From 9dc003eb8acaabb76213e1d990dc0a2681266c9b Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Sun, 7 Feb 2021 18:52:19 -0600
Subject: [PATCH 01/37] Added node for Tank Drive control

---
 .../firmware/include/DataNodes/MotorNode.h    |  4 ++
 .../include/DataNodes/TankDriveNode.h         | 42 +++++++++++++
 .../firmware/src/DataNodes/MotorNode.cpp      |  8 +++
 .../firmware/src/DataNodes/TankDriveNode.cpp  | 61 +++++++++++++++++++
 4 files changed, 115 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
 create mode 100644 src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp

diff --git a/src/v5_hal/firmware/include/DataNodes/MotorNode.h b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
index c4de9cf27..8dbb9bf01 100644
--- a/src/v5_hal/firmware/include/DataNodes/MotorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
@@ -30,12 +30,16 @@ class MotorNode : public Node {
 
     void initialize();
 
+    void resetEncoder();
+
     int getPosition();
 
     void move(int value);
 
     void moveVoltage(int voltage);
 
+    void moveAbsolute(double position, int max_velocity);
+
     void periodic();
 
     ~MotorNode();
diff --git a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
new file mode 100644
index 000000000..7a2521a6e
--- /dev/null
+++ b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "NodeManager.h"
+#include "api.h"
+#include "DataNodes/MotorNode.h"
+#include "ros_lib/ros.h"
+#include "ros_lib/std_msgs/Int8.h"
+#include "ros_lib/std_msgs/Empty.h"
+
+class TankDriveNode : public Node {
+private:
+    MotorNode* m_left_front_motor;
+    MotorNode* m_left_rear_motor;
+    MotorNode* m_right_front_motor;
+    MotorNode* m_right_rear_motor;
+
+    std::string m_handle_name;
+
+    void m_resetEncoders();
+
+    void m_setLeftVoltage(int voltage);
+
+    void m_setRightVoltage(int voltage);
+
+    void m_setLeftDistancePID(double distance, int max_velocity);
+
+    void m_setRightDistancePID(double distance, int max_velocity);
+
+public: 
+    TankDriveNode(NodeManager* node_manager, std::string handle_name, MotorNode* left_front_motor, 
+        MotorNode* left_rear_motor, MotorNode* right_front_motor, MotorNode* right_rear_motor);
+
+    void initialize();
+
+    void setDriveVoltage(int left_voltage, int right_voltage);
+
+    void setDriveDistancePID(double left_distance, double right_distance, int max_velocity);
+
+    void periodic();
+
+    ~TankDriveNode();
+};
diff --git a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
index 463dac1d6..0643ac179 100644
--- a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
@@ -35,6 +35,10 @@ void MotorNode::initialize() {
     Node::m_handle->subscribe(*m_move_motor_voltage_sub);
 }
 
+void MotorNode::resetEncoder() {
+    m_motor.tare_position();
+}
+
 int MotorNode::getPosition() {
     return m_motor.get_position();
 }
@@ -47,6 +51,10 @@ void MotorNode::moveVoltage(int voltage) {
     m_motor.move_voltage(voltage);
 }
 
+void MotorNode::moveAbsolute(double position, int max_velocity) {
+    m_motor.move_absolute(position, max_velocity);
+}
+
 void MotorNode::periodic() {
     // Publish data when called, and spin the handler to send data to the
     // coprocessor on the published topic
diff --git a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
new file mode 100644
index 000000000..23e3d254a
--- /dev/null
+++ b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
@@ -0,0 +1,61 @@
+#include "DataNodes/TankDriveNode.h"
+
+TankDriveNode::TankDriveNode(NodeManager* node_manager, std::string handle_name, MotorNode* left_front_motor, 
+    MotorNode* left_rear_motor, MotorNode* right_front_motor, MotorNode* right_rear_motor) : Node(node_manager, 10),
+    m_left_front_motor(left_front_motor), m_left_rear_motor(left_rear_motor), m_right_front_motor(right_front_motor),
+    m_right_rear_motor(right_rear_motor) {
+    m_handle_name = handle_name.insert(0, "drivetrain/");
+}
+
+void TankDriveNode::m_resetEncoders() {
+    m_left_front_motor->resetEncoder();
+    m_left_rear_motor->resetEncoder();
+    m_right_front_motor->resetEncoder();
+    m_right_rear_motor->resetEncoder();
+}
+
+void TankDriveNode::m_setLeftVoltage(int voltage) {
+    m_left_front_motor->moveVoltage(voltage);
+    m_left_rear_motor->moveVoltage(voltage);
+}
+
+void TankDriveNode::m_setRightVoltage(int voltage) {
+    m_right_front_motor->moveVoltage(voltage);
+    m_right_rear_motor->moveVoltage(voltage);
+}
+
+void TankDriveNode::m_setLeftDistancePID(double distance, int max_velocity) {
+    m_left_front_motor->moveAbsolute(distance, max_velocity);
+    m_left_rear_motor->moveAbsolute(distance, max_velocity);
+}
+
+void TankDriveNode::m_setRightDistancePID(double distance, int max_velocity) {
+    m_right_front_motor->moveAbsolute(distance, max_velocity);
+    m_right_rear_motor->moveAbsolute(distance, max_velocity);
+}
+
+void TankDriveNode::initialize() {
+    m_resetEncoders();
+}
+
+void TankDriveNode::setDriveVoltage(int left_voltage, int right_voltage) {
+    m_setLeftVoltage(left_voltage);
+    m_setRightVoltage(right_voltage);
+}
+
+void TankDriveNode::setDriveDistancePID(double left_distance, double right_distance, int max_velocity) {
+    m_resetEncoders();
+    m_setLeftDistancePID(left_distance, max_velocity);
+    m_setRightDistancePID(right_distance, max_velocity);
+}
+
+void TankDriveNode::periodic() {
+
+}
+
+TankDriveNode::~TankDriveNode() {
+    delete m_left_front_motor;
+    delete m_left_rear_motor;
+    delete m_right_front_motor;
+    delete m_right_rear_motor;
+}
\ No newline at end of file

From 906a5b1c528d036f831e105a3df5e3b288646457 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Wed, 10 Feb 2021 17:37:35 -0600
Subject: [PATCH 02/37] Added conveyor and tank drive nodes

---
 .../firmware/include/DataNodes/ConveyorNode.h |  47 ++++++++
 .../include/DataNodes/TankDriveNode.h         |  11 +-
 src/v5_hal/firmware/include/main.h            |   2 +
 .../firmware/src/DataNodes/ConveyorNode.cpp   | 110 ++++++++++++++++++
 .../src/DataNodes/DriverControlNode.cpp       |  23 ----
 .../firmware/src/DataNodes/TankDriveNode.cpp  |  13 ++-
 src/v5_hal/firmware/src/main.cpp              |  60 +++++-----
 7 files changed, 205 insertions(+), 61 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
 create mode 100644 src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp

diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
new file mode 100644
index 000000000..5ad4a6698
--- /dev/null
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include "NodeManager.h"
+#include "api.h"
+#include "DataNodes/MotorNode.h"
+#include "DataNodes/ADIAnalogInNode.h"
+#include "DataNodes/ControllerNode.h"
+
+class ConveyorNode : public Node {
+private:
+    const int BALL_PRESENT_THRESHOLD = 2700;
+
+    pros::Controller* m_controller;
+    MotorNode* m_left_intake;
+    MotorNode* m_right_intake;
+    MotorNode* m_bottom_conveyor_motor;
+    MotorNode* m_ejection_roller_motor;
+    MotorNode* m_top_conveyor_motor;
+    ADIAnalogInNode* m_bottom_conveyor_sensor;
+    ADIAnalogInNode* m_middle_conveyor_sensor;
+    ADIAnalogInNode* m_top_conveyor_sensor;
+
+    std::string m_handle_name;
+
+    bool m_enableStateMachine = false;
+
+    void m_setIntakeVoltage(int voltage);
+
+    void m_setBottomConveyorVoltage(int voltage);
+
+    void m_setEjectionRollerVoltage(int voltage);
+
+    void m_setTopConveyorVoltage(int voltage);
+
+    void m_updateConveyorStateMachine();
+
+public: 
+    ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
+        MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
+        ADIAnalogInNode* bottom_conveyor_sensor, ADIAnalogInNode* middle_conveyor_sensor, ADIAnalogInNode* top_conveyor_sensor);
+
+    void initialize();
+
+    void periodic();
+
+    ~ConveyorNode();
+};
diff --git a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
index 7a2521a6e..764a9be36 100644
--- a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
@@ -3,12 +3,12 @@
 #include "NodeManager.h"
 #include "api.h"
 #include "DataNodes/MotorNode.h"
-#include "ros_lib/ros.h"
-#include "ros_lib/std_msgs/Int8.h"
-#include "ros_lib/std_msgs/Empty.h"
+#include "DataNodes/ControllerNode.h"
 
 class TankDriveNode : public Node {
 private:
+    pros::Controller* m_controller;
+
     MotorNode* m_left_front_motor;
     MotorNode* m_left_rear_motor;
     MotorNode* m_right_front_motor;
@@ -27,8 +27,9 @@ class TankDriveNode : public Node {
     void m_setRightDistancePID(double distance, int max_velocity);
 
 public: 
-    TankDriveNode(NodeManager* node_manager, std::string handle_name, MotorNode* left_front_motor, 
-        MotorNode* left_rear_motor, MotorNode* right_front_motor, MotorNode* right_rear_motor);
+    TankDriveNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, 
+        MotorNode* left_front_motor, MotorNode* left_rear_motor, MotorNode* right_front_motor,
+        MotorNode* right_rear_motor);
 
     void initialize();
 
diff --git a/src/v5_hal/firmware/include/main.h b/src/v5_hal/firmware/include/main.h
index 896bf82d2..5126deff1 100644
--- a/src/v5_hal/firmware/include/main.h
+++ b/src/v5_hal/firmware/include/main.h
@@ -49,6 +49,8 @@
 #include "DataNodes/InertialSensorNode.h"
 #include "DataNodes/DriverControlNode.h"
 #include "DataNodes/ConnectionCheckerNode.h"
+#include "DataNodes/TankDriveNode.h"
+#include "DataNodes/ConveyorNode.h"
 
    /**
     * You should add more #includes here
diff --git a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
new file mode 100644
index 000000000..4fbf4a6ba
--- /dev/null
+++ b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
@@ -0,0 +1,110 @@
+#include "DataNodes/ConveyorNode.h"
+
+ConveyorNode::ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, 
+    MotorNode* left_intake, MotorNode* right_intake,MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, 
+    MotorNode* top_conveyor_motor, ADIAnalogInNode* bottom_conveyor_sensor, ADIAnalogInNode* middle_conveyor_sensor, 
+    ADIAnalogInNode* top_conveyor_sensor) : Node(node_manager, 10), 
+    m_controller(controller->getController()),
+    m_left_intake(left_intake),
+    m_right_intake(right_intake),
+    m_bottom_conveyor_motor(bottom_conveyor_motor), 
+    m_ejection_roller_motor(ejection_roller_motor), 
+    m_top_conveyor_motor(top_conveyor_motor), 
+    m_bottom_conveyor_sensor(bottom_conveyor_sensor), 
+    m_middle_conveyor_sensor(middle_conveyor_sensor), 
+    m_top_conveyor_sensor(top_conveyor_sensor) {
+    m_handle_name = handle_name.insert(0, "robot/");
+}
+
+void ConveyorNode::m_setIntakeVoltage(int voltage) {
+    m_left_intake->moveVoltage(voltage);
+    m_right_intake->moveVoltage(voltage);
+}
+
+void ConveyorNode::m_setBottomConveyorVoltage(int voltage) {
+    m_bottom_conveyor_motor->moveVoltage(voltage);
+}
+
+void ConveyorNode::m_setEjectionRollerVoltage(int voltage) {
+    m_ejection_roller_motor->moveVoltage(voltage);
+}
+
+void ConveyorNode::m_setTopConveyorVoltage(int voltage) {
+    m_top_conveyor_motor->moveVoltage(voltage);
+}
+
+void ConveyorNode::m_updateConveyorStateMachine() {
+    if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        // Ball is waiting on top; stop spinning balls up
+        m_setTopConveyorVoltage(0);
+    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
+        m_bottom_conveyor_sensor->getValue() > BALL_PRESENT_THRESHOLD) {
+        // Ball isn't on top, but one is waiting in the middle with nothing behind
+        m_setTopConveyorVoltage(0);
+    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
+        m_bottom_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        // Balls are present in the bottom and middle positions
+        m_setTopConveyorVoltage(12000);
+    } else {
+        m_setTopConveyorVoltage(12000);
+    }
+}
+
+void ConveyorNode::initialize() {
+
+}
+
+void ConveyorNode::periodic() {
+    int intake_voltage = 0;
+	int bottom_conveyor_voltage = 0;
+    int top_conveyor_voltage = 0;
+	int ejection_roller_voltage = 0;
+
+    if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_A)) {
+        m_enableStateMachine = !m_enableStateMachine;
+        pros::delay(100);
+    }
+
+    if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
+        m_enableStateMachine = false;
+        top_conveyor_voltage = 12000;
+        ejection_roller_voltage = 12000;
+
+        if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
+			ejection_roller_voltage *= -1;
+		}
+    } else if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_L2)) {
+        m_enableStateMachine = false;
+        top_conveyor_voltage = -12000;
+        ejection_roller_voltage = 12000;
+    }
+
+	if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
+        intake_voltage = 12000;
+		bottom_conveyor_voltage = 12000;
+		ejection_roller_voltage = 12000;
+
+		if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_B)) {
+			ejection_roller_voltage *= -1;
+		}
+	}
+	else if (m_controller->get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
+        intake_voltage = -12000;
+		bottom_conveyor_voltage = -12000;
+		ejection_roller_voltage = -12000;
+	}
+
+    m_setIntakeVoltage(intake_voltage);
+    m_setBottomConveyorVoltage(bottom_conveyor_voltage);
+	m_setEjectionRollerVoltage(ejection_roller_voltage);
+
+    if (m_enableStateMachine) {
+        m_updateConveyorStateMachine();
+    } else {
+        m_setTopConveyorVoltage(top_conveyor_voltage);
+    }
+}
+
+ConveyorNode::~ConveyorNode() {
+
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
index e0dfc5398..bcfea114a 100644
--- a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
@@ -83,29 +83,6 @@ void DriverControlNode::periodic() {
     right_swerve_2->move(right_motor_powers.right_motor_power);
     rear_swerve_1->move(rear_motor_powers.left_motor_power);
     rear_swerve_2->move(rear_motor_powers.right_motor_power);
-
-    int intake_voltage = 0;
-	int main_rollers_voltage = 0;
-	int ejection_roller_voltage = 0;
-
-	if (controller_primary->get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
-		intake_voltage = 12000;
-		main_rollers_voltage = 12000;
-		ejection_roller_voltage = 12000;
-
-		if (controller_primary->get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
-			ejection_roller_voltage *= -1;
-		}
-	}
-	else if (controller_primary->get_digital(pros::E_CONTROLLER_DIGITAL_R2)) {
-		intake_voltage = -12000;
-		main_rollers_voltage = -12000;
-		ejection_roller_voltage = -12000;
-	}
-
-	m_spinIntakesVoltage(intake_voltage);
-	m_spinMainRollersVoltage(main_rollers_voltage);
-	m_spinEjectionRollerVoltage(ejection_roller_voltage);
 }
 
 DriverControlNode::~DriverControlNode() { 
diff --git a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
index 23e3d254a..840ec0d2f 100644
--- a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
@@ -1,10 +1,10 @@
 #include "DataNodes/TankDriveNode.h"
 
-TankDriveNode::TankDriveNode(NodeManager* node_manager, std::string handle_name, MotorNode* left_front_motor, 
-    MotorNode* left_rear_motor, MotorNode* right_front_motor, MotorNode* right_rear_motor) : Node(node_manager, 10),
-    m_left_front_motor(left_front_motor), m_left_rear_motor(left_rear_motor), m_right_front_motor(right_front_motor),
-    m_right_rear_motor(right_rear_motor) {
-    m_handle_name = handle_name.insert(0, "drivetrain/");
+TankDriveNode::TankDriveNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, 
+    MotorNode* left_front_motor, MotorNode* left_rear_motor, MotorNode* right_front_motor, 
+    MotorNode* right_rear_motor) : Node(node_manager, 10), m_controller(controller->getController()), m_left_front_motor(left_front_motor), 
+    m_left_rear_motor(left_rear_motor), m_right_front_motor(right_front_motor), m_right_rear_motor(right_rear_motor) {
+    m_handle_name = handle_name.insert(0, "robot/");
 }
 
 void TankDriveNode::m_resetEncoders() {
@@ -50,7 +50,8 @@ void TankDriveNode::setDriveDistancePID(double left_distance, double right_dista
 }
 
 void TankDriveNode::periodic() {
-
+    m_setLeftVoltage(((m_controller->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y)) / 127.0) * 12000);
+    m_setRightVoltage(((m_controller->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y)) / 127.0) * 12000);
 }
 
 TankDriveNode::~TankDriveNode() {
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index 5ca811c80..a50e0138d 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -7,27 +7,33 @@ NodeManager* node_manager = new NodeManager(pros::millis);
 // Declare all nodes here
 ControllerNode* primary_controller;
 ConnectionCheckerNode* connection_checker_node;
-MotorNode* left_module_1;
-MotorNode* left_module_2;
-ADIAnalogInNode* left_module_pot;
-MotorNode* right_module_1;
-MotorNode* right_module_2;
-ADIAnalogInNode* right_module_pot;
-MotorNode* rear_module_1;
-MotorNode* rear_module_2;
-ADIAnalogInNode* rear_module_pot;
+
+MotorNode* left_front_drive;
+MotorNode* left_rear_drive;
+MotorNode* right_front_drive;
+MotorNode* right_rear_drive;
+
 MotorNode* left_intake;
 MotorNode* right_intake;
 MotorNode* bottom_rollers;
 MotorNode* ejection_roller;
 MotorNode* top_rollers;
+
+ADIAnalogInNode* bottom_conveyor_sensor;
+ADIAnalogInNode* middle_conveyor_sensor;
+ADIAnalogInNode* top_conveyor_sensor;
+
+TankDriveNode* tank_drive_node;
+ConveyorNode* conveyor_node;
+
 ADIEncoderNode* x_odometry_encoder;
 ADIEncoderNode* y_odometry_encoder;
-InertialSensorNode* inertial_sensor;
+
 BatteryNode* battery;
+
 CompetitionStatusNode* competition_status;
+
 ProsTimeNode* pros_time;
-DriverControlNode* driver_control;
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -40,22 +46,15 @@ void initialize() {
 	primary_controller = new ControllerNode(node_manager, "primary");
 
 	connection_checker_node = new ConnectionCheckerNode(node_manager);
-
-	left_module_1 = new MotorNode(node_manager, 5, "leftModule1", false);
-	left_module_2 = new MotorNode(node_manager, 6, "leftModule2", false);
-	left_module_pot = new ADIAnalogInNode(node_manager, 6, "leftModulePot");
-
-	right_module_1 = new MotorNode(node_manager, 1, "rightModule1", false);
-	right_module_2 = new MotorNode(node_manager, 2, "rightModule2", false);
-	right_module_pot = new ADIAnalogInNode(node_manager, 8, "rightModulePot");
-
-	rear_module_1 = new MotorNode(node_manager, 3, "rearModule1", false);
-	rear_module_2 = new MotorNode(node_manager, 4, "rearModule2", false);
-	rear_module_pot = new ADIAnalogInNode(node_manager, 7, "rearModulePot");
+	
+	left_front_drive = new MotorNode(node_manager, 3, "leftFrontDrive", false);
+	left_rear_drive = new MotorNode(node_manager, 2, "leftRearDrive", true);
+	right_front_drive = new MotorNode(node_manager, 1, "rightFrontDrive", true);
+	right_rear_drive = new MotorNode(node_manager, 4, "rightRearDrive", false);
 	
 	left_intake = new MotorNode(node_manager, 13, "leftIntake", true);
 	right_intake = new MotorNode(node_manager, 16, "rightIntake", false);
-	bottom_rollers = new MotorNode(node_manager, 11, "bottomRollers", true);
+	bottom_rollers = new MotorNode(node_manager, 11, "bottomRollers", false);
 	ejection_roller = new MotorNode(node_manager, 15, "ejectionRoller", false);
 	top_rollers = new MotorNode(node_manager, 7, "topRollers", true);
 
