.gitignore

@@ -1,79 +1,4 @@
-# ---> ROS
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
-
-# ---> C++
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
+build
+log
+install
+.vscode

src/common/3rd/x86/math/include/math/aabox2d.h

@@ -1,57 +0,0 @@
-#pragma once
-
-#include "math/vec2d.h"
-
-#include <string>
-#include <vector>
-
-namespace decision::math {
-
-class AABox2d {
-public:
-    AABox2d() = default;
-    AABox2d(const Vec2d& center, const double length, const double width);
-    AABox2d(const Vec2d& one_corner, const Vec2d& opponent_corner);
-    AABox2d(const std::vector<Vec2d>& points);
-
-    const Vec2d& center() const { return _center; }
-    double center_x() const { return _center.x(); }
-    double center_y() const { return _center.y(); }
-    double length() const { return _length; }
-    double width() const { return _width; }
-    double half_length() const { return _half_length; }
-    double half_width() const { return _half_width; }
-    double area() const { return _length * _width; }
-    double min_x() const { return _center.x() - _half_length; }
-    double max_x() const { return _center.x() + _half_length; }
-    double min_y() const { return _center.y() - _half_width; }
-    double max_y() const { return _center.y() + _half_width; }
-
-    // Get all corners in counter clockwise order.
-    void get_all_corners(std::vector<Vec2d>* const corners) const;
-
-    bool is_point_in(const Vec2d& point) const;
-    bool is_point_on_boundary(const Vec2d& point) const;
-
-    double distance_to(const Vec2d& point) const;
-    double distance_to(const AABox2d& box) const;
-
-    bool has_overlap(const AABox2d& box) const;
-
-    // Shift the center of AABox by the input vector.
-    void shift(const Vec2d& shift_vec);
-
-    void merge_from(const AABox2d& other_box);
-    void merge_from(const Vec2d& other_point);
-
-    std::string debug_string() const;
-
-protected:
-    Vec2d _center;
-    double _length = 0.0;
-    double _width = 0.0;
-    double _half_length = 0.0;
-    double _half_width = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/aabox3d.h

@@ -1,57 +0,0 @@
-// Copyright 2018 Baidu Inc. All Rights Reserved
-// Author: Fuxiangyu (fuxiangyu@baidu.com)
-//
-// Description: aabox for 3d
-
-#pragma once
-
-#include "math/aabox2d.h"
-#include "math/vec3d.h"
-
-namespace decision::math {
-
-class AABox3d {
-public:
-    AABox3d() = default;
-    AABox3d(const Vec3d& center, const double length, const double width, const double height);
-    AABox3d(const Vec3d& one_corner, const Vec3d& opponent_corner);
-    AABox3d(const std::vector<Vec3d>& points);
-
-    AABox2d aabox2d() const;
-    const Vec3d& center() const { return _center; }
-    double length() const { return _length; }
-    double width() const { return _width; }
-    double height() const { return _height; }
-    double min_x() const { return _center.x() - _half_length; }
-    double max_x() const { return _center.x() + _half_length; }
-    double min_y() const { return _center.y() - _half_width; }
-    double max_y() const { return _center.y() + _half_width; }
-    double min_z() const { return _center.z() - _half_height; }
-    double max_z() const { return _center.z() + _half_height; }
-
-    // Get all corners in counter clockwise order.
-    void get_all_corners(std::vector<Vec3d>* const corners) const;
-
-    bool is_point_in(const Vec3d& point) const;
-    bool is_point_on_boundary(const Vec3d& point) const;
-
-    double distance_to(const Vec3d& point) const;
-
-    // Shift the center of AABox by the input vector.
-    void shift(const Vec3d& shift_vec);
-
-    void merge_from(const AABox3d& other_box);
-
-    std::string debug_string() const;
-
-protected:
-    Vec3d _center;
-    double _length = 0.0;
-    double _width = 0.0;
-    double _height = 0.0;
-    double _half_length = 0.0;
-    double _half_width = 0.0;
-    double _half_height = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/aaboxkdtree2d.h

@@ -1,387 +0,0 @@
-#pragma once
-
-#include "math/aabox2d.h"
-#include "math/math_utils.h"
-
-#include <algorithm>
-#include <limits>
-#include <memory>
-#include <vector>
-
-namespace decision::math {
-
-struct AABoxKDTreeParams {
-    // The maximum depth of the kdtree.
-    int max_depth = -1;
-    // The maximum number of items in one leaf node.
-    int max_leaf_size = -1;
-    // The maximum dimension size of leaf node.
-    double max_leaf_dimension = -1.0;
-};
-
-template <class ObjectType>
-class AABoxKDTree2dNode {
-public:
-    using ObjectPtr = const ObjectType*;
-
-    AABoxKDTree2dNode(const std::vector<ObjectPtr>& objects,
-        const AABoxKDTreeParams& params, int depth)
-        : _depth(depth)
-    {
-        CHECK(!objects.empty());
-
-        compute_boundary(objects);
-        compute_partition();
-
-        if (split_to_subnodes(objects, params)) {
-            std::vector<ObjectPtr> left_subnode_objects;
-            std::vector<ObjectPtr> right_subnode_objects;
-            partition_objects(objects, &left_subnode_objects, &right_subnode_objects);
-
-            // Split to sub-nodes.
-            if (!left_subnode_objects.empty()) {
-                _left_subnode.reset(new AABoxKDTree2dNode<ObjectType>(
-                    left_subnode_objects, params, depth + 1));
-            }
-            if (!right_subnode_objects.empty()) {
-                _right_subnode.reset(new AABoxKDTree2dNode<ObjectType>(
-                    right_subnode_objects, params, depth + 1));
-            }
-        } else {
-            init_objects(objects);
-        }
-    }
-
-    ObjectPtr get_nearest_object(const Vec2d& point) const
-    {
-        ObjectPtr nearest_object = nullptr;
-        double min_distance_sqr = std::numeric_limits<double>::infinity();
-        get_nearest_object_internal(point, &min_distance_sqr, &nearest_object);
-        return nearest_object;
-    }
-
-    std::vector<ObjectPtr> get_objects(const Vec2d& point, const double distance) const
-    {
-        std::vector<ObjectPtr> result_objects;
-        get_objects_internal(point, distance, sqr(distance), &result_objects);
-        return result_objects;
-    }
-
-    AABox2d get_bounding_box() const
-    {
-        return AABox2d({ _min_x, _min_y }, { _max_x, _max_y });
-    }
-
-private:
-    void init_objects(const std::vector<ObjectPtr>& objects)
-    {
-        _num_objects = objects.size();
-        _objects_sorted_by_min = objects;
-        _objects_sorted_by_max = objects;
-        std::sort(_objects_sorted_by_min.begin(), _objects_sorted_by_min.end(),
-            [&](ObjectPtr obj1, ObjectPtr obj2) {
-                return _partition == PARTITION_X ? obj1->aabox().min_x() < obj2->aabox().min_x()
-                                                 : obj1->aabox().min_y() < obj2->aabox().min_y();
-            });
-        std::sort(_objects_sorted_by_max.begin(), _objects_sorted_by_max.end(),
-            [&](ObjectPtr obj1, ObjectPtr obj2) {
-                return _partition == PARTITION_X ? obj1->aabox().max_x() > obj2->aabox().max_x()
-                                                 : obj1->aabox().max_y() > obj2->aabox().max_y();
-            });
-        _objects_sorted_by_min_bound.reserve(_num_objects);
-        for (ObjectPtr object : _objects_sorted_by_min) {
-            _objects_sorted_by_min_bound.push_back(
-                _partition == PARTITION_X ? object->aabox().min_x() : object->aabox().min_y());
-        }
-        _objects_sorted_by_max_bound.reserve(_num_objects);
-        for (ObjectPtr object : _objects_sorted_by_max) {
-            _objects_sorted_by_max_bound.push_back(
-                _partition == PARTITION_X ? object->aabox().max_x() : object->aabox().max_y());
-        }
-    }
-
-    bool split_to_subnodes(const std::vector<ObjectPtr>& objects, const AABoxKDTreeParams& params)
-    {
-        if (params.max_depth >= 0 && _depth >= params.max_depth) {
-            return false;
-        }
-        if (static_cast<int>(objects.size()) <= std::max(1, params.max_leaf_size)) {
-            return false;
-        }
-        if (params.max_leaf_dimension >= 0.0 && std::max(_max_x - _min_x, _max_y - _min_y) <= params.max_leaf_dimension) {
-            return false;
-        }
-        return true;
-    }
-
-    double lowerbound_distance_sqr_to_point(const Vec2d& point) const
-    {
-        double dx = 0.0;
-        if (point.x() < _min_x) {
-            dx = _min_x - point.x();
-        } else if (point.x() > _max_x) {
-            dx = point.x() - _max_x;
-        }
-        double dy = 0.0;
-        if (point.y() < _min_y) {
-            dy = _min_y - point.y();
-        } else if (point.y() > _max_y) {
-            dy = point.y() - _max_y;
-        }
-        return dx * dx + dy * dy;
-    }
-
-    double upperbound_distance_sqr_to_point(const Vec2d& point) const
-    {
-        const double dx = (point.x() > _mid_x ? (point.x() - _min_x) : (point.x() - _max_x));
-        const double dy = (point.y() > _mid_y ? (point.y() - _min_y) : (point.y() - _max_y));
-        return dx * dx + dy * dy;
-    }
-
-    void get_all_objects(std::vector<ObjectPtr>* const result_objects) const
-    {
-        result_objects->insert(result_objects->end(),
-            _objects_sorted_by_min.begin(), _objects_sorted_by_min.end());
-        if (_left_subnode != nullptr) {
-            _left_subnode->get_all_objects(result_objects);
-        }
-        if (_right_subnode != nullptr) {
-            _right_subnode->get_all_objects(result_objects);
-        }
-    }
-
-    void get_objects_internal(const Vec2d& point,
-        const double distance,
-        const double distance_sqr,
-        std::vector<ObjectPtr>* const result_objects) const
-    {
-        if (lowerbound_distance_sqr_to_point(point) > distance_sqr) {
-            return;
-        }
-        if (upperbound_distance_sqr_to_point(point) <= distance_sqr) {
-            get_all_objects(result_objects);
-            return;
-        }
-        const double pvalue = (_partition == PARTITION_X ? point.x() : point.y());
-        if (pvalue < _partition_position) {
-            const double limit = pvalue + distance;
-            for (int i = 0; i < _num_objects; ++i) {
-                if (_objects_sorted_by_min_bound[i] > limit) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_min[i];
-                if (object->distance_sqr_to(point) <= distance_sqr) {
-                    result_objects->push_back(object);
-                }
-            }
-        } else {
-            const double limit = pvalue - distance;
-            for (int i = 0; i < _num_objects; ++i) {
-                if (_objects_sorted_by_max_bound[i] < limit) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_max[i];
-                if (object->distance_sqr_to(point) <= distance_sqr) {
-                    result_objects->push_back(object);
-                }
-            }
-        }
-        if (_left_subnode != nullptr) {
-            _left_subnode->get_objects_internal(point, distance, distance_sqr, result_objects);
-        }
-        if (_right_subnode != nullptr) {
-            _right_subnode->get_objects_internal(point, distance, distance_sqr, result_objects);
-        }
-    }
-
-    void get_nearest_object_internal(const Vec2d& point,
-        double* const min_distance_sqr,
-        ObjectPtr* const nearest_object) const
-    {
-        if (lowerbound_distance_sqr_to_point(point) >= *min_distance_sqr - kMathEpsilon) {
-            return;
-        }
-        const double pvalue = (_partition == PARTITION_X ? point.x() : point.y());
-        const bool search_left_first = (pvalue < _partition_position);
-        if (search_left_first) {
-            if (_left_subnode != nullptr) {
-                _left_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        } else {
-            if (_right_subnode != nullptr) {
-                _right_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        }
-        if (*min_distance_sqr <= kMathEpsilon) {
-            return;
-        }
-
-        if (search_left_first) {
-            for (int i = 0; i < _num_objects; ++i) {
-                const double bound = _objects_sorted_by_min_bound[i];
-                if (bound > pvalue && sqr(bound - pvalue) > *min_distance_sqr) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_min[i];
-                const double distance_sqr = object->distance_sqr_to(point);
-                if (distance_sqr < *min_distance_sqr) {
-                    *min_distance_sqr = distance_sqr;
-                    *nearest_object = object;
-                }
-            }
-        } else {
-            for (int i = 0; i < _num_objects; ++i) {
-                const double bound = _objects_sorted_by_max_bound[i];
-                if (bound < pvalue && sqr(bound - pvalue) > *min_distance_sqr) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_max[i];
-                const double distance_sqr = object->distance_sqr_to(point);
-                if (distance_sqr < *min_distance_sqr) {
-                    *min_distance_sqr = distance_sqr;
-                    *nearest_object = object;
-                }
-            }
-        }
-        if (*min_distance_sqr <= kMathEpsilon) {
-            return;
-        }
-        if (search_left_first) {
-            if (_right_subnode != nullptr) {
-                _right_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        } else {
-            if (_left_subnode != nullptr) {
-                _left_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        }
-    }
-
-    void compute_boundary(const std::vector<ObjectPtr>& objects)
-    {
-        _min_x = std::numeric_limits<double>::infinity();
-        _min_y = std::numeric_limits<double>::infinity();
-        _max_x = -std::numeric_limits<double>::infinity();
-        _max_y = -std::numeric_limits<double>::infinity();
-        for (ObjectPtr object : objects) {
-            _min_x = std::min(_min_x, object->aabox().min_x());
-            _max_x = std::max(_max_x, object->aabox().max_x());
-            _min_y = std::min(_min_y, object->aabox().min_y());
-            _max_y = std::max(_max_y, object->aabox().max_y());
-        }
-        _mid_x = (_min_x + _max_x) / 2.0;
-        _mid_y = (_min_y + _max_y) / 2.0;
-    }
-
-    void compute_partition()
-    {
-        if (_max_x - _min_x >= _max_y - _min_y) {
-            _partition = PARTITION_X;
-            _partition_position = (_min_x + _max_x) / 2.0;
-        } else {
-            _partition = PARTITION_Y;
-            _partition_position = (_min_y + _max_y) / 2.0;
-        }
-    }
-
-    void partition_objects(const std::vector<ObjectPtr>& objects,
-        std::vector<ObjectPtr>* const left_subnode_objects,
-        std::vector<ObjectPtr>* const right_subnode_objects)
-    {
-        left_subnode_objects->clear();
-        right_subnode_objects->clear();
-        std::vector<ObjectPtr> other_objects;
-        if (_partition == PARTITION_X) {
-            for (ObjectPtr object : objects) {
-                if (object->aabox().max_x() <= _partition_position) {
-                    left_subnode_objects->push_back(object);
-                } else if (object->aabox().min_x() >= _partition_position) {
-                    right_subnode_objects->push_back(object);
-                } else {
-                    other_objects.push_back(object);
-                }
-            }
-        } else {
-            for (ObjectPtr object : objects) {
-                if (object->aabox().max_y() <= _partition_position) {
-                    left_subnode_objects->push_back(object);
-                } else if (object->aabox().min_y() >= _partition_position) {
-                    right_subnode_objects->push_back(object);
-                } else {
-                    other_objects.push_back(object);
-                }
-            }
-        }
-        init_objects(other_objects);
-    }
-
-private:
-    int _num_objects = 0;
-    std::vector<ObjectPtr> _objects_sorted_by_min;
-    std::vector<ObjectPtr> _objects_sorted_by_max;
-    std::vector<double> _objects_sorted_by_min_bound;
-    std::vector<double> _objects_sorted_by_max_bound;
-    int _depth = 0;
-
-    // Boundary
-    double _min_x = 0.0;
-    double _max_x = 0.0;
-    double _min_y = 0.0;
-    double _max_y = 0.0;
-    double _mid_x = 0.0;
-    double _mid_y = 0.0;
-
-    enum Partition {
-        PARTITION_X = 1,
-        PARTITION_Y = 2,
-    };
-    Partition _partition = PARTITION_X;
-    double _partition_position = 0.0;
-
-    std::unique_ptr<AABoxKDTree2dNode<ObjectType>> _left_subnode = nullptr;
-    std::unique_ptr<AABoxKDTree2dNode<ObjectType>> _right_subnode = nullptr;
-};
-
-template <class ObjectType>
-class AABoxKDTree2d {
-public:
-    using ObjectPtr = const ObjectType*;
-
-    AABoxKDTree2d(const std::vector<ObjectType>& objects, const AABoxKDTreeParams& params)
-    {
-        if (!objects.empty()) {
-            std::vector<ObjectPtr> object_ptrs;
-            for (const auto& object : objects) {
-                object_ptrs.push_back(&object);
-            }
-            _root.reset(new AABoxKDTree2dNode<ObjectType>(object_ptrs, params, 0));
-        }
-    }
-
-    ObjectPtr get_nearest_object(const Vec2d& point) const
-    {
-        return _root == nullptr ? nullptr : _root->get_nearest_object(point);
-    }
-
-    std::vector<ObjectPtr> get_objects(const Vec2d& point, const double distance) const
-    {
-        if (_root == nullptr) {
-            return {};
-        }
-        return _root->get_objects(point, distance);
-    }
-
-    AABox2d get_bounding_box() const
-    {
-        return _root == nullptr ? AABox2d() : _root->get_bounding_box();
-    }
-
-private:
-    std::unique_ptr<AABoxKDTree2dNode<ObjectType>> _root = nullptr;
-};
-
-}

