2 -> 12.34[0+]
+    handler.insert(full_exp, '.');
+    if (!params.trailing_zeros) {
+      // Remove trailing zeros.
+      handler.remove_trailing('0');
+    } else if (params.num_digits > size) {
+      // Add trailing zeros.
+      ptrdiff_t num_zeros = params.num_digits - size;
+      handler.append(num_zeros, '0');
+    }
+  } else {
+    // 1234e-6 -> 0.001234
+    handler.insert(0, 2 - full_exp, fill{to_unsigned(-full_exp)});
+  }
+}
+
+struct char_counter {
+  ptrdiff_t size;
+
+  template <typename F>
+  void insert(ptrdiff_t, ptrdiff_t n, F) { size += n; }
+  void insert(ptrdiff_t, char) { ++size; }
+  void append(ptrdiff_t n, char) { size += n; }
+  void append(char) { ++size; }
+  void remove_trailing(char) {}
+};
+
+// Converts format specifiers into parameters for digit generation and computes
+// output buffer size for a number in the range [pow(10, exp - 1), pow(10, exp)
+// or 0 if exp == 1.
+FMT_FUNC gen_digits_params process_specs(const core_format_specs &specs,
+                                         int exp, buffer &buf) {
+  auto params = gen_digits_params();
+  int num_digits = specs.precision >= 0 ? specs.precision : 6;
+  switch (specs.type) {
+  case 'G':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case '\0': case 'g':
+    params.trailing_zeros = (specs.flags & HASH_FLAG) != 0;
+    if (-4 <= exp && exp < num_digits + 1) {
+      params.fixed = true;
+      if (!specs.type && params.trailing_zeros && exp >= 0)
+        num_digits = exp + 1;
+    }
+    break;
+  case 'F':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case 'f': {
+    params.fixed = true;
+    params.trailing_zeros = true;
+    int adjusted_min_digits = num_digits + exp;
+    if (adjusted_min_digits > 0)
+      num_digits = adjusted_min_digits;
+    break;
+  }
+  case 'E':
+    params.upper = true;
+    FMT_FALLTHROUGH
+  case 'e':
+    ++num_digits;
+    break;
+  }
+  params.num_digits = num_digits;
+  char_counter counter{num_digits};
+  grisu2_prettify(params, params.num_digits, exp - num_digits, counter);
+  buf.resize(to_unsigned(counter.size));
+  return params;
+}
+
+template <typename Double>
+FMT_FUNC typename std::enable_if<sizeof(Double) == sizeof(uint64_t), bool>::type
+    grisu2_format(Double value, buffer &buf, core_format_specs specs) {
+  FMT_ASSERT(value >= 0, "value is negative");
+  if (value == 0) {
+    gen_digits_params params = process_specs(specs, 1, buf);
+    const size_t size = 1;
+    buf[0] = '0';
+    grisu2_prettify(params, size, 0, prettify_handler(buf, size));
+    return true;
+  }
+
+  fp fp_value(value);
+  fp lower, upper;  // w^- and w^+ in the Grisu paper.
+  fp_value.compute_boundaries(lower, upper);
+
+  // Find a cached power of 10 close to 1 / upper and use it to scale upper.
+  const int min_exp = -60;  // alpha in Grisu.
+  int cached_exp = 0;  // K in Grisu.
+  auto cached_pow = get_cached_power(  // \tilde{c}_{-k} in Grisu.
+      min_exp - (upper.e + fp::significand_size), cached_exp);
+  cached_exp = -cached_exp;
+  upper = upper * cached_pow;  // \tilde{M}^+ in Grisu.
+  --upper.f;  // \tilde{M}^+ - 1 ulp -> M^+_{\downarrow}.
+  fp one(1ull << -upper.e, upper.e);
+  // hi (p1 in Grisu) contains the most significant digits of scaled_upper.
+  // hi = floor(upper / one).
+  uint32_t hi = static_cast<uint32_t>(upper.f >> -one.e);
+  int exp = count_digits(hi);  // kappa in Grisu.
+  gen_digits_params params = process_specs(specs, cached_exp + exp, buf);
+  fp_value.normalize();
+  fp scaled_value = fp_value * cached_pow;
+  lower = lower * cached_pow;  // \tilde{M}^- in Grisu.
+  ++lower.f;  // \tilde{M}^- + 1 ulp -> M^-_{\uparrow}.
+  uint64_t delta = upper.f - lower.f;
+  fp diff = upper - scaled_value; // wp_w in Grisu.
+  // lo (p2 in Grisu) contains the least significants digits of scaled_upper.
+  // lo = supper % one.
+  uint64_t lo = upper.f & (one.f - 1);
+  int size = 0;
+  if (!grisu2_gen_digits(buf.data(), size, hi, lo, exp, delta, one, diff,
+                         params.num_digits)) {
+    buf.clear();
+    return false;
+  }
+  grisu2_prettify(params, size, cached_exp + exp, prettify_handler(buf, size));
+  return true;
+}
+
+template <typename Double>
+void sprintf_format(Double value, internal::buffer &buf,
+                    core_format_specs spec) {
+  // Buffer capacity must be non-zero, otherwise MSVC's vsnprintf_s will fail.
+  FMT_ASSERT(buf.capacity() != 0, "empty buffer");
+
+  // Build format string.
+  enum { MAX_FORMAT_SIZE = 10}; // longest format: %#-*.*Lg
+  char format[MAX_FORMAT_SIZE];
+  char *format_ptr = format;
+  *format_ptr++ = '%';
+  if (spec.has(HASH_FLAG))
+    *format_ptr++ = '#';
+  if (spec.precision >= 0) {
+    *format_ptr++ = '.';
+    *format_ptr++ = '*';
+  }
+  if (std::is_same<Double, long double>::value)
+    *format_ptr++ = 'L';
+  *format_ptr++ = spec.type;
+  *format_ptr = '\0';
+
+  // Format using snprintf.
+  char *start = FMT_NULL;
+  for (;;) {
+    std::size_t buffer_size = buf.capacity();
+    start = &buf[0];
+    int result = internal::char_traits<char>::format_float(
+        start, buffer_size, format, spec.precision, value);
+    if (result >= 0) {
+      unsigned n = internal::to_unsigned(result);
+      if (n < buf.capacity()) {
+        buf.resize(n);
+        break;  // The buffer is large enough - continue with formatting.
+      }
+      buf.reserve(n + 1);
+    } else {
+      // If result is negative we ask to increase the capacity by at least 1,
+      // but as std::vector, the buffer grows exponentially.
+      buf.reserve(buf.capacity() + 1);
+    }
+  }
+}
+}  // namespace internal
+
+#if FMT_USE_WINDOWS_H
+
+FMT_FUNC internal::utf8_to_utf16::utf8_to_utf16(string_view s) {
+  static const char ERROR_MSG[] = "cannot convert string from UTF-8 to UTF-16";
+  if (s.size() > INT_MAX)
+    FMT_THROW(windows_error(ERROR_INVALID_PARAMETER, ERROR_MSG));
+  int s_size = static_cast<int>(s.size());
+  if (s_size == 0) {
+    // MultiByteToWideChar does not support zero length, handle separately.
+    buffer_.resize(1);
+    buffer_[0] = 0;
+    return;
+  }
+
+  int length = MultiByteToWideChar(
+      CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), s_size, FMT_NULL, 0);
+  if (length == 0)
+    FMT_THROW(windows_error(GetLastError(), ERROR_MSG));
+  buffer_.resize(length + 1);
+  length = MultiByteToWideChar(
+    CP_UTF8, MB_ERR_INVALID_CHARS, s.data(), s_size, &buffer_[0], length);
+  if (length == 0)
+    FMT_THROW(windows_error(GetLastError(), ERROR_MSG));
+  buffer_[length] = 0;
+}
+
+FMT_FUNC internal::utf16_to_utf8::utf16_to_utf8(wstring_view s) {
+  if (int error_code = convert(s)) {
+    FMT_THROW(windows_error(error_code,
+        "cannot convert string from UTF-16 to UTF-8"));
+  }
+}
+
+FMT_FUNC int internal::utf16_to_utf8::convert(wstring_view s) {
+  if (s.size() > INT_MAX)
+    return ERROR_INVALID_PARAMETER;
+  int s_size = static_cast<int>(s.size());
+  if (s_size == 0) {
+    // WideCharToMultiByte does not support zero length, handle separately.