@@ -68,9 +67,16 @@ void initialize() {
 	competition_status = new CompetitionStatusNode(node_manager, "competitionStatus");
 	pros_time = new ProsTimeNode(node_manager, "prosTime");
 
-	driver_control = new DriverControlNode(node_manager, left_module_1, left_module_2, left_module_pot, 
-		right_module_1, right_module_2, right_module_pot, rear_module_1, rear_module_2, rear_module_pot,
-		left_intake, right_intake, bottom_rollers, ejection_roller, top_rollers, inertial_sensor, primary_controller);
+	bottom_conveyor_sensor = new ADIAnalogInNode(node_manager, 1, "bottomConveyorSensor");
+	middle_conveyor_sensor = new ADIAnalogInNode(node_manager, 2, "middleConveyorSensor");
+	top_conveyor_sensor = new ADIAnalogInNode(node_manager, 3, "topConveyorSensor");
+
+	tank_drive_node = new TankDriveNode(node_manager, "drivetrain", primary_controller, 
+		left_front_drive, left_rear_drive, right_front_drive, right_rear_drive);
+
+	conveyor_node = new ConveyorNode(node_manager, "conveyor", primary_controller, left_intake,
+		right_intake, bottom_rollers, ejection_roller, top_rollers, bottom_conveyor_sensor, middle_conveyor_sensor,
+		top_conveyor_sensor);
 
 	// Call the node manager to initialize all of the nodes above
 	node_manager->initialize();

From 7abbfd4421e232ecabde58500da676858eae4ab7 Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 18:16:28 -0600
Subject: [PATCH 03/37] Added auton action files

---
 src/v5_hal/firmware/include/Auton.h           |  98 +++++++
 .../firmware/include/DataNodes/ConveyorNode.h |   2 +
 src/v5_hal/firmware/include/Timer.h           |  19 ++
 src/v5_hal/firmware/src/Auton.cpp             | 264 ++++++++++++++++++
 .../firmware/src/DataNodes/ConveyorNode.cpp   |   8 +
 src/v5_hal/firmware/src/Timer.cpp             |  37 +++
 6 files changed, 428 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/Auton.h
 create mode 100644 src/v5_hal/firmware/include/Timer.h
 create mode 100644 src/v5_hal/firmware/src/Auton.cpp
 create mode 100644 src/v5_hal/firmware/src/Timer.cpp

diff --git a/src/v5_hal/firmware/include/Auton.h b/src/v5_hal/firmware/include/Auton.h
new file mode 100644
index 000000000..53b605908
--- /dev/null
+++ b/src/v5_hal/firmware/include/Auton.h
@@ -0,0 +1,98 @@
+#pragma once
+
+#include <vector>
+#include <map>
+#include <queue>
+#include <string>
+#include <memory>
+#include <iostream>
+#include <functional>
+
+#include "Timer.h"
+#include "Logger.h"
+
+using namespace std;
+
+class AutonAction {
+public:
+    enum actionStatus {
+        CONTINUE,
+        END
+    };
+
+    virtual void ActionInit() {}
+
+    virtual void ActionEnd() {}
+
+    virtual actionStatus Action() = 0;
+
+    virtual ~AutonAction() {}
+};
+
+class Node {
+public:
+    Node(double timeout, AutonAction* action1 = nullptr, AutonAction* action2 = nullptr, AutonAction* action3 = nullptr);
+    void AddNext(Node* childNode);
+    void AddAction(AutonAction* leaf);
+    void AddCondition(function<bool()> startCondition);
+    bool Complete();
+    void Reset();
+    void SetTimeout(double timeout);
+    void Act(bool lastNodeDone);
+    ~Node();
+private:
+    vector<Node*> m_children;
+    vector<AutonAction*> m_actions;
+    bool m_startConditonGiven = false;
+    bool m_actionsInitialized = false;
+    function<bool()> m_startCondition;
+    double m_timeout;
+    Timer m_timer;
+};
+
+class Autonomous {
+public:
+    Autonomous(string name, bool defaultAuton = false);
+
+    inline Autonomous* GetInstance() {
+        return this;
+    }
+
+    inline bool GetDefault() {
+        return m_defaultAuton;
+    }
+
+    string GetName();
+    void Auton();
+    void AutonInit();
+    bool Complete();
+    void Reset();
+    virtual ~Autonomous();
+protected:
+    void AddFirstNode(Node* firstNode);
+    virtual void AddNodes() = 0;
+private:
+    string m_name;
+    bool m_defaultAuton = false;
+    vector<Node*> m_firstNode;
+};
+
+class WaitAction : public AutonAction {
+public:
+	WaitAction(double duration);
+	void ActionInit();
+	actionStatus Action();
+private:
+	Timer m_timer;
+	double m_duration;
+};
+
+class PrintAction : public AutonAction {
+public:
+    PrintAction(string toPrint);
+    void ActionInit();
+    actionStatus Action();
+
+private:
+    string m_toPrint;
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
index 5ad4a6698..79344e585 100644
--- a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -34,6 +34,8 @@ class ConveyorNode : public Node {
 
     void m_updateConveyorStateMachine();
 
+    void deploy();
+
 public: 
     ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
         MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
diff --git a/src/v5_hal/firmware/include/Timer.h b/src/v5_hal/firmware/include/Timer.h
new file mode 100644
index 000000000..fd22f6610
--- /dev/null
+++ b/src/v5_hal/firmware/include/Timer.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <chrono>
+#include <time.h>
+#include <api.h>
+
+class Timer {
+private:
+    double m_startTime = 0;
+    double m_stopTime = 0;
+    bool m_started = false;
+    bool m_stopped = false;
+public:
+    static double getTime();
+    double Get();
+    void Stop();
+    void Reset();
+    void Start();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Auton.cpp b/src/v5_hal/firmware/src/Auton.cpp
new file mode 100644
index 000000000..29823d77b
--- /dev/null
+++ b/src/v5_hal/firmware/src/Auton.cpp
@@ -0,0 +1,264 @@
+#include "Auton.h"
+
+using namespace std;
+
+/*
+ * Create a node with given actions and timeout. These actions will all be run in parallel to each other.
+ * Nullptrs will not be added as actions, they will be ignored.
+ */
+Node::Node(double timeout, AutonAction* action1, AutonAction* action2, AutonAction* action3) :
+        m_children(), m_actions(), m_timeout(timeout) {
+	m_startCondition = nullptr;
+    if(action1 != nullptr) {
+        m_actions.push_back(action1);
+    }
+    if(action2 != nullptr) {
+        m_actions.push_back(action2);
+    }
+    if(action3 != nullptr) {
+        m_actions.push_back(action3);
+    }
+}
+
+/*
+ * Add a node to this node which will be run sequentially after this node completes all of its actions
+ */
+void Node::AddNext(Node* childNode) {
+    m_children.push_back(childNode);
+}
+
+/*
+ * Add an action to this node which will be run in parallel to other actions in this node
+ */
+void Node::AddAction(AutonAction* leaf) {
+    if(leaf != nullptr) {
+        m_actions.push_back(leaf);
+    }
+}
+
+/*
+ * Add a condition to this node.
+ * This condition is passed in as a std::function that will be called to check the condition.
+ *
+ * Typically, the best way to do this is to create a lambda that contains the code to see if the node should be run.
+ *
+ * Example:
+ * addCondition([]{return shouldNodeRun()});
+ *
+ * This condition will be checked by the previous node while it is not complete.
+ * While it is true this action will run its actions.
+ */
+void Node::AddCondition(function<bool()> startCondition) {
+    m_startConditonGiven = true;
+    m_startCondition = startCondition;
+}
+
+/*
+ * Returns true if all actions are complete and all child nodes are complete or if timeout has been exceeded
+ */
+bool Node::Complete() {
+    if(m_actions.empty()) {
+        for(auto child : m_children) {
+            if(!child->Complete()) {
+                return false;
+            }
+        }
+        return true;
+    } else {
+        return false;
+    }
+}
+
+/*
+ * Prepares node to be run
+ */
+void Node::Reset() {
+    for(auto child : m_children) {
+        child->Reset();
+    }
+    m_actions.clear();
+    m_children.clear();
+    m_actionsInitialized = false;
+}
+
+/*
+ * Set the timeout for this node to a given duration in seconds
+ */
+void Node::SetTimeout(double timeout) {
+    m_timeout = timeout;
+}
+
+/**
+ * Runs all actions in node and checks if child node conditions are true. If they are and this node is not done, that
+ * child node is run.
+ * @param lastNodeDone If previous node is complete.
+ */
+void Node::Act(bool lastNodeDone) {
+    bool shouldAct = (m_startConditonGiven && m_startCondition && !lastNodeDone)
+                     || (!m_startConditonGiven && lastNodeDone);
+    if(!m_actionsInitialized && shouldAct) {
+
+        m_timer.Reset();
+        m_timer.Start();
+
+        for(auto action : m_actions) {
+            action->ActionInit();
+        }
+        m_actionsInitialized = true;
+    }
+    if(!m_actions.empty() && (m_timer.Get() > m_timeout)) {
+        Logger::logInfo("Timeout of: " + to_string(m_timeout) + " exceeded in node!");
+        for(auto action : m_actions) {
+            action->ActionEnd();
+        }
+        for (auto i = m_actions.begin(); i != m_actions.end(); i++){
+            delete *i;
+        }
+        m_actions.clear();
+    }
+    if(!m_actions.empty()) {
+        if(shouldAct) {
+            for(unsigned int i = 0; i < m_actions.size(); i++) {
+                AutonAction::actionStatus status = m_actions[i]->Action();
+                switch(status) {
+                    case AutonAction::END:
+                        m_actions[i]->ActionEnd();
+                        //TODO: There's a memory leak here, need to fix
+                        m_actions.erase(m_actions.begin() + i);
+                        i--;
+                        break;
+                    case AutonAction::CONTINUE:
+                        break;
+                }
+            }
+            for(auto child : m_children) {
+                child->Act(false);
+            }
+        } else if(m_startConditonGiven && !m_startCondition) {
+            return;
+        }
+    } else {
+    	for(auto child : m_children) {
+    		child->Act(true);
+    	}
+    }
+}
+
+Node::~Node() {
+    for (auto i = m_actions.begin(); i != m_actions.end(); i++){
+        delete *i;
+    }
+    m_actions.clear();
+    for (auto i = m_children.begin(); i != m_children.end(); i++){
+        delete *i;
+    }
+    m_children.clear();
+}
+
+/*
+ * Initialize an autonomous routine with given name, first node, and whether this autonomous should be the default
+ * selected autonomous on Smart Dashboard
+ */
+Autonomous::Autonomous(string name, bool defaultAuton) {
+    m_name = name;
+    m_defaultAuton = defaultAuton;
+}
+
+/*
+ * Run autonomous routine. Needs to be called each iteration.
+ */
+void Autonomous::Auton() {
+    for(auto node : m_firstNode) {
+        node->Act(true);
+    }
+}
+
+/*
+ * Initialize autonomous routine by resetting and adding all nodes.
+ */
+void Autonomous::AutonInit() {
+    Reset();
+    AddNodes();
+}
+
+/*
+ * If autonomous routine is complete
+ */
+bool Autonomous::Complete() {
+    for(auto node : m_firstNode) {
+        if(!node->Complete()) {
+            return false;
+        }
+    }
+    return true;
+}
+
+/*
+ * Reset all nodes in autonomous routine
+ */
+void Autonomous::Reset() {
+    for(auto node : m_firstNode) {
+        if(node != nullptr) {
+            node->Reset();
+        }
+    }
+}
+
+/*
+ * Add another node to be run on start of autonomous routine
+ * Nullptrs will not be added as actions, they will be ignored
+ */
+void Autonomous::AddFirstNode(Node* firstNode) {
+    if(firstNode != nullptr) {
+        m_firstNode.push_back(firstNode);
+    }
+}
+
+/*
+ * Returns human readable name of routine
+ */
+string Autonomous::GetName() {
+    return m_name;
+}
+
+/*
+ * Automatically deletes all nodes and their actions on deletion of the autonomous routine
+ */
+Autonomous::~Autonomous() {
+    for (auto i = m_firstNode.begin(); i != m_firstNode.end(); i++){
+        delete *i;
+    }
+    m_firstNode.clear();
+}
+
+/*
+ * Takes a duration in seconds to wait for.
+ */
+WaitAction::WaitAction(double duration) {
+	m_duration = duration;
+}
+
+void WaitAction::ActionInit() {
+	m_timer.Reset();
+	m_timer.Start();
+}
+
+AutonAction::actionStatus WaitAction::Action() {
+	if(m_timer.Get() > m_duration) {
+		return AutonAction::END;
+	} else {
+		return AutonAction::CONTINUE;
+	}
+}
+
+PrintAction::PrintAction(string toPrint) {
+    m_toPrint = toPrint;
+}
+
+void PrintAction::ActionInit() {
+    cout << m_toPrint << endl;
+}
+
+AutonAction::actionStatus PrintAction::Action() {
+    return END;
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
index 4fbf4a6ba..46a22b2b3 100644
--- a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
@@ -105,6 +105,14 @@ void ConveyorNode::periodic() {
     }
 }
 
+void ConveyorNode::deploy() {
+    m_setIntakeVoltage(-12000);
+    m_setEjectionRollerVoltage(-12000);
+    pros::delay(1000);
+    m_setIntakeVoltage(0);
+    m_setEjectionRollerVoltage(0);
+}
+
 ConveyorNode::~ConveyorNode() {
 
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Timer.cpp b/src/v5_hal/firmware/src/Timer.cpp
new file mode 100644
index 000000000..a9678a061
--- /dev/null
+++ b/src/v5_hal/firmware/src/Timer.cpp
@@ -0,0 +1,37 @@
+#include <iostream>
+#include "Timer.h"
+
+using namespace std::chrono;
+
+double Timer::Get() {
+    if(m_started && !m_stopped) {
+        return getTime() - m_startTime;
+    } else if(m_started && m_stopped) {
+        return m_stopTime - m_startTime;
+    }
+    //TODO: Log -> Error, m_timer has not m_started!
+    return 0;
+}
+
+void Timer::Reset() {
+    m_started = false;
+    m_startTime = getTime();
+}
+
+void Timer::Stop() {
+    if(!m_started) {
+        //TODO: Log -> Error, m_timer m_stopped without starting!
+    } else {
+        m_stopped = true;
+        m_stopTime = getTime();
+    }
+}
+
+void Timer::Start() {
+    m_started = true;
+    m_startTime = getTime();
+}
+
+double Timer::getTime() {
+  return pros::millis() / 1000.0;
+}
\ No newline at end of file

From 21ec075fc741064c1da852c84778269bc91cfc30 Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 18:40:41 -0600
Subject: [PATCH 04/37] Motor functions public

---
 .../firmware/include/Actions/DeployAction.h   |  5 +++
 .../firmware/include/DataNodes/ConveyorNode.h | 20 +++++------
 .../firmware/src/Actions/DeployAction.cpp     | 29 +++++++++++++++
 .../firmware/src/DataNodes/ConveyorNode.cpp   | 36 ++++++++-----------
 4 files changed, 57 insertions(+), 33 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/Actions/DeployAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/DeployAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/DeployAction.h b/src/v5_hal/firmware/include/Actions/DeployAction.h
new file mode 100644
index 000000000..46e195e0f
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/DeployAction.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "DataNodes/MotorNode.h"
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
index 79344e585..b29b25e92 100644
--- a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -24,22 +24,20 @@ class ConveyorNode : public Node {
 
     bool m_enableStateMachine = false;
 
-    void m_setIntakeVoltage(int voltage);
-
-    void m_setBottomConveyorVoltage(int voltage);
+public: 
+    ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
+        MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
+        ADIAnalogInNode* bottom_conveyor_sensor, ADIAnalogInNode* middle_conveyor_sensor, ADIAnalogInNode* top_conveyor_sensor);
 
-    void m_setEjectionRollerVoltage(int voltage);
+    void setIntakeVoltage(int voltage);
 
-    void m_setTopConveyorVoltage(int voltage);
+    void setBottomConveyorVoltage(int voltage);
 
-    void m_updateConveyorStateMachine();
+    void setEjectionRollerVoltage(int voltage);
 
-    void deploy();
+    void setTopConveyorVoltage(int voltage);
 
-public: 
-    ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
-        MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
-        ADIAnalogInNode* bottom_conveyor_sensor, ADIAnalogInNode* middle_conveyor_sensor, ADIAnalogInNode* top_conveyor_sensor);
+    void updateConveyorStateMachine();
 
     void initialize();
 
diff --git a/src/v5_hal/firmware/src/Actions/DeployAction.cpp b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
new file mode 100644
index 000000000..b0c7938c6
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
@@ -0,0 +1,29 @@
+#include "FollowPathAction.h"
+
+
+FollowPathAction::FollowPath(Chassis chassis, Path path, double maxAccel, double wheelDiameter, bool reversed,
+                             double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
+            m_controller(fixedLookahead, maxAccel, 0.01, path, reversed, pathCompletionTolerance, gradualStop,
+                    wheelDiameter) {
+    m_chassis = chassis;
+}
+
+void FollowPathAction::actionInit() {
+
+}
+
+AutonAction::actionStatus FollowPathAction::action() {
+    auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
+
+    m_chassis.setVelocity(command.left, command.right);
+
+    if(m_controller.isDone()) {
+        return END;
+    } else {
+        return CONTINUE;
+    }
+}
+
+void FollowPathAction::actionEnd() {
+    m_chassis.setVelocity(0, 0);
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
index 46a22b2b3..3ef0015ee 100644
--- a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
@@ -16,37 +16,37 @@ ConveyorNode::ConveyorNode(NodeManager* node_manager, std::string handle_name, C
     m_handle_name = handle_name.insert(0, "robot/");
 }
 
