feat: 初始化 Go2 导航代码与配置

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/android_sink.h

@@ -0,0 +1,121 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/fmt_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/details/os.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <android/log.h>
+#include <chrono>
+#include <mutex>
+#include <string>
+#include <thread>
+
+#if !defined(SPDLOG_ANDROID_RETRIES)
+#define SPDLOG_ANDROID_RETRIES 2
+#endif
+
+namespace spdlog {
+namespace sinks {
+
+/*
+ * Android sink (logging using __android_log_write)
+ */
+template<typename Mutex>
+class android_sink final : public base_sink<Mutex>
+{
+public:
+    explicit android_sink(std::string tag = "spdlog", bool use_raw_msg = false)
+        : tag_(std::move(tag))
+        , use_raw_msg_(use_raw_msg)
+    {
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        const android_LogPriority priority = convert_to_android_(msg.level);
+        fmt::memory_buffer formatted;
+        if (use_raw_msg_)
+        {
+            details::fmt_helper::append_string_view(msg.payload, formatted);
+        }
+        else
+        {
+            sink::formatter_->format(msg, formatted);
+        }
+        formatted.push_back('\0');
+        const char *msg_output = formatted.data();
+
+        // See system/core/liblog/logger_write.c for explanation of return value
+        int ret = __android_log_write(priority, tag_.c_str(), msg_output);
+        int retry_count = 0;
+        while ((ret == -11 /*EAGAIN*/) && (retry_count < SPDLOG_ANDROID_RETRIES))
+        {
+            details::os::sleep_for_millis(5);
+            ret = __android_log_write(priority, tag_.c_str(), msg_output);
+            retry_count++;
+        }
+
+        if (ret < 0)
+        {
+            throw spdlog_ex("__android_log_write() failed", ret);
+        }
+    }
+
+    void flush_() override {}
+
+private:
+    static android_LogPriority convert_to_android_(spdlog::level::level_enum level)
+    {
+        switch (level)
+        {
+        case spdlog::level::trace:
+            return ANDROID_LOG_VERBOSE;
+        case spdlog::level::debug:
+            return ANDROID_LOG_DEBUG;
+        case spdlog::level::info:
+            return ANDROID_LOG_INFO;
+        case spdlog::level::warn:
+            return ANDROID_LOG_WARN;
+        case spdlog::level::err:
+            return ANDROID_LOG_ERROR;
+        case spdlog::level::critical:
+            return ANDROID_LOG_FATAL;
+        default:
+            return ANDROID_LOG_DEFAULT;
+        }
+    }
+
+    std::string tag_;
+    bool use_raw_msg_;
+};
+
+using android_sink_mt = android_sink<std::mutex>;
+using android_sink_st = android_sink<details::null_mutex>;
+} // namespace sinks
+
+// Create and register android syslog logger
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> android_logger_mt(const std::string &logger_name, const std::string &tag = "spdlog")
+{
+    return Factory::template create<sinks::android_sink_mt>(logger_name, tag);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> android_logger_st(const std::string &logger_name, const std::string &tag = "spdlog")
+{
+    return Factory::template create<sinks::android_sink_st>(logger_name, tag);
+}
+
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/ansicolor_sink.h