src/common/3rd/x86/math/include/math/aaboxkdtree3d.h

@@ -1,441 +0,0 @@
-
-// Copyright 2018 Baidu. Inc All Rights Reserved
-// Author: Fuxiangyu (fuxiangyu@baidu.com)
-// Date: 2018-06-19 14:44
-//
-// Description: aaboxkdtree for 3d element
-
-#ifndef _MATH_COMMON_AABOXKDTREE3D_H_
-#define _MATH_COMMON_AABOXKDTREE3D_H_
-
-#pragma once
-
-#include "math/aabox3d.h"
-#include "math/math_utils.h"
-
-#include <algorithm>
-#include <limits>
-#include <memory>
-#include <vector>
-
-namespace decision::math {
-
-struct AABox3dKDTreeParams {
-    // The maximum depth of the kdtree.
-    int max_depth = -1;
-    // The maximum number of items in one leaf node.
-    int max_leaf_size = -1;
-    // The maximum dimension size of leaf node.
-    double max_leaf_dimension = -1.0;
-};
-
-template <class ObjectType>
-class AABoxKDTree3dNode {
-public:
-    using ObjectPtr = const ObjectType*;
-
-    AABoxKDTree3dNode(const std::vector<ObjectPtr>& objects,
-        const AABox3dKDTreeParams& params, int depth)
-        : _depth(depth)
-    {
-        CHECK(!objects.empty());
-
-        compute_boundary(objects);
-        compute_partition();
-
-        if (split_to_subnodes(objects, params)) {
-            std::vector<ObjectPtr> left_subnode_objects;
-            std::vector<ObjectPtr> right_subnode_objects;
-            partition_objects(objects, &left_subnode_objects, &right_subnode_objects);
-
-            // Split to sub-nodes.
-            if (!left_subnode_objects.empty()) {
-                _left_subnode.reset(new AABoxKDTree3dNode<ObjectType>(
-                    left_subnode_objects, params, depth + 1));
-            }
-            if (!right_subnode_objects.empty()) {
-                _right_subnode.reset(new AABoxKDTree3dNode<ObjectType>(
-                    right_subnode_objects, params, depth + 1));
-            }
-        } else {
-            init_objects(objects);
-        }
-    }
-
-    ObjectPtr get_nearest_object(const Vec3d& point) const
-    {
-        ObjectPtr nearest_object = nullptr;
-        double min_distance_sqr = std::numeric_limits<double>::infinity();
-        get_nearest_object_internal(point, &min_distance_sqr, &nearest_object);
-        return nearest_object;
-    }
-
-    std::vector<ObjectPtr> get_objects(const Vec3d& point, const double distance) const
-    {
-        std::vector<ObjectPtr> result_objects;
-        get_objects_internal(point, distance, sqr(distance), &result_objects);
-        return result_objects;
-    }
-
-    AABox3d get_bounding_box() const
-    {
-        return AABox3d({ _min_x, _min_y, _min_z }, { _max_x, _max_y, _max_z });
-    }
-
-private:
-    void init_objects(const std::vector<ObjectPtr>& objects)
-    {
-        _num_objects = objects.size();
-        _objects_sorted_by_min = objects;
-        _objects_sorted_by_max = objects;
-        std::sort(_objects_sorted_by_min.begin(), _objects_sorted_by_min.end(),
-            [&](ObjectPtr obj1, ObjectPtr obj2) {
-                return _partition == PARTITION_X ? obj1->aabox().min_x() < obj2->aabox().min_x()
-                                                 : (_partition == PARTITION_Y ? obj1->aabox().min_y() < obj2->aabox().min_y()
-                                                                              : obj1->aabox().min_z() < obj2->aabox().min_z());
-            });
-        std::sort(_objects_sorted_by_max.begin(), _objects_sorted_by_max.end(),
-            [&](ObjectPtr obj1, ObjectPtr obj2) {
-                return _partition == PARTITION_X ? obj1->aabox().max_x() > obj2->aabox().max_x()
-                                                 : (_partition == PARTITION_Y ? obj1->aabox().max_y() > obj2->aabox().max_y()
-                                                                              : obj1->aabox().max_z() > obj2->aabox().max_z());
-            });
-        _objects_sorted_by_min_bound.reserve(_num_objects);
-        for (ObjectPtr object : _objects_sorted_by_min) {
-            _objects_sorted_by_min_bound.push_back(
-                _partition == PARTITION_X ? object->aabox().min_x()
-                                          : (_partition == PARTITION_Y ? object->aabox().min_y()
-                                                                       : object->aabox().min_z()));
-        }
-        _objects_sorted_by_max_bound.reserve(_num_objects);
-        for (ObjectPtr object : _objects_sorted_by_max) {
-            _objects_sorted_by_max_bound.push_back(
-                _partition == PARTITION_X ? object->aabox().max_x()
-                                          : (_partition == PARTITION_Y ? object->aabox().max_y()
-                                                                       : object->aabox().max_z()));
-        }
-    }
-
-    bool split_to_subnodes(const std::vector<ObjectPtr>& objects, const AABox3dKDTreeParams& params)
-    {
-        if (params.max_depth >= 0 && _depth >= params.max_depth) {
-            return false;
-        }
-        if (static_cast<int>(objects.size()) <= std::max(1, params.max_leaf_size)) {
-            return false;
-        }
-        double max_dim = std::max(_max_x - _min_x, _max_y - _min_y);
-        max_dim = std::max(max_dim, _max_z - _min_z);
-        if (params.max_leaf_dimension >= 0.0 && max_dim <= params.max_leaf_dimension) {
-            return false;
-        }
-        return true;
-    }
-
-    double lowerbound_distance_sqr_to_point(const Vec3d& point) const
-    {
-        double dx = 0.0;
-        if (point.x() < _min_x) {
-            dx = _min_x - point.x();
-        } else if (point.x() > _max_x) {
-            dx = point.x() - _max_x;
-        }
-        double dy = 0.0;
-        if (point.y() < _min_y) {
-            dy = _min_y - point.y();
-        } else if (point.y() > _max_y) {
-            dy = point.y() - _max_y;
-        }
-        double dz = 0.0;
-        if (point.z() < _min_z) {
-            dz = _min_z - point.z();
-        } else if (point.z() > _max_z) {
-            dz = point.z() - _max_z;
-        }
-        return dx * dx + dy * dy + dz * dz;
-    }
-
-    double upperbound_distance_sqr_to_point(const Vec3d& point) const
-    {
-        const double dx = (point.x() > _mid_x ? (point.x() - _min_x) : (point.x() - _max_x));
-        const double dy = (point.y() > _mid_y ? (point.y() - _min_y) : (point.y() - _max_y));
-        const double dz = (point.z() > _mid_z ? (point.z() - _min_z) : (point.z() - _max_z));
-        return dx * dx + dy * dy + dz * dz;
-    }
-
-    void get_all_objects(std::vector<ObjectPtr>* const result_objects) const
-    {
-        result_objects->insert(result_objects->end(),
-            _objects_sorted_by_min.begin(), _objects_sorted_by_min.end());
-        if (_left_subnode != nullptr) {
-            _left_subnode->get_all_objects(result_objects);
-        }
-        if (_right_subnode != nullptr) {
-            _right_subnode->get_all_objects(result_objects);
-        }
-    }
-
-    void get_objects_internal(const Vec3d& point,
-        const double distance,
-        const double distance_sqr,
-        std::vector<ObjectPtr>* const result_objects) const
-    {
-        if (lowerbound_distance_sqr_to_point(point) > distance_sqr) {
-            return;
-        }
-        if (upperbound_distance_sqr_to_point(point) <= distance_sqr) {
-            get_all_objects(result_objects);
-            return;
-        }
-        const double pvalue = (_partition == PARTITION_X ? point.x()
-                                                         : (_partition == PARTITION_Y ? point.y() : point.z()));
-        if (pvalue < _partition_position) {
-            const double limit = pvalue + distance;
-            for (int i = 0; i < _num_objects; ++i) {
-                if (_objects_sorted_by_min_bound[i] > limit) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_min[i];
-                if (object->distance_sqr_to(point) <= distance_sqr) {
-                    result_objects->push_back(object);
-                }
-            }
-        } else {
-            const double limit = pvalue - distance;
-            for (int i = 0; i < _num_objects; ++i) {
-                if (_objects_sorted_by_max_bound[i] < limit) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_max[i];
-                if (object->distance_sqr_to(point) <= distance_sqr) {
-                    result_objects->push_back(object);
-                }
-            }
-        }
-        if (_left_subnode != nullptr) {
-            _left_subnode->get_objects_internal(point, distance, distance_sqr, result_objects);
-        }
-        if (_right_subnode != nullptr) {
-            _right_subnode->get_objects_internal(point, distance, distance_sqr, result_objects);
-        }
-    }
-
-    void get_nearest_object_internal(const Vec3d& point,
-        double* const min_distance_sqr,
-        ObjectPtr* const nearest_object) const
-    {
-        if (lowerbound_distance_sqr_to_point(point) >= *min_distance_sqr - kMathEpsilon) {
-            return;
-        }
-        const double pvalue = (_partition == PARTITION_X ? point.x()
-                                                         : (_partition == PARTITION_Y ? point.y() : point.z()));
-        const bool search_left_first = (pvalue < _partition_position);
-        if (search_left_first) {
-            if (_left_subnode != nullptr) {
-                _left_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        } else {
-            if (_right_subnode != nullptr) {
-                _right_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        }
-        if (*min_distance_sqr <= kMathEpsilon) {
-            return;
-        }
-
-        if (search_left_first) {
-            for (int i = 0; i < _num_objects; ++i) {
-                const double bound = _objects_sorted_by_min_bound[i];
-                if (bound > pvalue && sqr(bound - pvalue) > *min_distance_sqr) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_min[i];
-                const double distance_sqr = object->distance_sqr_to(point);
-                if (distance_sqr < *min_distance_sqr) {
-                    *min_distance_sqr = distance_sqr;
-                    *nearest_object = object;
-                }
-            }
-        } else {
-            for (int i = 0; i < _num_objects; ++i) {
-                const double bound = _objects_sorted_by_max_bound[i];
-                if (bound < pvalue && sqr(bound - pvalue) > *min_distance_sqr) {
-                    break;
-                }
-                ObjectPtr object = _objects_sorted_by_max[i];
-                const double distance_sqr = object->distance_sqr_to(point);
-                if (distance_sqr < *min_distance_sqr) {
-                    *min_distance_sqr = distance_sqr;
-                    *nearest_object = object;
-                }
-            }
-        }
-        if (*min_distance_sqr <= kMathEpsilon) {
-            return;
-        }
-        if (search_left_first) {
-            if (_right_subnode != nullptr) {
-                _right_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        } else {
-            if (_left_subnode != nullptr) {
-                _left_subnode->get_nearest_object_internal(
-                    point, min_distance_sqr, nearest_object);
-            }
-        }
-    }
-
-    void compute_boundary(const std::vector<ObjectPtr>& objects)
-    {
-        _min_x = std::numeric_limits<double>::infinity();
-        _min_y = std::numeric_limits<double>::infinity();
-        _min_z = std::numeric_limits<double>::infinity();
-        _max_x = -std::numeric_limits<double>::infinity();
-        _max_y = -std::numeric_limits<double>::infinity();
-        _max_z = -std::numeric_limits<double>::infinity();
-        for (ObjectPtr object : objects) {
-            _min_x = std::min(_min_x, object->aabox().min_x());
-            _max_x = std::max(_max_x, object->aabox().max_x());
-            _min_y = std::min(_min_y, object->aabox().min_y());
-            _max_y = std::max(_max_y, object->aabox().max_y());
-            _min_z = std::min(_min_z, object->aabox().min_z());
-            _max_z = std::max(_max_z, object->aabox().max_z());
-        }
-        _mid_x = (_min_x + _max_x) / 2.0;
-        _mid_y = (_min_y + _max_y) / 2.0;
-        _mid_z = (_min_z + _max_z) / 2.0;
-    }
-
-    void compute_partition()
-    {
-        double dx = _max_x - _min_x;
-        double dy = _max_y - _min_y;
-        double dz = _max_z - _min_z;
-        if (dx >= dy && dx >= dz) {
-            _partition = PARTITION_X;
-            _partition_position = (_min_x + _max_x) / 2.0;
-        } else if (dy >= dx && dy >= dz) {
-            _partition = PARTITION_Y;
-            _partition_position = (_min_y + _max_y) / 2.0;
-        } else {
-            _partition = PARTITION_Z;
-            _partition_position = (_min_z + _max_z) / 2.0;
-        }
-    }
-
-    void partition_objects(const std::vector<ObjectPtr>& objects,
-        std::vector<ObjectPtr>* const left_subnode_objects,
-        std::vector<ObjectPtr>* const right_subnode_objects)
-    {
-        left_subnode_objects->clear();
-        right_subnode_objects->clear();
-        std::vector<ObjectPtr> other_objects;
-        if (_partition == PARTITION_X) {
-            for (ObjectPtr object : objects) {
-                if (object->aabox().max_x() <= _partition_position) {
-                    left_subnode_objects->push_back(object);
-                } else if (object->aabox().min_x() >= _partition_position) {
-                    right_subnode_objects->push_back(object);
-                } else {
-                    other_objects.push_back(object);
-                }
-            }
-        } else if (_partition == PARTITION_Y) {
-            for (ObjectPtr object : objects) {
-                if (object->aabox().max_y() <= _partition_position) {
-                    left_subnode_objects->push_back(object);
-                } else if (object->aabox().min_y() >= _partition_position) {
-                    right_subnode_objects->push_back(object);
-                } else {
-                    other_objects.push_back(object);
-                }
-            }
-        } else {
-            for (ObjectPtr object : objects) {
-                if (object->aabox().max_z() <= _partition_position) {
-                    left_subnode_objects->push_back(object);
-                } else if (object->aabox().min_z() >= _partition_position) {
-                    right_subnode_objects->push_back(object);
-                } else {
-                    other_objects.push_back(object);
-                }
-            }
-        }
-        init_objects(other_objects);
-    }
-
-private:
-    int _num_objects = 0;
-    std::vector<ObjectPtr> _objects_sorted_by_min;
-    std::vector<ObjectPtr> _objects_sorted_by_max;
-    std::vector<double> _objects_sorted_by_min_bound;
-    std::vector<double> _objects_sorted_by_max_bound;
-    int _depth = 0;
-
-    // Boundary
-    double _min_x = 0.0;
-    double _max_x = 0.0;
-    double _min_y = 0.0;
-    double _max_y = 0.0;
-    double _min_z = 0.0;
-    double _max_z = 0.0;
-    double _mid_x = 0.0;
-    double _mid_y = 0.0;
-    double _mid_z = 0.0;
-
-    enum Partition {
-        PARTITION_X = 1,
-        PARTITION_Y = 2,
-        PARTITION_Z = 3,
-    };
-    Partition _partition = PARTITION_X;
-    double _partition_position = 0.0;
-
-    std::unique_ptr<AABoxKDTree3dNode<ObjectType>> _left_subnode = nullptr;
-    std::unique_ptr<AABoxKDTree3dNode<ObjectType>> _right_subnode = nullptr;
-};
-
-template <class ObjectType>
-class AABoxKDTree3d {
-public:
-    using ObjectPtr = const ObjectType*;
-
-    AABoxKDTree3d(const std::vector<ObjectType>& objects, const AABox3dKDTreeParams& params)
-    {
-        if (!objects.empty()) {
-            std::vector<ObjectPtr> object_ptrs;
-            for (const auto& object : objects) {
-                object_ptrs.push_back(&object);
-            }
-            _root.reset(new AABoxKDTree3dNode<ObjectType>(object_ptrs, params, 0));
-        }
-    }
-
-    ObjectPtr get_nearest_object(const Vec3d& point) const
-    {
-        return _root == nullptr ? nullptr : _root->get_nearest_object(point);
-    }
-
-    std::vector<ObjectPtr> get_objects(const Vec3d& point, const double distance) const
-    {
-        if (_root == nullptr) {
-            return {};
-        }
-        return _root->get_objects(point, distance);
-    }
-
-    AABox3d get_bounding_box() const
-    {
-        return _root == nullptr ? AABox3d() : _root->get_bounding_box();
-    }
-
-private:
-    std::unique_ptr<AABoxKDTree3dNode<ObjectType>> _root = nullptr;
-};
-
-}
-
-#endif // _MATH_COMMON_AABOXKDTREE3D_H_