-void ConveyorNode::m_setIntakeVoltage(int voltage) {
+void ConveyorNode::setIntakeVoltage(int voltage) {
     m_left_intake->moveVoltage(voltage);
     m_right_intake->moveVoltage(voltage);
 }
 
-void ConveyorNode::m_setBottomConveyorVoltage(int voltage) {
+void ConveyorNode::setBottomConveyorVoltage(int voltage) {
     m_bottom_conveyor_motor->moveVoltage(voltage);
 }
 
-void ConveyorNode::m_setEjectionRollerVoltage(int voltage) {
+void ConveyorNode::setEjectionRollerVoltage(int voltage) {
     m_ejection_roller_motor->moveVoltage(voltage);
 }
 
-void ConveyorNode::m_setTopConveyorVoltage(int voltage) {
+void ConveyorNode::setTopConveyorVoltage(int voltage) {
     m_top_conveyor_motor->moveVoltage(voltage);
 }
 
-void ConveyorNode::m_updateConveyorStateMachine() {
+void ConveyorNode::updateConveyorStateMachine() {
     if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
         // Ball is waiting on top; stop spinning balls up
-        m_setTopConveyorVoltage(0);
+        setTopConveyorVoltage(0);
     } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
         m_bottom_conveyor_sensor->getValue() > BALL_PRESENT_THRESHOLD) {
         // Ball isn't on top, but one is waiting in the middle with nothing behind
-        m_setTopConveyorVoltage(0);
+        setTopConveyorVoltage(0);
     } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
         m_bottom_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
         // Balls are present in the bottom and middle positions
-        m_setTopConveyorVoltage(12000);
+        setTopConveyorVoltage(12000);
     } else {
-        m_setTopConveyorVoltage(12000);
+        setTopConveyorVoltage(12000);
     }
 }
 
@@ -94,25 +94,17 @@ void ConveyorNode::periodic() {
 		ejection_roller_voltage = -12000;
 	}
 
-    m_setIntakeVoltage(intake_voltage);
-    m_setBottomConveyorVoltage(bottom_conveyor_voltage);
-	m_setEjectionRollerVoltage(ejection_roller_voltage);
+    setIntakeVoltage(intake_voltage);
+    setBottomConveyorVoltage(bottom_conveyor_voltage);
+	setEjectionRollerVoltage(ejection_roller_voltage);
 
     if (m_enableStateMachine) {
-        m_updateConveyorStateMachine();
+        updateConveyorStateMachine();
     } else {
-        m_setTopConveyorVoltage(top_conveyor_voltage);
+        setTopConveyorVoltage(top_conveyor_voltage);
     }
 }
 
-void ConveyorNode::deploy() {
-    m_setIntakeVoltage(-12000);
-    m_setEjectionRollerVoltage(-12000);
-    pros::delay(1000);
-    m_setIntakeVoltage(0);
-    m_setEjectionRollerVoltage(0);
-}
-
 ConveyorNode::~ConveyorNode() {
 
 }
\ No newline at end of file

From e9ff343df71a0dd754290290be6c2398ddb1e7cd Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 19:17:48 -0600
Subject: [PATCH 05/37] Added deploy action

---
 .../firmware/include/Actions/DeployAction.h   | 15 +++++++++-
 .../firmware/src/Actions/DeployAction.cpp     | 29 +++++++++----------
 2 files changed, 28 insertions(+), 16 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/DeployAction.h b/src/v5_hal/firmware/include/Actions/DeployAction.h
index 46e195e0f..71b9b6fdc 100644
--- a/src/v5_hal/firmware/include/Actions/DeployAction.h
+++ b/src/v5_hal/firmware/include/Actions/DeployAction.h
@@ -2,4 +2,17 @@
 
 #include "api.h"
 #include "Auton.h"
-#include "DataNodes/MotorNode.h"
\ No newline at end of file
+#include "Timer.h"
+#include "DataNodes/ConveyorNode.h"
+
+class DeployAction : public AutonAction {
+private:
+    ConveyorNode* m_conveyor_node;
+    Timer m_timer;
+public:
+    DeployAction(ConveyorNode* conveyor_node);
+
+    void actionInit();
+    actionStatus action();
+    void actionEnd();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/DeployAction.cpp b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
index b0c7938c6..a0554c53b 100644
--- a/src/v5_hal/firmware/src/Actions/DeployAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
@@ -1,29 +1,28 @@
-#include "FollowPathAction.h"
+#include "Actions/DeployAction.h"
+#include "Timer.h"
 
 
-FollowPathAction::FollowPath(Chassis chassis, Path path, double maxAccel, double wheelDiameter, bool reversed,
-                             double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
-            m_controller(fixedLookahead, maxAccel, 0.01, path, reversed, pathCompletionTolerance, gradualStop,
-                    wheelDiameter) {
-    m_chassis = chassis;
+DeployAction::DeployAction(conveyor_node) {
+    m_conveyor_node = conveyor_node;
 }
 
-void FollowPathAction::actionInit() {
-
+void DeployAction::actionInit() {
+    m_timer.Start();
 }
 
-AutonAction::actionStatus FollowPathAction::action() {
-    auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
-
-    m_chassis.setVelocity(command.left, command.right);
+AutonAction::actionStatus DeployAction::action() {
+    m_conveyor_node->setIntakeVoltage(-12000);
+    m_conveyor_node->setBottomConveyorVoltage(-12000);
 
-    if(m_controller.isDone()) {
+    if(m_timer.Get() > 1) {
         return END;
     } else {
         return CONTINUE;
     }
 }
 
-void FollowPathAction::actionEnd() {
-    m_chassis.setVelocity(0, 0);
+void DeployAction::actionEnd() {
+    m_timer.Stop();
+    m_conveyor_node->setIntakeVoltage(0);
+    m_conveyor_node->setBottomConveyorVoltage(0);
 }
\ No newline at end of file

From 7c7699b78a67c7a7905b6b4acd8c76a013e1c06e Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 19:57:54 -0600
Subject: [PATCH 06/37] Add drive

---
 .../firmware/include/Actions/DriveAction.h    | 18 +++++++++++++
 .../include/DataNodes/TankDriveNode.h         |  4 +++
 .../firmware/src/Actions/DeployAction.cpp     |  4 +--
 .../firmware/src/Actions/DriveAction.cpp      | 26 +++++++++++++++++++
 .../firmware/src/DataNodes/TankDriveNode.cpp  |  8 ++++++
 5 files changed, 58 insertions(+), 2 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/Actions/DriveAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/DriveAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/DriveAction.h b/src/v5_hal/firmware/include/Actions/DriveAction.h
new file mode 100644
index 000000000..79e8c8222
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/DriveAction.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "Timer.h"
+#include "DataNodes/TankDriveNode.h"
+
+class DriveAction : public DriveAction {
+private:
+    TankDriveNode* m_tank_drive_node;
+    Timer m_timer;
+public:
+    DriveAction(TankDriveNode* tank_drive_node, double distance);
+
+    void actionInit();
+    actionStatus action();
+    void actionEnd();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
index 764a9be36..19521cfc5 100644
--- a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
@@ -39,5 +39,9 @@ class TankDriveNode : public Node {
 
     void periodic();
 
+    int getRightDistancePID();
+
+    int getLeftDistancePID()
+
     ~TankDriveNode();
 };
diff --git a/src/v5_hal/firmware/src/Actions/DeployAction.cpp b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
index a0554c53b..085ec2382 100644
--- a/src/v5_hal/firmware/src/Actions/DeployAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
@@ -2,8 +2,8 @@
 #include "Timer.h"
 
 
-DeployAction::DeployAction(conveyor_node) {
-    m_conveyor_node = conveyor_node;
+DeployAction::DeployAction(conveyor_node) : m_conveyor_node(conveyor_node) {
+
 }
 
 void DeployAction::actionInit() {
diff --git a/src/v5_hal/firmware/src/Actions/DriveAction.cpp b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
new file mode 100644
index 000000000..1e2688c21
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
@@ -0,0 +1,26 @@
+#include "Actions/DriveAction.h"
+#include "Timer.h"
+
+DriveAction::DriveAction(tank_drive_node) : m_tank_drive_node(tank_drive_node) {
+
+}
+
+void DriveAction::actionInit() {
+    m_timer.Start();
+}
+
+AutonAction::actionStatus DriveAction::action() {
+    
+
+    if(m_timer.Get() > 1) {
+        return END;
+    } else {
+        return CONTINUE;
+    }
+}
+
+void DriveAction::actionEnd() {
+    m_timer.Stop();
+    m_conveyor_node->setIntakeVoltage(0);
+    m_conveyor_node->setBottomConveyorVoltage(0);
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
index 840ec0d2f..92ac092d4 100644
--- a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
@@ -29,6 +29,14 @@ void TankDriveNode::m_setLeftDistancePID(double distance, int max_velocity) {
     m_left_rear_motor->moveAbsolute(distance, max_velocity);
 }
 
+int TankDriveNode::getLeftDistancePID() {
+    return m_left_front_motor->getPosition();
+}
+
+int TankDriveNode::getRightDistancePID() {
+    return m_right_front_motor->getPosition();
+}
+
 void TankDriveNode::m_setRightDistancePID(double distance, int max_velocity) {
     m_right_front_motor->moveAbsolute(distance, max_velocity);
     m_right_rear_motor->moveAbsolute(distance, max_velocity);

From f66d6dc7066e2bd2c52bc1f491cbb121f0e496fa Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Wed, 10 Feb 2021 19:55:03 -0600
Subject: [PATCH 07/37] Added intake action

---
 .../firmware/include/Actions/IntakeAction.h   | 24 +++++++++++++++
 .../firmware/src/Actions/IntakeAction.cpp     | 30 +++++++++++++++++++
 src/v5_hal/firmware/src/main.cpp              |  5 +++-
 3 files changed, 58 insertions(+), 1 deletion(-)
 create mode 100644 src/v5_hal/firmware/include/Actions/IntakeAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/IntakeAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/IntakeAction.h b/src/v5_hal/firmware/include/Actions/IntakeAction.h
new file mode 100644
index 000000000..cd0d105f2
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/IntakeAction.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "Timer.h"
+#include "DataNodes/ConveyorNode.h"
+#include "DataNodes/ADIAnalogInNode.h"
+
+class IntakeAction : public AutonAction {
+private:
+    ConveyorNode* m_conveyor_node;
+    Timer m_timer;
+    int m_voltage;
+    double m_time; // Time in seconds
+
+public:
+    IntakeAction(ConveyorNode* conveyor_node, int voltage=12000, double time=0);
+
+    void actionInit();
+
+    actionStatus action();
+
+    void actionEnd();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/IntakeAction.cpp b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
new file mode 100644
index 000000000..0e1bf7433
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
@@ -0,0 +1,30 @@
+#include "Actions/IntakeAction.h"
+
+IntakeAction::IntakeAction(ConveyorNode* conveyor_node, int voltage, double time) : 
+        m_conveyor_node(conveyor_node), m_voltage(voltage), m_time(time) {
+    
+}
+
+void IntakeAction::actionInit() {
+    m_timer.Start();
+}
+
+AutonAction::actionStatus IntakeAction::action() {
+    if (m_time <= 0) {
+        // Run until the action stops
+        m_conveyor_node->setIntakeVoltage(m_voltage);
+    } else {
+        // Run until elapsed time is reached
+        if (m_timer.Get() < m_time) {
+            m_conveyor_node->setIntakeVoltage(m_voltage);
+            return CONTINUE;
+        } else {
+            m_conveyor_node->setIntakeVoltage(0);
+            return END;
+        }
+    }
+}
+
+void IntakeAction::actionEnd() {
+
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index a50e0138d..64c193ab4 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -111,7 +111,10 @@ void competition_initialize() {}
  * will be stopped. Re-enabling the robot will restart the task, not re-start it
  * from where it left off.
  */
-void autonomous() {}
+void autonomous() {
+
+	
+}
 
 /**
  * Runs the operator control code. This function will be started in its own task

From 21d3983e933ffeb5633e4f413225792b63e99ca8 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Wed, 10 Feb 2021 19:59:04 -0600
Subject: [PATCH 08/37] Fixed include in IntakeAction

---
 src/v5_hal/firmware/include/Actions/IntakeAction.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/v5_hal/firmware/include/Actions/IntakeAction.h b/src/v5_hal/firmware/include/Actions/IntakeAction.h
index cd0d105f2..67e89c930 100644
--- a/src/v5_hal/firmware/include/Actions/IntakeAction.h
+++ b/src/v5_hal/firmware/include/Actions/IntakeAction.h
@@ -4,7 +4,6 @@
 #include "Auton.h"
 #include "Timer.h"
 #include "DataNodes/ConveyorNode.h"
-#include "DataNodes/ADIAnalogInNode.h"
 
 class IntakeAction : public AutonAction {
 private:

From ba3b1c2a71087b6953acd1c6645ef0c2c32bc14d Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Wed, 10 Feb 2021 20:12:34 -0600
Subject: [PATCH 09/37] Fixed build issues with AutonActions

---
 src/v5_hal/firmware/include/Auton.h           | 15 +++++++------
 src/v5_hal/firmware/include/Timer.h           |  2 +-
 src/v5_hal/firmware/include/main.h            |  3 +++
 .../firmware/src/Actions/DeployAction.cpp     |  5 ++---
 src/v5_hal/firmware/src/Auton.cpp             | 21 +++++++++----------
 5 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/src/v5_hal/firmware/include/Auton.h b/src/v5_hal/firmware/include/Auton.h
index 53b605908..4bc9e9bb6 100644
--- a/src/v5_hal/firmware/include/Auton.h
+++ b/src/v5_hal/firmware/include/Auton.h
@@ -9,7 +9,6 @@
 #include <functional>
 
 #include "Timer.h"
-#include "Logger.h"
 
 using namespace std;
 
@@ -29,19 +28,19 @@ class AutonAction {
     virtual ~AutonAction() {}
 };
 
-class Node {
+class AutonNode {
 public:
-    Node(double timeout, AutonAction* action1 = nullptr, AutonAction* action2 = nullptr, AutonAction* action3 = nullptr);
-    void AddNext(Node* childNode);
+    AutonNode(double timeout, AutonAction* action1 = nullptr, AutonAction* action2 = nullptr, AutonAction* action3 = nullptr);
+    void AddNext(AutonNode* childNode);
     void AddAction(AutonAction* leaf);
     void AddCondition(function<bool()> startCondition);
     bool Complete();
     void Reset();
     void SetTimeout(double timeout);
     void Act(bool lastNodeDone);
-    ~Node();
+    ~AutonNode();
 private:
-    vector<Node*> m_children;
+    vector<AutonNode*> m_children;
     vector<AutonAction*> m_actions;
     bool m_startConditonGiven = false;
     bool m_actionsInitialized = false;
@@ -69,12 +68,12 @@ class Autonomous {
     void Reset();
     virtual ~Autonomous();
 protected:
-    void AddFirstNode(Node* firstNode);
+    void AddFirstNode(AutonNode* firstNode);
     virtual void AddNodes() = 0;
 private:
     string m_name;
     bool m_defaultAuton = false;
-    vector<Node*> m_firstNode;
+    vector<AutonNode*> m_firstNode;
 };
 
 class WaitAction : public AutonAction {
diff --git a/src/v5_hal/firmware/include/Timer.h b/src/v5_hal/firmware/include/Timer.h
index fd22f6610..b23111007 100644
--- a/src/v5_hal/firmware/include/Timer.h
+++ b/src/v5_hal/firmware/include/Timer.h
@@ -1,8 +1,8 @@
 #pragma once
 
+#include "api.h"
 #include <chrono>
 #include <time.h>
-#include <api.h>
 
 class Timer {
 private:
diff --git a/src/v5_hal/firmware/include/main.h b/src/v5_hal/firmware/include/main.h
index 5126deff1..21b26903d 100644
--- a/src/v5_hal/firmware/include/main.h
+++ b/src/v5_hal/firmware/include/main.h
@@ -51,6 +51,9 @@
 #include "DataNodes/ConnectionCheckerNode.h"
 #include "DataNodes/TankDriveNode.h"
 #include "DataNodes/ConveyorNode.h"
+#include "Actions/DeployAction.h"
+#include "Actions/DriveAction.h"
+#include "Actions/IntakeAction.h"
 
    /**
     * You should add more #includes here
diff --git a/src/v5_hal/firmware/src/Actions/DeployAction.cpp b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
index 085ec2382..ff0af1610 100644
--- a/src/v5_hal/firmware/src/Actions/DeployAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
@@ -1,8 +1,7 @@
 #include "Actions/DeployAction.h"
-#include "Timer.h"
 
-
-DeployAction::DeployAction(conveyor_node) : m_conveyor_node(conveyor_node) {
+DeployAction::DeployAction(ConveyorNode* conveyor_node) : 
+        m_conveyor_node(conveyor_node) {
 
 }
 
diff --git a/src/v5_hal/firmware/src/Auton.cpp b/src/v5_hal/firmware/src/Auton.cpp
index 29823d77b..4ed946f44 100644
--- a/src/v5_hal/firmware/src/Auton.cpp
+++ b/src/v5_hal/firmware/src/Auton.cpp
@@ -6,7 +6,7 @@ using namespace std;
  * Create a node with given actions and timeout. These actions will all be run in parallel to each other.
  * Nullptrs will not be added as actions, they will be ignored.
  */
-Node::Node(double timeout, AutonAction* action1, AutonAction* action2, AutonAction* action3) :
+AutonNode::AutonNode(double timeout, AutonAction* action1, AutonAction* action2, AutonAction* action3) :
         m_children(), m_actions(), m_timeout(timeout) {
 	m_startCondition = nullptr;
     if(action1 != nullptr) {
@@ -23,14 +23,14 @@ Node::Node(double timeout, AutonAction* action1, AutonAction* action2, AutonActi
 /*
  * Add a node to this node which will be run sequentially after this node completes all of its actions
  */
-void Node::AddNext(Node* childNode) {
+void AutonNode::AddNext(AutonNode* childNode) {
     m_children.push_back(childNode);
 }
 