@@ -0,0 +1,166 @@
+//
+// Copyright(c) 2017 spdlog authors.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/console_globals.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/details/os.h"
+#include "spdlog/sinks/sink.h"
+
+#include <memory>
+#include <mutex>
+#include <string>
+#include <unordered_map>
+
+namespace spdlog {
+namespace sinks {
+
+/**
+ * This sink prefixes the output with an ANSI escape sequence color code
+ * depending on the severity
+ * of the message.
+ * If no color terminal detected, omit the escape codes.
+ */
+template<typename TargetStream, class ConsoleMutex>
+class ansicolor_sink final : public sink
+{
+public:
+    using mutex_t = typename ConsoleMutex::mutex_t;
+    ansicolor_sink()
+        : target_file_(TargetStream::stream())
+        , mutex_(ConsoleMutex::mutex())
+
+    {
+        should_do_colors_ = details::os::in_terminal(target_file_) && details::os::is_color_terminal();
+        colors_[level::trace] = white;
+        colors_[level::debug] = cyan;
+        colors_[level::info] = green;
+        colors_[level::warn] = yellow + bold;
+        colors_[level::err] = red + bold;
+        colors_[level::critical] = bold + on_red;
+        colors_[level::off] = reset;
+    }
+
+    ~ansicolor_sink() override = default;
+
+    ansicolor_sink(const ansicolor_sink &other) = delete;
+    ansicolor_sink &operator=(const ansicolor_sink &other) = delete;
+
+    void set_color(level::level_enum color_level, const std::string &color)
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        colors_[color_level] = color;
+    }
+
+    /// Formatting codes
+    const std::string reset = "\033[m";
+    const std::string bold = "\033[1m";
+    const std::string dark = "\033[2m";
+    const std::string underline = "\033[4m";
+    const std::string blink = "\033[5m";
+    const std::string reverse = "\033[7m";
+    const std::string concealed = "\033[8m";
+    const std::string clear_line = "\033[K";
+
+    // Foreground colors
+    const std::string black = "\033[30m";
+    const std::string red = "\033[31m";
+    const std::string green = "\033[32m";
+    const std::string yellow = "\033[33m";
+    const std::string blue = "\033[34m";
+    const std::string magenta = "\033[35m";
+    const std::string cyan = "\033[36m";
+    const std::string white = "\033[37m";
+
+    /// Background colors
+    const std::string on_black = "\033[40m";
+    const std::string on_red = "\033[41m";
+    const std::string on_green = "\033[42m";
+    const std::string on_yellow = "\033[43m";
+    const std::string on_blue = "\033[44m";
+    const std::string on_magenta = "\033[45m";
+    const std::string on_cyan = "\033[46m";
+    const std::string on_white = "\033[47m";
+
+    void log(const details::log_msg &msg) override
+    {
+        // Wrap the originally formatted message in color codes.
+        // If color is not supported in the terminal, log as is instead.
+        std::lock_guard<mutex_t> lock(mutex_);
+
+        fmt::memory_buffer formatted;
+        formatter_->format(msg, formatted);
+        if (should_do_colors_ && msg.color_range_end > msg.color_range_start)
+        {
+            // before color range
+            print_range_(formatted, 0, msg.color_range_start);
+            // in color range
+            print_ccode_(colors_[msg.level]);
+            print_range_(formatted, msg.color_range_start, msg.color_range_end);
+            print_ccode_(reset);
+            // after color range
+            print_range_(formatted, msg.color_range_end, formatted.size());
+        }
+        else // no color
+        {
+            print_range_(formatted, 0, formatted.size());
+        }
+        fflush(target_file_);
+    }
+
+    void flush() override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fflush(target_file_);
+    }
+
+    void set_pattern(const std::string &pattern) final
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::unique_ptr<spdlog::formatter>(new pattern_formatter(pattern));
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::move(sink_formatter);
+    }
+
+    bool should_color()
+    {
+        return should_do_colors_;
+    }
+
+private:
+    void print_ccode_(const std::string &color_code)
+    {
+        fwrite(color_code.data(), sizeof(char), color_code.size(), target_file_);
+    }
+    void print_range_(const fmt::memory_buffer &formatted, size_t start, size_t end)
+    {
+        fwrite(formatted.data() + start, sizeof(char), end - start, target_file_);
+    }
+
+    FILE *target_file_;
+    mutex_t &mutex_;
+
+    bool should_do_colors_;
+    std::unordered_map<level::level_enum, std::string, level::level_hasher> colors_;
+};
+
+using ansicolor_stdout_sink_mt = ansicolor_sink<details::console_stdout, details::console_mutex>;
+using ansicolor_stdout_sink_st = ansicolor_sink<details::console_stdout, details::console_nullmutex>;
+
+using ansicolor_stderr_sink_mt = ansicolor_sink<details::console_stderr, details::console_mutex>;
+using ansicolor_stderr_sink_st = ansicolor_sink<details::console_stderr, details::console_nullmutex>;
+
+} // namespace sinks
+
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/base_sink.h

@@ -0,0 +1,69 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+//
+// base sink templated over a mutex (either dummy or real)
+// concrete implementation should override the sink_it_() and flush_()  methods.
+// locking is taken care of in this class - no locking needed by the
+// implementers..
+//
+
+#include "spdlog/common.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/formatter.h"
+#include "spdlog/sinks/sink.h"
+
+namespace spdlog {
+namespace sinks {
+template<typename Mutex>
+class base_sink : public sink
+{
+public:
+    base_sink() = default;
+    base_sink(const base_sink &) = delete;
+    base_sink &operator=(const base_sink &) = delete;
+
+    void log(const details::log_msg &msg) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        sink_it_(msg);
+    }
+
+    void flush() final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        flush_();
+    }
+
+    void set_pattern(const std::string &pattern) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        set_pattern_(pattern);
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) final
+    {
+        std::lock_guard<Mutex> lock(mutex_);
+        set_formatter_(std::move(sink_formatter));
+    }
+
+protected:
+    virtual void sink_it_(const details::log_msg &msg) = 0;
+    virtual void flush_() = 0;
+
+    virtual void set_pattern_(const std::string &pattern)
+    {
+        set_formatter_(details::make_unique<spdlog::pattern_formatter>(pattern));
+    }
+
+    virtual void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter)
+    {
+        formatter_ = std::move(sink_formatter);
+    }
+    Mutex mutex_;
+};
+} // namespace sinks
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/basic_file_sink.h