src/common/3rd/x86/math/include/math/angle.h

@@ -1,173 +0,0 @@
-// Copyright (c) 2016 Baidu.com, Inc. All Rights Reserved
-// Author: hengliang
-
-// This file defines the Angle class, which uses an integer to represent an angle, and supports
-// commonly-used operations such as addition, subtraction, and trigonometry. Using an integer gives
-// the following advantages over the traditional floating-point representations:
-// - A signed integer automatically wraps an angle to the interval [-pi, pi).
-// - It makes the delta angle calculation easier and safer. For example, the difference between -179
-//   degrees and 179 degrees longitude is automatically 2 degrees.
-// - It uses less storage to achieve similar level of accuracy: Angle8 < Angle16 < float < Angle32 <
-//   double < Angle64, where < means "less precise than."
-// - Integer operations are more efficient.
-// - Angle8 and Angle16 allow super fast trigonometric functions via a 64-KiB lookup table.
-//
-// It is recommended to use the Angle class as much as possible, especially for the following
-// scenarios:
-// - Latitude/longitude: Angle32 can achieve < 1 cm resolution.
-// - Euler angles: Angle16 is precise enough for localization/object detection.
-//
-// Usage examples: Please refer to angle_test.cpp.
-
-#pragma once
-
-#include <cmath>
-#include <cstdint>
-#include <limits>
-
-namespace decision::math {
-
-template <typename T>
-class Angle {
-public:
-    static_assert(std::numeric_limits<T>::is_integer && std::numeric_limits<T>::is_signed,
-        "T must be a signed integer type");
-
-    static constexpr T RAW_PI = std::numeric_limits<T>::min();
-    static constexpr T RAW_PI_2 = -(std::numeric_limits<T>::min() >> 1);
-    static constexpr double DEG_TO_RAW = RAW_PI / -180.0;
-    static constexpr double RAD_TO_RAW = RAW_PI * -M_1_PI;
-    static constexpr double RAW_TO_DEG = -180.0 / RAW_PI;
-    static constexpr double RAW_TO_RAD = -M_PI / RAW_PI;
-
-    // Construct an object from an angle in degrees.
-    static Angle from_deg(double value)
-    {
-        Angle a(lround(value * DEG_TO_RAW));
-        return a;
-    }
-
-    // Construct an object from an angle in radians.
-    static Angle from_rad(double value)
-    {
-        Angle a(lround(value * RAD_TO_RAW));
-        return a;
-    }
-
-    explicit Angle(T value = 0)
-        : _value(value)
-    {
-    }
-
-    double to_deg() const
-    {
-        return _value * RAW_TO_DEG;
-    }
-
-    double to_rad() const
-    {
-        return _value * RAW_TO_RAD;
-    }
-
-    T raw() const
-    {
-        return _value;
-    }
-
-    Angle operator+=(Angle other)
-    {
-        _value += other._value;
-        return *this;
-    }
-
-    Angle operator-=(Angle other)
-    {
-        _value -= other._value;
-        return *this;
-    }
-
-    template <typename Scalar>
-    Angle operator*=(Scalar s)
-    {
-        _value = lround(_value * s);
-        return *this;
-    }
-
-    template <typename Scalar>
-    Angle operator/=(Scalar s)
-    {
-        _value = lround(_value / s);
-        return *this;
-    }
-
-private:
-    T _value;
-};
-
-using Angle8 = Angle<int8_t>;
-using Angle16 = Angle<int16_t>;
-using Angle32 = Angle<int32_t>;
-using Angle64 = Angle<int64_t>;
-
-template <typename T>
-Angle<T> operator+(Angle<T> lhs, Angle<T> rhs)
-{
-    lhs += rhs;
-    return lhs;
-}
-
-template <typename T>
-Angle<T> operator-(Angle<T> lhs, Angle<T> rhs)
-{
-    lhs -= rhs;
-    return lhs;
-}
-
-template <typename T, typename Scalar>
-Angle<T> operator*(Angle<T> lhs, Scalar rhs)
-{
-    lhs *= rhs;
-    return lhs;
-}
-
-template <typename T, typename Scalar>
-Angle<T> operator*(Scalar lhs, Angle<T> rhs)
-{
-    rhs *= lhs;
-    return rhs;
-}
-
-template <typename T, typename Scalar>
-Angle<T> operator/(Angle<T> lhs, Scalar rhs)
-{
-    lhs /= rhs;
-    return lhs;
-}
-
-template <typename T>
-double operator/(Angle<T> lhs, Angle<T> rhs)
-{
-    return double(lhs.raw()) / rhs.raw();
-}
-
-template <typename T>
-bool operator==(Angle<T> lhs, Angle<T> rhs)
-{
-    return lhs.raw() == rhs.raw();
-}
-
-template <typename T>
-bool operator!=(Angle<T> lhs, Angle<T> rhs)
-{
-    return !(lhs == rhs);
-}
-
-// Fast trigonometric functions. Single precision is sufficient for Angle16 and Angle8.
-float sin(Angle16 a);
-float cos(Angle16 a);
-float tan(Angle16 a);
-float sin(Angle8 a);
-float cos(Angle8 a);
-float tan(Angle8 a);
-
-}