+    buffer_.resize(1);
+    buffer_[0] = 0;
+    return 0;
+  }
+
+  int length = WideCharToMultiByte(
+        CP_UTF8, 0, s.data(), s_size, FMT_NULL, 0, FMT_NULL, FMT_NULL);
+  if (length == 0)
+    return GetLastError();
+  buffer_.resize(length + 1);
+  length = WideCharToMultiByte(
+    CP_UTF8, 0, s.data(), s_size, &buffer_[0], length, FMT_NULL, FMT_NULL);
+  if (length == 0)
+    return GetLastError();
+  buffer_[length] = 0;
+  return 0;
+}
+
+FMT_FUNC void windows_error::init(
+    int err_code, string_view format_str, format_args args) {
+  error_code_ = err_code;
+  memory_buffer buffer;
+  internal::format_windows_error(buffer, err_code, vformat(format_str, args));
+  std::runtime_error &base = *this;
+  base = std::runtime_error(to_string(buffer));
+}
+
+FMT_FUNC void internal::format_windows_error(
+    internal::buffer &out, int error_code, string_view message) FMT_NOEXCEPT {
+  FMT_TRY {
+    wmemory_buffer buf;
+    buf.resize(inline_buffer_size);
+    for (;;) {
+      wchar_t *system_message = &buf[0];
+      int result = FormatMessageW(
+          FORMAT_MESSAGE_FROM_SYSTEM | FORMAT_MESSAGE_IGNORE_INSERTS,
+          FMT_NULL, error_code, MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+          system_message, static_cast<uint32_t>(buf.size()), FMT_NULL);
+      if (result != 0) {
+        utf16_to_utf8 utf8_message;
+        if (utf8_message.convert(system_message) == ERROR_SUCCESS) {
+          writer w(out);
+          w.write(message);
+          w.write(": ");
+          w.write(utf8_message);
+          return;
+        }
+        break;
+      }
+      if (GetLastError() != ERROR_INSUFFICIENT_BUFFER)
+        break;  // Can't get error message, report error code instead.
+      buf.resize(buf.size() * 2);
+    }
+  } FMT_CATCH(...) {}
+  format_error_code(out, error_code, message);
+}
+
+#endif  // FMT_USE_WINDOWS_H
+
+FMT_FUNC void format_system_error(
+    internal::buffer &out, int error_code, string_view message) FMT_NOEXCEPT {
+  FMT_TRY {
+    memory_buffer buf;
+    buf.resize(inline_buffer_size);
+    for (;;) {
+      char *system_message = &buf[0];
+      int result = safe_strerror(error_code, system_message, buf.size());
+      if (result == 0) {
+        writer w(out);
+        w.write(message);
+        w.write(": ");
+        w.write(system_message);
+        return;
+      }
+      if (result != ERANGE)
+        break;  // Can't get error message, report error code instead.
+      buf.resize(buf.size() * 2);
+    }
+  } FMT_CATCH(...) {}
+  format_error_code(out, error_code, message);
+}
+
+FMT_FUNC void internal::error_handler::on_error(const char *message) {
+  FMT_THROW(format_error(message));
+}
+
+FMT_FUNC void report_system_error(
+    int error_code, fmt::string_view message) FMT_NOEXCEPT {
+  report_error(format_system_error, error_code, message);
+}
+
+#if FMT_USE_WINDOWS_H
+FMT_FUNC void report_windows_error(
+    int error_code, fmt::string_view message) FMT_NOEXCEPT {
+  report_error(internal::format_windows_error, error_code, message);
+}
+#endif
+
+FMT_FUNC void vprint(std::FILE *f, string_view format_str, format_args args) {
+  memory_buffer buffer;
+  internal::vformat_to(buffer, format_str,
+                       basic_format_args<buffer_context<char>::type>(args));
+  std::fwrite(buffer.data(), 1, buffer.size(), f);
+}
+
+FMT_FUNC void vprint(std::FILE *f, wstring_view format_str, wformat_args args) {
+  wmemory_buffer buffer;
+  internal::vformat_to(buffer, format_str, args);
+  std::fwrite(buffer.data(), sizeof(wchar_t), buffer.size(), f);
+}
+
+FMT_FUNC void vprint(string_view format_str, format_args args) {
+  vprint(stdout, format_str, args);
+}
+
+FMT_FUNC void vprint(wstring_view format_str, wformat_args args) {
+  vprint(stdout, format_str, args);
+}
+
+FMT_END_NAMESPACE
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+#endif  // FMT_FORMAT_INL_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/locale.h

@@ -0,0 +1,77 @@
+// Formatting library for C++ - std::locale support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_LOCALE_H_
+#define FMT_LOCALE_H_
+
+#include "format.h"
+#include <locale>
+
+FMT_BEGIN_NAMESPACE
+
+namespace internal {
+template <typename Char>
+typename buffer_context<Char>::type::iterator vformat_to(
+    const std::locale &loc, basic_buffer<Char> &buf,
+    basic_string_view<Char> format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  typedef back_insert_range<basic_buffer<Char> > range;
+  return vformat_to<arg_formatter<range>>(
+    buf, to_string_view(format_str), args, internal::locale_ref(loc));
+}
+
+template <typename Char>
+std::basic_string<Char> vformat(
+    const std::locale &loc, basic_string_view<Char> format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  internal::vformat_to(loc, buffer, format_str, args);
+  return fmt::to_string(buffer);
+}
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline std::basic_string<Char> vformat(
+    const std::locale &loc, const S &format_str,
+    basic_format_args<typename buffer_context<Char>::type> args) {
+  return internal::vformat(loc, to_string_view(format_str), args);
+}
+
+template <typename S, typename... Args>
+inline std::basic_string<FMT_CHAR(S)> format(
+    const std::locale &loc, const S &format_str, const Args &... args) {
+  return internal::vformat(
+    loc, to_string_view(format_str),
+    *internal::checked_args<S, Args...>(format_str, args...));
+}
+
+template <typename String, typename OutputIt, typename... Args>
+inline typename std::enable_if<internal::is_output_iterator<OutputIt>::value,
+                               OutputIt>::type
+    vformat_to(OutputIt out, const std::locale &loc, const String &format_str,
+               typename format_args_t<OutputIt, FMT_CHAR(String)>::type args) {
+  typedef output_range<OutputIt, FMT_CHAR(String)> range;
+  return vformat_to<arg_formatter<range>>(
+    range(out), to_string_view(format_str), args, internal::locale_ref(loc));
+}
+
+template <typename OutputIt, typename S, typename... Args>
+inline typename std::enable_if<
+    internal::is_string<S>::value &&
+    internal::is_output_iterator<OutputIt>::value, OutputIt>::type
+    format_to(OutputIt out, const std::locale &loc, const S &format_str,
+              const Args &... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef typename format_context_t<OutputIt, FMT_CHAR(S)>::type context;
+  format_arg_store<context, Args...> as{args...};
+  return vformat_to(out, loc, to_string_view(format_str),
+                    basic_format_args<context>(as));
+}
+
+FMT_END_NAMESPACE
+
+#endif  // FMT_LOCALE_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/ostream.h

@@ -0,0 +1,153 @@
+// Formatting library for C++ - std::ostream support
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_OSTREAM_H_
+#define FMT_OSTREAM_H_
+
+#include "format.h"
+#include <ostream>
+
+FMT_BEGIN_NAMESPACE
+namespace internal {
+
+template <class Char>
+class formatbuf : public std::basic_streambuf<Char> {
+ private:
+  typedef typename std::basic_streambuf<Char>::int_type int_type;
+  typedef typename std::basic_streambuf<Char>::traits_type traits_type;
+
+  basic_buffer<Char> &buffer_;
+
+ public:
+  formatbuf(basic_buffer<Char> &buffer) : buffer_(buffer) {}
+
+ protected:
+  // The put-area is actually always empty. This makes the implementation
+  // simpler and has the advantage that the streambuf and the buffer are always
+  // in sync and sputc never writes into uninitialized memory. The obvious
+  // disadvantage is that each call to sputc always results in a (virtual) call
+  // to overflow. There is no disadvantage here for sputn since this always
+  // results in a call to xsputn.
+
+  int_type overflow(int_type ch = traits_type::eof()) FMT_OVERRIDE {
+    if (!traits_type::eq_int_type(ch, traits_type::eof()))
+      buffer_.push_back(static_cast<Char>(ch));
+    return ch;
+  }
+
+  std::streamsize xsputn(const Char *s, std::streamsize count) FMT_OVERRIDE {
+    buffer_.append(s, s + count);
+    return count;
+  }
+};
+
+template <typename Char>
+struct test_stream : std::basic_ostream<Char> {
+ private:
+  struct null;
+  // Hide all operator<< from std::basic_ostream<Char>.
+  void operator<<(null);
+};
+
+// Checks if T has a user-defined operator<< (e.g. not a member of std::ostream).
+template <typename T, typename Char>
+class is_streamable {
+ private:
+  template <typename U>
+  static decltype(
+    internal::declval<test_stream<Char>&>()
+      << internal::declval<U>(), std::true_type()) test(int);
+
+  template <typename>
+  static std::false_type test(...);
+
+  typedef decltype(test<T>(0)) result;
+
+ public:
+  static const bool value = result::value;
+};
+
+// Write the content of buf to os.
+template <typename Char>
+void write(std::basic_ostream<Char> &os, basic_buffer<Char> &buf) {
+  const Char *data = buf.data();
+  typedef std::make_unsigned<std::streamsize>::type UnsignedStreamSize;
+  UnsignedStreamSize size = buf.size();
+  UnsignedStreamSize max_size =
+      internal::to_unsigned((std::numeric_limits<std::streamsize>::max)());
+  do {
+    UnsignedStreamSize n = size <= max_size ? size : max_size;
+    os.write(data, static_cast<std::streamsize>(n));
+    data += n;
+    size -= n;
+  } while (size != 0);
+}
+
+template <typename Char, typename T>
+void format_value(basic_buffer<Char> &buffer, const T &value) {
+  internal::formatbuf<Char> format_buf(buffer);
+  std::basic_ostream<Char> output(&format_buf);
+  output.exceptions(std::ios_base::failbit | std::ios_base::badbit);
+  output << value;
+  buffer.resize(buffer.size());
+}
+}  // namespace internal
+
+// Disable conversion to int if T has an overloaded operator<< which is a free
+// function (not a member of std::ostream).