@@ -0,0 +1,75 @@
+//
+// Copyright(c) 2015-2018 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+/*
+ * Trivial file sink with single file as target
+ */
+template<typename Mutex>
+class basic_file_sink final : public base_sink<Mutex>
+{
+public:
+    explicit basic_file_sink(const filename_t &filename, bool truncate = false)
+    {
+        file_helper_.open(filename, truncate);
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    details::file_helper file_helper_;
+};
+
+using basic_file_sink_mt = basic_file_sink<std::mutex>;
+using basic_file_sink_st = basic_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> basic_logger_mt(const std::string &logger_name, const filename_t &filename, bool truncate = false)
+{
+    return Factory::template create<sinks::basic_file_sink_mt>(logger_name, filename, truncate);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> basic_logger_st(const std::string &logger_name, const filename_t &filename, bool truncate = false)
+{
+    return Factory::template create<sinks::basic_file_sink_st>(logger_name, filename, truncate);
+}
+
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/daily_file_sink.h

@@ -0,0 +1,141 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/fmt/fmt.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <chrono>
+#include <cstdio>
+#include <ctime>
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+
+/*
+ * Generator of daily log file names in format basename.YYYY-MM-DD.ext
+ */
+struct daily_filename_calculator
+{
+    // Create filename for the form basename.YYYY-MM-DD
+    static filename_t calc_filename(const filename_t &filename, const tm &now_tm)
+    {
+        filename_t basename, ext;
+        std::tie(basename, ext) = details::file_helper::split_by_extension(filename);
+        std::conditional<std::is_same<filename_t::value_type, char>::value, fmt::memory_buffer, fmt::wmemory_buffer>::type w;
+        fmt::format_to(
+            w, SPDLOG_FILENAME_T("{}_{:04d}-{:02d}-{:02d}{}"), basename, now_tm.tm_year + 1900, now_tm.tm_mon + 1, now_tm.tm_mday, ext);
+        return fmt::to_string(w);
+    }
+};
+
+/*
+ * Rotating file sink based on date. rotates at midnight
+ */
+template<typename Mutex, typename FileNameCalc = daily_filename_calculator>
+class daily_file_sink final : public base_sink<Mutex>
+{
+public:
+    // create daily file sink which rotates on given time
+    daily_file_sink(filename_t base_filename, int rotation_hour, int rotation_minute, bool truncate = false)
+        : base_filename_(std::move(base_filename))
+        , rotation_h_(rotation_hour)
+        , rotation_m_(rotation_minute)
+        , truncate_(truncate)
+    {
+        if (rotation_hour < 0 || rotation_hour > 23 || rotation_minute < 0 || rotation_minute > 59)
+        {
+            throw spdlog_ex("daily_file_sink: Invalid rotation time in ctor");
+        }
+        auto now = log_clock::now();
+        file_helper_.open(FileNameCalc::calc_filename(base_filename_, now_tm(now)), truncate_);
+        rotation_tp_ = next_rotation_tp_();
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        if (msg.time >= rotation_tp_)
+        {
+            file_helper_.open(FileNameCalc::calc_filename(base_filename_, now_tm(msg.time)), truncate_);
+            rotation_tp_ = next_rotation_tp_();
+        }
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    tm now_tm(log_clock::time_point tp)
+    {
+        time_t tnow = log_clock::to_time_t(tp);
+        return spdlog::details::os::localtime(tnow);
+    }
+
+    log_clock::time_point next_rotation_tp_()
+    {
+        auto now = log_clock::now();
+        tm date = now_tm(now);
+        date.tm_hour = rotation_h_;
+        date.tm_min = rotation_m_;
+        date.tm_sec = 0;
+        auto rotation_time = log_clock::from_time_t(std::mktime(&date));
+        if (rotation_time > now)
+        {
+            return rotation_time;
+        }
+        return {rotation_time + std::chrono::hours(24)};
+    }
+
+    filename_t base_filename_;
+    int rotation_h_;
+    int rotation_m_;
+    log_clock::time_point rotation_tp_;
+    details::file_helper file_helper_;
+    bool truncate_;
+};
+
+using daily_file_sink_mt = daily_file_sink<std::mutex>;
+using daily_file_sink_st = daily_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> daily_logger_mt(
+    const std::string &logger_name, const filename_t &filename, int hour = 0, int minute = 0, bool truncate = false)
+{
+    return Factory::template create<sinks::daily_file_sink_mt>(logger_name, filename, hour, minute, truncate);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> daily_logger_st(
+    const std::string &logger_name, const filename_t &filename, int hour = 0, int minute = 0, bool truncate = false)
+{
+    return Factory::template create<sinks::daily_file_sink_st>(logger_name, filename, hour, minute, truncate);
+}
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/dist_sink.h