src/common/3rd/x86/math/include/math/box2d.h

@@ -1,63 +0,0 @@
-#pragma once
-
-#include "math/aabox2d.h"
-#include "math/segment2d.h"
-#include "math/vec2d.h"
-
-#include <string>
-#include <vector>
-
-namespace decision::math {
-
-class Box2d {
-public:
-    Box2d(const Vec2d& center, const double heading,
-        const double length, const double width);
-    Box2d(const Segment2d& axis, const double width);
-    explicit Box2d(const AABox2d& aabox);
-    static Box2d create_aa_box(const Vec2d& one_corner, const Vec2d& opponent_corner);
-
-    const Vec2d& center() const { return _center; }
-    double center_x() const { return _center.x(); }
-    double center_y() const { return _center.y(); }
-    double length() const { return _length; }
-    double width() const { return _width; }
-    double half_length() const { return _half_length; }
-    double half_width() const { return _half_width; }
-    double heading() const { return _heading; }
-    double cos_heading() const { return _cos_heading; }
-    double sin_heading() const { return _sin_heading; }
-    double area() const { return _length * _width; }
-    double diagonal() const { return hypot(_length, _width); }
-
-    void get_all_corners(std::vector<Vec2d>* const corners) const;
-
-    bool is_point_in(const Vec2d& point) const;
-    bool is_point_on_boundary(const Vec2d& point) const;
-
-    double distance_to(const Vec2d& point) const;
-    double distance_to(const Segment2d& segment) const;
-    double distance_to(const Box2d& box) const;
-
-    bool has_overlap(const Segment2d& segment) const;
-    bool has_overlap(const Box2d& box) const;
-
-    AABox2d get_aa_box() const;
-
-    void rotate_from_center(double rotate_angle);
-    void shift(const Vec2d& shift_vec);
-
-    std::string debug_string() const;
-
-protected:
-    Vec2d _center;
-    double _length = 0.0;
-    double _width = 0.0;
-    double _half_length = 0.0;
-    double _half_width = 0.0;
-    double _heading = 0.0;
-    double _cos_heading = 1.0;
-    double _sin_heading = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/euler_angles_zxy.h

@@ -1,118 +0,0 @@
-// Copyright 2016 Baidu Inc. All Rights Reserved.
-// Author: Heng, Liang (hengliang@baidu.com)
-//
-// A class of Euler angles with the intrinsic sequence ZXY.
-//
-// Our vehicle reference frame follows NovAtel's convention right/forward/up. The Euler angles
-// represents the rotation from the local frame (east/north/up) to the vehicle frame, as explained
-// below:
-//   roll: is zero when the car is level, and positive when the left side of the car is up;
-//   pitch: is zero when the car is level, and positive when the car is nose up;
-//   yaw: is zero when the car is pointing to north, and positive when the car turns left.
-// When using Euler angles to represent the rotation, we should use the intrinsic rotations ZXY. See
-// below for more explanations.
-//   http://danceswithcode.net/engineeringnotes/rotations_in_3d/rotations_in_3d_part1.html
-
-#ifndef ADU_COMMON_MATH_EULER_ANGLES_ZXY_H
-#define ADU_COMMON_MATH_EULER_ANGLES_ZXY_H
-
-#include "Eigen/Geometry"
-#include "math/math_utils.h"
-
-#include <cmath>
-
-namespace adu {
-namespace common {
-namespace math {
-
-template <typename T>
-struct EulerAnglesZXY {
-    T roll, pitch, yaw;
-
-    // Constructs an identity rotation.
-    EulerAnglesZXY()
-        : roll(0)
-        , pitch(0)
-        , yaw(0)
-    {
-    }
-
-    // Constructs a rotation using only yaw.
-    explicit EulerAnglesZXY(T yaw)
-        : roll(0)
-        , pitch(0)
-        , yaw(yaw)
-    {
-    }
-
-    // Constructs a rotation using roll, pitch, and yaw.
-    EulerAnglesZXY(T roll, T pitch, T yaw)
-        : roll(roll)
-        , pitch(pitch)
-        , yaw(yaw)
-    {
-    }
-
-    // Constructs a rotation using components of a quaternion.
-    EulerAnglesZXY(T qw, T qx, T qy, T qz)
-        : roll(atan2(2.0 * (qw * qy - qx * qz), 2.0 * (sqr<T>(qw) + sqr<T>(qz)) - 1.0))
-        , pitch(asin(2.0 * (qw * qx + qy * qz)))
-        , yaw(atan2(2.0 * (qw * qz - qx * qy), 2.0 * (sqr<T>(qw) + sqr<T>(qy)) - 1.0))
-    {
-    }
-
-    // Constructs a rotation using a quaternion.
-    explicit EulerAnglesZXY(const Eigen::Quaternion<T>& q)
-        : EulerAnglesZXY(q.w(), q.x(), q.y(), q.z())
-    {
-    }
-
-    // Normalizes roll, pitch, and yaw to [-PI, PI).
-    void normalize()
-    {
-        roll = normalize_angle(roll);
-        pitch = normalize_angle(pitch);
-        yaw = normalize_angle(yaw);
-    }
-
-    // Check if the rotation is valid. A valid rotation must have -PI/2 < pitch < PI/2.
-    bool is_valid()
-    {
-        normalize();
-        return pitch < M_PI_2 && pitch > -M_PI_2;
-    }
-
-    // Converts to a quaternion. The scalar part is guarantee to be non-negative.
-    Eigen::Quaternion<T> to_quaternion() const
-    {
-        // Uses double for internal calculation for better precision.
-        double r = roll * 0.5;
-        double p = pitch * 0.5;
-        double y = yaw * 0.5;
-
-        double sr = sin(r);
-        double sp = sin(p);
-        double sy = sin(y);
-
-        double cr = cos(r);
-        double cp = cos(p);
-        double cy = cos(y);
-
-        T qw = cr * cp * cy - sr * sp * sy;
-        T qx = cr * sp * cy - sr * cp * sy;
-        T qy = cr * sp * sy + sr * cp * cy;
-        T qz = cr * cp * sy + sr * sp * cy;
-        if (qw < 0.0)
-            return { -qw, -qx, -qy, -qz };
-        return { qw, qx, qy, qz };
-    }
-};
-
-using EulerAnglesZXYf = EulerAnglesZXY<float>;
-using EulerAnglesZXYd = EulerAnglesZXY<double>;
-
-} // namespace math
-} // namespace common
-} // namespace adu
-
-#endif // ADU_COMMON_MATH_EULER_ANGLES_ZXY_H

src/common/3rd/x86/math/include/math/heading.h

@@ -1,45 +0,0 @@
-// Copyright 2016 Baidu Inc. All Rights Reserved.
-// Author: Heng, Liang (hengliang@baidu.com)
-//
-// Helper functions that converts heading from/to a quaternion.
-//
-// We have permanently defined that the heading of car is zero when the car is pointing to east, and
-// positive when the car turns left. This function guarantees correct heading calculation,
-// regardless any future changes in the definition of vehicle reference frame.
-
-#pragma once
-
-#include "Eigen/Geometry"
-#include "math/euler_angles_zxy.h"
-#include "math/math_utils.h"
-
-#include <cmath>
-
-namespace decision::math {
-
-// Returns heading (in radians) in [-PI, PI).
-inline double quaternion_to_heading(double qw, double qx, double qy, double qz)
-{
-    EulerAnglesZXYd euler_angles(qw, qx, qy, qz);
-    // Needs adding pi/2 to yaw because when the vehicle reference frame is RFU, yaw is zero when
-    // the car is pointing to north.
-    return normalize_angle(euler_angles.yaw + M_PI_2);
-}
-
-// Similar to above but takes a Quaternion object.
-template <typename T>
-inline double quaternion_to_heading(const Eigen::Quaternion<T>& q)
-{
-    return quaternion_to_heading(q.w(), q.x(), q.y(), q.z());
-}
-
-// Returns a quaternion with zero roll, zero pitch, and the specified heading.
-template <typename T>
-inline Eigen::Quaternion<T> heading_to_quaternion(double heading)
-{
-    // Needs deducting pi/2 from heading because the vehicle reference frame is RFU.
-    EulerAnglesZXY<T> euler_angles(heading - M_PI_2);
-    return euler_angles.to_quaternion();
-}
-
-}

src/common/3rd/x86/math/include/math/math_utils.h

@@ -1,55 +0,0 @@
-#pragma once
-
-#include "math/box2d.h"
-#include "math/polygon2d.h"
-#include "math/vec2d.h"
-#include "math/vec3d.h"
-
-namespace decision::math {
-
-constexpr double kMathEpsilon = 1e-10;
-
-inline double cross_prod(const Vec2d& point1, const Vec2d& point2, const Vec2d& point3)
-{
-    return (point2.x() - point1.x()) * (point3.y() - point1.y()) - (point3.x() - point1.x()) * (point2.y() - point1.y());
-}
-
-inline Vec3d cross_prod(const Vec3d& point1, const Vec3d& point2, const Vec3d& point3)
-{
-    Vec3d v12 = point2 - point1;
-    Vec3d v13 = point3 - point1;
-    return v12.cross_prod(v13);
-}
-
-inline double inner_prod(const Vec2d& point1, const Vec2d& point2, const Vec2d& point3)
-{
-    return (point2.x() - point1.x()) * (point3.x() - point1.x()) + (point2.y() - point1.y()) * (point3.y() - point1.y());
-}
-
-// Wrap angle to [0, 2 * PI).
-inline double wrap_angle(const double angle)
-{
-    const double new_angle = fmod(angle, M_PI * 2.0);
-    return new_angle < 0 ? new_angle + M_PI * 2.0 : new_angle;
-}
-
-// Normalize angle to [-PI, PI).
-inline double normalize_angle(const double angle)
-{
-    const double new_angle = fmod(angle + M_PI, M_PI * 2.0);
-    return (new_angle < 0 ? new_angle + M_PI * 2.0 : new_angle) - M_PI;
-}
-
-template <typename T>
-inline T sqr(const T value)
-{
-    return value * value;
-}
-
-}
-
-#include <iostream>
-#define CHECK(v) (void)(v)
-#define CHECK_NOTNULL(v) (void)(v)
-#define CHECK_GE(a, b)
-#define CHECK_GT(a, b)

src/common/3rd/x86/math/include/math/polygon2d.h

@@ -1,77 +0,0 @@
-#pragma once
-
-#include "math/box2d.h"
-#include "math/segment2d.h"
-#include "math/vec2d.h"
-
-#include <string>
-#include <vector>
-
-namespace decision::math{
-
-class Polygon2d {
-public:
-    Polygon2d() = default;
-    explicit Polygon2d(const Box2d& box);
-    explicit Polygon2d(std::vector<Vec2d> points);
-
-    const std::vector<Vec2d>& points() const { return _points; }
-    const std::vector<Segment2d>& segments() const { return _segments; }
-    int num_points() const { return _num_points; }
-    bool is_convex() const { return _is_convex; }
-    double area() const { return _area; }
-
-    double distance_to_boundary(const Vec2d& point) const;
-    double distance_to(const Vec2d& point) const;
-    double distance_to(const Segment2d& segment) const;
-    double distance_to(const Box2d& box) const;
-    double distance_to(const Polygon2d& polygon) const;
-    double distance_sqr_to(const Vec2d& point) const;
-
-    bool is_point_in(const Vec2d& point) const;
-    bool is_point_on_boundary(const Vec2d& point) const;
-
-    bool is_contain(const Segment2d& segment) const;
-    bool is_contain(const Polygon2d& polygon) const;
-
-    static bool compute_convex_hull(const std::vector<Vec2d>& points, Polygon2d* const polygon);
-
-    bool has_overlap(const Segment2d& segment) const;
-    bool get_overlap(const Segment2d& segment, Vec2d* const first, Vec2d* const last) const;
-    std::vector<Segment2d> get_all_overlaps(const Segment2d& segment) const;
-
-    bool has_overlap(const Polygon2d& polygon) const;
-    // Only compute overlaps between two convex polygons.
-    bool compute_overlap(const Polygon2d& other_polygon, Polygon2d* const overlap_polygon) const;
-
-    AABox2d aa_bounding_box() const;
-    Box2d bounding_box_with_heading(const double heading) const;
-    Box2d min_area_bounding_box() const;
-    void extreme_points(const double heading, Vec2d* const first, Vec2d* const last) const;
-
-    Polygon2d expand_by_distance(const double distance) const;
-
-    std::string debug_string() const;
-
-protected:
-    void build_from_points();
-
-protected:
-    int next(int at) const;
-    int prev(int at) const;
-
-    // Remove point p if and only if outer_prod(segment.start, segment.end, p) < 0.
-    static bool clip_convex_hull(const Segment2d& segment, std::vector<Vec2d>* const points);
-
-    std::vector<Vec2d> _points;
-    int _num_points = 0;
-    std::vector<Segment2d> _segments;
-    bool _is_convex = false;
-    double _area = 0.0;
-    double _min_x = 0.0;
-    double _max_x = 0.0;
-    double _min_y = 0.0;
-    double _max_y = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/polygon3d.h