+template <typename T, typename Char>
+struct convert_to_int<T, Char, void> {
+  static const bool value =
+    convert_to_int<T, Char, int>::value &&
+    !internal::is_streamable<T, Char>::value;
+};
+
+// Formats an object of type T that has an overloaded ostream operator<<.
+template <typename T, typename Char>
+struct formatter<T, Char,
+    typename std::enable_if<
+      internal::is_streamable<T, Char>::value &&
+      !internal::format_type<
+        typename buffer_context<Char>::type, T>::value>::type>
+    : formatter<basic_string_view<Char>, Char> {
+
+  template <typename Context>
+  auto format(const T &value, Context &ctx) -> decltype(ctx.out()) {
+    basic_memory_buffer<Char> buffer;
+    internal::format_value(buffer, value);
+    basic_string_view<Char> str(buffer.data(), buffer.size());
+    return formatter<basic_string_view<Char>, Char>::format(str, ctx);
+  }
+};
+
+template <typename Char>
+inline void vprint(std::basic_ostream<Char> &os,
+                   basic_string_view<Char> format_str,
+                   basic_format_args<typename buffer_context<Char>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  internal::vformat_to(buffer, format_str, args);
+  internal::write(os, buffer);
+}
+/**
+  \rst
+  Prints formatted data to the stream *os*.
+
+  **Example**::
+
+    fmt::print(cerr, "Don't {}!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline typename std::enable_if<internal::is_string<S>::value>::type
+print(std::basic_ostream<FMT_CHAR(S)> &os, const S &format_str,
+      const Args & ... args) {
+  internal::checked_args<S, Args...> ca(format_str, args...);
+  vprint(os, to_string_view(format_str), *ca);
+}
+FMT_END_NAMESPACE
+
+#endif  // FMT_OSTREAM_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/posix.h

@@ -0,0 +1,324 @@
+// A C++ interface to POSIX functions.
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_POSIX_H_
+#define FMT_POSIX_H_
+
+#if defined(__MINGW32__) || defined(__CYGWIN__)
+// Workaround MinGW bug https://sourceforge.net/p/mingw/bugs/2024/.
+# undef __STRICT_ANSI__
+#endif
+
+#include <errno.h>
+#include <fcntl.h>   // for O_RDONLY
+#include <locale.h>  // for locale_t
+#include <stdio.h>
+#include <stdlib.h>  // for strtod_l
+
+#include <cstddef>
+
+#if defined __APPLE__ || defined(__FreeBSD__)
+# include <xlocale.h>  // for LC_NUMERIC_MASK on OS X
+#endif
+
+#include "format.h"
+
+#ifndef FMT_POSIX
+# if defined(_WIN32) && !defined(__MINGW32__)
+// Fix warnings about deprecated symbols.
+#  define FMT_POSIX(call) _##call
+# else
+#  define FMT_POSIX(call) call
+# endif
+#endif
+
+// Calls to system functions are wrapped in FMT_SYSTEM for testability.
+#ifdef FMT_SYSTEM
+# define FMT_POSIX_CALL(call) FMT_SYSTEM(call)
+#else
+# define FMT_SYSTEM(call) call
+# ifdef _WIN32
+// Fix warnings about deprecated symbols.
+#  define FMT_POSIX_CALL(call) ::_##call
+# else
+#  define FMT_POSIX_CALL(call) ::call
+# endif
+#endif
+
+// Retries the expression while it evaluates to error_result and errno
+// equals to EINTR.
+#ifndef _WIN32
+# define FMT_RETRY_VAL(result, expression, error_result) \
+  do { \
+    result = (expression); \
+  } while (result == error_result && errno == EINTR)
+#else
+# define FMT_RETRY_VAL(result, expression, error_result) result = (expression)
+#endif
+
+#define FMT_RETRY(result, expression) FMT_RETRY_VAL(result, expression, -1)
+
+FMT_BEGIN_NAMESPACE
+
+/**
+  \rst
+  A reference to a null-terminated string. It can be constructed from a C
+  string or ``std::string``.
+
+  You can use one of the following typedefs for common character types:
+
+  +---------------+-----------------------------+
+  | Type          | Definition                  |
+  +===============+=============================+
+  | cstring_view  | basic_cstring_view<char>    |
+  +---------------+-----------------------------+
+  | wcstring_view | basic_cstring_view<wchar_t> |
+  +---------------+-----------------------------+
+
+  This class is most useful as a parameter type to allow passing
+  different types of strings to a function, for example::
+
+    template <typename... Args>
+    std::string format(cstring_view format_str, const Args & ... args);
+
+    format("{}", 42);
+    format(std::string("{}"), 42);
+  \endrst
+ */
+template <typename Char>
+class basic_cstring_view {
+ private:
+  const Char *data_;
+
+ public:
+  /** Constructs a string reference object from a C string. */
+  basic_cstring_view(const Char *s) : data_(s) {}
+
+  /**
+    \rst
+    Constructs a string reference from an ``std::string`` object.
+    \endrst
+   */
+  basic_cstring_view(const std::basic_string<Char> &s) : data_(s.c_str()) {}
+
+  /** Returns the pointer to a C string. */
+  const Char *c_str() const { return data_; }
+};
+
+typedef basic_cstring_view<char> cstring_view;
+typedef basic_cstring_view<wchar_t> wcstring_view;
+
+// An error code.
+class error_code {
+ private:
+  int value_;
+
+ public:
+  explicit error_code(int value = 0) FMT_NOEXCEPT : value_(value) {}
+
+  int get() const FMT_NOEXCEPT { return value_; }
+};
+
+// A buffered file.
+class buffered_file {
+ private:
+  FILE *file_;
+
+  friend class file;
+
+  explicit buffered_file(FILE *f) : file_(f) {}
+
+ public:
+  // Constructs a buffered_file object which doesn't represent any file.
+  buffered_file() FMT_NOEXCEPT : file_(FMT_NULL) {}
+
+  // Destroys the object closing the file it represents if any.
+  FMT_API ~buffered_file() FMT_NOEXCEPT;
+
+ private:
+  buffered_file(const buffered_file &) = delete;
+  void operator=(const buffered_file &) = delete;
+
+
+ public:
+  buffered_file(buffered_file &&other) FMT_NOEXCEPT : file_(other.file_) {
+    other.file_ = FMT_NULL;
+  }
+
+  buffered_file& operator=(buffered_file &&other) {
+    close();
+    file_ = other.file_;
+    other.file_ = FMT_NULL;
+    return *this;
+  }
+
+  // Opens a file.
+  FMT_API buffered_file(cstring_view filename, cstring_view mode);
+
+  // Closes the file.
+  FMT_API void close();
+
+  // Returns the pointer to a FILE object representing this file.
+  FILE *get() const FMT_NOEXCEPT { return file_; }
+
+  // We place parentheses around fileno to workaround a bug in some versions
+  // of MinGW that define fileno as a macro.
+  FMT_API int (fileno)() const;
+
+  void vprint(string_view format_str, format_args args) {
+    fmt::vprint(file_, format_str, args);
+  }
+
+  template <typename... Args>
+  inline void print(string_view format_str, const Args & ... args) {
+    vprint(format_str, make_format_args(args...));
+  }
+};
+
+// A file. Closed file is represented by a file object with descriptor -1.
+// Methods that are not declared with FMT_NOEXCEPT may throw
+// fmt::system_error in case of failure. Note that some errors such as
+// closing the file multiple times will cause a crash on Windows rather
+// than an exception. You can get standard behavior by overriding the
+// invalid parameter handler with _set_invalid_parameter_handler.
+class file {
+ private:
+  int fd_;  // File descriptor.
+
+  // Constructs a file object with a given descriptor.
+  explicit file(int fd) : fd_(fd) {}
+
+ public:
+  // Possible values for the oflag argument to the constructor.
+  enum {
+    RDONLY = FMT_POSIX(O_RDONLY), // Open for reading only.
+    WRONLY = FMT_POSIX(O_WRONLY), // Open for writing only.
+    RDWR   = FMT_POSIX(O_RDWR)    // Open for reading and writing.
+  };
+
+  // Constructs a file object which doesn't represent any file.
+  file() FMT_NOEXCEPT : fd_(-1) {}
+
+  // Opens a file and constructs a file object representing this file.
+  FMT_API file(cstring_view path, int oflag);
+
+ private:
+  file(const file &) = delete;
+  void operator=(const file &) = delete;
+
+ public:
+  file(file &&other) FMT_NOEXCEPT : fd_(other.fd_) {
+    other.fd_ = -1;
+  }
+
+  file& operator=(file &&other) {
+    close();
+    fd_ = other.fd_;
+    other.fd_ = -1;
+    return *this;
+  }
+
+  // Destroys the object closing the file it represents if any.