@@ -0,0 +1,94 @@
+//
+// Copyright (c) 2015 David Schury, Gabi Melman
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "base_sink.h"
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/null_mutex.h"
+
+#include <algorithm>
+#include <memory>
+#include <mutex>
+#include <vector>
+
+// Distribution sink (mux). Stores a vector of sinks which get called when log
+// is called
+
+namespace spdlog {
+namespace sinks {
+
+template<typename Mutex>
+class dist_sink : public base_sink<Mutex>
+{
+public:
+    dist_sink() = default;
+    dist_sink(const dist_sink &) = delete;
+    dist_sink &operator=(const dist_sink &) = delete;
+
+    void add_sink(std::shared_ptr<sink> sink)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_.push_back(sink);
+    }
+
+    void remove_sink(std::shared_ptr<sink> sink)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_.erase(std::remove(sinks_.begin(), sinks_.end(), sink), sinks_.end());
+    }
+
+    void set_sinks(std::vector<std::shared_ptr<sink>> sinks)
+    {
+        std::lock_guard<Mutex> lock(base_sink<Mutex>::mutex_);
+        sinks_ = std::move(sinks);
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        for (auto &sink : sinks_)
+        {
+            if (sink->should_log(msg.level))
+            {
+                sink->log(msg);
+            }
+        }
+    }
+
+    void flush_() override
+    {
+        for (auto &sink : sinks_)
+        {
+            sink->flush();
+        }
+    }
+
+    void set_pattern_(const std::string &pattern) override
+    {
+        set_formatter_(details::make_unique<spdlog::pattern_formatter>(pattern));
+    }
+
+    void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        base_sink<Mutex>::formatter_ = std::move(sink_formatter);
+        for (auto &sink : sinks_)
+        {
+            sink->set_formatter(base_sink<Mutex>::formatter_->clone());
+        }
+    }
+    std::vector<std::shared_ptr<sink>> sinks_;
+};
+
+using dist_sink_mt = dist_sink<std::mutex>;
+using dist_sink_st = dist_sink<details::null_mutex>;
+
+} // namespace sinks
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/msvc_sink.h

@@ -0,0 +1,54 @@
+//
+// Copyright(c) 2016 Alexander Dalshov.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#if defined(_WIN32)
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <winbase.h>
+
+#include <mutex>
+#include <string>
+
+namespace spdlog {
+namespace sinks {
+/*
+ * MSVC sink (logging using OutputDebugStringA)
+ */
+template<typename Mutex>
+class msvc_sink : public base_sink<Mutex>
+{
+public:
+    explicit msvc_sink() {}
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        OutputDebugStringA(fmt::to_string(formatted).c_str());
+    }
+
+    void flush_() override {}
+};
+
+using msvc_sink_mt = msvc_sink<std::mutex>;
+using msvc_sink_st = msvc_sink<details::null_mutex>;
+
+using windebug_sink_mt = msvc_sink_mt;
+using windebug_sink_st = msvc_sink_st;
+
+} // namespace sinks
+} // namespace spdlog
+
+#endif

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/null_sink.h

@@ -0,0 +1,49 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+
+namespace spdlog {
+namespace sinks {
+
+template<typename Mutex>
+class null_sink : public base_sink<Mutex>
+{
+protected:
+    void sink_it_(const details::log_msg &) override {}
+    void flush_() override {}
+};
+
+using null_sink_mt = null_sink<std::mutex>;
+using null_sink_st = null_sink<details::null_mutex>;
+
+} // namespace sinks
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> null_logger_mt(const std::string &logger_name)
+{
+    auto null_logger = Factory::template create<sinks::null_sink_mt>(logger_name);
+    null_logger->set_level(level::off);
+    return null_logger;
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> null_logger_st(const std::string &logger_name)
+{
+    auto null_logger = Factory::template create<sinks::null_sink_st>(logger_name);
+    null_logger->set_level(level::off);
+    return null_logger;
+}
+
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/ostream_sink.h