 /*
  * Add an action to this node which will be run in parallel to other actions in this node
  */
-void Node::AddAction(AutonAction* leaf) {
+void AutonNode::AddAction(AutonAction* leaf) {
     if(leaf != nullptr) {
         m_actions.push_back(leaf);
     }
@@ -48,7 +48,7 @@ void Node::AddAction(AutonAction* leaf) {
  * This condition will be checked by the previous node while it is not complete.
  * While it is true this action will run its actions.
  */
-void Node::AddCondition(function<bool()> startCondition) {
+void AutonNode::AddCondition(function<bool()> startCondition) {
     m_startConditonGiven = true;
     m_startCondition = startCondition;
 }
@@ -56,7 +56,7 @@ void Node::AddCondition(function<bool()> startCondition) {
 /*
  * Returns true if all actions are complete and all child nodes are complete or if timeout has been exceeded
  */
-bool Node::Complete() {
+bool AutonNode::Complete() {
     if(m_actions.empty()) {
         for(auto child : m_children) {
             if(!child->Complete()) {
@@ -72,7 +72,7 @@ bool Node::Complete() {
 /*
  * Prepares node to be run
  */
-void Node::Reset() {
+void AutonNode::Reset() {
     for(auto child : m_children) {
         child->Reset();
     }
@@ -84,7 +84,7 @@ void Node::Reset() {
 /*
  * Set the timeout for this node to a given duration in seconds
  */
-void Node::SetTimeout(double timeout) {
+void AutonNode::SetTimeout(double timeout) {
     m_timeout = timeout;
 }
 
@@ -93,7 +93,7 @@ void Node::SetTimeout(double timeout) {
  * child node is run.
  * @param lastNodeDone If previous node is complete.
  */
-void Node::Act(bool lastNodeDone) {
+void AutonNode::Act(bool lastNodeDone) {
     bool shouldAct = (m_startConditonGiven && m_startCondition && !lastNodeDone)
                      || (!m_startConditonGiven && lastNodeDone);
     if(!m_actionsInitialized && shouldAct) {
@@ -107,7 +107,6 @@ void Node::Act(bool lastNodeDone) {
         m_actionsInitialized = true;
     }
     if(!m_actions.empty() && (m_timer.Get() > m_timeout)) {
-        Logger::logInfo("Timeout of: " + to_string(m_timeout) + " exceeded in node!");
         for(auto action : m_actions) {
             action->ActionEnd();
         }
@@ -144,7 +143,7 @@ void Node::Act(bool lastNodeDone) {
     }
 }
 
-Node::~Node() {
+AutonNode::~AutonNode() {
     for (auto i = m_actions.begin(); i != m_actions.end(); i++){
         delete *i;
     }
@@ -208,7 +207,7 @@ void Autonomous::Reset() {
  * Add another node to be run on start of autonomous routine
  * Nullptrs will not be added as actions, they will be ignored
  */
-void Autonomous::AddFirstNode(Node* firstNode) {
+void Autonomous::AddFirstNode(AutonNode* firstNode) {
     if(firstNode != nullptr) {
         m_firstNode.push_back(firstNode);
     }

From da39ee63ca34208d4807039b4949bcad7acdb0d6 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 18:59:45 -0600
Subject: [PATCH 10/37] Added auton and teleop periodic loops instead of a
 single periodic loop

---
 .../include/Actions/TopConveyorAction.h       | 24 ++++++++++++++++
 .../include/DataNodes/ADIAnalogInNode.h       |  4 ++-
 .../include/DataNodes/ADIAnalogOutNode.h      |  4 ++-
 .../include/DataNodes/ADIDigitalInNode.h      |  4 ++-
 .../include/DataNodes/ADIDigitalOutNode.h     |  4 ++-
 .../include/DataNodes/ADIEncoderNode.h        |  4 ++-
 .../firmware/include/DataNodes/ADIGyroNode.h  |  4 ++-
 .../include/DataNodes/ADIUltrasonicNode.h     |  4 ++-
 .../firmware/include/DataNodes/BatteryNode.h  |  4 ++-
 .../include/DataNodes/CompetitionStatusNode.h |  4 ++-
 .../include/DataNodes/ControllerNode.h        |  4 ++-
 .../firmware/include/DataNodes/ConveyorNode.h | 13 ++++++++-
 .../include/DataNodes/DriverControlNode.h     |  4 ++-
 .../include/DataNodes/HelloWorldNode.h        |  4 ++-
 .../include/DataNodes/InertialSensorNode.h    |  4 ++-
 .../firmware/include/DataNodes/MotorNode.h    |  4 ++-
 .../firmware/include/DataNodes/ProsTimeNode.h |  4 ++-
 .../include/DataNodes/RotationSensorNode.h    |  4 ++-
 .../include/DataNodes/TankDriveNode.h         |  6 ++--
 src/v5_hal/firmware/include/NodeManager.h     |  7 +++--
 .../firmware/src/Actions/IntakeAction.cpp     |  2 +-
 .../src/Actions/TopConveyorAction.cpp         | 27 ++++++++++++++++++
 .../src/DataNodes/ADIAnalogInNode.cpp         |  9 ++++--
 .../src/DataNodes/ADIDigitalInNode.cpp        |  9 ++++--
 .../firmware/src/DataNodes/ADIEncoderNode.cpp |  9 ++++--
 .../firmware/src/DataNodes/ADIGyroNode.cpp    |  9 ++++--
 .../src/DataNodes/ADIUltrasonicNode.cpp       |  9 ++++--
 .../firmware/src/DataNodes/BatteryNode.cpp    |  9 ++++--
 .../src/DataNodes/CompetitionStatusNode.cpp   |  7 ++++-
 .../firmware/src/DataNodes/ControllerNode.cpp |  9 ++++--
 .../firmware/src/DataNodes/ConveyorNode.cpp   | 28 ++++++++++++++++++-
 .../src/DataNodes/DriverControlNode.cpp       | 10 ++++++-
 .../firmware/src/DataNodes/HelloWorldNode.cpp |  9 ++++--
 .../src/DataNodes/InertialSensorNode.cpp      |  6 +++-
 .../firmware/src/DataNodes/MotorNode.cpp      |  9 ++++--
 .../firmware/src/DataNodes/ProsTimeNode.cpp   |  9 ++++--
 .../src/DataNodes/RotationSensorNode.cpp      |  9 ++++--
 .../firmware/src/DataNodes/TankDriveNode.cpp  |  6 +++-
 src/v5_hal/firmware/src/NodeManager.cpp       | 19 +++++++++++--
 39 files changed, 256 insertions(+), 62 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/Actions/TopConveyorAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/TopConveyorAction.h b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
new file mode 100644
index 000000000..0166e6a5d
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "Timer.h"
+#include "DataNodes/ConveyorNode.h"
+
+class TopConveyorAction : public AutonAction {
+private:
+    ConveyorNode* m_conveyor_node;
+    Timer m_timer;
+    bool m_store_balls;
+    int m_voltage;
+    double m_time; // Time in seconds
+
+public:
+    TopConveyorAction(ConveyorNode* conveyor_node, bool store_balls, int voltage=12000, double time=0);
+
+    void actionInit();
+
+    actionStatus action();
+
+    void actionEnd();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIAnalogInNode.h b/src/v5_hal/firmware/include/DataNodes/ADIAnalogInNode.h
index 625a2f8fe..fa5163ec8 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIAnalogInNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIAnalogInNode.h
@@ -29,7 +29,9 @@ class ADIAnalogInNode : public Node {
 
     int getValue();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIAnalogInNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIAnalogOutNode.h b/src/v5_hal/firmware/include/DataNodes/ADIAnalogOutNode.h
index 9577b03a9..c7418c6b7 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIAnalogOutNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIAnalogOutNode.h
@@ -21,7 +21,9 @@ class ADIAnalogOutNode : public Node {
 
     void initialize();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIAnalogOutNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIDigitalInNode.h b/src/v5_hal/firmware/include/DataNodes/ADIDigitalInNode.h
index 3648f3fa4..2e85dd022 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIDigitalInNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIDigitalInNode.h
@@ -27,7 +27,9 @@ class ADIDigitalInNode : public Node {
 
     int getValue();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIDigitalInNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIDigitalOutNode.h b/src/v5_hal/firmware/include/DataNodes/ADIDigitalOutNode.h
index 8451c97c7..2f56985cb 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIDigitalOutNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIDigitalOutNode.h
@@ -27,7 +27,9 @@ class ADIDigitalOutNode : public Node {
 
     void setValue(int value);
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIDigitalOutNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIEncoderNode.h b/src/v5_hal/firmware/include/DataNodes/ADIEncoderNode.h
index 21ce87d41..dd865ff03 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIEncoderNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIEncoderNode.h
@@ -27,7 +27,9 @@ class ADIEncoderNode : public Node {
 
     int getValue();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIEncoderNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIGyroNode.h b/src/v5_hal/firmware/include/DataNodes/ADIGyroNode.h
index 6a65df499..972074114 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIGyroNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIGyroNode.h
@@ -27,7 +27,9 @@ class ADIGyroNode : public Node {
 
     float getValue();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIGyroNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/ADIUltrasonicNode.h b/src/v5_hal/firmware/include/DataNodes/ADIUltrasonicNode.h
index 5c4943db2..e1ef54683 100644
--- a/src/v5_hal/firmware/include/DataNodes/ADIUltrasonicNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ADIUltrasonicNode.h
@@ -27,7 +27,9 @@ class ADIUltrasonicNode : public Node {
 
     int getValue();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ADIUltrasonicNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/BatteryNode.h b/src/v5_hal/firmware/include/DataNodes/BatteryNode.h
index 6767a650e..229aefa7e 100644
--- a/src/v5_hal/firmware/include/DataNodes/BatteryNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/BatteryNode.h
@@ -23,7 +23,9 @@ class BatteryNode : public Node {
 
     void initialize();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~BatteryNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/CompetitionStatusNode.h b/src/v5_hal/firmware/include/DataNodes/CompetitionStatusNode.h
index e7e8ceb22..eecdb7a02 100644
--- a/src/v5_hal/firmware/include/DataNodes/CompetitionStatusNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/CompetitionStatusNode.h
@@ -24,7 +24,9 @@ class CompetitionStatusNode : public Node {
 
     void initialize();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~CompetitionStatusNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ControllerNode.h b/src/v5_hal/firmware/include/DataNodes/ControllerNode.h
index af1630447..f57ff0dfe 100644
--- a/src/v5_hal/firmware/include/DataNodes/ControllerNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ControllerNode.h
@@ -33,7 +33,9 @@ class ControllerNode : public Node {
 
     pros::Controller* getController();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ControllerNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
index b29b25e92..f65b278cf 100644
--- a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -8,6 +8,11 @@
 
 class ConveyorNode : public Node {
 private:
+    enum ConveyorState {
+        STOPPED, HOLDING, SCORING
+    };
+    ConveyorState m_current_conveyor_state = STOPPED;
+
     const int BALL_PRESENT_THRESHOLD = 2700;
 
     pros::Controller* m_controller;
@@ -37,11 +42,17 @@ class ConveyorNode : public Node {
 
     void setTopConveyorVoltage(int voltage);
 
+    void setConveyorState(ConveyorState conveyorState);
+
     void updateConveyorStateMachine();
 
+    int getNumBallsStored();
+
     void initialize();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ConveyorNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h b/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
index 1bae64312..3b3d7c40e 100644
--- a/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
@@ -80,7 +80,9 @@ class DriverControlNode : public Node {
 
     MotorPowers calculateRearModule(Eigen::Vector2d target_velocity, double rotation_velocity);
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~DriverControlNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/HelloWorldNode.h b/src/v5_hal/firmware/include/DataNodes/HelloWorldNode.h
index 8b2161996..f4f316e04 100644
--- a/src/v5_hal/firmware/include/DataNodes/HelloWorldNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/HelloWorldNode.h
@@ -23,7 +23,9 @@ class HelloWorldNode : public Node {
 
     void initialize();
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~HelloWorldNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
index 5704ae394..c8c2a4971 100644
--- a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
@@ -17,7 +17,9 @@ class InertialSensorNode : public Node {
     
     double getYaw();
     
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
     
     ~InertialSensorNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/MotorNode.h b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
index 8dbb9bf01..a167fcec9 100644
--- a/src/v5_hal/firmware/include/DataNodes/MotorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
@@ -40,7 +40,9 @@ class MotorNode : public Node {
 
     void moveAbsolute(double position, int max_velocity);
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~MotorNode();
 };
diff --git a/src/v5_hal/firmware/include/DataNodes/ProsTimeNode.h b/src/v5_hal/firmware/include/DataNodes/ProsTimeNode.h
index a2af69b2d..3aad5a1ad 100644
--- a/src/v5_hal/firmware/include/DataNodes/ProsTimeNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ProsTimeNode.h
@@ -25,7 +25,9 @@ class ProsTimeNode : public Node {
 
     int getValue();
     
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~ProsTimeNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/RotationSensorNode.h b/src/v5_hal/firmware/include/DataNodes/RotationSensorNode.h
index 548e16c68..a455cdbf1 100644
--- a/src/v5_hal/firmware/include/DataNodes/RotationSensorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/RotationSensorNode.h
@@ -31,7 +31,9 @@ class RotationSensorNode : public Node {
 
     int getVelocity();
     
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
     
     ~RotationSensorNode();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
index 19521cfc5..916abb53f 100644
--- a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
@@ -37,11 +37,13 @@ class TankDriveNode : public Node {
 
     void setDriveDistancePID(double left_distance, double right_distance, int max_velocity);
 
-    void periodic();
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     int getRightDistancePID();
 
-    int getLeftDistancePID()
+    int getLeftDistancePID();
 
     ~TankDriveNode();
 };
diff --git a/src/v5_hal/firmware/include/NodeManager.h b/src/v5_hal/firmware/include/NodeManager.h
index d137caca5..f36f27c0b 100644
--- a/src/v5_hal/firmware/include/NodeManager.h
+++ b/src/v5_hal/firmware/include/NodeManager.h
@@ -38,7 +38,9 @@ class NodeManager {
 
     void initialize();
 
-    void execute();
+    void executeTeleop();
+
+    void executeAuton();
 
     ~NodeManager();
 };
@@ -62,6 +64,7 @@ class Node {
         m_handle = node_manager->addNode(this, interval_milliseconds);
     }
     virtual void initialize() = 0;
-    virtual void periodic() {}
+    virtual void teleopPeriodic() {}
+    virtual void autonPeriodic() {}
     virtual ~Node() {}
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/IntakeAction.cpp b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
index 0e1bf7433..81171c6e5 100644
--- a/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
@@ -11,8 +11,8 @@ void IntakeAction::actionInit() {
 
 AutonAction::actionStatus IntakeAction::action() {
     if (m_time <= 0) {
-        // Run until the action stops
         m_conveyor_node->setIntakeVoltage(m_voltage);
+        return END;
     } else {
         // Run until elapsed time is reached
         if (m_timer.Get() < m_time) {
diff --git a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
new file mode 100644
index 000000000..4e6f24689
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
@@ -0,0 +1,27 @@
+#include "Actions/TopConveyorAction.h"
+
+TopConveyorAction::TopConveyorAction(ConveyorNode* conveyor_node, bool store_balls, int voltage, double time) : 
+        m_conveyor_node(conveyor_node), m_store_balls(store_balls), m_voltage(voltage), m_time(time) {
+    
+}
+
+void TopConveyorAction::actionInit() {
+    m_timer.Start();
+}
+
+AutonAction::actionStatus TopConveyorAction::action() {
+    if (m_time <= 0) {
+        
+    } else {
+        // Run until elapsed time is reached
+        if (m_timer.Get() < m_time) {
+            return CONTINUE;
+        } else {
+            return END;
+        }
+    }
+}
+
+void TopConveyorAction::actionEnd() {
+
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/ADIAnalogInNode.cpp b/src/v5_hal/firmware/src/DataNodes/ADIAnalogInNode.cpp
index 83cf4686e..e6e22b42d 100644
--- a/src/v5_hal/firmware/src/DataNodes/ADIAnalogInNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ADIAnalogInNode.cpp
@@ -28,9 +28,12 @@ int ADIAnalogInNode::getValue() {
     return m_analog_in.get_value();
 }
 
-void ADIAnalogInNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ADIAnalogInNode::teleopPeriodic() {
+    
+}
+
+void ADIAnalogInNode::autonPeriodic() {
+
 }
 
 void ADIAnalogInNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/ADIDigitalInNode.cpp b/src/v5_hal/firmware/src/DataNodes/ADIDigitalInNode.cpp
index 46e96c2fd..8005c83ef 100644
--- a/src/v5_hal/firmware/src/DataNodes/ADIDigitalInNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ADIDigitalInNode.cpp
@@ -27,9 +27,12 @@ int ADIDigitalInNode::getValue() {
     return m_digital_in.get_value();
 }
 
-void ADIDigitalInNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ADIDigitalInNode::teleopPeriodic() {
+
+}
+
+void ADIDigitalInNode::autonPeriodic() {
+    
 }
 
 void ADIDigitalInNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/ADIEncoderNode.cpp b/src/v5_hal/firmware/src/DataNodes/ADIEncoderNode.cpp
index 4081192c7..cd42368e7 100644
--- a/src/v5_hal/firmware/src/DataNodes/ADIEncoderNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ADIEncoderNode.cpp
@@ -28,9 +28,12 @@ int ADIEncoderNode::getValue() {
     return m_encoder.get_value();
 }
 
-void ADIEncoderNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ADIEncoderNode::teleopPeriodic() {
+    
+}
+
+void ADIEncoderNode::autonPeriodic() {
+    
 }
 
 void ADIEncoderNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/ADIGyroNode.cpp b/src/v5_hal/firmware/src/DataNodes/ADIGyroNode.cpp
index 5efe147e9..c6618771f 100644
--- a/src/v5_hal/firmware/src/DataNodes/ADIGyroNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ADIGyroNode.cpp
@@ -27,9 +27,12 @@ float ADIGyroNode::getValue() {
     return m_gyro.get_value();
 }
 
-void ADIGyroNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ADIGyroNode::teleopPeriodic() {
+    
+}
+
+void ADIGyroNode::autonPeriodic() {
+    
 }
 
 void ADIGyroNode::m_populateMessage() { 
diff --git a/src/v5_hal/firmware/src/DataNodes/ADIUltrasonicNode.cpp b/src/v5_hal/firmware/src/DataNodes/ADIUltrasonicNode.cpp
index 5d870fdec..0736636de 100644
--- a/src/v5_hal/firmware/src/DataNodes/ADIUltrasonicNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ADIUltrasonicNode.cpp
@@ -29,9 +29,12 @@ int ADIUltrasonicNode::getValue() {
     return m_ultrasonic.get_value();
 }
 
-void ADIUltrasonicNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ADIUltrasonicNode::teleopPeriodic() {
+    
+}
+
+void ADIUltrasonicNode::autonPeriodic() {
+    
 }
 
 void ADIUltrasonicNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/BatteryNode.cpp b/src/v5_hal/firmware/src/DataNodes/BatteryNode.cpp
index 01b9e50e5..41386805c 100644
--- a/src/v5_hal/firmware/src/DataNodes/BatteryNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/BatteryNode.cpp
@@ -21,9 +21,12 @@ void BatteryNode::initialize() {
     Node::m_handle->advertise(*m_publisher);
 }
 