+  FMT_API ~file() FMT_NOEXCEPT;
+
+  // Returns the file descriptor.
+  int descriptor() const FMT_NOEXCEPT { return fd_; }
+
+  // Closes the file.
+  FMT_API void close();
+
+  // Returns the file size. The size has signed type for consistency with
+  // stat::st_size.
+  FMT_API long long size() const;
+
+  // Attempts to read count bytes from the file into the specified buffer.
+  FMT_API std::size_t read(void *buffer, std::size_t count);
+
+  // Attempts to write count bytes from the specified buffer to the file.
+  FMT_API std::size_t write(const void *buffer, std::size_t count);
+
+  // Duplicates a file descriptor with the dup function and returns
+  // the duplicate as a file object.
+  FMT_API static file dup(int fd);
+
+  // Makes fd be the copy of this file descriptor, closing fd first if
+  // necessary.
+  FMT_API void dup2(int fd);
+
+  // Makes fd be the copy of this file descriptor, closing fd first if
+  // necessary.
+  FMT_API void dup2(int fd, error_code &ec) FMT_NOEXCEPT;
+
+  // Creates a pipe setting up read_end and write_end file objects for reading
+  // and writing respectively.
+  FMT_API static void pipe(file &read_end, file &write_end);
+
+  // Creates a buffered_file object associated with this file and detaches
+  // this file object from the file.
+  FMT_API buffered_file fdopen(const char *mode);
+};
+
+// Returns the memory page size.
+long getpagesize();
+
+#if (defined(LC_NUMERIC_MASK) || defined(_MSC_VER)) && \
+    !defined(__ANDROID__) && !defined(__CYGWIN__) && !defined(__OpenBSD__) && \
+    !defined(__NEWLIB_H__)
+# define FMT_LOCALE
+#endif
+
+#ifdef FMT_LOCALE
+// A "C" numeric locale.
+class Locale {
+ private:
+# ifdef _MSC_VER
+  typedef _locale_t locale_t;
+
+  enum { LC_NUMERIC_MASK = LC_NUMERIC };
+
+  static locale_t newlocale(int category_mask, const char *locale, locale_t) {
+    return _create_locale(category_mask, locale);
+  }
+
+  static void freelocale(locale_t locale) {
+    _free_locale(locale);
+  }
+
+  static double strtod_l(const char *nptr, char **endptr, _locale_t locale) {
+    return _strtod_l(nptr, endptr, locale);
+  }
+# endif
+
+  locale_t locale_;
+
+  Locale(const Locale &) = delete;
+  void operator=(const Locale &) = delete;
+
+ public:
+  typedef locale_t Type;
+
+  Locale() : locale_(newlocale(LC_NUMERIC_MASK, "C", FMT_NULL)) {
+    if (!locale_)
+      FMT_THROW(system_error(errno, "cannot create locale"));
+  }
+  ~Locale() { freelocale(locale_); }
+
+  Type get() const { return locale_; }
+
+  // Converts string to floating-point number and advances str past the end
+  // of the parsed input.
+  double strtod(const char *&str) const {
+    char *end = FMT_NULL;
+    double result = strtod_l(str, &end, locale_);
+    str = end;
+    return result;
+  }
+};
+#endif  // FMT_LOCALE
+FMT_END_NAMESPACE
+
+#endif  // FMT_POSIX_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/printf.h

@@ -0,0 +1,855 @@
+// Formatting library for C++
+//
+// Copyright (c) 2012 - 2016, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_PRINTF_H_
+#define FMT_PRINTF_H_
+
+#include <algorithm>  // std::fill_n
+#include <limits>     // std::numeric_limits
+
+#include "ostream.h"
+
+FMT_BEGIN_NAMESPACE
+namespace internal {
+
+// An iterator that produces a null terminator on *end. This simplifies parsing
+// and allows comparing the performance of processing a null-terminated string
+// vs string_view.
+template <typename Char>
+class null_terminating_iterator {
+ public:
+  typedef std::ptrdiff_t difference_type;
+  typedef Char value_type;
+  typedef const Char* pointer;
+  typedef const Char& reference;
+  typedef std::random_access_iterator_tag iterator_category;
+
+  null_terminating_iterator() : ptr_(0), end_(0) {}
+
+  FMT_CONSTEXPR null_terminating_iterator(const Char *ptr, const Char *end)
+    : ptr_(ptr), end_(end) {}
+
+  template <typename Range>
+  FMT_CONSTEXPR explicit null_terminating_iterator(const Range &r)
+    : ptr_(r.begin()), end_(r.end()) {}
+
+  FMT_CONSTEXPR null_terminating_iterator &operator=(const Char *ptr) {
+    assert(ptr <= end_);
+    ptr_ = ptr;
+    return *this;
+  }
+
+  FMT_CONSTEXPR Char operator*() const {
+    return ptr_ != end_ ? *ptr_ : Char();
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator++() {
+    ++ptr_;
+    return *this;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator++(int) {
+    null_terminating_iterator result(*this);
+    ++ptr_;
+    return result;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator--() {
+    --ptr_;
+    return *this;
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator+(difference_type n) {
+    return null_terminating_iterator(ptr_ + n, end_);
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator-(difference_type n) {
+    return null_terminating_iterator(ptr_ - n, end_);
+  }
+
+  FMT_CONSTEXPR null_terminating_iterator operator+=(difference_type n) {
+    ptr_ += n;
+    return *this;
+  }
+
+  FMT_CONSTEXPR difference_type operator-(
+      null_terminating_iterator other) const {
+    return ptr_ - other.ptr_;
+  }
+
+  FMT_CONSTEXPR bool operator!=(null_terminating_iterator other) const {
+    return ptr_ != other.ptr_;
+  }
+
+  bool operator>=(null_terminating_iterator other) const {
+    return ptr_ >= other.ptr_;
+  }
+
+  // This should be a friend specialization pointer_from<Char> but the latter
+  // doesn't compile by gcc 5.1 due to a compiler bug.
+  template <typename CharT>
+  friend FMT_CONSTEXPR_DECL const CharT *pointer_from(
+      null_terminating_iterator<CharT> it);
+
+ private:
+  const Char *ptr_;
+  const Char *end_;
+};
+
+template <typename T>
+FMT_CONSTEXPR const T *pointer_from(const T *p) { return p; }
+
+template <typename Char>
+FMT_CONSTEXPR const Char *pointer_from(null_terminating_iterator<Char> it) {
+  return it.ptr_;
+}
+
+// DEPRECATED: Parses the input as an unsigned integer. This function assumes
+// that the first character is a digit and presence of a non-digit character at
+// the end.
+// it: an iterator pointing to the beginning of the input range.
+template <typename Iterator, typename ErrorHandler>
+FMT_CONSTEXPR unsigned parse_nonnegative_int(Iterator &it, ErrorHandler &&eh) {
+  assert('0' <= *it && *it <= '9');
+  if (*it == '0') {
+    ++it;
+    return 0;
+  }
+  unsigned value = 0;
+  // Convert to unsigned to prevent a warning.
+  unsigned max_int = (std::numeric_limits<int>::max)();
+  unsigned big = max_int / 10;
+  do {
+    // Check for overflow.
+    if (value > big) {
+      value = max_int + 1;
+      break;
+    }
+    value = value * 10 + unsigned(*it - '0');
+    // Workaround for MSVC "setup_exception stack overflow" error:
+    auto next = it;
+    ++next;
+    it = next;
+  } while ('0' <= *it && *it <= '9');
+  if (value > max_int)
+    eh.on_error("number is too big");
+  return value;
+}
+
+// Checks if a value fits in int - used to avoid warnings about comparing
+// signed and unsigned integers.
+template <bool IsSigned>
+struct int_checker {
+  template <typename T>
+  static bool fits_in_int(T value) {
+    unsigned max = std::numeric_limits<int>::max();
+    return value <= max;
+  }
+  static bool fits_in_int(bool) { return true; }
+};
+
+template <>
+struct int_checker<true> {
+  template <typename T>
+  static bool fits_in_int(T value) {
+    return value >= std::numeric_limits<int>::min() &&
+           value <= std::numeric_limits<int>::max();
+  }
+  static bool fits_in_int(int) { return true; }
+};
+
+class printf_precision_handler: public function<int> {
+ public:
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, int>::type
+      operator()(T value) {
+    if (!int_checker<std::numeric_limits<T>::is_signed>::fits_in_int(value))
+      FMT_THROW(format_error("number is too big"));
+    return static_cast<int>(value);
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, int>::type operator()(T) {
+    FMT_THROW(format_error("precision is not integer"));
+    return 0;
+  }
+};
+
+// An argument visitor that returns true iff arg is a zero integer.