@@ -0,0 +1,57 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <mutex>
+#include <ostream>
+
+namespace spdlog {
+namespace sinks {
+template<typename Mutex>
+class ostream_sink final : public base_sink<Mutex>
+{
+public:
+    explicit ostream_sink(std::ostream &os, bool force_flush = false)
+        : ostream_(os)
+        , force_flush_(force_flush)
+    {
+    }
+    ostream_sink(const ostream_sink &) = delete;
+    ostream_sink &operator=(const ostream_sink &) = delete;
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        ostream_.write(formatted.data(), static_cast<std::streamsize>(formatted.size()));
+        if (force_flush_)
+        {
+            ostream_.flush();
+        }
+    }
+
+    void flush_() override
+    {
+        ostream_.flush();
+    }
+
+    std::ostream &ostream_;
+    bool force_flush_;
+};
+
+using ostream_sink_mt = ostream_sink<std::mutex>;
+using ostream_sink_st = ostream_sink<details::null_mutex>;
+
+} // namespace sinks
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/rotating_file_sink.h

@@ -0,0 +1,164 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/file_helper.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/fmt/fmt.h"
+#include "spdlog/sinks/base_sink.h"
+
+#include <cerrno>
+#include <chrono>
+#include <ctime>
+#include <mutex>
+#include <string>
+#include <tuple>
+
+namespace spdlog {
+namespace sinks {
+
+//
+// Rotating file sink based on size
+//
+template<typename Mutex>
+class rotating_file_sink final : public base_sink<Mutex>
+{
+public:
+    rotating_file_sink(filename_t base_filename, std::size_t max_size, std::size_t max_files, bool rotate_on_open=false)
+        : base_filename_(std::move(base_filename))
+        , max_size_(max_size)
+        , max_files_(max_files)
+    {
+        file_helper_.open(calc_filename(base_filename_, 0));
+        current_size_ = file_helper_.size(); // expensive. called only once
+        if (rotate_on_open && current_size_ > 0)
+        {
+            rotate_();
+        }
+    }
+
+    // calc filename according to index and file extension if exists.
+    // e.g. calc_filename("logs/mylog.txt, 3) => "logs/mylog.3.txt".
+    static filename_t calc_filename(const filename_t &filename, std::size_t index)
+    {
+        typename std::conditional<std::is_same<filename_t::value_type, char>::value, fmt::memory_buffer, fmt::wmemory_buffer>::type w;
+        if (index != 0u)
+        {
+            filename_t basename, ext;
+            std::tie(basename, ext) = details::file_helper::split_by_extension(filename);
+            fmt::format_to(w, SPDLOG_FILENAME_T("{}.{}{}"), basename, index, ext);
+        }
+        else
+        {
+            fmt::format_to(w, SPDLOG_FILENAME_T("{}"), filename);
+        }
+        return fmt::to_string(w);
+    }
+
+    const filename_t &filename() const
+    {
+        return file_helper_.filename();
+    }
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        fmt::memory_buffer formatted;
+        sink::formatter_->format(msg, formatted);
+        current_size_ += formatted.size();
+        if (current_size_ > max_size_)
+        {
+            rotate_();
+            current_size_ = formatted.size();
+        }
+        file_helper_.write(formatted);
+    }
+
+    void flush_() override
+    {
+        file_helper_.flush();
+    }
+
+private:
+    // Rotate files:
+    // log.txt -> log.1.txt
+    // log.1.txt -> log.2.txt
+    // log.2.txt -> log.3.txt
+    // log.3.txt -> delete
+    void rotate_()
+    {
+        using details::os::filename_to_str;
+        file_helper_.close();
+        for (auto i = max_files_; i > 0; --i)
+        {
+            filename_t src = calc_filename(base_filename_, i - 1);
+            if (!details::file_helper::file_exists(src))
+            {
+                continue;
+            }
+            filename_t target = calc_filename(base_filename_, i);
+
+            if (!rename_file(src, target))
+            {
+                // if failed try again after a small delay.
+                // this is a workaround to a windows issue, where very high rotation
+                // rates can cause the rename to fail with permission denied (because of antivirus?).
+                details::os::sleep_for_millis(100);
+                if (!rename_file(src, target))
+                {
+                    file_helper_.reopen(true); // truncate the log file anyway to prevent it to grow beyond its limit!
+                    current_size_ = 0;
+                    throw spdlog_ex(
+                        "rotating_file_sink: failed renaming " + filename_to_str(src) + " to " + filename_to_str(target), errno);
+                }
+            }
+        }
+        file_helper_.reopen(true);
+    }
+
+    // delete the target if exists, and rename the src file  to target
+    // return true on success, false otherwise.
+    bool rename_file(const filename_t &src_filename, const filename_t &target_filename)
+    {
+        // try to delete the target file in case it already exists.
+        (void)details::os::remove(target_filename);
+        return details::os::rename(src_filename, target_filename) == 0;
+    }
+
+    filename_t base_filename_;
+    std::size_t max_size_;
+    std::size_t max_files_;
+    std::size_t current_size_;
+    details::file_helper file_helper_;
+};
+
+using rotating_file_sink_mt = rotating_file_sink<std::mutex>;
+using rotating_file_sink_st = rotating_file_sink<details::null_mutex>;
+
+} // namespace sinks
+
+//
+// factory functions
+//
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> rotating_logger_mt(
+    const std::string &logger_name, const filename_t &filename, size_t max_file_size, size_t max_files, bool rotate_on_open=false)
+{
+    return Factory::template create<sinks::rotating_file_sink_mt>(logger_name, filename, max_file_size, max_files, rotate_on_open);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> rotating_logger_st(
+    const std::string &logger_name, const filename_t &filename, size_t max_file_size, size_t max_files, bool rotate_on_open = false)
+{
+    return Factory::template create<sinks::rotating_file_sink_st>(logger_name, filename, max_file_size, max_files, rotate_on_open);
+}
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/sink.h