-void BatteryNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void BatteryNode::teleopPeriodic() {
+    
+}
+
+void BatteryNode::autonPeriodic() {
+    
 }
 
 void BatteryNode::m_populateMessage () {
diff --git a/src/v5_hal/firmware/src/DataNodes/CompetitionStatusNode.cpp b/src/v5_hal/firmware/src/DataNodes/CompetitionStatusNode.cpp
index f947502c7..0555fb154 100644
--- a/src/v5_hal/firmware/src/DataNodes/CompetitionStatusNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/CompetitionStatusNode.cpp
@@ -20,7 +20,12 @@ void CompetitionStatusNode::initialize() {
     Node::m_handle->advertise(*m_publisher);
 }
 
-void CompetitionStatusNode::periodic() {
+void CompetitionStatusNode::teleopPeriodic() {
+    
+}
+
+void CompetitionStatusNode::autonPeriodic() {
+    
 }
 
 void CompetitionStatusNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/ControllerNode.cpp b/src/v5_hal/firmware/src/DataNodes/ControllerNode.cpp
index 1a955107d..ebbc17c37 100644
--- a/src/v5_hal/firmware/src/DataNodes/ControllerNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ControllerNode.cpp
@@ -47,9 +47,12 @@ pros::Controller* ControllerNode::getController() {
     return &m_controller;
 }
 
-void ControllerNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ControllerNode::teleopPeriodic() {
+    
+}
+
+void ControllerNode::autonPeriodic() {
+    
 }
 
 //Populates the V5Controller message object
diff --git a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
index 3ef0015ee..e743e922b 100644
--- a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
@@ -33,6 +33,10 @@ void ConveyorNode::setTopConveyorVoltage(int voltage) {
     m_top_conveyor_motor->moveVoltage(voltage);
 }
 
+void ConveyorNode::setConveyorState(ConveyorState conveyorState) {
+    m_current_conveyor_state = conveyorState;
+}
+
 void ConveyorNode::updateConveyorStateMachine() {
     if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
         // Ball is waiting on top; stop spinning balls up
@@ -50,11 +54,29 @@ void ConveyorNode::updateConveyorStateMachine() {
     }
 }
 
+int ConveyorNode::getNumBallsStored() {
+    int ballsStored = 0;
+
+    if (m_bottom_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        ballsStored++;
+    }
+
+    if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        ballsStored++;
+    }
+
+    if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        ballsStored++;
+    }
+
+    return ballsStored;
+}
+
 void ConveyorNode::initialize() {
 
 }
 
-void ConveyorNode::periodic() {
+void ConveyorNode::teleopPeriodic() {
     int intake_voltage = 0;
 	int bottom_conveyor_voltage = 0;
     int top_conveyor_voltage = 0;
@@ -105,6 +127,10 @@ void ConveyorNode::periodic() {
     }
 }
 
+void ConveyorNode::autonPeriodic() {
+    
+}
+
 ConveyorNode::~ConveyorNode() {
 
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
index bcfea114a..2c6fda802 100644
--- a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
@@ -64,7 +64,11 @@ void DriverControlNode::m_spinEjectionRollerVoltage(int voltage) {
 	ejection_roller->moveVoltage(voltage);
 }
 
-void DriverControlNode::periodic() {    
+void DriverControlNode::teleopPeriodic() {
+    // printf("Inertial Sensor Yaw: %f\n", inertial_sensor->getYaw());
+    double sensor_yaw = inertial_sensor->getYaw();
+    robot_angle = Eigen::Rotation2Dd(-sensor_yaw);
+    
     controller_target_velocity(0) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_X) / 127.0) * max_velocity;
     controller_target_velocity(1) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127.0) * max_velocity;
     rotation_velocity = -(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X) / 127.0) * max_rotation_velocity;
@@ -85,6 +89,10 @@ void DriverControlNode::periodic() {
     rear_swerve_2->move(rear_motor_powers.right_motor_power);
 }
 
+void DriverControlNode::autonPeriodic() {
+    
+}
+
 DriverControlNode::~DriverControlNode() { 
     delete m_publisher; 
 }
diff --git a/src/v5_hal/firmware/src/DataNodes/HelloWorldNode.cpp b/src/v5_hal/firmware/src/DataNodes/HelloWorldNode.cpp
index 13afe5c17..ff08d27bd 100644
--- a/src/v5_hal/firmware/src/DataNodes/HelloWorldNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/HelloWorldNode.cpp
@@ -23,9 +23,12 @@ void HelloWorldNode::initialize() {
     Node::m_handle->advertise(*m_publisher);
 }
 
-void HelloWorldNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void HelloWorldNode::teleopPeriodic() {
+
+}
+
+void HelloWorldNode::autonPeriodic() {
+
 }
 
 void HelloWorldNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
index b62e07bb7..dd2da4183 100644
--- a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
@@ -17,7 +17,11 @@ double InertialSensorNode::getYaw() {
     return m_inertial_sensor.get_yaw() * (M_PI/180);
 }
 
-void InertialSensorNode::periodic() {
+void InertialSensorNode::teleopPeriodic() {
+
+}
+
+void InertialSensorNode::autonPeriodic() {
 
 }
 
diff --git a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
index 0643ac179..b9aba1668 100644
--- a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
@@ -55,9 +55,12 @@ void MotorNode::moveAbsolute(double position, int max_velocity) {
     m_motor.move_absolute(position, max_velocity);
 }
 
-void MotorNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void MotorNode::teleopPeriodic() {
+
+}
+
+void MotorNode::autonPeriodic() {
+
 }
 
 void MotorNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/ProsTimeNode.cpp b/src/v5_hal/firmware/src/DataNodes/ProsTimeNode.cpp
index 63a92f652..0aa2934dd 100644
--- a/src/v5_hal/firmware/src/DataNodes/ProsTimeNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ProsTimeNode.cpp
@@ -25,9 +25,12 @@ int ProsTimeNode::getValue() {
     return pros::millis();
 }
 
-void ProsTimeNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void ProsTimeNode::teleopPeriodic() {
+
+}
+
+void ProsTimeNode::autonPeriodic() {
+
 }
 
 void ProsTimeNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/RotationSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/RotationSensorNode.cpp
index d50c37b4f..b39182eec 100644
--- a/src/v5_hal/firmware/src/DataNodes/RotationSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/RotationSensorNode.cpp
@@ -34,9 +34,12 @@ int RotationSensorNode::getVelocity() {
     return m_rotation_sensor.get_velocity();
 }
 
-void RotationSensorNode::periodic() {
-    // Publish data when called, and spin the handler to send data to the
-    // coprocessor on the published topic
+void RotationSensorNode::teleopPeriodic() {
+
+}
+
+void RotationSensorNode::autonPeriodic() {
+
 }
 
 void RotationSensorNode::m_populateMessage() {
diff --git a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
index 92ac092d4..ef18c96ff 100644
--- a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
@@ -57,11 +57,15 @@ void TankDriveNode::setDriveDistancePID(double left_distance, double right_dista
     m_setRightDistancePID(right_distance, max_velocity);
 }
 
-void TankDriveNode::periodic() {
+void TankDriveNode::teleopPeriodic() {
     m_setLeftVoltage(((m_controller->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y)) / 127.0) * 12000);
     m_setRightVoltage(((m_controller->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y)) / 127.0) * 12000);
 }
 
+void TankDriveNode::autonPeriodic() {
+
+}
+
 TankDriveNode::~TankDriveNode() {
     delete m_left_front_motor;
     delete m_left_rear_motor;
diff --git a/src/v5_hal/firmware/src/NodeManager.cpp b/src/v5_hal/firmware/src/NodeManager.cpp
index ce5c06adb..25c8a6e7d 100644
--- a/src/v5_hal/firmware/src/NodeManager.cpp
+++ b/src/v5_hal/firmware/src/NodeManager.cpp
@@ -21,14 +21,29 @@ void NodeManager::initialize() {
     }
 }
 
-void NodeManager::execute() {
+void NodeManager::executeTeleop() {
     m_handle->spinOnce();
     
     for (auto& node_structure : m_node_structures) {
         auto current_time = m_get_millis();
         if (current_time - node_structure.last_executed_millis >=
             node_structure.trigger_millis) {
-            node_structure.node->periodic();
+            node_structure.node->teleopPeriodic();
+            node_structure.last_executed_millis = current_time;
+        }
+    }
+    
+    pros::c::delay(m_delay_time_millis);
+}
+
+void NodeManager::executeAuton() {
+    m_handle->spinOnce();
+    
+    for (auto& node_structure : m_node_structures) {
+        auto current_time = m_get_millis();
+        if (current_time - node_structure.last_executed_millis >=
+            node_structure.trigger_millis) {
+            node_structure.node->autonPeriodic();
             node_structure.last_executed_millis = current_time;
         }
     }

From b62ad7660aedbeb6eb9e1c03e6bb2bcf5f803bb2 Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 20:16:44 -0600
Subject: [PATCH 11/37] Fixed drive action

---
 src/v5_hal/firmware/src/Actions/DriveAction.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/v5_hal/firmware/src/Actions/DriveAction.cpp b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
index 1e2688c21..346f4fce7 100644
--- a/src/v5_hal/firmware/src/Actions/DriveAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
@@ -1,7 +1,7 @@
 #include "Actions/DriveAction.h"
-#include "Timer.h"
 
-DriveAction::DriveAction(tank_drive_node) : m_tank_drive_node(tank_drive_node) {
+DriveAction::DriveAction(TankDriveNode* tank_drive_node) :
+        m_tank_drive_node(tank_drive_node) {
 
 }
 
@@ -21,6 +21,4 @@ AutonAction::actionStatus DriveAction::action() {
 
 void DriveAction::actionEnd() {
     m_timer.Stop();
-    m_conveyor_node->setIntakeVoltage(0);
-    m_conveyor_node->setBottomConveyorVoltage(0);
 }
\ No newline at end of file

From 507ffe36ee8685c744b9a1ffac2b4a94dac47970 Mon Sep 17 00:00:00 2001
From: TrentonBowser <trenton.bowser25@gmail.com>
Date: Wed, 10 Feb 2021 20:58:47 -0600
Subject: [PATCH 12/37] Added drive action

---
 src/v5_hal/firmware/include/Actions/DriveAction.h | 12 ++++++++----
 src/v5_hal/firmware/src/Actions/DriveAction.cpp   | 15 +++++++++------
 2 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/DriveAction.h b/src/v5_hal/firmware/include/Actions/DriveAction.h
index 79e8c8222..ef4cc22ae 100644
--- a/src/v5_hal/firmware/include/Actions/DriveAction.h
+++ b/src/v5_hal/firmware/include/Actions/DriveAction.h
@@ -2,15 +2,19 @@
 
 #include "api.h"
 #include "Auton.h"
-#include "Timer.h"
 #include "DataNodes/TankDriveNode.h"
 
-class DriveAction : public DriveAction {
+class DriveAction : public AutonAction {
 private:
     TankDriveNode* m_tank_drive_node;
-    Timer m_timer;
+    double m_distance_left;
+    double m_distance_right;
+    int m_max_velocity;
+    int m_actual_left_distance;
+    int m_actual_right_distance;
+
 public:
-    DriveAction(TankDriveNode* tank_drive_node, double distance);
+    DriveAction(TankDriveNode* tank_drive_node, double distance_left, double distance_right, int max_velocity);
 
     void actionInit();
     actionStatus action();
diff --git a/src/v5_hal/firmware/src/Actions/DriveAction.cpp b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
index 346f4fce7..164bcc35a 100644
--- a/src/v5_hal/firmware/src/Actions/DriveAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
@@ -1,18 +1,21 @@
 #include "Actions/DriveAction.h"
+#include <math.h>
 
-DriveAction::DriveAction(TankDriveNode* tank_drive_node) :
-        m_tank_drive_node(tank_drive_node) {
+DriveAction::DriveAction(TankDriveNode* tank_drive_node, double distance_left, double distance_right, int max_velocity) :
+        m_tank_drive_node(tank_drive_node), m_distance_left(distance_left), m_distance_right(distance_right), m_max_velocity(max_velocity) {
 
 }
 
 void DriveAction::actionInit() {
-    m_timer.Start();
+    m_tank_drive_node->setDriveDistancePID(m_distance_left, m_distance_right, m_max_velocity);
 }
 
 AutonAction::actionStatus DriveAction::action() {
-    
+    m_actual_left_distance = m_tank_drive_node->getLeftDistancePID();
+    m_actual_right_distance = m_tank_drive_node->getRightDistancePID();
 
-    if(m_timer.Get() > 1) {
+    if(fabs(m_actual_left_distance - m_distance_left) < 128 &&
+        fabs(m_actual_right_distance - m_distance_right) < 128) {
         return END;
     } else {
         return CONTINUE;
@@ -20,5 +23,5 @@ AutonAction::actionStatus DriveAction::action() {
 }
 
 void DriveAction::actionEnd() {
-    m_timer.Stop();
+    
 }
\ No newline at end of file

From 5ccce150a7af1d354622348b2dfff8d9cab14aad Mon Sep 17 00:00:00 2001
From: Dylan Powers <dylanpowers125@gmail.com>
Date: Wed, 10 Feb 2021 21:04:20 -0600
Subject: [PATCH 13/37] addde Bottom Conveyor Action

---
 .../include/Actions/BottomConveyorAction.h    | 22 +++++++++++
 src/v5_hal/firmware/include/main.h            |  1 +
 .../src/Actions/BottomConveyorAction.cpp      | 39 +++++++++++++++++++
 3 files changed, 62 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
new file mode 100644
index 000000000..40e7ea6ba
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "Timer.h"
+#include "DataNodes/ConveyorNode.h"
+
+class BottomConveyorAction : public AutonAction {
+private:
+    ConveyorNode* m_conveyor_node;
+    Timer m_timer;
+    bool m_eject;
+    int m_voltage;
+    double m_time;
+    int m_eject_voltage;
+
+public:
+    BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, int voltage=12000, double time);
+    void BottomConveyorAction::actionInit();
+    AutonAction::actionStatus BottomConveyorAction::action();
+    void BottomConveyorAction::actionEnd()
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/main.h b/src/v5_hal/firmware/include/main.h
index 21b26903d..e1a0da0b0 100644
--- a/src/v5_hal/firmware/include/main.h
+++ b/src/v5_hal/firmware/include/main.h
@@ -54,6 +54,7 @@
 #include "Actions/DeployAction.h"
 #include "Actions/DriveAction.h"
 #include "Actions/IntakeAction.h"
+#include "Actions/BottomConveyorAction.h"
 
    /**
     * You should add more #includes here
diff --git a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
new file mode 100644
index 000000000..e9546da73
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
@@ -0,0 +1,39 @@
+#include "Actions/BottomConveyorAction.h"
+
+BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject=false, int voltage=12000, double time=0) : 
+    (m_conveyor_node(conveyor_node), m_eject(eject), m_voltage(voltage), m_time(time)) {
+        
+    }
+
+void BottomConveyorAction::actionInit() {
+    m_timer.Start();
+
+    //sets the direction of the eject roller
+    if (m_eject == false) {
+        m_eject_voltage = m_voltage;
+    } else {
+        m_eject_voltage = -1 * m_voltage;
+    }
+}
+
+AutonAction::actionStatus BottomConveyorAction::action() {
+    if (m_time <= 0) {
+        m_conveyor_node->setBottomConveyorVoltage(m_voltage);
+        m_conveyor_node->setEjectionRollerVoltage(m_eject_voltage);
+        return END;    
+    } else {
+        if (m_timer.Get() < m_time) {
+            m_conveyor_node->setBottomConveyorVoltage(m_voltage);
+            m_conveyor_node->setEjectionRollerVoltage(m_eject_voltage);
+            return CONTINUE;
+        } else {
+            m_conveyor_node->setBottomConveyorVoltage(0);
+            m_conveyor_node->setEjectionRollerVoltage(0);
+            return END;
+        }
+    }   
+}
+
+void BottomConveyorAction::actionEnd() {
+
+}
\ No newline at end of file

From 36cc08f52e9d4542ce7cc887c061311626561b94 Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Wed, 10 Feb 2021 18:41:26 -0600
Subject: [PATCH 14/37] Ported RoboUtil over to catkin package

---
 .../CMakeLists.txt                            |   224 +
 .../AdaptivePursuit.h                         |    47 +
 .../adaptive_pursuit_controller/Logger.h      |    30 +
 .../adaptive_pursuit_controller/Math/Math.h   |    50 +
 .../adaptive_pursuit_controller/Math/Pose.h   |    22 +
 .../adaptive_pursuit_controller/Path.h        |    39 +
 .../adaptive_pursuit_controller/PathManager.h |    28 +
 .../adaptive_pursuit_controller/PathSegment.h |    42 +
 .../adaptive_pursuit_controller/Position2d.h  |    38 +
 .../adaptive_pursuit_controller/Rotation2d.h  |    30 +
 .../TankOdometry.h                            |    50 +
 .../adaptive_pursuit_controller/Trans2d.h     |    41 +
 .../adaptive_pursuit_controller/greeter.hpp   |    18 +
 .../adaptive_pursuit_controller/json.hpp      | 25447 ++++++++++++++++
 src/adaptive_pursuit_controller/package.xml   |    62 +
 .../src/Math/Pose.cpp                         |     3 +
 .../AdaptivePursuit.cpp                       |   139 +
 .../adaptive_pursuit_controller/Logger.cpp    |    38 +
 .../adaptive_pursuit_controller/Math/Pose.cpp |     3 +
 .../src/adaptive_pursuit_controller/Path.cpp  |   229 +
 .../PathManager.cpp                           |    90 +
 .../PathSegment.cpp                           |    65 +
 .../Position2d.cpp                            |    81 +
 .../Rotation2d.cpp                            |    77 +
 .../TankOdometry.cpp                          |   117 +
 .../adaptive_pursuit_controller/Trans2d.cpp   |    73 +
 .../test/testPaths/simplePath.json            |   264 +
 .../test_AdaptivePurePursuitController.cpp    |   104 +
 .../test/test_Main.cpp                        |     6 +
 .../test/test_Path.cpp                        |   336 +
 .../test/test_PathSegment.cpp                 |    43 +
 .../test/test_TankOdometry.cpp                |    96 +
 32 files changed, 27932 insertions(+)
 create mode 100644 src/adaptive_pursuit_controller/CMakeLists.txt
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/AdaptivePursuit.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Logger.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Math.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Pose.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Path.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathManager.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathSegment.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Position2d.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Rotation2d.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/TankOdometry.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Trans2d.h
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/greeter.hpp
 create mode 100644 src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/json.hpp
 create mode 100644 src/adaptive_pursuit_controller/package.xml
 create mode 100644 src/adaptive_pursuit_controller/src/Math/Pose.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Logger.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Math/Pose.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathManager.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathSegment.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Position2d.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Rotation2d.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/TankOdometry.cpp
 create mode 100644 src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Trans2d.cpp
 create mode 100644 src/adaptive_pursuit_controller/test/testPaths/simplePath.json
 create mode 100644 src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
 create mode 100644 src/adaptive_pursuit_controller/test/test_Main.cpp
 create mode 100644 src/adaptive_pursuit_controller/test/test_Path.cpp
 create mode 100644 src/adaptive_pursuit_controller/test/test_PathSegment.cpp
 create mode 100644 src/adaptive_pursuit_controller/test/test_TankOdometry.cpp