@@ -1,38 +0,0 @@
-// Copyright 2018 Baidu Inc. All Rights Reserved
-// Author: Fuxiangyu (fuxiangyu@baidu.com)
-//
-// Description: polygon for 3d point, the polygon is constructed on 2d space, but the point is 3d
-
-#pragma once
-
-#include "math/polygon2d.h"
-#include "math/segment3d.h"
-#include "math/vec2d.h"
-#include "math/vec3d.h"
-
-namespace decision::math {
-
-class Polygon3d {
-public:
-    Polygon3d() = default;
-    explicit Polygon3d(const std::vector<Vec3d>& points);
-
-    Polygon2d polygon2d() const;
-    const std::vector<Vec3d>& points() const { return _points; }
-    const std::vector<Segment3d>& segments() const { return _segments; }
-
-    std::string debug_string() const;
-
-protected:
-    void build_from_points();
-
-protected:
-    inline size_t next(size_t at) const;
-    inline size_t prev(size_t at) const;
-
-    std::vector<Vec3d> _points;
-    std::vector<Vec2d> _points2d;
-    std::vector<Segment3d> _segments;
-};
-
-}

src/common/3rd/x86/math/include/math/segment2d.h

@@ -1,49 +0,0 @@
-#pragma once
-
-#include "math/vec2d.h"
-
-#include <string>
-
-namespace decision::math {
-
-class Segment2d {
-public:
-    Segment2d();
-    Segment2d(const Vec2d& start, const Vec2d& end);
-
-    const Vec2d& start() const { return _start; }
-    const Vec2d& end() const { return _end; }
-    const Vec2d& unit_direction() const { return _unit_direction; }
-    Vec2d center() const { return (_start + _end) / 2.0; }
-    double heading() const { return _heading; }
-    double cos_heading() const { return _unit_direction.x(); }
-    double sin_heading() const { return _unit_direction.y(); }
-
-    double length() const;
-    double length_sqr() const;
-
-    double distance_to(const Vec2d& point) const;
-    double distance_to(const Vec2d& point, Vec2d* const nearest_pt) const;
-    double distance_sqr_to(const Vec2d& point) const;
-    double distance_sqr_to(const Vec2d& point, Vec2d* const nearest_pt) const;
-
-    bool is_point_in(const Vec2d& point) const;
-
-    bool has_intersect(const Segment2d& other_segment) const;
-    bool get_intersect(const Segment2d& other_segment, Vec2d* const point) const;
-
-    double project_onto_unit(const Vec2d& point) const;
-    double product_onto_unit(const Vec2d& point) const;
-    double get_perpendicular_foot(const Vec2d& point, Vec2d* const foot_point) const;
-
-    std::string debug_string() const;
-
-protected:
-    Vec2d _start;
-    Vec2d _end;
-    Vec2d _unit_direction;
-    double _heading = 0.0;
-    double _length = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/segment3d.h

@@ -1,51 +0,0 @@
-// Copyright 2018 Baidu Inc. All Rights Reserved
-// Author: Fuxiangyu (fuxiangyu@baidu.com)
-//
-// Description: segment for 3d
-
-#pragma once
-
-#include "math/segment2d.h"
-#include "math/vec3d.h"
-
-namespace decision::math {
-
-class Segment3d {
-public:
-    Segment3d();
-    Segment3d(const Vec3d& start, const Vec3d& end);
-
-    const Vec3d& start() const { return _start; }
-    const Vec3d& end() const { return _end; }
-    const Vec3d& unit_direction() const { return _unit_direction; }
-    Vec3d center() const { return (_start + _end) / 2.0; }
-
-    double length() const;
-    double length_sqr() const;
-
-    double distance_to(const Vec3d& point) const;
-    double distance_to(const Vec3d& point, Vec3d* const nearest_pt) const;
-    double distance_sqr_to(const Vec3d& point) const;
-    double distance_sqr_to(const Vec3d& point, Vec3d* const nearest_pt) const;
-
-    bool is_point_in(const Vec3d& point) const;
-
-    bool has_intersect(const Segment3d& other_segment) const;
-    bool get_intersect(const Segment3d& other_segment, Vec3d* const point) const;
-
-    double project_onto_unit(const Vec3d& point) const;
-    double product_onto_unit(const Vec3d& point) const;
-    double get_perpendicular_foot(const Vec3d& point, Vec3d* const foot_point) const;
-
-    Segment2d segment2d() const;
-
-    std::string debug_string() const;
-
-protected:
-    Vec3d _start;
-    Vec3d _end;
-    Vec3d _unit_direction;
-    double _length = 0.0;
-};
-
-}

src/common/3rd/x86/math/include/math/sin_table.h

@@ -1,7 +0,0 @@
-#pragma once
-
-namespace decision::math {
-
-extern const float SIN_TABLE[16385];
-
-}

src/common/3rd/x86/math/include/math/vec2d.h

@@ -1,58 +0,0 @@
-#pragma once
-
-#include <cmath>
-#include <string>
-
-namespace decision::math {
-
-class Vec2d {
-public:
-    constexpr Vec2d() noexcept
-        : Vec2d(0, 0)
-    {
-    }
-    constexpr Vec2d(const double x, const double y) noexcept
-        : _x(x)
-        , _y(y)
-    {
-    }
-    static Vec2d create_unit_vec(const double angle);
-
-    double x() const { return _x; }
-    double y() const { return _y; }
-    double angle() const { return atan2(_y, _x); }
-    void set_x(const double x) { _x = x; }
-    void set_y(const double y) { _y = y; }
-    void normalize();
-
-    double length() const;
-    double length_sqr() const;
-    double distance_to(const Vec2d& other) const;
-    double distance_sqr_to(const Vec2d& other) const;
-
-    Vec2d operator+(const Vec2d& other) const;
-    Vec2d operator-(const Vec2d& other) const;
-    Vec2d operator*(const double ratio) const;
-    Vec2d operator/(const double ratio) const;
-    Vec2d& operator+=(const Vec2d& other);
-    Vec2d& operator-=(const Vec2d& other);
-    Vec2d& operator*=(const double ratio);
-    Vec2d& operator/=(const double ratio);
-    bool operator==(const Vec2d& other) const;
-
-    //! rotate the vector by angle.
-    Vec2d rotate(const double angle) const;
-
-    double cross_prod(const Vec2d& other) const;
-    double inner_prod(const Vec2d& other) const;
-
-    std::string debug_string() const;
-
-protected:
-    double _x = 0.0;
-    double _y = 0.0;
-};
-
-Vec2d operator*(const double ratio, const Vec2d& vec);
-
-}

src/common/3rd/x86/math/include/math/vec3d.h

@@ -1,66 +0,0 @@
-// Copyright 2018 Baidu Inc. All Rights Reserved
-// Author: Fuxiangyu (fuxiangyu@baidu.com)
-//
-// Description: supporting for 3D element
-
-#pragma once
-
-// #include <cmath>
-// #include <string>
-#include "math/vec2d.h"
-
-namespace decision::math {
-
-class Vec3d {
-public:
-    constexpr Vec3d() noexcept
-        : Vec3d(0, 0, 0)
-    {
-    }
-    constexpr Vec3d(const double x, const double y, const double z) noexcept
-        : _x(x)
-        , _y(y)
-        , _z(z)
-    {
-    }
-    static Vec3d create_unit_vec(const double yaw_angle, const double pitch_angle);
-
-    double x() const { return _x; }
-    double y() const { return _y; }
-    double z() const { return _z; }
-    double yaw_angle() const { return atan2(_y, _x); }
-    void set_x(const double x) { _x = x; }
-    void set_y(const double y) { _y = y; }
-    void set_z(const double z) { _z = z; }
-    void normalize();
-
-    double length() const;
-    double length_sqr() const;
-    double distance_to(const Vec3d& other) const;
-    double distance_sqr_to(const Vec3d& other) const;
-
-    Vec3d operator+(const Vec3d& other) const;
-    Vec3d operator-(const Vec3d& other) const;
-    Vec3d operator*(const double ratio) const;
-    Vec3d operator/(const double ratio) const;
-    Vec3d& operator+=(const Vec3d& other);
-    Vec3d& operator-=(const Vec3d& other);
-    Vec3d& operator*=(const double ratio);
-    Vec3d& operator/=(const double ratio);
-    bool operator==(const Vec3d& other) const;
-
-    Vec3d cross_prod(const Vec3d& other) const;
-    double inner_prod(const Vec3d& other) const;
-
-    Vec2d vec2d() const { return Vec2d(_x, _y); }
-    std::string debug_string() const;
-
-protected:
-    double _x = 0.0;
-    double _y = 0.0;
-    double _z = 0.0;
-};
-
-Vec3d operator*(const double ratio, const Vec3d& vec);
-
-}

src/common/3rd/x86/mmw/include/mmw/mmwabstract.h

@@ -1,47 +0,0 @@
-#pragma once
-#include "muduo/base/noncopyable.h"
-#include "muduo/net/EventLoop.h"
-#include <atomic>
-#include <functional>
-#include <memory>
-#include <mutex>
-
-namespace muduo::net {
-class EventLoopThread;
-};
-
-namespace mmw {
-
-class MMWAbstract : public muduo::noncopyable {
-public:
-    MMWAbstract(void) = default;
-    virtual ~MMWAbstract(void) = default;
-    virtual bool init(void) = 0;
-};
-
-class PublisherAbstract : public MMWAbstract {
-public:
-    virtual bool init(void) = 0;
-    virtual bool publish(const char* topic, size_t topicSize, const char* content, size_t contentSize) = 0;
-    bool publish(const std::string& topic, const std::string& content);
-};
-
-class SubscriberAbstract : public MMWAbstract {
-public:
-    using ReadCallBack = std::function<void(const char*, size_t, const char*, size_t)>;
-    virtual ~SubscriberAbstract(void);
-    bool readStart(ReadCallBack func);
-    virtual bool init(void) = 0;
-    virtual bool subscribe(const std::string& topic) = 0;
-    virtual bool unSubscribe(const std::string& topic) = 0;
-
-protected:
-    virtual void readyMessage(ReadCallBack& func) = 0;
-
-private:
-    std::once_flag onceFlag_;
-    std::atomic<bool> workFlags_;
-    std::shared_ptr<muduo::net::EventLoopThread> eventLoopthreadPtr_ { nullptr };
-};
-
-}

src/common/3rd/x86/mmw/include/mmw/mmwfactory.h

@@ -1,35 +0,0 @@
-#pragma once
-
-#include "zmqmmw.h"
-namespace mmw {
-
-enum class MMWSelector : uint32_t {
-    ZMQ = 0
-};
-
-class MMWFactory {
-public:
-    template <typename... Args>
-    std::shared_ptr<PublisherAbstract> getPublisher(MMWSelector mmwSelector, Args&&... args)
-    {
-        switch (mmwSelector) {
-        case MMWSelector::ZMQ:
-            return std::make_shared<ZmqPublisher>(std::forward<Args>(args)...);
-        default:
-            return nullptr;
-        }
-    }
-
-    template <typename... Args>
-    std::shared_ptr<SubscriberAbstract> getSubscriber(MMWSelector mmwSelector, Args&&... args)
-    {
-        switch (mmwSelector) {
-        case MMWSelector::ZMQ:
-            return std::make_shared<ZmqSubscriber>(std::forward<Args>(args)...);
-        default:
-            return nullptr;
-        }
-    }
-};
-
-}

src/common/3rd/x86/mmw/include/mmw/zmqmmw.h

@@ -1,39 +0,0 @@
-#pragma once
-
-#include "../utils/vl_common.h"
-#include "mmwabstract.h"
-#include <atomic>
-#include <set>
-#include <zmq.hpp>
-using namespace utils;
-namespace mmw {
-
-class ZmqPublisher : public PublisherAbstract {
-public:
-    ZmqPublisher(std::string localIp = "");
-    virtual bool init(void) override final;
-    virtual bool publish(const char* topic, size_t topicSize, const char* content, size_t contentSize) override final;
-
-private:
-    std::string localAddr_;
-    zmq::context_t context_ { 1 };
-    zmq::socket_t publisher_ { context_, ZMQ_PUB };
-};
-
-class ZmqSubscriber : public SubscriberAbstract {
-public:
-    ZmqSubscriber(std::set<std::string> connectAddrList);
-    virtual bool init(void) override final;
-    virtual bool subscribe(const std::string& topic) override final;
-    virtual bool unSubscribe(const std::string& topic) override final;
-
-protected:
-    virtual void readyMessage(ReadCallBack& func) override final;
-
-private:
-    std::set<std::string> connectAddrSet_;
-    zmq::context_t context_ { 1 };
-    zmq::socket_t subscriber_ { context_, ZMQ_SUB };
-};
-
-}