@@ -0,0 +1,54 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#include "spdlog/details/log_msg.h"
+#include "spdlog/details/pattern_formatter.h"
+#include "spdlog/formatter.h"
+
+namespace spdlog {
+namespace sinks {
+class sink
+{
+public:
+    sink() = default;
+
+    explicit sink(std::unique_ptr<spdlog::formatter> formatter)
+        : formatter_{std::move(formatter)}
+    {
+    }
+
+    virtual ~sink() = default;
+    virtual void log(const details::log_msg &msg) = 0;
+    virtual void flush() = 0;
+    virtual void set_pattern(const std::string &pattern) = 0;
+    virtual void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) = 0;
+
+    bool should_log(level::level_enum msg_level) const
+    {
+        return msg_level >= level_.load(std::memory_order_relaxed);
+    }
+
+    void set_level(level::level_enum log_level)
+    {
+        level_.store(log_level);
+    }
+
+    level::level_enum level() const
+    {
+        return static_cast<spdlog::level::level_enum>(level_.load(std::memory_order_relaxed));
+    }
+
+protected:
+    // sink log level - default is all
+    level_t level_{level::trace};
+
+    // sink formatter - default is full format
+    std::unique_ptr<spdlog::formatter> formatter_{details::make_unique<spdlog::pattern_formatter>()};
+};
+
+} // namespace sinks
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/stdout_color_sinks.h

@@ -0,0 +1,56 @@
+//
+// Copyright(c) 2018 spdlog
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#ifdef _WIN32
+#include "spdlog/sinks/wincolor_sink.h"
+#else
+#include "spdlog/sinks/ansicolor_sink.h"
+#endif
+
+namespace spdlog {
+namespace sinks {
+#ifdef _WIN32
+using stdout_color_sink_mt = wincolor_stdout_sink_mt;
+using stdout_color_sink_st = wincolor_stdout_sink_st;
+using stderr_color_sink_mt = wincolor_stderr_sink_mt;
+using stderr_color_sink_st = wincolor_stderr_sink_st;
+#else
+using stdout_color_sink_mt = ansicolor_stdout_sink_mt;
+using stdout_color_sink_st = ansicolor_stdout_sink_st;
+using stderr_color_sink_mt = ansicolor_stderr_sink_mt;
+using stderr_color_sink_st = ansicolor_stderr_sink_st;
+#endif
+} // namespace sinks
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_color_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_color_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_color_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_color_sink_st>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_color_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_color_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_color_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_color_sink_st>(logger_name);
+}
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/stdout_sinks.h

@@ -0,0 +1,102 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/details/console_globals.h"
+#include "spdlog/details/null_mutex.h"
+
+#include <cstdio>
+#include <memory>
+#include <mutex>
+
+namespace spdlog {
+
+namespace sinks {
+
+template<typename TargetStream, typename ConsoleMutex>
+class stdout_sink final : public sink
+{
+public:
+    using mutex_t = typename ConsoleMutex::mutex_t;
+    stdout_sink()
+        : mutex_(ConsoleMutex::mutex())
+        , file_(TargetStream::stream())
+    {
+    }
+    ~stdout_sink() override = default;
+
+    stdout_sink(const stdout_sink &other) = delete;
+    stdout_sink &operator=(const stdout_sink &other) = delete;
+
+    void log(const details::log_msg &msg) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fmt::memory_buffer formatted;
+        formatter_->format(msg, formatted);
+        fwrite(formatted.data(), sizeof(char), formatted.size(), file_);
+        fflush(TargetStream::stream());
+    }
+
+    void flush() override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fflush(file_);
+    }
+
+    void set_pattern(const std::string &pattern) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::unique_ptr<spdlog::formatter>(new pattern_formatter(pattern));
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::move(sink_formatter);
+    }
+
+private:
+    mutex_t &mutex_;
+    FILE *file_;
+};
+
+using stdout_sink_mt = stdout_sink<details::console_stdout, details::console_mutex>;
+using stdout_sink_st = stdout_sink<details::console_stdout, details::console_nullmutex>;
+
+using stderr_sink_mt = stdout_sink<details::console_stderr, details::console_mutex>;
+using stderr_sink_st = stdout_sink<details::console_stderr, details::console_nullmutex>;
+
+} // namespace sinks
+
+// factory methods
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_logger_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stdout_logger_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stdout_sink_st>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_logger_mt(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_sink_mt>(logger_name);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> stderr_logger_st(const std::string &logger_name)
+{
+    return Factory::template create<sinks::stderr_sink_st>(logger_name);
+}
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/syslog_sink.h