+class is_zero_int: public function<bool> {
+ public:
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, bool>::type
+      operator()(T value) { return value == 0; }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, bool>::type
+      operator()(T) { return false; }
+};
+
+template <typename T>
+struct make_unsigned_or_bool : std::make_unsigned<T> {};
+
+template <>
+struct make_unsigned_or_bool<bool> {
+  typedef bool type;
+};
+
+template <typename T, typename Context>
+class arg_converter: public function<void> {
+ private:
+  typedef typename Context::char_type Char;
+
+  basic_format_arg<Context> &arg_;
+  typename Context::char_type type_;
+
+ public:
+  arg_converter(basic_format_arg<Context> &arg, Char type)
+    : arg_(arg), type_(type) {}
+
+  void operator()(bool value) {
+    if (type_ != 's')
+      operator()<bool>(value);
+  }
+
+  template <typename U>
+  typename std::enable_if<std::is_integral<U>::value>::type
+      operator()(U value) {
+    bool is_signed = type_ == 'd' || type_ == 'i';
+    typedef typename std::conditional<
+        std::is_same<T, void>::value, U, T>::type TargetType;
+    if (const_check(sizeof(TargetType) <= sizeof(int))) {
+      // Extra casts are used to silence warnings.
+      if (is_signed) {
+        arg_ = internal::make_arg<Context>(
+          static_cast<int>(static_cast<TargetType>(value)));
+      } else {
+        typedef typename make_unsigned_or_bool<TargetType>::type Unsigned;
+        arg_ = internal::make_arg<Context>(
+          static_cast<unsigned>(static_cast<Unsigned>(value)));
+      }
+    } else {
+      if (is_signed) {
+        // glibc's printf doesn't sign extend arguments of smaller types:
+        //   std::printf("%lld", -42);  // prints "4294967254"
+        // but we don't have to do the same because it's a UB.
+        arg_ = internal::make_arg<Context>(static_cast<long long>(value));
+      } else {
+        arg_ = internal::make_arg<Context>(
+          static_cast<typename make_unsigned_or_bool<U>::type>(value));
+      }
+    }
+  }
+
+  template <typename U>
+  typename std::enable_if<!std::is_integral<U>::value>::type operator()(U) {
+    // No coversion needed for non-integral types.
+  }
+};
+
+// Converts an integer argument to T for printf, if T is an integral type.
+// If T is void, the argument is converted to corresponding signed or unsigned
+// type depending on the type specifier: 'd' and 'i' - signed, other -
+// unsigned).
+template <typename T, typename Context, typename Char>
+void convert_arg(basic_format_arg<Context> &arg, Char type) {
+  visit_format_arg(arg_converter<T, Context>(arg, type), arg);
+}
+
+// Converts an integer argument to char for printf.
+template <typename Context>
+class char_converter: public function<void> {
+ private:
+  basic_format_arg<Context> &arg_;
+
+ public:
+  explicit char_converter(basic_format_arg<Context> &arg) : arg_(arg) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value>::type
+      operator()(T value) {
+    typedef typename Context::char_type Char;
+    arg_ = internal::make_arg<Context>(static_cast<Char>(value));
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value>::type operator()(T) {
+    // No coversion needed for non-integral types.
+  }
+};
+
+// Checks if an argument is a valid printf width specifier and sets
+// left alignment if it is negative.
+template <typename Char>
+class printf_width_handler: public function<unsigned> {
+ private:
+  typedef basic_format_specs<Char> format_specs;
+
+  format_specs &spec_;
+
+ public:
+  explicit printf_width_handler(format_specs &spec) : spec_(spec) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, unsigned>::type
+      operator()(T value) {
+    typedef typename internal::int_traits<T>::main_type UnsignedType;
+    UnsignedType width = static_cast<UnsignedType>(value);
+    if (internal::is_negative(value)) {
+      spec_.align_ = ALIGN_LEFT;
+      width = 0 - width;
+    }
+    unsigned int_max = std::numeric_limits<int>::max();
+    if (width > int_max)
+      FMT_THROW(format_error("number is too big"));
+    return static_cast<unsigned>(width);
+  }
+
+  template <typename T>
+  typename std::enable_if<!std::is_integral<T>::value, unsigned>::type
+      operator()(T) {
+    FMT_THROW(format_error("width is not integer"));
+    return 0;
+  }
+};
+
+template <typename Char, typename Context>
+void printf(basic_buffer<Char> &buf, basic_string_view<Char> format,
+            basic_format_args<Context> args) {
+  Context(std::back_inserter(buf), format, args).format();
+}
+}  // namespace internal
+
+using internal::printf;  // For printing into memory_buffer.
+
+template <typename Range>
+class printf_arg_formatter;
+
+template <
+    typename OutputIt, typename Char,
+    typename ArgFormatter =
+      printf_arg_formatter<back_insert_range<internal::basic_buffer<Char>>>>
+class basic_printf_context;
+
+/**
+  \rst
+  The ``printf`` argument formatter.
+  \endrst
+ */
+template <typename Range>
+class printf_arg_formatter:
+  public internal::function<
+    typename internal::arg_formatter_base<Range>::iterator>,
+  public internal::arg_formatter_base<Range> {
+ private:
+  typedef typename Range::value_type char_type;
+  typedef decltype(internal::declval<Range>().begin()) iterator;
+  typedef internal::arg_formatter_base<Range> base;
+  typedef basic_printf_context<iterator, char_type> context_type;
+
+  context_type &context_;
+
+  void write_null_pointer(char) {
+    this->spec()->type = 0;
+    this->write("(nil)");
+  }
+
+  void write_null_pointer(wchar_t) {
+    this->spec()->type = 0;
+    this->write(L"(nil)");
+  }
+
+ public:
+  typedef typename base::format_specs format_specs;
+
+  /**
+    \rst
+    Constructs an argument formatter object.
+    *buffer* is a reference to the output buffer and *spec* contains format
+    specifier information for standard argument types.
+    \endrst
+   */
+  printf_arg_formatter(internal::basic_buffer<char_type> &buffer,
+                       format_specs &spec, context_type &ctx)
+    : base(back_insert_range<internal::basic_buffer<char_type>>(buffer), &spec,
+           ctx.locale()),
+      context_(ctx) {}
+
+  template <typename T>
+  typename std::enable_if<std::is_integral<T>::value, iterator>::type
+      operator()(T value) {
+    // MSVC2013 fails to compile separate overloads for bool and char_type so
+    // use std::is_same instead.
+    if (std::is_same<T, bool>::value) {
+      format_specs &fmt_spec = *this->spec();
+      if (fmt_spec.type != 's')
+        return base::operator()(value ? 1 : 0);
+      fmt_spec.type = 0;
+      this->write(value != 0);
+    } else if (std::is_same<T, char_type>::value) {
+      format_specs &fmt_spec = *this->spec();
+      if (fmt_spec.type && fmt_spec.type != 'c')
+        return (*this)(static_cast<int>(value));
+      fmt_spec.flags = 0;
+      fmt_spec.align_ = ALIGN_RIGHT;
+      return base::operator()(value);
+    } else {
+      return base::operator()(value);
+    }
+    return this->out();
+  }
+
+  template <typename T>
+  typename std::enable_if<std::is_floating_point<T>::value, iterator>::type
+      operator()(T value) {
+    return base::operator()(value);
+  }
+
+  /** Formats a null-terminated C string. */
+  iterator operator()(const char *value) {
+    if (value)
+      base::operator()(value);
+    else if (this->spec()->type == 'p')
+      write_null_pointer(char_type());
+    else
+      this->write("(null)");
+    return this->out();
+  }
+
+  /** Formats a null-terminated wide C string. */
+  iterator operator()(const wchar_t *value) {
+    if (value)
+      base::operator()(value);
+    else if (this->spec()->type == 'p')
+      write_null_pointer(char_type());
+    else
+      this->write(L"(null)");
+    return this->out();
+  }
+
+  iterator operator()(basic_string_view<char_type> value) {
+    return base::operator()(value);
+  }
+
+  iterator operator()(monostate value) {
+    return base::operator()(value);
+  }
+
+  /** Formats a pointer. */
+  iterator operator()(const void *value) {
+    if (value)
+      return base::operator()(value);
+    this->spec()->type = 0;
+    write_null_pointer(char_type());
+    return this->out();
+  }
+
+  /** Formats an argument of a custom (user-defined) type. */
+  iterator operator()(typename basic_format_arg<context_type>::handle handle) {
+    handle.format(context_);
+    return this->out();
+  }
+};
+
+template <typename T>
+struct printf_formatter {
+  template <typename ParseContext>
+  auto parse(ParseContext &ctx) -> decltype(ctx.begin()) { return ctx.begin(); }
+
+  template <typename FormatContext>
+  auto format(const T &value, FormatContext &ctx) -> decltype(ctx.out()) {
+    internal::format_value(internal::get_container(ctx.out()), value);
+    return ctx.out();
+  }
+};
+
+/** This template formats data and writes the output to a writer. */
+template <typename OutputIt, typename Char, typename ArgFormatter>
+class basic_printf_context :
+  // Inherit publicly as a workaround for the icc bug
+  // https://software.intel.com/en-us/forums/intel-c-compiler/topic/783476.