src/common/3rd/x86/utils/include/utils.h

@@ -1,10 +0,0 @@
-#pragma once
-
-#include "string"
-
-namespace utils {
-
-extern std::string getProcessPath(void);
-extern std::string getProcessName(void);
-
-}

src/common/3rd/x86/utils/include/utils/bevdetConfig.h

@@ -1,6 +0,0 @@
-#pragma once
-
-constexpr const char* bevDetConfigurePath = "/cfgs/configure.yaml";
-constexpr const char* bevDetImgStageEngine = "model/img_stage_lt_d_fp16.engine";
-constexpr const char* bevDetBEVStageEngine = "model/bev_stage_lt_d_fp16.engine";
-constexpr const char* bevDetDepth = "cfgs/bevdet_lt_depth.yaml";

src/common/3rd/x86/utils/include/utils/common.h

@@ -1,78 +0,0 @@
-#pragma once
-
-#include <string>
-
-#define UNUSED(name) ((void)name)
-#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0])
-
-namespace afl {
-
-/**
- * @brief
- * @param pidDirPath [in]存放pid的路径,如果运行中出错会强制退出程序
- */
-extern void instanceRun(const std::string& pidDirPath);
-/**
- * @brief get the process path
- * @return success:name fault:empty
- */
-extern std::string getProcessPath(void);
-/**
- * @brief get the process name
- * @return success:name fault:empty
- */
-extern std::string getProcessName(void);
-/**
- * @brief Check if the folder exists
- * @param filePath[in] file path
- * @return true
- * @return false
- */
-extern bool isFileExist(const std::string& filePath);
-/**
- * @brief Read all data from the file into a string
- * @param path[in] file path
- * @param out[out] result
- * @return true
- * @return false
- */
-extern bool readFileAllDataToString(const std::string& path, std::string& out);
-/**
- * @brief write all data to path
- * @param in[in] content
- * @param path[in] file path
- * @param isApp[in] is append
- * @return true
- * @return false
- */
-extern bool writeStringAllDataToFile(const std::string& in, const std::string& path, bool isApp = false);
-/**
- * @brief 返回uuid
- * @return std::string
- */
-extern std::string getUUID(void);
-/**
- * @brief 随机生成字符串
- * @param len 随机生成字符串的长度
- * @return std::string
- */
-extern std::string generateRandomString(size_t len);
-/**
- * @brief hex打印
- * @param data[in] 需要打印的数据
- * @param size[in] 需要打印数据的字节个数
- */
-extern void hexPrint(const char* data, size_t size);
-/**
- * @brief hex打印
- * @param data[in] 需要打印的数据
- */
-extern void hexPrint(const std::string& data);
-/**
- * @brief 时间字符串转unix时间戳
- * @param timeStamp[in]时间字符串,格式为%d-%d-%d %d:%d:%d
- * @return time_t
- */
-extern time_t strTimeToUnixTimestamp(const std::string& timeStamp);
-
-}

src/common/3rd/x86/utils/include/utils/defer.h

@@ -1,61 +0,0 @@
-#pragma once
-
-#include <functional>
-
-class defer_t final {
-public:
-    template <typename F>
-    explicit defer_t(F&& f) noexcept
-        : f_ {
-            std::forward<F>(f)
-        }
-    {
-    }
-
-    ~defer_t()
-    {
-
-        if (f_) {
-
-            f_();
-        }
-    }
-
-    defer_t(const defer_t&) = delete;
-    defer_t& operator=(const defer_t&) = delete;
-
-    defer_t(defer_t&& rhs) noexcept
-        : f_ {
-            std::move(rhs.f_)
-        }
-    {
-    }
-
-    defer_t& operator=(defer_t&& rhs) noexcept
-    {
-
-        f_ = std::move(rhs.f_);
-        return *this;
-    }
-
-private:
-    std::function<void()> f_;
-};
-
-class defer_maker final {
-
-public:
-    template <typename F>
-    defer_t operator+(F&& f)
-    {
-
-        return defer_t {
-            std::forward<F>(f)
-        };
-    }
-};
-
-#define DEFER_CONCAT_NAME(l, r) l##r
-#define DEFER_CREATE_NAME(l, r) DEFER_CONCAT_NAME(l, r)
-#define defer auto DEFER_CREATE_NAME(defer_, __COUNTER__) = defer_maker {} +
-#define defer_scope defer[&]

src/common/3rd/x86/utils/include/utils/error_event.h

@@ -1,135 +0,0 @@
-#pragma once
-
-/**
-0x01	系统基础	SYS
-0x02	can0	CAN0
-0x03	can1	CAN1
-0x04	can2	CAN2
-0x10	IMU	IMU
-0x11	GPS	GPS
-0x12	单线雷达 #1 左	LIDAR1
-0x13	单线雷达 #2 右	LIDAR2
-0x14	单线雷达 #3 左斜	LIDAR3
-0x15	单线雷达 #4 右斜	LIDAR4
-0x16	单线雷达 #5 后	LIDAR5
-0x17	相机 #1（RGB）	CAM1
-0x18	相机 #2（RGB-D/后）	CAM2
-0x19	屏幕	TFT
-
-0x20	电机驱动器	MOTOR
-0x21	上控	TOP
- */
-enum class ErrorEventCategory {
-    SYS = 0x01,
-    CAN0 = 0x02,
-    CAN1 = 0x03,
-    CAN2 = 0x04,
-    IMU = 0x10,
-    GPS = 0x11,
-    LIDAR1 = 0x12,
-    LIDAR2 = 0x13,
-    LIDAR3 = 0x14,
-    LIDAR4 = 0x15,
-    LIDAR5 = 0x16,
-    CAM1 = 0x17,
-    CAM2 = 0x18,
-    TFT = 0x19,
-    MOTOR = 0x20,
-    TOP = 0x21,
-};
-//  01 发生  02 恢复
-enum class ErrorEventLevel {
-    OCCUR = 0x01,
-    RECOVER = 0x02,
-};
-
-#define SYS_CONFIG_ERROR 0x010101 // 配置读取失败
-#define SYS_INIT_FAIL 0x010102 // 初始化失败
-#define SYS_FILE_ERROR 0x010103 // 文件 IO 异常
-#define SYS_NETWORK_FAIL 0x010201 // 4G / 网络错误
-#define SYS_TIME_SYNC_ERROR 0x010501 // 系统时间异常
-
-#define CAN0_NOT_FOUND 0x020201 // 未检测到 CAN0
-#define CAN0_DISCONNECTED 0x020202 // CAN0 断连
-
-#define CAN1_NOT_FOUND 0x030201 // 未检测到 CAN1
-#define CAN1_DISCONNECTED 0x030202 // CAN1 断连
-
-#define CAN2_NOT_FOUND 0x040201 // 未检测到 CAN2
-#define CAN2_DISCONNECTED 0x040202 // CAN2 断连
-
-#define IMU_NOT_FOUND 0x100201 // 未检测到 IMU
-#define IMU_DISCONNECTED 0x100202 // IMU 断连
-#define IMU_TIMEOUT 0x100303 // 超时无数据
-#define IMU_DATA_INVALID 0x100304 // 数据异常（NaN/饱和）
-#define IMU_CALIB_FAIL 0x100407 // 校准失败
-#define IMU_TIME_SYNC_ERROR 0x100508 // 时间戳跳变
-#define IMU_DRIVER_ERROR 0x100609 // SDK/协议解析失败
-
-#define GPS_NOT_FOUND 0x110201 // 未检测到 GPS
-#define GPS_DISCONNECTED 0x110202 // 断连
-#define GPS_NO_SIGNAL 0x110304 // 无卫星 / SNR 太低
-#define GPS_DATA_LOSS 0x110305 // 数据丢包
-#define GPS_TIME_SYNC_ERROR 0x110508 // PPS/时间异常
-#define GPS_DRIVER_ERROR 0x110609 // 协议解析失败（NMEA/UBlox）
-
-// 左雷达
-#define LIDAR1_NOT_FOUND 0x120201 // 未检测到雷达
-#define LIDAR1_DISCONNECTED 0x120202 // 断连
-#define LIDAR1_TIMEOUT 0x120303 // 无数据
-#define LIDAR1_DATA_INVALID 0x120304 // 数据无效
-#define LIDAR1_TIME_SYNC_ERROR 0x120508 // 时间戳异常
-#define LIDAR1_DRIVER_ERROR 0x120609 // 协议解析失败
-// 右雷达
-#define LIDAR2_NOT_FOUND 0x130201 // 未检测到雷达
-#define LIDAR2_DISCONNECTED 0x130202 // 断连
-#define LIDAR2_TIMEOUT 0x130303 // 无数据
-#define LIDAR2_DATA_INVALID 0x130304 // 数据无效
-#define LIDAR2_TIME_SYNC_ERROR 0x130508 // 时间戳异常
-#define LIDAR2_DRIVER_ERROR 0x130609 // 协议解析失败
-// 左斜雷达
-#define LIDAR3_NOT_FOUND 0x140201 // 未检测到雷达
-#define LIDAR3_DISCONNECTED 0x140202 // 断连
-#define LIDAR3_TIMEOUT 0x140303 // 无数据
-#define LIDAR3_DATA_INVALID 0x140304 // 数据无效
-#define LIDAR3_TIME_SYNC_ERROR 0x140508 // 时间戳异常
-#define LIDAR3_DRIVER_ERROR 0x140609 // 协议解析失败
-// 右斜雷达
-#define LIDAR4_NOT_FOUND 0x150201 // 未检测到雷达
-#define LIDAR4_DISCONNECTED 0x150202 // 断连
-#define LIDAR4_TIMEOUT 0x150303 // 无数据
-#define LIDAR4_DATA_INVALID 0x150304 // 数据无效
-#define LIDAR4_TIME_SYNC_ERROR 0x150508 // 时间戳异常
-#define LIDAR4_DRIVER_ERROR 0x150609 // 协议解析失败
-// 后雷达
-#define LIDAR5_NOT_FOUND 0x160201 // 未检测到雷达
-#define LIDAR5_DISCONNECTED 0x160202 // 断连
-#define LIDAR5_TIMEOUT 0x160303 // 无数据
-#define LIDAR5_DATA_INVALID 0x160304 // 数据无效
-#define LIDAR5_TIME_SYNC_ERROR 0x160508 // 时间戳异常
-#define LIDAR5_DRIVER_ERROR 0x160609 // 协议解析失败
-
-#define CAM1_NOT_FOUND 0x170201 // 未检测到相机
-#define CAM1_DISCONNECTED 0x170202 // 断连
-#define CAM1_FRAME_DROP 0x170305 // 丢帧过多
-#define CAM1_DATA_INVALID 0x170304 // 图像损坏/格式错误
-#define CAM1_TIME_SYNC_ERROR 0x170508 // 时间异常
-#define CAM1_DRIVER_ERROR 0x170609 // SDK/驱动错误
-
-#define CAM2_NOT_FOUND 0x180201 // 未检测到相机
-#define CAM2_DISCONNECTED 0x180202 // 断连
-#define CAM2_DEPTH_INVALID 0x180304 // 深度数据异常
-#define CAM2_FRAME_DROP 0x180305 // 丢帧过多
-#define CAM2_TIME_SYNC_ERROR 0x180508 // 时间异常
-#define CAM2_DRIVER_ERROR 0x180609 // SDK/驱动错误
-
-#define TFT_NOT_FOUND 0x190201 // 未检测到TFT
-#define TFT_DISCONNECTED 0x190202 // 断连
-#define TFT_DEPTH_INVALID 0x190304 //
-#define TFT_FRAME_DROP 0x190305 //
-#define TFT_TIME_SYNC_ERROR 0x190508 // 时间异常
-#define TFT_DRIVER_ERROR 0x190609 // SDK/驱动错误
-
-inline uint32_t encodeErrorLevel(uint32_t error_code, ErrorEventLevel level) {
-    return (error_code << 8) | (static_cast<uint32_t>(level) & 0xFF);
-}