diff --git a/src/adaptive_pursuit_controller/CMakeLists.txt b/src/adaptive_pursuit_controller/CMakeLists.txt
new file mode 100644
index 000000000..9556ccd9d
--- /dev/null
+++ b/src/adaptive_pursuit_controller/CMakeLists.txt
@@ -0,0 +1,224 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(adaptive_pursuit_controller)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++17)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+)
+
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
+
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES adaptive_pursuit_controller
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include/adaptive_pursuit_controller
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME}
+  src/${PROJECT_NAME}/AdaptivePursuit.cpp
+  src/${PROJECT_NAME}/Logger.cpp
+  src/${PROJECT_NAME}/Path.cpp
+  src/${PROJECT_NAME}/PathManager.cpp
+  src/${PROJECT_NAME}/PathSegment.cpp
+  src/${PROJECT_NAME}/Position2d.cpp
+  src/${PROJECT_NAME}/Rotation2d.cpp
+  src/${PROJECT_NAME}/TankOdometry.cpp
+  src/${PROJECT_NAME}/Trans2d.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/adaptive_pursuit_controller_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+catkin_add_gtest(${PROJECT_NAME}-test 
+  test/test_Main.cpp
+  test/test_AdaptivePurePursuitController.cpp
+  test/test_Path.cpp
+  test/test_PathSegment.cpp
+  test/test_TankOdometry.cpp
+)
+
+if(TARGET ${PROJECT_NAME}-test)
+  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/AdaptivePursuit.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/AdaptivePursuit.h
new file mode 100644
index 000000000..9d5bf2ee7
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/AdaptivePursuit.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include "TankOdometry.h"
+#include <optional>
+#include "Path.h"
+#include "Logger.h"
+
+class VelocityPair {
+public:
+    VelocityPair(double l, double r);
+    double left;
+    double right;
+};
+
+class AdaptivePursuit{
+private:
+    double m_fixedLookahead;
+    Path m_path;
+    Position2d::Delta m_lastCommand;
+    double m_lastTime;
+    double m_maxAccel;
+    double m_wheelDiameter;
+    double m_dt;
+    bool m_reversed;
+    double m_pathCompletionTolerance;
+    bool m_hasRun = false;
+    bool m_gradualStop = true;
+
+public:
+    AdaptivePursuit(double fixedLookahead, double maxAccel, double nominalDt, Path path,
+                    bool reversed, double pathCompletionTolerance, bool gradualStop, double wheelDiameter);
+
+    bool isDone();
+
+    VelocityPair Update(Pose robotPos, double now);
+
+    bool checkEvent(std::string event);
+
+    struct Circle{
+        Trans2d center;
+        double radius;
+        bool turnRight;
+        Circle(Trans2d cent, double rad, bool turn_right);
+    };
+
+    std::optional<Circle> joinPath(Position2d pos, Trans2d lookahead);
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Logger.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Logger.h
new file mode 100644
index 000000000..104881740
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Logger.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <vector>
+#include <queue>
+#include <string>
+#include <memory>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <cmath>
+
+using namespace std;
+
+class Logger {
+public:
+    enum loggingLevel {
+        INFO,
+        WARNING,
+        ERROR
+    };
+    static void logInfo(ostringstream& message);
+    static void logInfo(string message);
+    static void logWarning(ostringstream& message);
+    static void logWarning(string message);
+    static void logError(ostringstream& message);
+    static void logError(string message);
+    static void setConsoleLoggingLevel(loggingLevel level);
+private:
+    static loggingLevel m_consoleLoggingLevel;
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Math.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Math.h
new file mode 100644
index 000000000..53d2f74ae
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Math.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+
+#ifndef PI
+#define PI 3.141592653589793
+#endif
+
+#define kEpsilon .000000001
+#define kE .000000001
+
+using namespace std;
+
+inline double toRadians(double degrees) {
+    return degrees * (PI / 180.0);
+}
+
+inline double toDegrees(double degrees) {
+    return degrees * (180.0 / PI);
+}
+
+inline double arctan(double x, double y) {
+    double result = toDegrees(atan2(y, x));
+    if(x >= 0 && y >= 0) {
+        return 90 - result;
+    } else if(x >= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x <= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x < 0 && y >= 0) {
+        return 450 - result;
+    }
+    return -1;
+}
+
+inline double pathogram(double x, double y){
+    return sqrt(x*x + y*y);
+}
+
+inline double clamp(double value, double minimum, double maximum) {
+    if(value < minimum) {
+        return minimum;
+    } else if(value > maximum) {
+        return maximum;
+    } else {
+        return value;
+    }
+}
+
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Pose.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Pose.h
new file mode 100644
index 000000000..88df96258
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Math/Pose.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Eigen/Dense>
+
+using namespace Eigen;
+
+struct Pose {
+    Vector2d position;
+    Rotation2Dd angle;
+
+    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
+        position = positionIn;
+        angle = angleIn;
+    }
+
+    Pose() {
+        position = Vector2d(0, 0);
+        angle = Rotation2Dd(0);
+    }
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Path.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Path.h
new file mode 100644
index 000000000..d13bb7a7e
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Path.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "PathSegment.h"
+#include "Logger.h"
+#include <vector>
+#include <algorithm>
+#include "json.hpp"
+
+using namespace nlohmann;
+using namespace std;
+
+struct Waypoint {
+	Trans2d position;
+	double speed;
+    Rotation2d rotation;
+	string event;
+    Waypoint(Trans2d pos, double spd = 0.0, string completeEvent = "");
+};
+
+class Path {
+protected:
+	vector<Waypoint> m_waypoints;
+	vector<PathSegment> m_segments;
+	vector<string> m_events;
+public:
+	Path();
+	Path(vector<Waypoint> waypoints, bool flip = false);
+	static Path fromFile(string fileName, bool flip);
+	static Path fromText(string textPath, bool flip);
+	Waypoint getFirstWaypoint();
+	double update(Trans2d pos);
+	bool eventPassed(string event);
+	double getRemainingLength();
+    vector<Waypoint> getWaypoints();
+	PathSegment::Sample getLookaheadPoint(Trans2d pos, double lookahead);
+	pair<bool, Trans2d> getFirstCircleSegmentIntersection(PathSegment segment, Trans2d center,
+                                                          double radius);
+	Position2d getClosestPoint(Trans2d pos);
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathManager.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathManager.h
new file mode 100644
index 000000000..4854c46b5
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathManager.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include "Path.h"
+#include <memory>
+#include <unordered_map>
+#include <fstream>
+
+class PathManager {
+public:
+    static PathManager* GetInstance();
+
+    bool LoadPathsText(string text);
+    bool LoadPaths(json pathJson);
+    bool LoadPathsFile(string filePath);
+
+    int NumPaths();
+
+    unordered_map<string, Path> GetPaths();
+
+    Path GetPath(string name);
+
+private:
+    PathManager() = default;
+    unordered_map<string, Path> m_paths;
+    static PathManager* m_instance;
+};
+
+
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathSegment.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathSegment.h
new file mode 100644
index 000000000..67fbc701c
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/PathSegment.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "Position2d.h"
+
+class PathSegment{
+public:
+	struct Sample{
+		Trans2d translation;
+		double speed;
+		Sample(Trans2d newTranslation, double newSpeed);
+	};
+
+protected:
+	double m_speed;
+	Trans2d m_start;
+	Trans2d m_end;
+	Trans2d m_startToEnd;
+	Rotation2d m_angle;
+	double m_length;
+
+public:
+	struct ClosestPointReport{
+		double index;
+		double clampedIndex;
+		Trans2d closestPoint;
+		double distance;
+	};
+
+	PathSegment(Trans2d start, Trans2d end, Rotation2d angle, double speed);
+
+	void updateStart(Trans2d newStart);
+
+	double getSpeed();
+	Trans2d getStart();
+	Trans2d getEnd();
+	double getLength();
+	Rotation2d getAngle();
+
+	Trans2d interpolate(double index);
+	double dotProduct(Trans2d other);
+	ClosestPointReport getClosestPoint(Trans2d queryPoint);
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Position2d.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Position2d.h
new file mode 100644
index 000000000..57ba4e912
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Position2d.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include "Trans2d.h"
+
+class Position2d{
+public:
+	struct Delta{
+		double dx, dy, dtheta;
+
+		Delta(double x, double y, double t);
+	};
+
+protected:
+	Trans2d m_translation;
+	Rotation2d m_rotation;
+
+public:
+	Position2d();
+	Position2d(Trans2d tran, Rotation2d rot);
+	Position2d(const Position2d& other);
+
+	static Position2d fromTranslation(Trans2d tran);
+	static Position2d fromRotation(Rotation2d rot);
+	static Position2d fromVelocity(Delta delta);
+
+	Trans2d getTranslation();
+	void setTranslation(Trans2d tran);
+	Rotation2d getRotation();
+	void setRotation(Rotation2d rot);
+
+	Position2d transformBy(Position2d other);
+
+	Position2d inverse();
+
+	Position2d interpolate(Position2d other, double x);
+
+
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Rotation2d.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Rotation2d.h
new file mode 100644
index 000000000..0949dae5a
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Rotation2d.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "Math/Math.h"
+
+class Rotation2d{
+protected:
+	double m_cos, m_sin;
+
+public:
+	Rotation2d();
+	Rotation2d(double x, double y, bool doNormalize);
+	Rotation2d(const Rotation2d& other);
+
+	static Rotation2d fromRadians(double radians);
+	static Rotation2d fromDegrees(double degrees);
+
+	void normalize();
+
+	double getCos();
+	double getSin();
+
+	double getRadians();
+	double getDegrees();
+
+	Rotation2d rotateBy(Rotation2d other);
+	Rotation2d inverse();
+	Rotation2d opposite();
+
+	Rotation2d interpolate(Rotation2d other, double x);
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/TankOdometry.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/TankOdometry.h
new file mode 100644
index 000000000..78eecbaf5
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/TankOdometry.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include "Math/Pose.h"
+#include "Math/Math.h"
+
+using namespace std;
+
+
+class TankOdometry {
+public:
+    struct EncoderConfig {
+        double initialTicks;
+        double ticksPerWheelRevolution;
+        double wheelDiameter;
+    };
+
+    void ResetEncoderTicks(double leftEncoderTicks = 0, double rightEncoderTicks = 0);
+
+    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth);
+    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle);
+
+    static TankOdometry* GetInstance();
+
+    void Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig, Pose currentPose = Pose());
+
+    void SetCurrentPose(Pose currentPose);
+
+    Pose GetPose();
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+private:
+    TankOdometry() = default;
+
+    static TankOdometry* m_instance;
+
+    double m_leftTicksToDist;
+    double m_rightTicksToDist;
+
+    double m_lastLeftEncoderDist;
+    double m_lastRightEncoderDist;
+
+    Rotation2Dd m_gyroInitialAngle;
+
+    bool m_poseReset = true;
+
+    Pose m_robotPose = Pose(Vector2d(0, 0), Rotation2Dd());
+};
+
+
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Trans2d.h b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Trans2d.h
new file mode 100644
index 000000000..8a52631d5
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/Trans2d.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "Rotation2d.h"
+
+class Trans2d{
+protected:
+	double m_x, m_y;
+
+public:
+	Trans2d();
+
+	Trans2d(double x, double y);
+
+	double norm();
+
+	double getX();
+
+	double getY();
+
+	void setX(double x);
+
+	void setY(double y);
+
+	Trans2d translateBy(Trans2d other);
+
+	Trans2d rotateBy(Rotation2d rotation);
+
+	Trans2d inverse();
+
+	Trans2d interpolate(Trans2d other, double x);
+
+	Trans2d extrapolate(Trans2d other, double x);
+
+	Trans2d flipX();
+	Trans2d flipY();
+
+	double getSin();
+	double getCos();
+
+
+};
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/greeter.hpp b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/greeter.hpp
new file mode 100644
index 000000000..7dff3223d
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/greeter.hpp
@@ -0,0 +1,18 @@
+#ifndef _GREETER_H_
+#define _GREETER_H_
+
+#include <string>
+#include <algorithm>
+
+
+class Greeter {
+public:
+    Greeter(std::string name_) : name(name_) {};
+    Greeter() : name("World") {};
+    void greet();
+    int getNameLength();
+private:
+    std::string name;
+};
+
+#endif
diff --git a/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/json.hpp b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/json.hpp
new file mode 100644
index 000000000..a70aaf8cb
--- /dev/null
+++ b/src/adaptive_pursuit_controller/include/adaptive_pursuit_controller/json.hpp
@@ -0,0 +1,25447 @@
+/*
+    __ _____ _____ _____
+ __|  |   __|     |   | |  JSON for Modern C++
+|  |  |__   |  |  | | | |  version 3.9.1
+|_____|_____|_____|_|___|  https://github.com/nlohmann/json
+
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+SPDX-License-Identifier: MIT
+Copyright (c) 2013-2019 Niels Lohmann <http://nlohmann.me>.
+
+Permission is hereby  granted, free of charge, to any  person obtaining a copy
+of this software and associated  documentation files (the "Software"), to deal
+in the Software  without restriction, including without  limitation the rights
+to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
+copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
+IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
+FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
+AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
+LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef INCLUDE_NLOHMANN_JSON_HPP_
+#define INCLUDE_NLOHMANN_JSON_HPP_
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3
+#define NLOHMANN_JSON_VERSION_MINOR 9
+#define NLOHMANN_JSON_VERSION_PATCH 1
+
+#include <algorithm> // all_of, find, for_each
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#include <iosfwd> // istream, ostream
+#include <iterator> // random_access_iterator_tag
+#include <memory> // unique_ptr
+#include <numeric> // accumulate
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+#include <vector> // vector
+
+// #include <nlohmann/adl_serializer.hpp>
+
+
+#include <utility>
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+
+#include <algorithm> // transform
+#include <array> // array
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+#include <exception> // exception
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+#include <cstddef> // size_t
+
+namespace nlohmann
+{
+namespace detail
+{
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+#include <utility> // pair
+// #include <nlohmann/thirdparty/hedley/hedley.hpp>
+/* Hedley - https://nemequ.github.io/hedley
+ * Created by Evan Nemerson <evan@nemerson.com>
+ *
+ * To the extent possible under law, the author(s) have dedicated all
+ * copyright and related and neighboring rights to this software to
+ * the public domain worldwide. This software is distributed without
+ * any warranty.
+ *
+ * For details, see <http://creativecommons.org/publicdomain/zero/1.0/>.
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#if !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < 13)
+#if defined(JSON_HEDLEY_VERSION)
+    #undef JSON_HEDLEY_VERSION
+#endif
+#define JSON_HEDLEY_VERSION 13
+
+#if defined(JSON_HEDLEY_STRINGIFY_EX)
+    #undef JSON_HEDLEY_STRINGIFY_EX
+#endif
+#define JSON_HEDLEY_STRINGIFY_EX(x) #x
+
+#if defined(JSON_HEDLEY_STRINGIFY)
+    #undef JSON_HEDLEY_STRINGIFY
+#endif
+#define JSON_HEDLEY_STRINGIFY(x) JSON_HEDLEY_STRINGIFY_EX(x)
+
+#if defined(JSON_HEDLEY_CONCAT_EX)
+    #undef JSON_HEDLEY_CONCAT_EX
+#endif
+#define JSON_HEDLEY_CONCAT_EX(a,b) a##b
+
+#if defined(JSON_HEDLEY_CONCAT)
+    #undef JSON_HEDLEY_CONCAT
+#endif
+#define JSON_HEDLEY_CONCAT(a,b) JSON_HEDLEY_CONCAT_EX(a,b)
+
+#if defined(JSON_HEDLEY_CONCAT3_EX)
+    #undef JSON_HEDLEY_CONCAT3_EX
+#endif
+#define JSON_HEDLEY_CONCAT3_EX(a,b,c) a##b##c
+
+#if defined(JSON_HEDLEY_CONCAT3)
+    #undef JSON_HEDLEY_CONCAT3
+#endif
+#define JSON_HEDLEY_CONCAT3(a,b,c) JSON_HEDLEY_CONCAT3_EX(a,b,c)
+
+#if defined(JSON_HEDLEY_VERSION_ENCODE)
+    #undef JSON_HEDLEY_VERSION_ENCODE
+#endif
+#define JSON_HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision))
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MAJOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MINOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_REVISION)
+    #undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000)
+
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #undef JSON_HEDLEY_GNUC_VERSION
+#endif
+#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
+#elif defined(__GNUC__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GNUC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION)
+    #undef JSON_HEDLEY_MSVC_VERSION
+#endif
+#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100)
+#elif defined(_MSC_FULL_VER)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10)
+#elif defined(_MSC_VER)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#endif
+#if !defined(_MSC_VER)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0)
+#elif defined(_MSC_VER) && (_MSC_VER >= 1400)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch)))
+#elif defined(_MSC_VER) && (_MSC_VER >= 1200)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch)))
+#else
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor)))
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #undef JSON_HEDLEY_INTEL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE)
+#elif defined(__INTEL_COMPILER)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #undef JSON_HEDLEY_PGI_VERSION
+#endif
+#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__)
+    #define JSON_HEDLEY_PGI_VERSION JSON_HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION_CHECK)
+    #undef JSON_HEDLEY_PGI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PGI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #undef JSON_HEDLEY_SUNPRO_VERSION
+#endif
+#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10)
+#elif defined(__SUNPRO_C)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf)
+#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10)
+#elif defined(__SUNPRO_CC)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION_CHECK)
+    #undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_SUNPRO_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#endif
+#if defined(__EMSCRIPTEN__)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION JSON_HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_EMSCRIPTEN_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #undef JSON_HEDLEY_ARM_VERSION
+#endif
+#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100)
+#elif defined(__CC_ARM) && defined(__ARMCC_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION_CHECK)
+    #undef JSON_HEDLEY_ARM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_ARM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #undef JSON_HEDLEY_IBM_VERSION
+#endif
+#if defined(__ibmxl__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__)
+#elif defined(__xlC__) && defined(__xlC_ver__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff)
+#elif defined(__xlC__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION_CHECK)
+    #undef JSON_HEDLEY_IBM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IBM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #undef JSON_HEDLEY_TI_VERSION
+#endif
+#if \
+    defined(__TI_COMPILER_VERSION__) && \
+    ( \
+      defined(__TMS470__) || defined(__TI_ARM__) || \
+      defined(__MSP430__) || \
+      defined(__TMS320C2000__) \
+    )
+#if (__TI_COMPILER_VERSION__ >= 16000000)
+    #define JSON_HEDLEY_TI_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__)
+    #define JSON_HEDLEY_TI_CL2000_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL2000_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #undef JSON_HEDLEY_TI_CL430_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__)
+    #define JSON_HEDLEY_TI_CL430_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL430_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__))
+    #define JSON_HEDLEY_TI_ARMCL_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_ARMCL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__)
+    #define JSON_HEDLEY_TI_CL6X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL6X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__)
+    #define JSON_HEDLEY_TI_CL7X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL7X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CLPRU_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #undef JSON_HEDLEY_CRAY_VERSION
+#endif
+#if defined(_CRAYC)
+    #if defined(_RELEASE_PATCHLEVEL)
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL)
+    #else
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION_CHECK)
+    #undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_CRAY_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #undef JSON_HEDLEY_IAR_VERSION
+#endif
+#if defined(__IAR_SYSTEMS_ICC__)
+    #if __VER__ > 1000
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000))
+    #else
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE(VER / 100, __VER__ % 100, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION_CHECK)
+    #undef JSON_HEDLEY_IAR_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IAR_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #undef JSON_HEDLEY_TINYC_VERSION
+#endif
+#if defined(__TINYC__)
+    #define JSON_HEDLEY_TINYC_VERSION JSON_HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION_CHECK)
+    #undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TINYC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #undef JSON_HEDLEY_DMC_VERSION
+#endif
+#if defined(__DMC__)
+    #define JSON_HEDLEY_DMC_VERSION JSON_HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION_CHECK)
+    #undef JSON_HEDLEY_DMC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_DMC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #undef JSON_HEDLEY_COMPCERT_VERSION
+#endif
+#if defined(__COMPCERT_VERSION__)
+    #define JSON_HEDLEY_COMPCERT_VERSION JSON_HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION_CHECK)