+  public internal::context_base<
+    OutputIt, basic_printf_context<OutputIt, Char, ArgFormatter>, Char> {
+ public:
+  /** The character type for the output. */
+  typedef Char char_type;
+
+  template <typename T>
+  struct formatter_type { typedef printf_formatter<T> type; };
+
+ private:
+  typedef internal::context_base<OutputIt, basic_printf_context, Char> base;
+  typedef typename base::format_arg format_arg;
+  typedef basic_format_specs<char_type> format_specs;
+  typedef internal::null_terminating_iterator<char_type> iterator;
+
+  void parse_flags(format_specs &spec, iterator &it);
+
+  // Returns the argument with specified index or, if arg_index is equal
+  // to the maximum unsigned value, the next argument.
+  format_arg get_arg(
+      iterator it,
+      unsigned arg_index = (std::numeric_limits<unsigned>::max)());
+
+  // Parses argument index, flags and width and returns the argument index.
+  unsigned parse_header(iterator &it, format_specs &spec);
+
+ public:
+  /**
+   \rst
+   Constructs a ``printf_context`` object. References to the arguments and
+   the writer are stored in the context object so make sure they have
+   appropriate lifetimes.
+   \endrst
+   */
+  basic_printf_context(OutputIt out, basic_string_view<char_type> format_str,
+                       basic_format_args<basic_printf_context> args)
+    : base(out, format_str, args) {}
+
+  using base::parse_context;
+  using base::out;
+  using base::advance_to;
+
+  /** Formats stored arguments and writes the output to the range. */
+  void format();
+};
+
+template <typename OutputIt, typename Char, typename AF>
+void basic_printf_context<OutputIt, Char, AF>::parse_flags(
+    format_specs &spec, iterator &it) {
+  for (;;) {
+    switch (*it++) {
+      case '-':
+        spec.align_ = ALIGN_LEFT;
+        break;
+      case '+':
+        spec.flags |= SIGN_FLAG | PLUS_FLAG;
+        break;
+      case '0':
+        spec.fill_ = '0';
+        break;
+      case ' ':
+        spec.flags |= SIGN_FLAG;
+        break;
+      case '#':
+        spec.flags |= HASH_FLAG;
+        break;
+      default:
+        --it;
+        return;
+    }
+  }
+}
+
+template <typename OutputIt, typename Char, typename AF>
+typename basic_printf_context<OutputIt, Char, AF>::format_arg
+  basic_printf_context<OutputIt, Char, AF>::get_arg(
+    iterator it, unsigned arg_index) {
+  (void)it;
+  if (arg_index == std::numeric_limits<unsigned>::max())
+    return this->do_get_arg(this->parse_context().next_arg_id());
+  return base::get_arg(arg_index - 1);
+}
+
+template <typename OutputIt, typename Char, typename AF>
+unsigned basic_printf_context<OutputIt, Char, AF>::parse_header(
+  iterator &it, format_specs &spec) {
+  unsigned arg_index = std::numeric_limits<unsigned>::max();
+  char_type c = *it;
+  if (c >= '0' && c <= '9') {
+    // Parse an argument index (if followed by '$') or a width possibly
+    // preceded with '0' flag(s).
+    internal::error_handler eh;
+    unsigned value = parse_nonnegative_int(it, eh);
+    if (*it == '$') {  // value is an argument index
+      ++it;
+      arg_index = value;
+    } else {
+      if (c == '0')
+        spec.fill_ = '0';
+      if (value != 0) {
+        // Nonzero value means that we parsed width and don't need to
+        // parse it or flags again, so return now.
+        spec.width_ = value;
+        return arg_index;
+      }
+    }
+  }
+  parse_flags(spec, it);
+  // Parse width.
+  if (*it >= '0' && *it <= '9') {
+    internal::error_handler eh;
+    spec.width_ = parse_nonnegative_int(it, eh);
+  } else if (*it == '*') {
+    ++it;
+    spec.width_ = visit_format_arg(
+          internal::printf_width_handler<char_type>(spec), get_arg(it));
+  }
+  return arg_index;
+}
+
+template <typename OutputIt, typename Char, typename AF>
+void basic_printf_context<OutputIt, Char, AF>::format() {
+  auto &buffer = internal::get_container(this->out());
+  auto start = iterator(this->parse_context());
+  auto it = start;
+  using internal::pointer_from;
+  while (*it) {
+    char_type c = *it++;
+    if (c != '%') continue;
+    if (*it == c) {
+      buffer.append(pointer_from(start), pointer_from(it));
+      start = ++it;
+      continue;
+    }
+    buffer.append(pointer_from(start), pointer_from(it) - 1);
+
+    format_specs spec;
+    spec.align_ = ALIGN_RIGHT;
+
+    // Parse argument index, flags and width.
+    unsigned arg_index = parse_header(it, spec);
+
+    // Parse precision.
+    if (*it == '.') {
+      ++it;
+      if ('0' <= *it && *it <= '9') {
+        internal::error_handler eh;
+        spec.precision = static_cast<int>(parse_nonnegative_int(it, eh));
+      } else if (*it == '*') {
+        ++it;
+        spec.precision =
+            visit_format_arg(internal::printf_precision_handler(), get_arg(it));
+      } else {
+        spec.precision = 0;
+      }
+    }
+
+    format_arg arg = get_arg(it, arg_index);
+    if (spec.has(HASH_FLAG) && visit_format_arg(internal::is_zero_int(), arg))
+      spec.flags = static_cast<uint_least8_t>(spec.flags & (~internal::to_unsigned<int>(HASH_FLAG)));
+    if (spec.fill_ == '0') {
+      if (arg.is_arithmetic())
+        spec.align_ = ALIGN_NUMERIC;
+      else
+        spec.fill_ = ' ';  // Ignore '0' flag for non-numeric types.
+    }
+
+    // Parse length and convert the argument to the required type.
+    using internal::convert_arg;
+    switch (*it++) {
+    case 'h':
+      if (*it == 'h')
+        convert_arg<signed char>(arg, *++it);
+      else
+        convert_arg<short>(arg, *it);
+      break;
+    case 'l':
+      if (*it == 'l')
+        convert_arg<long long>(arg, *++it);
+      else
+        convert_arg<long>(arg, *it);
+      break;
+    case 'j':
+      convert_arg<intmax_t>(arg, *it);
+      break;
+    case 'z':
+      convert_arg<std::size_t>(arg, *it);
+      break;
+    case 't':
+      convert_arg<std::ptrdiff_t>(arg, *it);
+      break;
+    case 'L':
+      // printf produces garbage when 'L' is omitted for long double, no
+      // need to do the same.
+      break;
+    default:
+      --it;
+      convert_arg<void>(arg, *it);
+    }
+
+    // Parse type.
+    if (!*it)
+      FMT_THROW(format_error("invalid format string"));
+    spec.type = static_cast<char>(*it++);
+    if (arg.is_integral()) {
+      // Normalize type.
+      switch (spec.type) {
+      case 'i': case 'u':
+        spec.type = 'd';
+        break;
+      case 'c':
+        // TODO: handle wchar_t better?
+        visit_format_arg(
+              internal::char_converter<basic_printf_context>(arg), arg);
+        break;
+      }
+    }
+
+    start = it;
+
+    // Format argument.
+    visit_format_arg(AF(buffer, spec, *this), arg);
+  }
+  buffer.append(pointer_from(start), pointer_from(it));
+}
+
+template <typename Buffer>
+struct basic_printf_context_t {
+  typedef basic_printf_context<
+    std::back_insert_iterator<Buffer>, typename Buffer::value_type> type;
+};
+
+typedef basic_printf_context_t<internal::buffer>::type printf_context;
+typedef basic_printf_context_t<internal::wbuffer>::type wprintf_context;
+
+typedef basic_format_args<printf_context> printf_args;
+typedef basic_format_args<wprintf_context> wprintf_args;
+
+/**
+  \rst
+  Constructs an `~fmt::format_arg_store` object that contains references to
+  arguments and can be implicitly converted to `~fmt::printf_args`. 
+  \endrst
+ */
+template<typename... Args>
+inline format_arg_store<printf_context, Args...>
+  make_printf_args(const Args &... args) { return {args...}; }
+
+/**
+  \rst
+  Constructs an `~fmt::format_arg_store` object that contains references to
+  arguments and can be implicitly converted to `~fmt::wprintf_args`. 
+  \endrst
+ */
+template<typename... Args>
+inline format_arg_store<wprintf_context, Args...>
+  make_wprintf_args(const Args &... args) { return {args...}; }
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline std::basic_string<Char>
+vsprintf(const S &format,
+         basic_format_args<typename basic_printf_context_t<
+           internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  return to_string(buffer);
+}
+
+/**
+  \rst
+  Formats arguments and returns the result as a string.
+
+  **Example**::
+
+    std::string message = fmt::sprintf("The answer is %d", 42);
+  \endrst
+*/
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(
+    internal::is_string<S>::value, std::basic_string<FMT_CHAR(S)>)
+    sprintf(const S &format, const Args & ... args) {
+  internal::check_format_string<Args...>(format);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vsprintf(to_string_view(format),
+                  basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vfprintf(std::FILE *f, const S &format,
+                    basic_format_args<typename basic_printf_context_t<
+                      internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  std::size_t size = buffer.size();
+  return std::fwrite(
+    buffer.data(), sizeof(Char), size, f) < size ? -1 : static_cast<int>(size);
+}
+
+/**
+  \rst
+  Prints formatted data to the file *f*.