@@ -0,0 +1,94 @@
+//
+// Copyright(c) 2015 Gabi Melman.
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/sinks/base_sink.h"
+
+#include <array>
+#include <string>
+#include <syslog.h>
+
+namespace spdlog {
+namespace sinks {
+/**
+ * Sink that write to syslog using the `syscall()` library call.
+ *
+ * Locking is not needed, as `syslog()` itself is thread-safe.
+ */
+template<typename Mutex>
+class syslog_sink : public base_sink<Mutex>
+{
+public:
+    //
+    explicit syslog_sink(std::string ident = "", int syslog_option = 0, int syslog_facility = LOG_USER)
+        : ident_(std::move(ident))
+    {
+        priorities_[static_cast<size_t>(level::trace)] = LOG_DEBUG;
+        priorities_[static_cast<size_t>(level::debug)] = LOG_DEBUG;
+        priorities_[static_cast<size_t>(level::info)] = LOG_INFO;
+        priorities_[static_cast<size_t>(level::warn)] = LOG_WARNING;
+        priorities_[static_cast<size_t>(level::err)] = LOG_ERR;
+        priorities_[static_cast<size_t>(level::critical)] = LOG_CRIT;
+        priorities_[static_cast<size_t>(level::off)] = LOG_INFO;
+
+        // set ident to be program name if empty
+        ::openlog(ident_.empty() ? nullptr : ident_.c_str(), syslog_option, syslog_facility);
+    }
+
+    ~syslog_sink() override
+    {
+        ::closelog();
+    }
+
+    syslog_sink(const syslog_sink &) = delete;
+    syslog_sink &operator=(const syslog_sink &) = delete;
+
+protected:
+    void sink_it_(const details::log_msg &msg) override
+    {
+        ::syslog(syslog_prio_from_level(msg), "%s", fmt::to_string(msg.payload).c_str());
+    }
+
+    void flush_() override {}
+
+private:
+    std::array<int, 7> priorities_;
+    // must store the ident because the man says openlog might use the pointer as
+    // is and not a string copy
+    const std::string ident_;
+
+    //
+    // Simply maps spdlog's log level to syslog priority level.
+    //
+    int syslog_prio_from_level(const details::log_msg &msg) const
+    {
+        return priorities_[static_cast<size_t>(msg.level)];
+    }
+};
+
+using syslog_sink_mt = syslog_sink<std::mutex>;
+using syslog_sink_st = syslog_sink<details::null_mutex>;
+} // namespace sinks
+
+// Create and register a syslog logger
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> syslog_logger_mt(
+    const std::string &logger_name, const std::string &syslog_ident = "", int syslog_option = 0, int syslog_facility = (1 << 3))
+{
+    return Factory::template create<sinks::syslog_sink_mt>(logger_name, syslog_ident, syslog_option, syslog_facility);
+}
+
+template<typename Factory = default_factory>
+inline std::shared_ptr<logger> syslog_logger_st(
+    const std::string &logger_name, const std::string &syslog_ident = "", int syslog_option = 0, int syslog_facility = (1 << 3))
+{
+    return Factory::template create<sinks::syslog_sink_st>(logger_name, syslog_ident, syslog_option, syslog_facility);
+}
+} // namespace spdlog