src/common/3rd/x86/utils/include/utils/non_timer.h

@@ -1,62 +0,0 @@
-#include <atomic>
-#include <chrono>
-#include <functional>
-#include <iostream>
-#include <memory>
-#include <thread>
-namespace utils {
-// 定义定时器类
-class NonBlockingTimer {
-public:
-    // 构造函数，接受定时器时间（毫秒）和回调函数
-    NonBlockingTimer(int milliseconds, std::function<void()> callback)
-        : duration(std::chrono::milliseconds(milliseconds))
-        , callback(callback)
-        , is_running(false)
-    {
-    }
-
-    // 启动定时器
-    void start()
-    {
-        if (is_running)
-            return; // 如果定时器已经在运行，返回
-        is_running = true;
-        timer_thread = std::thread([this]() {
-            while (is_running) {
-                std::this_thread::sleep_for(duration); // 睡眠指定的时间
-                if (is_running) {
-                    callback(); // 时间到后执行回调函数
-                }
-            }
-        });
-        timer_thread.detach(); // 分离线程，非阻塞
-    }
-
-    // 停止定时器
-    void stop()
-    {
-        is_running = false;
-    }
-
-    // 检查定时器是否正在运行
-    bool running() const
-    {
-        return is_running;
-    }
-
-    ~NonBlockingTimer()
-    {
-        stop(); // 确保在销毁时停止定时器
-        if (timer_thread.joinable()) {
-            timer_thread.join(); // 如果线程可加入，加入线程
-        }
-    }
-
-private:
-    std::chrono::milliseconds duration; // 定时器的时间（毫秒）
-    std::function<void()> callback; // 回调函数
-    std::atomic<bool> is_running; // 定时器是否正在运行
-    std::thread timer_thread; // 定时器线程
-};
-}

src/common/3rd/x86/utils/include/utils/noncopyable.h

@@ -1,15 +0,0 @@
-#pragma once
-
-namespace utils {
-
-class Noncopyable {
-public:
-    Noncopyable(const Noncopyable&) = delete;
-    void operator=(const Noncopyable&) = delete;
-
-protected:
-    Noncopyable() = default;
-    ~Noncopyable() = default;
-};
-
-}

src/common/3rd/x86/utils/include/utils/serial_port.h

@@ -1,102 +0,0 @@
-/*
- * @copyright: Copyright (c) 2024 zhengqi.com, Inc. All Rights Reserved
- * @Author: likang(likang@baidu.com)
- * @Date: 2024-01-05 16:32:38
- * @FilePath: mem/src/sensor/serial_port/serial_port.h
- * @brief:
- */
-#ifndef SERIALPORT_H
-#define SERIALPORT_H
-#include <functional>
-#include <memory>
-#include <string>
-#include <vector>
-
-struct termios;
-namespace utils {
-
-enum BaudRate {
-    BR0 = 0000000,
-    BR50 = 0000001,
-    BR75 = 0000002,
-    BR110 = 0000003,
-    BR134 = 0000004,
-    BR150 = 0000005,
-    BR200 = 0000006,
-    BR300 = 0000007,
-    BR600 = 0000010,
-    BR1200 = 0000011,
-    BR1800 = 0000012,
-    BR2400 = 0000013,
-    BR4800 = 0000014,
-    BR9600 = 0000015,
-    BR19200 = 0000016,
-    BR38400 = 0000017,
-    BR57600 = 0010001,
-    BR115200 = 0010002,
-    BR230400 = 0010003,
-    BR460800 = 0010004,
-    BR500000 = 0010005,
-    BR576000 = 0010006,
-    BR921600 = 0010007,
-    BR1000000 = 0010010,
-    BR1152000 = 0010011,
-    BR1500000 = 0010012,
-    BR2000000 = 0010013,
-    BR2500000 = 0010014,
-    BR3000000 = 0010015,
-    BR3500000 = 0010016,
-    BR4000000 = 0010017
-};
-
-enum DataBits {
-    DATA_BITS_5,
-    DATA_BITS_6,
-    DATA_BITS_7,
-    DATA_BITS_8,
-};
-
-enum StopBits { STOP_BITS_1,
-    STOP_BITS_2 };
-
-enum Parity { PARITY_NONE,
-    PARITY_EVEN,
-    PARITY_MARK,
-    PARITY_ODD,
-    PARITY_SPACE };
-
-struct OpenOptions {
-    bool auto_open;
-    BaudRate baud_rate;
-    DataBits data_bits;
-    StopBits stop_bits;
-    Parity parity;
-    bool xon; // 当一端的数据连接不再能接受更多数据（或者接近这个状态），它发送XOFF字节给另一端。另一端收到XOFF字节，挂起数据发送。
-    bool xoff; // 一端如果准备好继续接收数据，它发送XON字节给另一端，另一端恢复数据发送。
-    bool xany;
-    int vmin;
-    int vtime;
-};
-
-class SerialPort {
-public:
-    static BaudRate baud_rate_make(unsigned long baud_rate);
-    static const OpenOptions default_options;
-    SerialPort(const std::string& devpath, const OpenOptions& options, bool isblock = false);
-    ~SerialPort();
-    bool start();
-    int read(char* buffer, int buf_len);
-    int write(char* buffer, int buf_len);
-    int get_tty_fd();
-
-private:
-    bool _is_block;
-    bool serial_port_init();
-    void termios_options(termios& tios, const OpenOptions& options);
-    std::string _path;
-    OpenOptions _open_options;
-    int _tty_fd = 0;
-};
-
-} // namespace sensor
-#endif // SERIALPORT_H

src/common/3rd/x86/utils/include/utils/singleton.h

@@ -1,19 +0,0 @@
-#pragma once
-
-#include "noncopyable.h"
-#include <memory>
-
-namespace utils {
-
-template <typename T>
-class Singleton : public Noncopyable {
-public:
-    template <typename... Args>
-    static T& getInstance(Args&&... args)
-    {
-        static T t(std::forward<Args>(args)...);
-        return t;
-    }
-};
-
-}

src/common/3rd/x86/utils/include/utils/timer.h

@@ -1,22 +0,0 @@
-#pragma once
-
-#include "string"
-#include <list>
-#include <muduo/base/Timestamp.h>
-#include <muduo/net/EventLoop.h>
-#include <muduo/net/EventLoopThread.h>
-
-namespace utils {
-
-class Timer {
-public:
-    Timer(muduo::net::EventLoop* loop);
-
-    // 开始计时器，指定秒数后触发事件
-    void startTimer(double seconds, const muduo::net::TimerCallback& callback);
-
-private:
-    muduo::net::EventLoop* loop_; // 事件循环
-};
-
-}

src/common/3rd/x86/utils/include/utils/topic.h

@@ -1,147 +0,0 @@
-#pragma once
-
-constexpr const char *imagesTopic = "/sensor/camera/images";
-constexpr const char *cameraFusedImagesTopic = "/perception/cameraFused/images";
-
-constexpr const char *cameraFusedObjectsTopic = "/perception/cameraFused/objects";
-constexpr const char *multiFusedObjectsTopic = "/perception/multiFused/objects";
-constexpr const char *multiFusedObjectsTopicDecision = "/perception/decision/multiFused/objects";
-constexpr const char *obstacleMapTopicDecision = "/perception/obstacle_map";
-constexpr const char *eventTopic = "/decision/event";
-
-constexpr const char *danceStatusTopic = "/xhi/status";
-
-constexpr const char *backupCarTopic = "/sensor/backup/car";
-constexpr const char *handleControlTopic = "/handle/control";              // 手柄控制
-constexpr const char *nav2ControlTopic = "/nav/control";                   // nva2控制
-constexpr const char *appControlTopic = "/app/control";                    // app控制
-constexpr const char *carWheelSpeedTopic = "/car/speed";                   // 车辆底盘信息
-constexpr const char *carWheelSpeedStaTopic = "/wheel/twist";              // 车辆底盘信息
-constexpr const char *carEncoderTopic = "/car/encoder";                    // 车辆电机圈数
-constexpr const char *healthDataTopic = "/sensor/health/data";             // 健康计信息
-constexpr const char *healthTftDataTopic = "/sensor/tft/health/data";      // tft健康计信息
-constexpr const char *healthStatusTopic = "/sensor/health/start";          // 健康计启动
-constexpr const char *sensorhandleControlTopic = "/sensor/handle/control"; // 上控健康控制
-constexpr const char *gpsTopic = "/sensor/gps/data";
-constexpr const char *imuTopic = "/sensor/imu/data";
-constexpr const char *hrvStartTopic = "/sensor/hrv/start";
-constexpr const char *ultrasoundLeftTopic = "/sensor/left/ultrasound";
-constexpr const char *ultrasoundRightTopic = "/sensor/right/ultrasound";
-constexpr const char *ultrasoundBackTopic = "/sensor/back/ultrasound";
-constexpr const char *joystickTopic = "/sensor/joystick";
-constexpr const char *carInfoTopic = "/vlago/car/info";
-constexpr const char *operationSceTopic = "/service/operation/scenario";
-constexpr const char *serviceColourScreenTopic = "/service/colour_screen";
-constexpr const char *serviceGearTopic = "/service/gear";
-constexpr const char *modeChangeTopic = "/mode/change";
-constexpr const char *cameraH264Topic = "/sensor/backup/camera/h264";
-constexpr const char *leftLaserTopic = "/scan/left";
-constexpr const char *rightLaserTopic = "/scan/right";
-constexpr const char *leftTiltLaserTopic = "/scan/left_tilt";
-constexpr const char *rightTiltLaserTopic = "/scan/right_tilt";
-constexpr const char *backLaserTopic = "/scan/back";
-constexpr const char *leftTiltPointTopice = "/perception/left_tilt/pointcloud";
-constexpr const char *rightTiltPointTopice = "/perception/right_tilt/pointcloud";
-
-// 场景辅助测试相关topic
-constexpr const char *leftLaserROITopic = "/scene_auxiliary/left_laser/roi_filtered";
-constexpr const char *rightLaserROITopic = "/scene_auxiliary/right_laser/roi_filtered";
-constexpr const char *leftLaserClusterTopic = "/scene_auxiliary/left_laser/clusters";
-constexpr const char *rightLaserClusterTopic = "/scene_auxiliary/right_laser/clusters";
-constexpr const char *leftTiltClusterTopic = "/scene_auxiliary/left_tilt/clusters";
-constexpr const char *rightTiltClusterTopic = "/scene_auxiliary/right_tilt/clusters";
-constexpr const char *backClusterTopic = "/scene_auxiliary/back_laser/clusters";
-
-// base_link坐标系转换后的点云话题
-constexpr const char *leftLaserBaseLinkTopic = "/scene_auxiliary/left_laser/base_link";
-constexpr const char *rightLaserBaseLinkTopic = "/scene_auxiliary/right_laser/base_link";
-constexpr const char *leftTiltBaseLinkTopic = "/scene_auxiliary/left_tilt/base_link";
-constexpr const char *rightTiltBaseLinkTopic = "/scene_auxiliary/right_tilt/base_link";
-constexpr const char *backLaserBaseLinkTopic = "/scene_auxiliary/back_laser/base_link";
-
-constexpr const char *modeStatusTopic = "/vlago/mode/status";
-constexpr const char *rechargeStatusTopic = "/vlago/recharge/status";  //废弃
-constexpr const char *rechargeStateTopic = "/vlago/recharge/state";
-constexpr const char *sceneServiceModeTopic = "/scene_services/mode";
-constexpr const char *rgbPointCloudTopic = "/rgb/pointcloud";
-
-// 自车
-// constexpr const char* carInfo = "/sensor/car/information";
-
-// service
-constexpr const char *hrvStartService = "/vlago/hrv/start";
-constexpr const char *hrvInfoService = "/vlago/hrv/info";
-constexpr const char *operationSceService = "/vlago/operation/scenario";
-constexpr const char *operationStatusService = "/vlago/operation/status";
-constexpr const char *carControlService = "/vlago/car/control";
-// constexpr const char* carInfoService = "/vlago/car/info";
-constexpr const char *followControlService = "/vlago/follow_me";
-constexpr const char *followControlStatusService = "/vlago/follow_me/status";
-constexpr const char *summonService = "/valgo/car/summon";
-constexpr const char *summonStatusService = "/valgo/car/summon/status";
-constexpr const char *highService = "/vaglo/car/high";
-constexpr const char *gearsControlService = "/vlago/gear";
-constexpr const char *sensorGearControlService = "/sensor/vlago/gear";
-constexpr const char *idControlService = "/vlago/car_id";
-constexpr const char *narrowControlService = "/vlago/narrow_assistant_mode";
-constexpr const char *standardControlService = "/vlago/standard_mode";
-constexpr const char *cruiseControlService = "/vlago/cruise_mode";
-constexpr const char *auxiliaryControlService = "/vlago/safe_mode";
-constexpr const char *tftControlService = "/vlago/lamp_language_screen";
-constexpr const char *sensorTftControlService = "/sensor/vlago/lamp_language_screen";
-constexpr const char *danceControlService = "/vlago/dance_show";
-constexpr const char *modeSwitchService = "/mode/switch";
-constexpr const char *vlagoSettingService = "/vlago/setting";
-constexpr const char *vlagoModeEnableService = "/vlago/mode/enable";
-constexpr const char *rechargeService = "/vlago/auto_charge";
-constexpr const char *manageFollowmeService = "/manage/followme";
-constexpr const char *manageCruiseService = "/manage/cruise";
-constexpr const char *autoindoorService = "/vlago/autoDriveMode";
-constexpr const char *autoindoorNavGotoService = "/vlago/autoindoor/goto";
-constexpr const char *autoindoorNavCannelService = "/vlago/autoindoor/cannel";
-
-constexpr const char *feedNarrowService = "/feed/narrow/ctrl";
-constexpr const char *feedRechargeService = "/feed/recharge/ctrl";
-constexpr const char *feedFollwmeService = "/feed/follwme/ctrl";
-constexpr const char *feedDanceService = "/feed/dance/ctrl";
-//
-constexpr const char *ServiceFollowControlTopic = "/service/follow/control";
-// 模式
-constexpr const char *sceneAuxiliaryService = "/scene/auxiliary";
-constexpr const char *sceneNarrowService = "/scene/narrow";
-constexpr const char *sceneStandardService = "/scene/standard";
-constexpr const char *sceneCruiseService = "/scene/cruise";
-constexpr const char *sceneHelpcarService = "/scene/helpcar";
-constexpr const char *sceneDanceService = "/scene/dance";
-constexpr const char *sceneRechargeService = "/scene/recharge";
-constexpr const char *sceneFollowmeService = "/scene/followme";
-// 德国版本健康健 启动舞蹈秀
-constexpr const char *sceneKeyDanceTopic = "/scene/dance/key";
-
-constexpr const char *manageFollowMe = "/manage/followme";
-constexpr const char *manageDance = "/manage/dance";
-constexpr const char *manageStandard = "/manage/standard";
-
-// 模型
-constexpr const char *perTracekerTopic = "/perception/tracker/data";
-constexpr const char *perFeatuerTopic = "/perception/localization/data";
-constexpr const char *perDetctorTopic = "/perception/detector/data";
-constexpr const char *perMonnaiTopic = "/perception/end_points";
-constexpr const char *perSpeedbumpTopic = "/speedbump_marker_array";
-constexpr const char *perPoDaoTopic = "/perception/podao_detect_status";
-// 预警
-constexpr const char *auxiliaryAlarmTopic = "/vlago/auxiliary/alarm";
-constexpr const char *auxiliaryAlarmBackTopic = "/vlago/backcar/alarm";
-constexpr const char *cursorAlarmTopic = "/vlago/cruise/status";
-constexpr const char *speedbumpAlarmTopic = "/speed_bump/status";
-constexpr const char *downhillAlarmTopic = "/downhill/status";
-constexpr const char *uphillAlarmTopic = "/uphill/status";
-constexpr const char *footLimiterTopic = "/foot/limiter/status";
-
-// tft模式
-constexpr const char *tftModeTopic = "/vlago/tft/mode";
-
-constexpr const char *audioTopic = "/vlago/audio/play";
-
-// 错误码topic
-constexpr const char* errorEventTopic = "/error_events";