+
+  **Example**::
+
+    fmt::fprintf(stderr, "Don't %s!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    fprintf(std::FILE *f, const S &format, const Args & ... args) {
+  internal::check_format_string<Args...>(format);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vfprintf(f, to_string_view(format),
+                  basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vprintf(const S &format,
+                   basic_format_args<typename basic_printf_context_t<
+                    internal::basic_buffer<Char>>::type> args) {
+  return vfprintf(stdout, to_string_view(format), args);
+}
+
+/**
+  \rst
+  Prints formatted data to ``stdout``.
+
+  **Example**::
+
+    fmt::printf("Elapsed time: %.2f seconds", 1.23);
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    printf(const S &format_str, const Args & ... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vprintf(to_string_view(format_str),
+                 basic_format_args<context>(as));
+}
+
+template <typename S, typename Char = FMT_CHAR(S)>
+inline int vfprintf(std::basic_ostream<Char> &os,
+                    const S &format,
+                    basic_format_args<typename basic_printf_context_t<
+                      internal::basic_buffer<Char>>::type> args) {
+  basic_memory_buffer<Char> buffer;
+  printf(buffer, to_string_view(format), args);
+  internal::write(os, buffer);
+  return static_cast<int>(buffer.size());
+}
+
+/**
+  \rst
+  Prints formatted data to the stream *os*.
+
+  **Example**::
+
+    fmt::fprintf(cerr, "Don't %s!", "panic");
+  \endrst
+ */
+template <typename S, typename... Args>
+inline FMT_ENABLE_IF_T(internal::is_string<S>::value, int)
+    fprintf(std::basic_ostream<FMT_CHAR(S)> &os,
+            const S &format_str, const Args & ... args) {
+  internal::check_format_string<Args...>(format_str);
+  typedef internal::basic_buffer<FMT_CHAR(S)> buffer;
+  typedef typename basic_printf_context_t<buffer>::type context;
+  format_arg_store<context, Args...> as{ args... };
+  return vfprintf(os, to_string_view(format_str),
+                  basic_format_args<context>(as));
+}
+FMT_END_NAMESPACE
+
+#endif  // FMT_PRINTF_H_

include/Livox/third_party/spdlog/spdlog/fmt/bundled/ranges.h

@@ -0,0 +1,308 @@
+// Formatting library for C++ - the core API
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+//
+// Copyright (c) 2018 - present, Remotion (Igor Schulz)
+// All Rights Reserved
+// {fmt} support for ranges, containers and types tuple interface.
+
+#ifndef FMT_RANGES_H_
+#define FMT_RANGES_H_
+
+#include "format.h"
+#include <type_traits>
+
+// output only up to N items from the range.
+#ifndef FMT_RANGE_OUTPUT_LENGTH_LIMIT
+# define FMT_RANGE_OUTPUT_LENGTH_LIMIT 256
+#endif
+
+FMT_BEGIN_NAMESPACE
+
+template <typename Char>
+struct formatting_base {
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return ctx.begin();
+  }
+};
+
+template <typename Char, typename Enable = void>
+struct formatting_range : formatting_base<Char> {
+  static FMT_CONSTEXPR_DECL const std::size_t range_length_limit =
+      FMT_RANGE_OUTPUT_LENGTH_LIMIT; // output only up to N items from the range.
+  Char prefix;
+  Char delimiter;
+  Char postfix;
+  formatting_range() : prefix('{'), delimiter(','), postfix('}') {}
+  static FMT_CONSTEXPR_DECL const bool add_delimiter_spaces = true;
+  static FMT_CONSTEXPR_DECL const bool add_prepostfix_space = false;
+};
+
+template <typename Char, typename Enable = void>
+struct formatting_tuple : formatting_base<Char> {
+  Char prefix;
+  Char delimiter;
+  Char postfix;
+  formatting_tuple() : prefix('('), delimiter(','), postfix(')') {}
+  static FMT_CONSTEXPR_DECL const bool add_delimiter_spaces = true;
+  static FMT_CONSTEXPR_DECL const bool add_prepostfix_space = false;
+};
+
+namespace internal {
+
+template <typename RangeT, typename OutputIterator>
+void copy(const RangeT &range, OutputIterator out) {
+  for (auto it = range.begin(), end = range.end(); it != end; ++it)
+    *out++ = *it;
+}
+
+template <typename OutputIterator>
+void copy(const char *str, OutputIterator out) {
+  const char *p_curr = str;
+  while (*p_curr) {
+    *out++ = *p_curr++;
+  }
+}
+
+template <typename OutputIterator>
+void copy(char ch, OutputIterator out) {
+  *out++ = ch;
+}
+
+/// Return true value if T has std::string interface, like std::string_view.
+template <typename T>
+class is_like_std_string {
+  template <typename U>
+  static auto check(U *p) ->
+    decltype(p->find('a'), p->length(), p->data(), int());
+  template <typename>
+  static void check(...);
+
+ public:
+  static FMT_CONSTEXPR_DECL const bool value =
+    !std::is_void<decltype(check<T>(FMT_NULL))>::value;
+};
+
+template <typename Char>
+struct is_like_std_string<fmt::basic_string_view<Char>> : std::true_type {};
+
+template <typename... Ts>
+struct conditional_helper {};
+
+template <typename T, typename _ = void>
+struct is_range_ : std::false_type {};
+
+#if !FMT_MSC_VER || FMT_MSC_VER > 1800
+template <typename T>
+struct is_range_<T, typename std::conditional<
+                    false,
+                    conditional_helper<decltype(internal::declval<T>().begin()),
+                                       decltype(internal::declval<T>().end())>,
+                    void>::type> : std::true_type {};
+#endif
+
+/// tuple_size and tuple_element check.
+template <typename T>
+class is_tuple_like_ {
+  template <typename U>
+  static auto check(U *p) ->
+    decltype(std::tuple_size<U>::value,
+      internal::declval<typename std::tuple_element<0, U>::type>(), int());
+  template <typename>
+  static void check(...);
+
+ public:
+  static FMT_CONSTEXPR_DECL const bool value =
+    !std::is_void<decltype(check<T>(FMT_NULL))>::value;
+};
+
+// Check for integer_sequence
+#if defined(__cpp_lib_integer_sequence) || FMT_MSC_VER >= 1900
+template <typename T, T... N>
+using integer_sequence = std::integer_sequence<T, N...>;
+template <std::size_t... N>
+using index_sequence = std::index_sequence<N...>;
+template <std::size_t N>
+using make_index_sequence = std::make_index_sequence<N>;
+#else
+template <typename T, T... N>
+struct integer_sequence {
+  typedef T value_type;
+
+  static FMT_CONSTEXPR std::size_t size() {
+    return sizeof...(N);
+  }
+};
+
+template <std::size_t... N>
+using index_sequence = integer_sequence<std::size_t, N...>;
+
+template <typename T, std::size_t N, T... Ns>
+struct make_integer_sequence : make_integer_sequence<T, N - 1, N - 1, Ns...> {};
+template <typename T, T... Ns>
+struct make_integer_sequence<T, 0, Ns...> : integer_sequence<T, Ns...> {};
+
+template <std::size_t N>
+using make_index_sequence = make_integer_sequence<std::size_t, N>;
+#endif
+
+template <class Tuple, class F, size_t... Is>
+void for_each(index_sequence<Is...>, Tuple &&tup, F &&f) FMT_NOEXCEPT {
+  using std::get;
+  // using free function get<I>(T) now.