+    #undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_COMPCERT_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #undef JSON_HEDLEY_PELLES_VERSION
+#endif
+#if defined(__POCC__)
+    #define JSON_HEDLEY_PELLES_VERSION JSON_HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION_CHECK)
+    #undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PELLES_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #undef JSON_HEDLEY_GCC_VERSION
+#endif
+#if \
+    defined(JSON_HEDLEY_GNUC_VERSION) && \
+    !defined(__clang__) && \
+    !defined(JSON_HEDLEY_INTEL_VERSION) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_ARM_VERSION) && \
+    !defined(JSON_HEDLEY_TI_VERSION) && \
+    !defined(JSON_HEDLEY_TI_ARMCL_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL430_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL2000_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL6X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL7X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CLPRU_VERSION) && \
+    !defined(__COMPCERT__)
+    #define JSON_HEDLEY_GCC_VERSION JSON_HEDLEY_GNUC_VERSION
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#endif
+#if \
+    defined(__has_cpp_attribute) && \
+    defined(__cplusplus) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#endif
+#if !defined(__cplusplus) || !defined(__has_cpp_attribute)
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#elif \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_IAR_VERSION) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \
+    (!defined(JSON_HEDLEY_MSVC_VERSION) || JSON_HEDLEY_MSVC_VERSION_CHECK(19,20,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_BUILTIN)
+    #undef JSON_HEDLEY_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_FEATURE)
+    #undef JSON_HEDLEY_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_HAS_FEATURE(feature) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_HAS_FEATURE(feature) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GCC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_EXTENSION)
+    #undef JSON_HEDLEY_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_WARNING)
+    #undef JSON_HEDLEY_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_HAS_WARNING(warning) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_HAS_WARNING(warning) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_WARNING)
+    #undef JSON_HEDLEY_GNUC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_WARNING)
+    #undef JSON_HEDLEY_GCC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+/* JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat")
+#    if JSON_HEDLEY_HAS_WARNING("-Wc++17-extensions")
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    else
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    endif
+#  endif
+#endif
+#if !defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x
+#endif
+
+#if defined(JSON_HEDLEY_CONST_CAST)
+    #undef JSON_HEDLEY_CONST_CAST
+#endif
+#if defined(__cplusplus)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (const_cast<T>(expr))
+#elif \
+  JSON_HEDLEY_HAS_WARNING("-Wcast-qual") || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_CONST_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_REINTERPRET_CAST)
+    #undef JSON_HEDLEY_REINTERPRET_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_CAST)
+    #undef JSON_HEDLEY_STATIC_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) (static_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_CPP_CAST)
+    #undef JSON_HEDLEY_CPP_CAST
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wold-style-cast")
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \
+    ((T) (expr)) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  elif JSON_HEDLEY_IAR_VERSION_CHECK(8,3,0)
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("diag_suppress=Pe137") \
+    JSON_HEDLEY_DIAGNOSTIC_POP \
+#  else
+#    define JSON_HEDLEY_CPP_CAST(T, expr) ((T) (expr))
+#  endif
+#else
+#  define JSON_HEDLEY_CPP_CAST(T, expr) (expr)
+#endif
+
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \
+    (JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR))
+    #define JSON_HEDLEY_PRAGMA(value) _Pragma(#value)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_PRAGMA(value) __pragma(value)
+#else
+    #define JSON_HEDLEY_PRAGMA(value)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_PUSH)
+    #undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#endif
+#if defined(JSON_HEDLEY_DIAGNOSTIC_POP)
+    #undef JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push))
+    #define JSON_HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop))
+#elif JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("pop")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH
+    #define JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wdeprecated-declarations")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(16,9,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-attributes")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wcast-qual")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+
+#if defined(JSON_HEDLEY_DEPRECATED)
+    #undef JSON_HEDLEY_DEPRECATED
+#endif
+#if defined(JSON_HEDLEY_DEPRECATED_FOR)
+    #undef JSON_HEDLEY_DEPRECATED_FOR
+#endif
+#if JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement))
+#elif defined(__cplusplus) && (__cplusplus >= 201402L)
+    #define JSON_HEDLEY_DEPRECATED(since) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]])
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]])
+#elif \
+    JSON_HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since)))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(deprecated) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_PELLES_VERSION_CHECK(6,50,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) _Pragma("deprecated")
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated")
+#else
+    #define JSON_HEDLEY_DEPRECATED(since)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement)
+#endif
+
+#if defined(JSON_HEDLEY_UNAVAILABLE)
+    #undef JSON_HEDLEY_UNAVAILABLE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warning) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since)))
+#else
+    #define JSON_HEDLEY_UNAVAILABLE(available_since)
+#endif
+
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#endif
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT_MSG)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#endif
+#if (JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__))
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__))
+#elif defined(_Check_return_) /* SAL */
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT _Check_return_
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_
+#else
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg)
+#endif
+
+#if defined(JSON_HEDLEY_SENTINEL)
+    #undef JSON_HEDLEY_SENTINEL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(sentinel) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0)
+    #define JSON_HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position)))
+#else
+    #define JSON_HEDLEY_SENTINEL(position)
+#endif
+
+#if defined(JSON_HEDLEY_NO_RETURN)
+    #undef JSON_HEDLEY_NO_RETURN
+#endif
+#if JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NO_RETURN __noreturn
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+    #define JSON_HEDLEY_NO_RETURN _Noreturn
+#elif defined(__cplusplus) && (__cplusplus >= 201103L)
+    #define JSON_HEDLEY_NO_RETURN JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noreturn) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,2,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("does_not_return")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute((noreturn))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#else
+    #define JSON_HEDLEY_NO_RETURN
+#endif
+
+#if defined(JSON_HEDLEY_NO_ESCAPE)
+    #undef JSON_HEDLEY_NO_ESCAPE
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(noescape)
+    #define JSON_HEDLEY_NO_ESCAPE __attribute__((__noescape__))
+#else
+    #define JSON_HEDLEY_NO_ESCAPE
+#endif
+
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #undef JSON_HEDLEY_UNREACHABLE
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE_RETURN)
+    #undef JSON_HEDLEY_UNREACHABLE_RETURN
+#endif
+#if defined(JSON_HEDLEY_ASSUME)
+    #undef JSON_HEDLEY_ASSUME
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_ASSUME(expr) __assume(expr)
+#elif JSON_HEDLEY_HAS_BUILTIN(__builtin_assume)
+    #define JSON_HEDLEY_ASSUME(expr) __builtin_assume(expr)
+#elif \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+    #if defined(__cplusplus)
+        #define JSON_HEDLEY_ASSUME(expr) std::_nassert(expr)
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) _nassert(expr)
+    #endif
+#endif
+#if \
+    (JSON_HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(JSON_HEDLEY_ARM_VERSION))) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,5)
+    #define JSON_HEDLEY_UNREACHABLE() __builtin_unreachable()
+#elif defined(JSON_HEDLEY_ASSUME)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+#if !defined(JSON_HEDLEY_ASSUME)
+    #if defined(JSON_HEDLEY_UNREACHABLE)
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (JSON_HEDLEY_UNREACHABLE(), 1)))
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, expr)
+    #endif
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #if  \
+        JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (JSON_HEDLEY_STATIC_CAST(void, JSON_HEDLEY_ASSUME(0)), (value))
+    #else
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) JSON_HEDLEY_UNREACHABLE()
+    #endif
+#else
+    #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (value)
+#endif
+#if !defined(JSON_HEDLEY_UNREACHABLE)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+
+JSON_HEDLEY_DIAGNOSTIC_PUSH
+#if JSON_HEDLEY_HAS_WARNING("-Wpedantic")
+    #pragma clang diagnostic ignored "-Wpedantic"
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus)
+    #pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#endif
+#if JSON_HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0)
+    #if defined(__clang__)
+        #pragma clang diagnostic ignored "-Wvariadic-macros"
+    #elif defined(JSON_HEDLEY_GCC_VERSION)
+        #pragma GCC diagnostic ignored "-Wvariadic-macros"
+    #endif
+#endif
+#if defined(JSON_HEDLEY_NON_NULL)
+    #undef JSON_HEDLEY_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__)))
+#else
+    #define JSON_HEDLEY_NON_NULL(...)
+#endif
+JSON_HEDLEY_DIAGNOSTIC_POP
+
+#if defined(JSON_HEDLEY_PRINTF_FORMAT)
+    #undef JSON_HEDLEY_PRINTF_FORMAT
+#endif
+#if defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check)))
+#elif defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(format) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check)))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(6,0,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check))
+#else
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check)
+#endif
+
+#if defined(JSON_HEDLEY_CONSTEXPR)
+    #undef JSON_HEDLEY_CONSTEXPR
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_CONSTEXPR JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr)
+    #endif
+#endif
+#if !defined(JSON_HEDLEY_CONSTEXPR)
+    #define JSON_HEDLEY_CONSTEXPR
+#endif
+
+#if defined(JSON_HEDLEY_PREDICT)
+    #undef JSON_HEDLEY_PREDICT
+#endif
+#if defined(JSON_HEDLEY_LIKELY)
+    #undef JSON_HEDLEY_LIKELY
+#endif
+#if defined(JSON_HEDLEY_UNLIKELY)
+    #undef JSON_HEDLEY_UNLIKELY
+#endif
+#if defined(JSON_HEDLEY_UNPREDICTABLE)
+    #undef JSON_HEDLEY_UNPREDICTABLE
+#endif
+#if JSON_HEDLEY_HAS_BUILTIN(__builtin_unpredictable)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr))
+#endif
+#if \
+  JSON_HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(9,0,0)
+#  define JSON_HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability(  (expr), (value), (probability))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability)   __builtin_expect_with_probability(!!(expr),    1   , (probability))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability)  __builtin_expect_with_probability(!!(expr),    0   , (probability))
+#  define JSON_HEDLEY_LIKELY(expr)                      __builtin_expect                 (!!(expr),    1                  )
+#  define JSON_HEDLEY_UNLIKELY(expr)                    __builtin_expect                 (!!(expr),    0                  )
+#elif \
+  JSON_HEDLEY_HAS_BUILTIN(__builtin_expect) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \
+  JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) \
+    (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (JSON_HEDLEY_STATIC_CAST(void, expected), (expr)))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_LIKELY(expr)   __builtin_expect(!!(expr), 1)
+#  define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0)
+#else
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) (JSON_HEDLEY_STATIC_CAST(void, expected), (expr))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_LIKELY(expr) (!!(expr))
+#  define JSON_HEDLEY_UNLIKELY(expr) (!!(expr))
+#endif
+#if !defined(JSON_HEDLEY_UNPREDICTABLE)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) JSON_HEDLEY_PREDICT(expr, 1, 0.5)
+#endif
+
+#if defined(JSON_HEDLEY_MALLOC)
+    #undef JSON_HEDLEY_MALLOC
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(malloc) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_MALLOC __attribute__((__malloc__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_MALLOC _Pragma("returns_new_memory")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(14, 0, 0)
+    #define JSON_HEDLEY_MALLOC __declspec(restrict)
+#else
+    #define JSON_HEDLEY_MALLOC
+#endif
+
+#if defined(JSON_HEDLEY_PURE)
+    #undef JSON_HEDLEY_PURE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(pure) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(2,96,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define JSON_HEDLEY_PURE __attribute__((__pure__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define JSON_HEDLEY_PURE _Pragma("does_not_write_global_data")
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \
+    )
+#  define JSON_HEDLEY_PURE _Pragma("FUNC_IS_PURE;")
+#else
+#  define JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_CONST)
+    #undef JSON_HEDLEY_CONST
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(const) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(2,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_CONST __attribute__((__const__))
+#elif \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_CONST _Pragma("no_side_effect")
+#else
+    #define JSON_HEDLEY_CONST JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_RESTRICT)
+    #undef JSON_HEDLEY_RESTRICT
+#endif
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT restrict
+#elif \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    defined(__clang__)
+    #define JSON_HEDLEY_RESTRICT __restrict
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT _Restrict
+#else
+    #define JSON_HEDLEY_RESTRICT
+#endif
+
+#if defined(JSON_HEDLEY_INLINE)
+    #undef JSON_HEDLEY_INLINE
+#endif
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    (defined(__cplusplus) && (__cplusplus >= 199711L))
+    #define JSON_HEDLEY_INLINE inline
+#elif \
+    defined(JSON_HEDLEY_GCC_VERSION) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(6,2,0)
+    #define JSON_HEDLEY_INLINE __inline__
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_INLINE __inline
+#else
+    #define JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_ALWAYS_INLINE)
+    #undef JSON_HEDLEY_ALWAYS_INLINE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(always_inline) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) JSON_HEDLEY_INLINE
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __forceinline
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+      JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+      JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \
+    )
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("inline=forced")
+#else
+#  define JSON_HEDLEY_ALWAYS_INLINE JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_NEVER_INLINE)
+    #undef JSON_HEDLEY_NEVER_INLINE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noinline) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute__((__noinline__))
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(10,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("noinline")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("inline=never")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute((noinline))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#else
+    #define JSON_HEDLEY_NEVER_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_PRIVATE)
+    #undef JSON_HEDLEY_PRIVATE
+#endif
+#if defined(JSON_HEDLEY_PUBLIC)
+    #undef JSON_HEDLEY_PUBLIC
+#endif
+#if defined(JSON_HEDLEY_IMPORT)
+    #undef JSON_HEDLEY_IMPORT
+#endif
+#if defined(_WIN32) || defined(__CYGWIN__)
+#  define JSON_HEDLEY_PRIVATE
+#  define JSON_HEDLEY_PUBLIC   __declspec(dllexport)
+#  define JSON_HEDLEY_IMPORT   __declspec(dllimport)
+#else
+#  if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(visibility) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    ( \
+      defined(__TI_EABI__) && \
+      ( \
+        (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \
+      ) \
+    )
+#    define JSON_HEDLEY_PRIVATE __attribute__((__visibility__("hidden")))
+#    define JSON_HEDLEY_PUBLIC  __attribute__((__visibility__("default")))
+#  else
+#    define JSON_HEDLEY_PRIVATE
+#    define JSON_HEDLEY_PUBLIC
+#  endif
+#  define JSON_HEDLEY_IMPORT    extern
+#endif
+
+#if defined(JSON_HEDLEY_NO_THROW)
+    #undef JSON_HEDLEY_NO_THROW
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nothrow) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_NO_THROW __attribute__((__nothrow__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NO_THROW __declspec(nothrow)
+#else
+    #define JSON_HEDLEY_NO_THROW
+#endif
+
+#if defined(JSON_HEDLEY_FALL_THROUGH)
+    #undef JSON_HEDLEY_FALL_THROUGH
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(fallthrough) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(7,0,0)
+    #define JSON_HEDLEY_FALL_THROUGH __attribute__((__fallthrough__))
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]])
+#elif defined(__fallthrough) /* SAL */
+    #define JSON_HEDLEY_FALL_THROUGH __fallthrough
+#else
+    #define JSON_HEDLEY_FALL_THROUGH
+#endif
+
+#if defined(JSON_HEDLEY_RETURNS_NON_NULL)
+    #undef JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
+    #define JSON_HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__))
+#elif defined(_Ret_notnull_) /* SAL */
+    #define JSON_HEDLEY_RETURNS_NON_NULL _Ret_notnull_
+#else
+    #define JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+
+#if defined(JSON_HEDLEY_ARRAY_PARAM)
+    #undef JSON_HEDLEY_ARRAY_PARAM
+#endif
+#if \
+    defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \
+    !defined(__STDC_NO_VLA__) && \
+    !defined(__cplusplus) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_ARRAY_PARAM(name) (name)
+#else
+    #define JSON_HEDLEY_ARRAY_PARAM(name)
+#endif
+
+#if defined(JSON_HEDLEY_IS_CONSTANT)
+    #undef JSON_HEDLEY_IS_CONSTANT
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_CONSTEXPR)
+    #undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#endif
+/* JSON_HEDLEY_IS_CONSTEXPR_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #undef JSON_HEDLEY_IS_CONSTEXPR_
+#endif
+#if \
+    JSON_HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+    #define JSON_HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr)
+#endif
+#if !defined(__cplusplus)
+#  if \
+       JSON_HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+       JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+       JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,24)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*)
+#endif
+#  elif \
+       ( \
+          defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \
+          !defined(JSON_HEDLEY_SUNPRO_VERSION) && \
+          !defined(JSON_HEDLEY_PGI_VERSION) && \
+          !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       JSON_HEDLEY_HAS_EXTENSION(c_generic_selections) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,3,0)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0)
+#endif
+#  elif \
+       defined(JSON_HEDLEY_GCC_VERSION) || \
+       defined(JSON_HEDLEY_INTEL_VERSION) || \
+       defined(JSON_HEDLEY_TINYC_VERSION) || \
+       defined(JSON_HEDLEY_TI_ARMCL_VERSION) || \
+       JSON_HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \
+       defined(JSON_HEDLEY_TI_CL2000_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL6X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL7X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CLPRU_VERSION) || \
+       defined(__clang__)
+#    define JSON_HEDLEY_IS_CONSTEXPR_(expr) ( \
+        sizeof(void) != \
+        sizeof(*( \
+                  1 ? \
+                  ((void*) ((expr) * 0L) ) : \
+((struct { char v[sizeof(void) * 2]; } *) 1) \
+                ) \
+              ) \
+                                            )
+#  endif
+#endif
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) JSON_HEDLEY_IS_CONSTEXPR_(expr)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (JSON_HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1))
+#else
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) (0)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_BEGIN_C_DECLS)
+    #undef JSON_HEDLEY_BEGIN_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_END_C_DECLS)
+    #undef JSON_HEDLEY_END_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_C_DECL)
+    #undef JSON_HEDLEY_C_DECL
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_BEGIN_C_DECLS extern "C" {
+    #define JSON_HEDLEY_END_C_DECLS }
+    #define JSON_HEDLEY_C_DECL extern "C"
+#else
+    #define JSON_HEDLEY_BEGIN_C_DECLS
+    #define JSON_HEDLEY_END_C_DECLS
+    #define JSON_HEDLEY_C_DECL
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_ASSERT)
+    #undef JSON_HEDLEY_STATIC_ASSERT
+#endif
+#if \
+  !defined(__cplusplus) && ( \
+      (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \
+      JSON_HEDLEY_HAS_FEATURE(c_static_assert) || \
+      JSON_HEDLEY_GCC_VERSION_CHECK(6,0,0) || \
+      JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+      defined(_Static_assert) \
+    )
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message)
+#elif \
+  (defined(__cplusplus) && (__cplusplus >= 201103L)) || \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(16,0,0)
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message))
+#else
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message)
+#endif
+
+#if defined(JSON_HEDLEY_NULL)
+    #undef JSON_HEDLEY_NULL
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr)
+    #elif defined(NULL)
+        #define JSON_HEDLEY_NULL NULL
+    #else
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_STATIC_CAST(void*, 0)
+    #endif
+#elif defined(NULL)
+    #define JSON_HEDLEY_NULL NULL
+#else
+    #define JSON_HEDLEY_NULL ((void*) 0)
+#endif
+