Livox-SDK2/3rdparty/spdlog/spdlog/sinks/wincolor_sink.h

@@ -0,0 +1,143 @@
+//
+// Copyright(c) 2016 spdlog
+// Distributed under the MIT License (http://opensource.org/licenses/MIT)
+//
+
+#pragma once
+
+#ifndef SPDLOG_H
+#include "spdlog/spdlog.h"
+#endif
+
+#include "spdlog/common.h"
+#include "spdlog/details/console_globals.h"
+#include "spdlog/details/null_mutex.h"
+#include "spdlog/sinks/sink.h"
+
+#include <memory>
+#include <mutex>
+#include <string>
+#include <unordered_map>
+#include <wincon.h>
+
+namespace spdlog {
+namespace sinks {
+/*
+ * Windows color console sink. Uses WriteConsoleA to write to the console with
+ * colors
+ */
+template<typename OutHandle, typename ConsoleMutex>
+class wincolor_sink : public sink
+{
+public:
+    const WORD BOLD = FOREGROUND_INTENSITY;
+    const WORD RED = FOREGROUND_RED;
+    const WORD GREEN = FOREGROUND_GREEN;
+    const WORD CYAN = FOREGROUND_GREEN | FOREGROUND_BLUE;
+    const WORD WHITE = FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE;
+    const WORD YELLOW = FOREGROUND_RED | FOREGROUND_GREEN;
+
+    wincolor_sink()
+        : out_handle_(OutHandle::handle())
+        , mutex_(ConsoleMutex::mutex())
+    {
+        colors_[level::trace] = WHITE;
+        colors_[level::debug] = CYAN;
+        colors_[level::info] = GREEN;
+        colors_[level::warn] = YELLOW | BOLD;
+        colors_[level::err] = RED | BOLD;                         // red bold
+        colors_[level::critical] = BACKGROUND_RED | WHITE | BOLD; // white bold on red background
+        colors_[level::off] = 0;
+    }
+
+    ~wincolor_sink() override
+    {
+        this->flush();
+    }
+
+    wincolor_sink(const wincolor_sink &other) = delete;
+    wincolor_sink &operator=(const wincolor_sink &other) = delete;
+
+    // change the color for the given level
+    void set_color(level::level_enum level, WORD color)
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        colors_[level] = color;
+    }
+
+    void log(const details::log_msg &msg) final override
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        fmt::memory_buffer formatted;
+        formatter_->format(msg, formatted);
+        if (msg.color_range_end > msg.color_range_start)
+        {
+            // before color range
+            print_range_(formatted, 0, msg.color_range_start);
+
+            // in color range
+            auto orig_attribs = set_console_attribs(colors_[msg.level]);
+            print_range_(formatted, msg.color_range_start, msg.color_range_end);
+            ::SetConsoleTextAttribute(out_handle_,
+                orig_attribs); // reset to orig colors
+                               // after color range
+            print_range_(formatted, msg.color_range_end, formatted.size());
+        }
+        else // print without colors if color range is invalid
+        {
+            print_range_(formatted, 0, formatted.size());
+        }
+    }
+
+    void flush() final override
+    {
+        // windows console always flushed?
+    }
+
+    void set_pattern(const std::string &pattern) override final
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::unique_ptr<spdlog::formatter>(new pattern_formatter(pattern));
+    }
+
+    void set_formatter(std::unique_ptr<spdlog::formatter> sink_formatter) override final
+    {
+        std::lock_guard<mutex_t> lock(mutex_);
+        formatter_ = std::move(sink_formatter);
+    }
+
+private:
+    using mutex_t = typename ConsoleMutex::mutex_t;
+    // set color and return the orig console attributes (for resetting later)
+    WORD set_console_attribs(WORD attribs)
+    {
+        CONSOLE_SCREEN_BUFFER_INFO orig_buffer_info;
+        ::GetConsoleScreenBufferInfo(out_handle_, &orig_buffer_info);
+        WORD back_color = orig_buffer_info.wAttributes;
+        // retrieve the current background color
+        back_color &= static_cast<WORD>(~(FOREGROUND_RED | FOREGROUND_GREEN | FOREGROUND_BLUE | FOREGROUND_INTENSITY));
+        // keep the background color unchanged
+        ::SetConsoleTextAttribute(out_handle_, attribs | back_color);
+        return orig_buffer_info.wAttributes; // return orig attribs
+    }
+
+    // print a range of formatted message to console
+    void print_range_(const fmt::memory_buffer &formatted, size_t start, size_t end)
+    {
+        auto size = static_cast<DWORD>(end - start);
+        ::WriteConsoleA(out_handle_, formatted.data() + start, size, nullptr, nullptr);
+    }
+
+    HANDLE out_handle_;
+    mutex_t &mutex_;
+    std::unordered_map<level::level_enum, WORD, level::level_hasher> colors_;
+};
+
+using wincolor_stdout_sink_mt = wincolor_sink<details::console_stdout, details::console_mutex>;
+using wincolor_stdout_sink_st = wincolor_sink<details::console_stdout, details::console_nullmutex>;
+
+using wincolor_stderr_sink_mt = wincolor_sink<details::console_stderr, details::console_mutex>;
+using wincolor_stderr_sink_st = wincolor_sink<details::console_stderr, details::console_nullmutex>;
+
+} // namespace sinks
+} // namespace spdlog