+  const int _[] = {0, ((void)f(get<Is>(tup)), 0)...};
+  (void)_;  // blocks warnings
+}
+
+template <class T>
+FMT_CONSTEXPR make_index_sequence<std::tuple_size<T>::value> 
+get_indexes(T const &) { return {}; }
+
+template <class Tuple, class F>
+void for_each(Tuple &&tup, F &&f) {
+  const auto indexes = get_indexes(tup);
+  for_each(indexes, std::forward<Tuple>(tup), std::forward<F>(f));
+}
+
+template<typename Arg>
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const Arg&, 
+  typename std::enable_if<
+    !is_like_std_string<typename std::decay<Arg>::type>::value>::type* = nullptr) {
+  return add_space ? " {}" : "{}";
+}
+
+template<typename Arg>
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const Arg&, 
+  typename std::enable_if<
+    is_like_std_string<typename std::decay<Arg>::type>::value>::type* = nullptr) {
+  return add_space ? " \"{}\"" : "\"{}\"";
+}
+
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const char*) {
+  return add_space ? " \"{}\"" : "\"{}\"";
+}
+FMT_CONSTEXPR const wchar_t* format_str_quoted(bool add_space, const wchar_t*) {
+    return add_space ? L" \"{}\"" : L"\"{}\"";
+}
+
+FMT_CONSTEXPR const char* format_str_quoted(bool add_space, const char) {
+    return add_space ? " '{}'" : "'{}'";
+}
+FMT_CONSTEXPR const wchar_t* format_str_quoted(bool add_space, const wchar_t) {
+    return add_space ? L" '{}'" : L"'{}'";
+}
+
+}  // namespace internal
+
+template <typename T>
+struct is_tuple_like {
+  static FMT_CONSTEXPR_DECL const bool value =
+    internal::is_tuple_like_<T>::value && !internal::is_range_<T>::value;
+};
+
+template <typename TupleT, typename Char>
+struct formatter<TupleT, Char, 
+    typename std::enable_if<fmt::is_tuple_like<TupleT>::value>::type> {
+private:
+  // C++11 generic lambda for format()
+  template <typename FormatContext>
+  struct format_each {
+    template <typename T>
+    void operator()(const T& v) {
+      if (i > 0) {
+        if (formatting.add_prepostfix_space) {
+          *out++ = ' ';
+        }
+        internal::copy(formatting.delimiter, out);
+      }
+      format_to(out,
+                internal::format_str_quoted(
+                    (formatting.add_delimiter_spaces && i > 0), v),
+                v);
+      ++i;
+    }
+
+    formatting_tuple<Char>& formatting;
+    std::size_t& i;
+    typename std::add_lvalue_reference<decltype(std::declval<FormatContext>().out())>::type out;
+  };
+
+public:
+  formatting_tuple<Char> formatting;
+
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return formatting.parse(ctx);
+  }
+
+  template <typename FormatContext = format_context>
+  auto format(const TupleT &values, FormatContext &ctx) -> decltype(ctx.out()) {
+    auto out = ctx.out();
+    std::size_t i = 0;
+    internal::copy(formatting.prefix, out);
+
+    internal::for_each(values, format_each<FormatContext>{formatting, i, out});
+    if (formatting.add_prepostfix_space) {
+      *out++ = ' ';
+    }
+    internal::copy(formatting.postfix, out);
+
+    return ctx.out();
+  }
+};
+
+template <typename T>
+struct is_range {
+  static FMT_CONSTEXPR_DECL const bool value =
+    internal::is_range_<T>::value && !internal::is_like_std_string<T>::value;
+};
+
+template <typename RangeT, typename Char>
+struct formatter<RangeT, Char,
+    typename std::enable_if<fmt::is_range<RangeT>::value>::type> {
+
+  formatting_range<Char> formatting;
+
+  template <typename ParseContext>
+  FMT_CONSTEXPR auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    return formatting.parse(ctx);
+  }
+
+  template <typename FormatContext>
+  typename FormatContext::iterator format(
+      const RangeT &values, FormatContext &ctx) {
+    auto out = ctx.out();
+    internal::copy(formatting.prefix, out);
+    std::size_t i = 0;
+    for (auto it = values.begin(), end = values.end(); it != end; ++it) {
+      if (i > 0) {
+        if (formatting.add_prepostfix_space) {
+          *out++ = ' ';
+        }
+        internal::copy(formatting.delimiter, out);
+      }
+      format_to(out,
+                internal::format_str_quoted(
+                    (formatting.add_delimiter_spaces && i > 0), *it),
+                *it);
+      if (++i > formatting.range_length_limit) {
+        format_to(out, " ... <other elements>");
+        break;
+      }
+    }
+    if (formatting.add_prepostfix_space) {
+      *out++ = ' ';
+    }
+    internal::copy(formatting.postfix, out);
+    return ctx.out();
+  }
+};
+
+FMT_END_NAMESPACE
+
+#endif // FMT_RANGES_H_
+

include/Livox/third_party/spdlog/spdlog/fmt/bundled/time.h

@@ -0,0 +1,160 @@
+// Formatting library for C++ - time formatting
+//
+// Copyright (c) 2012 - present, Victor Zverovich
+// All rights reserved.
+//
+// For the license information refer to format.h.
+
+#ifndef FMT_TIME_H_
+#define FMT_TIME_H_
+
+#include "format.h"
+#include <ctime>
+#include <locale>
+
+FMT_BEGIN_NAMESPACE
+
+// Prevents expansion of a preceding token as a function-style macro.
+// Usage: f FMT_NOMACRO()
+#define FMT_NOMACRO
+
+namespace internal{
+inline null<> localtime_r FMT_NOMACRO(...) { return null<>(); }
+inline null<> localtime_s(...) { return null<>(); }
+inline null<> gmtime_r(...) { return null<>(); }
+inline null<> gmtime_s(...) { return null<>(); }
+}  // namespace internal
+
+// Thread-safe replacement for std::localtime
+inline std::tm localtime(std::time_t time) {
+  struct dispatcher {
+    std::time_t time_;
+    std::tm tm_;
+
+    dispatcher(std::time_t t): time_(t) {}
+
+    bool run() {
+      using namespace fmt::internal;
+      return handle(localtime_r(&time_, &tm_));
+    }
+
+    bool handle(std::tm *tm) { return tm != FMT_NULL; }
+
+    bool handle(internal::null<>) {
+      using namespace fmt::internal;
+      return fallback(localtime_s(&tm_, &time_));
+    }
+
+    bool fallback(int res) { return res == 0; }
+
+#if !FMT_MSC_VER
+    bool fallback(internal::null<>) {
+      using namespace fmt::internal;
+      std::tm *tm = std::localtime(&time_);
+      if (tm) tm_ = *tm;
+      return tm != FMT_NULL;
+    }
+#endif
+  };
+  dispatcher lt(time);
+  // Too big time values may be unsupported.
+  if (!lt.run())
+    FMT_THROW(format_error("time_t value out of range"));
+  return lt.tm_;
+}
+
+// Thread-safe replacement for std::gmtime
+inline std::tm gmtime(std::time_t time) {
+  struct dispatcher {
+    std::time_t time_;
+    std::tm tm_;
+
+    dispatcher(std::time_t t): time_(t) {}
+
+    bool run() {
+      using namespace fmt::internal;
+      return handle(gmtime_r(&time_, &tm_));
+    }
+
+    bool handle(std::tm *tm) { return tm != FMT_NULL; }
+
+    bool handle(internal::null<>) {
+      using namespace fmt::internal;
+      return fallback(gmtime_s(&tm_, &time_));
+    }
+
+    bool fallback(int res) { return res == 0; }
+
+#if !FMT_MSC_VER
+    bool fallback(internal::null<>) {
+      std::tm *tm = std::gmtime(&time_);
+      if (tm) tm_ = *tm;
+      return tm != FMT_NULL;
+    }
+#endif
+  };
+  dispatcher gt(time);
+  // Too big time values may be unsupported.
+  if (!gt.run())
+    FMT_THROW(format_error("time_t value out of range"));
+  return gt.tm_;
+}
+
+namespace internal {
+inline std::size_t strftime(char *str, std::size_t count, const char *format,
+                            const std::tm *time) {
+  return std::strftime(str, count, format, time);
+}
+
+inline std::size_t strftime(wchar_t *str, std::size_t count,
+                            const wchar_t *format, const std::tm *time) {
+  return std::wcsftime(str, count, format, time);
+}
+}
+
+template <typename Char>
+struct formatter<std::tm, Char> {
+  template <typename ParseContext>
+  auto parse(ParseContext &ctx) -> decltype(ctx.begin()) {
+    auto it = ctx.begin();
+    if (it != ctx.end() && *it == ':')
+      ++it;
+    auto end = it;
+    while (end != ctx.end() && *end != '}')
+      ++end;
+    tm_format.reserve(internal::to_unsigned(end - it + 1));
+    tm_format.append(it, end);
+    tm_format.push_back('\0');
+    return end;
+  }
+
+  template <typename FormatContext>
+  auto format(const std::tm &tm, FormatContext &ctx) -> decltype(ctx.out()) {
+    basic_memory_buffer<Char> buf;
+    std::size_t start = buf.size();
+    for (;;) {
+      std::size_t size = buf.capacity() - start;
+      std::size_t count =
+        internal::strftime(&buf[start], size, &tm_format[0], &tm);
+      if (count != 0) {
+        buf.resize(start + count);
+        break;
+      }
+      if (size >= tm_format.size() * 256) {
+        // If the buffer is 256 times larger than the format string, assume
+        // that `strftime` gives an empty result. There doesn't seem to be a
+        // better way to distinguish the two cases:
+        // https://github.com/fmtlib/fmt/issues/367
+        break;
+      }
+      const std::size_t MIN_GROWTH = 10;
+      buf.reserve(buf.capacity() + (size > MIN_GROWTH ? size : MIN_GROWTH));
+    }
+    return std::copy(buf.begin(), buf.end(), ctx.out());
+  }
+
+  basic_memory_buffer<Char> tm_format;
+};
+FMT_END_NAMESPACE
+
+#endif  // FMT_TIME_H_

include/Livox/third_party/spdlog/spdlog/fmt/fmt.h

@@ -0,0 +1,25 @@
+//
+// Copyright(c) 2016-2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+//
+// Include a bundled header-only copy of fmtlib or an external one.
+// By default spdlog include its own copy.
+//
+
+#if !defined(SPDLOG_FMT_EXTERNAL)
+#ifndef FMT_HEADER_ONLY
+#define FMT_HEADER_ONLY
+#endif
+#ifndef FMT_USE_WINDOWS_H
+#define FMT_USE_WINDOWS_H 0
+#endif
+#include "bundled/core.h"
+#include "bundled/format.h"
+#else // external fmtlib
+#include <fmt/core.h>
+#include <fmt/format.h>
+#endif