src/common/3rd/x86/utils/include/utils/trigger_logger.h

@@ -1,174 +0,0 @@
-#pragma once
-
-#include <chrono>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <queue>
-#include <string>
-#include <thread>
-#include <atomic>
-
-namespace utils {
-
-/**
- * @brief 埋点数据统一格式
- * 
- * 统一的埋点数据格式，用于云端上传
- */
-struct TriggerData {
-    // 基础字段
-    std::string from;              // 数据来源: "pad" 或 "vlago"
-    std::string type;              // 事件类型: "trigger" 固定值
-    std::string event_name;        // 事件名称: 如 "mode_switch_start"
-    int64_t timestamp;             // 时间戳(毫秒)
-    std::string timestamp_str;     // 时间戳字符串: "YYYY-MM-DD HH:MM:SS"
-    
-    // 位置信息
-    std::string node_name;         // ROS节点名称
-    std::string file_path;        // 源文件路径
-    int line_number;               // 源代码行号
-    std::string function_name;     // 函数名称
-    
-    // 业务数据
-    std::map<std::string, std::string> data;  // 业务数据键值对
-    
-    // 系统信息
-    std::string vehicle_id;        // 车辆ID (可选)
-    std::string version;           // 软件版本 (可选)
-};
-
-/**
- * @brief 埋点日志收集器
- * 
- * 单例模式，负责收集埋点数据并上传到云端
- */
-class TriggerLogger {
-public:
-    /**
-     * @brief 获取单例实例
-     */
-    static TriggerLogger& getInstance();
-    
-    /**
-     * @brief 初始化埋点日志器
-     * @param websocket_url WebSocket服务器地址
-     * @param vehicle_id 车辆ID
-     * @param version 软件版本
-     */
-    void initialize(const std::string& websocket_url = "ws://60.205.235.193:3009",
-                   const std::string& vehicle_id = "",
-                   const std::string& version = "");
-    
-    /**
-     * @brief 记录埋点事件
-     * @param event_name 事件名称
-     * @param data 业务数据
-     * @param file_path 源文件路径
-     * @param line_number 源代码行号
-     * @param function_name 函数名称
-     * @param node_name ROS节点名称
-     */
-    void log(const std::string& event_name,
-             const std::map<std::string, std::string>& data,
-             const std::string& file_path = "",
-             int line_number = 0,
-             const std::string& function_name = "",
-             const std::string& node_name = "");
-    
-    /**
-     * @brief 设置车辆ID
-     */
-    void setVehicleId(const std::string& vehicle_id);
-    
-    /**
-     * @brief 设置软件版本
-     */
-    void setVersion(const std::string& version);
-    
-    /**
-     * @brief 停止日志器
-     */
-    void shutdown();
-    
-    /**
-     * @brief 检查是否已初始化
-     */
-    bool isInitialized() const { return initialized_.load(); }
-
-private:
-    TriggerLogger() = default;
-    ~TriggerLogger();
-    TriggerLogger(const TriggerLogger&) = delete;
-    TriggerLogger& operator=(const TriggerLogger&) = delete;
-    
-    /**
-     * @brief 将TriggerData转换为JSON字符串
-     */
-    std::string toJson(const TriggerData& trigger_data);
-    
-    /**
-     * @brief 上传线程函数
-     */
-    void uploadThread();
-    
-    /**
-     * @brief 获取当前时间戳(毫秒)
-     */
-    int64_t getCurrentTimestamp();
-    
-    /**
-     * @brief 格式化时间戳字符串
-     */
-    std::string formatTimestamp(int64_t timestamp_ms);
-    
-    // WebSocket客户端前向声明
-    class WebSocketClient;
-    
-    std::unique_ptr<WebSocketClient> ws_client_;
-    std::string websocket_url_;
-    std::string vehicle_id_;
-    std::string version_;
-    
-    std::mutex queue_mutex_;
-    std::queue<TriggerData> data_queue_;
-    std::atomic<bool> initialized_{false};
-    std::atomic<bool> should_stop_{false};
-    std::thread upload_thread_;
-    
-    // 队列大小限制
-    static constexpr size_t MAX_QUEUE_SIZE = 10000;
-};
-
-/**
- * @brief 便捷宏定义，用于快速埋点
- * 
- * 使用示例:
- *   TRIGGER_LOG("mode_switch_start", {
- *       {"old_mode", "standard"},
- *       {"new_mode", "auxiliary"}
- *   });
- */
-#define TRIGGER_LOG(event_name, data) \
-    utils::TriggerLogger::getInstance().log( \
-        event_name, \
-        data, \
-        __FILE__, \
-        __LINE__, \
-        __FUNCTION__, \
-        "")
-
-/**
- * @brief 带节点名称的埋点宏
- */
-#define TRIGGER_LOG_WITH_NODE(event_name, data, node_name) \
-    utils::TriggerLogger::getInstance().log( \
-        event_name, \
-        data, \
-        __FILE__, \
-        __LINE__, \
-        __FUNCTION__, \
-        node_name)
-
-} // namespace utils
-

src/common/3rd/x86/utils/include/utils/utils.h

@@ -1,13 +0,0 @@
-#pragma once
-
-#include "string"
-
-#include <list>
-
-namespace utils {
-
-extern double legalizeAngle(double angle);
-extern double angleDiff(double a, double b);
-extern double angleAverage(std::list<double> angles);
-extern uint64_t format_time();
-}

src/common/3rd/x86/utils/include/utils/vl_common.h

@@ -1,78 +0,0 @@
-#pragma once
-
-#include <string>
-
-#define UNUSED(name) ((void)name)
-#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0])
-
-namespace utils {
-
-/**
- * @brief
- * @param pidDirPath [in]存放pid的路径,如果运行中出错会强制退出程序
- */
-extern void instanceRun(const std::string& pidDirPath);
-/**
- * @brief get the process path
- * @return success:name fault:empty
- */
-extern std::string getProcessPath(void);
-/**
- * @brief get the process name
- * @return success:name fault:empty
- */
-extern std::string getProcessName(void);
-/**
- * @brief Check if the folder exists
- * @param filePath[in] file path
- * @return true
- * @return false
- */
-extern bool isFileExist(const std::string& filePath);
-/**
- * @brief Read all data from the file into a string
- * @param path[in] file path
- * @param out[out] result
- * @return true
- * @return false
- */
-extern bool readFileAllDataToString(const std::string& path, std::string& out);
-/**
- * @brief write all data to path
- * @param in[in] content
- * @param path[in] file path
- * @param isApp[in] is append
- * @return true
- * @return false
- */
-extern bool writeStringAllDataToFile(const std::string& in, const std::string& path, bool isApp = false);
-/**
- * @brief 返回uuid
- * @return std::string
- */
-extern std::string getUUID(void);
-/**
- * @brief 随机生成字符串
- * @param len 随机生成字符串的长度
- * @return std::string
- */
-extern std::string generateRandomString(size_t len);
-/**
- * @brief hex打印
- * @param data[in] 需要打印的数据
- * @param size[in] 需要打印数据的字节个数
- */
-extern void hexPrint(const char* data, size_t size);
-/**
- * @brief hex打印
- * @param data[in] 需要打印的数据
- */
-extern void hexPrint(const std::string& data);
-/**
- * @brief 时间字符串转unix时间戳
- * @param timeStamp[in]时间字符串,格式为%d-%d-%d %d:%d:%d
- * @return time_t
- */
-extern time_t strTimeToUnixTimestamp(const std::string& timeStamp);
-
-}

src/common/3rd/x86/utils/include/utils/warning_type.h

@@ -1,45 +0,0 @@
-#pragma once
-//告警等级  (地面以上) 1 前向减速 2 侧向减速 3 后向减速 4 前方刹停 5 侧向刹停 6 后向刹停 7 驶离减速区 8 驶离刹停区
-//          (地面以下) 9 前向减速区 10 侧向减速区 11 前方刹停区 12 侧向刹停区  13 驶离减速区 14 驶离刹停区
-enum class WarningType {
-    //正常
-    FORWARD_WARNING = 1, // 前向减速
-    LATERAL_WARNING = 2, // 侧向减速
-    BACKWARD_WARNING = 3, // 后向减速
-    FORWARD_BRAKE_WARNING = 4, // 前方刹停
-    LATERAL_BRAKE_WARNING = 5, // 侧向刹停
-    BACKWARD_BRAKE_WARNING = 6, // 后向刹停
-    FORWARD_LEAVE_WARNING = 7, // 驶离减速区
-    LATERAL_LEAVE_WARNING = 8, // 驶离刹停区
-
-    FORWARD_NEGATIVE_PLANE_WARNING = 9, // 前向负平面减速区
-    LATERAL_NEGATIVE_PLANE_WARNING = 10, // 侧向负平面减速区
-    FORWARD_NEGATIVE_PLANE_BRAKE_WARNING = 11, // 前向负平面刹停区
-    LATERAL_NEGATIVE_PLANE_BRAKE_WARNING = 12, // 侧向负平面刹停区
-    FORWARD_NEGATIVE_PLANE_LEAVE_WARNING = 13, // 驶离负平面减速区
-    LATERAL_NEGATIVE_PLANE_LEAVE_WARNING = 14, // 驶离负平面刹停区
-};
-
-// 对应灯带效果
-enum class LightEffect {
-    FORWARD_WARNING = 1, // 前向减速
-    LATERAL_WARNING = 2, // 侧向减速
-    BACKWARD_WARNING = 3, // 后向减速
-    FORWARD_BRAKE_WARNING = 4, // 前方刹停
-    LATERAL_BRAKE_WARNING = 5, // 侧向刹停
-    BACKWARD_BRAKE_WARNING = 6, // 后向刹停
-    FORWARD_LEAVE_WARNING = 7, // 驶离减速区
-    LATERAL_LEAVE_WARNING = 8, // 驶离刹停区
-};
-
-// 对应语音效果
-enum class VoiceEffect {
-    FORWARD_WARNING = 1, // 前向减速
-    LATERAL_WARNING = 2, // 侧向减速
-    BACKWARD_WARNING = 3, // 后向减速
-    FORWARD_BRAKE_WARNING = 4, // 前方刹停
-    LATERAL_BRAKE_WARNING = 5, // 侧向刹停
-    BACKWARD_BRAKE_WARNING = 6, // 后向刹停
-    FORWARD_LEAVE_WARNING = 7, // 驶离减速区
-    LATERAL_LEAVE_WARNING = 8, // 驶离刹停区
-};