+#if defined(JSON_HEDLEY_MESSAGE)
+    #undef JSON_HEDLEY_MESSAGE
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_MESSAGE(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(message msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message msg)
+#elif JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(_CRI message msg)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_WARNING)
+    #undef JSON_HEDLEY_WARNING
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_WARNING(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(clang warning msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,8,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(GCC warning msg)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_REQUIRE)
+    #undef JSON_HEDLEY_REQUIRE
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_MSG)
+    #undef JSON_HEDLEY_REQUIRE_MSG
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(diagnose_if)
+#  if JSON_HEDLEY_HAS_WARNING("-Wgcc-compat")
+#    define JSON_HEDLEY_REQUIRE(expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), #expr, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), msg, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error")))
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error")))
+#  endif
+#else
+#  define JSON_HEDLEY_REQUIRE(expr)
+#  define JSON_HEDLEY_REQUIRE_MSG(expr,msg)
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS)
+    #undef JSON_HEDLEY_FLAGS
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(flag_enum)
+    #define JSON_HEDLEY_FLAGS __attribute__((__flag_enum__))
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS_CAST)
+    #undef JSON_HEDLEY_FLAGS_CAST
+#endif
+#if JSON_HEDLEY_INTEL_VERSION_CHECK(19,0,0)
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        _Pragma("warning(disable:188)") \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) JSON_HEDLEY_STATIC_CAST(T, expr)
+#endif
+
+#if defined(JSON_HEDLEY_EMPTY_BASES)
+    #undef JSON_HEDLEY_EMPTY_BASES
+#endif
+#if JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !JSON_HEDLEY_MSVC_VERSION_CHECK(20,0,0)
+    #define JSON_HEDLEY_EMPTY_BASES __declspec(empty_bases)
+#else
+    #define JSON_HEDLEY_EMPTY_BASES
+#endif
+
+/* Remaining macros are deprecated. */
+
+#if defined(JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0)
+#else
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_CLANG_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_BUILTIN)
+    #undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#endif
+#define JSON_HEDLEY_CLANG_HAS_BUILTIN(builtin) JSON_HEDLEY_HAS_BUILTIN(builtin)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_FEATURE)
+    #undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_FEATURE(feature) JSON_HEDLEY_HAS_FEATURE(feature)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_EXTENSION)
+    #undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#endif
+#define JSON_HEDLEY_CLANG_HAS_EXTENSION(extension) JSON_HEDLEY_HAS_EXTENSION(extension)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_WARNING)
+    #undef JSON_HEDLEY_CLANG_HAS_WARNING
+#endif
+#define JSON_HEDLEY_CLANG_HAS_WARNING(warning) JSON_HEDLEY_HAS_WARNING(warning)
+
+#endif /* !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < X) */
+
+
+// This file contains all internal macro definitions
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// C++ language standard detection
+#if (defined(__cplusplus) && __cplusplus >= 202002L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L)
+    #define JSON_HAS_CPP_20
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+    #define JSON_HAS_CPP_14
+#endif
+
+// disable float-equal warnings on GCC/clang
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wdocumentation"
+#endif
+
+// allow to disable exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #include <cstdlib>
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// allow to override assert
+#if !defined(JSON_ASSERT)
+    #include <cassert> // assert
+    #define JSON_ASSERT(x) assert(x)
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                            \
+    template<typename BasicJsonType>                                                            \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                   \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool  \
+        {                                                                                       \
+            return ej_pair.first == e;                                                          \
+        });                                                                                     \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                 \
+    }                                                                                           \
+    template<typename BasicJsonType>                                                            \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                 \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [&j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                       \
+            return ej_pair.second == j;                                                         \
+        });                                                                                     \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                  \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer,     \
+             class BinaryType>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer, BinaryType>
+
+// Macros to simplify conversion from/to types
+
+#define NLOHMANN_JSON_EXPAND( x ) x
+#define NLOHMANN_JSON_GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16, _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, _32, _33, _34, _35, _36, _37, _38, _39, _40, _41, _42, _43, _44, _45, _46, _47, _48, _49, _50, _51, _52, _53, _54, _55, _56, _57, _58, _59, _60, _61, _62, _63, _64, NAME,...) NAME
+#define NLOHMANN_JSON_PASTE(...) NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_GET_MACRO(__VA_ARGS__, \
+        NLOHMANN_JSON_PASTE64, \
+        NLOHMANN_JSON_PASTE63, \
+        NLOHMANN_JSON_PASTE62, \
+        NLOHMANN_JSON_PASTE61, \
+        NLOHMANN_JSON_PASTE60, \
+        NLOHMANN_JSON_PASTE59, \
+        NLOHMANN_JSON_PASTE58, \
+        NLOHMANN_JSON_PASTE57, \
+        NLOHMANN_JSON_PASTE56, \
+        NLOHMANN_JSON_PASTE55, \
+        NLOHMANN_JSON_PASTE54, \
+        NLOHMANN_JSON_PASTE53, \
+        NLOHMANN_JSON_PASTE52, \
+        NLOHMANN_JSON_PASTE51, \
+        NLOHMANN_JSON_PASTE50, \
+        NLOHMANN_JSON_PASTE49, \
+        NLOHMANN_JSON_PASTE48, \
+        NLOHMANN_JSON_PASTE47, \
+        NLOHMANN_JSON_PASTE46, \
+        NLOHMANN_JSON_PASTE45, \
+        NLOHMANN_JSON_PASTE44, \
+        NLOHMANN_JSON_PASTE43, \
+        NLOHMANN_JSON_PASTE42, \
+        NLOHMANN_JSON_PASTE41, \
+        NLOHMANN_JSON_PASTE40, \
+        NLOHMANN_JSON_PASTE39, \
+        NLOHMANN_JSON_PASTE38, \
+        NLOHMANN_JSON_PASTE37, \
+        NLOHMANN_JSON_PASTE36, \
+        NLOHMANN_JSON_PASTE35, \
+        NLOHMANN_JSON_PASTE34, \
+        NLOHMANN_JSON_PASTE33, \
+        NLOHMANN_JSON_PASTE32, \
+        NLOHMANN_JSON_PASTE31, \
+        NLOHMANN_JSON_PASTE30, \
+        NLOHMANN_JSON_PASTE29, \
+        NLOHMANN_JSON_PASTE28, \
+        NLOHMANN_JSON_PASTE27, \
+        NLOHMANN_JSON_PASTE26, \
+        NLOHMANN_JSON_PASTE25, \
+        NLOHMANN_JSON_PASTE24, \
+        NLOHMANN_JSON_PASTE23, \
+        NLOHMANN_JSON_PASTE22, \
+        NLOHMANN_JSON_PASTE21, \
+        NLOHMANN_JSON_PASTE20, \
+        NLOHMANN_JSON_PASTE19, \
+        NLOHMANN_JSON_PASTE18, \
+        NLOHMANN_JSON_PASTE17, \
+        NLOHMANN_JSON_PASTE16, \
+        NLOHMANN_JSON_PASTE15, \
+        NLOHMANN_JSON_PASTE14, \
+        NLOHMANN_JSON_PASTE13, \
+        NLOHMANN_JSON_PASTE12, \
+        NLOHMANN_JSON_PASTE11, \
+        NLOHMANN_JSON_PASTE10, \
+        NLOHMANN_JSON_PASTE9, \
+        NLOHMANN_JSON_PASTE8, \
+        NLOHMANN_JSON_PASTE7, \
+        NLOHMANN_JSON_PASTE6, \
+        NLOHMANN_JSON_PASTE5, \
+        NLOHMANN_JSON_PASTE4, \
+        NLOHMANN_JSON_PASTE3, \
+        NLOHMANN_JSON_PASTE2, \
+        NLOHMANN_JSON_PASTE1)(__VA_ARGS__))
+#define NLOHMANN_JSON_PASTE2(func, v1) func(v1)
+#define NLOHMANN_JSON_PASTE3(func, v1, v2) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE2(func, v2)
+#define NLOHMANN_JSON_PASTE4(func, v1, v2, v3) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE3(func, v2, v3)
+#define NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE4(func, v2, v3, v4)
+#define NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5)
+#define NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6)
+#define NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7)
+#define NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8)
+#define NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9)
+#define NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10)
+#define NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11)
+#define NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12)
+#define NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13)
+#define NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14)
+#define NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15)
+#define NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16)
+#define NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17)
+#define NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18)
+#define NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19)
+#define NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20)
+#define NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21)
+#define NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22)
+#define NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23)
+#define NLOHMANN_JSON_PASTE25(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24)
+#define NLOHMANN_JSON_PASTE26(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25)
+#define NLOHMANN_JSON_PASTE27(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE26(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26)
+#define NLOHMANN_JSON_PASTE28(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE27(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27)
+#define NLOHMANN_JSON_PASTE29(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE28(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28)
+#define NLOHMANN_JSON_PASTE30(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE29(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29)
+#define NLOHMANN_JSON_PASTE31(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE30(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30)
+#define NLOHMANN_JSON_PASTE32(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE31(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31)
+#define NLOHMANN_JSON_PASTE33(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE32(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32)
+#define NLOHMANN_JSON_PASTE34(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE33(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33)
+#define NLOHMANN_JSON_PASTE35(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE34(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34)
+#define NLOHMANN_JSON_PASTE36(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE35(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35)
+#define NLOHMANN_JSON_PASTE37(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE36(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36)
+#define NLOHMANN_JSON_PASTE38(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE37(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37)
+#define NLOHMANN_JSON_PASTE39(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE38(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38)
+#define NLOHMANN_JSON_PASTE40(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE39(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39)
+#define NLOHMANN_JSON_PASTE41(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE40(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40)
+#define NLOHMANN_JSON_PASTE42(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE41(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41)
+#define NLOHMANN_JSON_PASTE43(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE42(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42)
+#define NLOHMANN_JSON_PASTE44(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE43(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43)
+#define NLOHMANN_JSON_PASTE45(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE44(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44)
+#define NLOHMANN_JSON_PASTE46(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE45(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45)
+#define NLOHMANN_JSON_PASTE47(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE46(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46)
+#define NLOHMANN_JSON_PASTE48(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE47(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47)
+#define NLOHMANN_JSON_PASTE49(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE48(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48)
+#define NLOHMANN_JSON_PASTE50(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE49(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49)
+#define NLOHMANN_JSON_PASTE51(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE50(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50)
+#define NLOHMANN_JSON_PASTE52(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE51(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51)
+#define NLOHMANN_JSON_PASTE53(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE52(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52)
+#define NLOHMANN_JSON_PASTE54(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE53(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53)
+#define NLOHMANN_JSON_PASTE55(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE54(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54)
+#define NLOHMANN_JSON_PASTE56(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE55(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55)
+#define NLOHMANN_JSON_PASTE57(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE56(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56)
+#define NLOHMANN_JSON_PASTE58(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE57(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57)
+#define NLOHMANN_JSON_PASTE59(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE58(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58)
+#define NLOHMANN_JSON_PASTE60(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE59(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59)
+#define NLOHMANN_JSON_PASTE61(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE60(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60)
+#define NLOHMANN_JSON_PASTE62(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE61(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61)
+#define NLOHMANN_JSON_PASTE63(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE62(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62)
+#define NLOHMANN_JSON_PASTE64(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE63(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63)
+
+#define NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1;
+#define NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1);
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#ifndef JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_USE_IMPLICIT_CONVERSIONS 1
+#endif
+
+#if JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_EXPLICIT
+#else
+    #define JSON_EXPLICIT explicit
+#endif
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////////
+// exceptions //
+////////////////
+
+/*!
+@brief general exception of the @ref basic_json class
+
+This class is an extension of `std::exception` objects with a member @a id for
+exception ids. It is used as the base class for all exceptions thrown by the
+@ref basic_json class. This class can hence be used as "wildcard" to catch
+exceptions.
+
+Subclasses:
+- @ref parse_error for exceptions indicating a parse error
+- @ref invalid_iterator for exceptions indicating errors with iterators
+- @ref type_error for exceptions indicating executing a member function with
+                  a wrong type
+- @ref out_of_range for exceptions indicating access out of the defined range
+- @ref other_error for exceptions indicating other library errors
+
+@internal
+@note To have nothrow-copy-constructible exceptions, we internally use
+      `std::runtime_error` which can cope with arbitrary-length error messages.
+      Intermediate strings are built with static functions and then passed to
+      the actual constructor.
+@endinternal
+
+@liveexample{The following code shows how arbitrary library exceptions can be
+caught.,exception}
+
+@since version 3.0.0
+*/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id;
+
+  protected:
+    JSON_HEDLEY_NON_NULL(3)
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {}
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return "[json.exception." + ename + "." + std::to_string(id_) + "] ";
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/*!
+@brief exception indicating a parse error
+
+This exception is thrown by the library when a parse error occurs. Parse errors
+can occur during the deserialization of JSON text, CBOR, MessagePack, as well
+as when using JSON Patch.
+
+Member @a byte holds the byte index of the last read character in the input
+file.
+
+Exceptions have ids 1xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.parse_error.101 | parse error at 2: unexpected end of input; expected string literal | This error indicates a syntax error while deserializing a JSON text. The error message describes that an unexpected token (character) was encountered, and the member @a byte indicates the error position.
+json.exception.parse_error.102 | parse error at 14: missing or wrong low surrogate | JSON uses the `\uxxxx` format to describe Unicode characters. Code points above above 0xFFFF are split into two `\uxxxx` entries ("surrogate pairs"). This error indicates that the surrogate pair is incomplete or contains an invalid code point.
+json.exception.parse_error.103 | parse error: code points above 0x10FFFF are invalid | Unicode supports code points up to 0x10FFFF. Code points above 0x10FFFF are invalid.
+json.exception.parse_error.104 | parse error: JSON patch must be an array of objects | [RFC 6902](https://tools.ietf.org/html/rfc6902) requires a JSON Patch document to be a JSON document that represents an array of objects.
+json.exception.parse_error.105 | parse error: operation must have string member 'op' | An operation of a JSON Patch document must contain exactly one "op" member, whose value indicates the operation to perform. Its value must be one of "add", "remove", "replace", "move", "copy", or "test"; other values are errors.
+json.exception.parse_error.106 | parse error: array index '01' must not begin with '0' | An array index in a JSON Pointer ([RFC 6901](https://tools.ietf.org/html/rfc6901)) may be `0` or any number without a leading `0`.
+json.exception.parse_error.107 | parse error: JSON pointer must be empty or begin with '/' - was: 'foo' | A JSON Pointer must be a Unicode string containing a sequence of zero or more reference tokens, each prefixed by a `/` character.
+json.exception.parse_error.108 | parse error: escape character '~' must be followed with '0' or '1' | In a JSON Pointer, only `~0` and `~1` are valid escape sequences.
+json.exception.parse_error.109 | parse error: array index 'one' is not a number | A JSON Pointer array index must be a number.
+json.exception.parse_error.110 | parse error at 1: cannot read 2 bytes from vector | When parsing CBOR or MessagePack, the byte vector ends before the complete value has been read.
+json.exception.parse_error.112 | parse error at 1: error reading CBOR; last byte: 0xF8 | Not all types of CBOR or MessagePack are supported. This exception occurs if an unsupported byte was read.
+json.exception.parse_error.113 | parse error at 2: expected a CBOR string; last byte: 0x98 | While parsing a map key, a value that is not a string has been read.
+json.exception.parse_error.114 | parse error: Unsupported BSON record type 0x0F | The parsing of the corresponding BSON record type is not implemented (yet).
+json.exception.parse_error.115 | parse error at byte 5: syntax error while parsing UBJSON high-precision number: invalid number text: 1A | A UBJSON high-precision number could not be parsed.
+
+@note For an input with n bytes, 1 is the index of the first character and n+1
+      is the index of the terminating null byte or the end of file. This also
+      holds true when reading a byte vector (CBOR or MessagePack).
+
+@liveexample{The following code shows how a `parse_error` exception can be
+caught.,parse_error}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] pos       the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        position_string(pos) + ": " + what_arg;
+        return parse_error(id_, pos.chars_read_total, w.c_str());
+    }
+
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        (byte_ != 0 ? (" at byte " + std::to_string(byte_)) : "") +
+                        ": " + what_arg;
+        return parse_error(id_, byte_, w.c_str());
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return " at line " + std::to_string(pos.lines_read + 1) +
+               ", column " + std::to_string(pos.chars_read_current_line);
+    }
+};
+
+/*!
+@brief exception indicating errors with iterators
+
+This exception is thrown if iterators passed to a library function do not match
+the expected semantics.
+
+Exceptions have ids 2xx.
+
+name / id                           | example message | description
+----------------------------------- | --------------- | -------------------------
+json.exception.invalid_iterator.201 | iterators are not compatible | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.202 | iterator does not fit current value | In an erase or insert function, the passed iterator @a pos does not belong to the JSON value for which the function was called. It hence does not define a valid position for the deletion/insertion.
+json.exception.invalid_iterator.203 | iterators do not fit current value | Either iterator passed to function @ref erase(IteratorType first, IteratorType last) does not belong to the JSON value from which values shall be erased. It hence does not define a valid range to delete values from.
+json.exception.invalid_iterator.204 | iterators out of range | When an iterator range for a primitive type (number, boolean, or string) is passed to a constructor or an erase function, this range has to be exactly (@ref begin(), @ref end()), because this is the only way the single stored value is expressed. All other ranges are invalid.
+json.exception.invalid_iterator.205 | iterator out of range | When an iterator for a primitive type (number, boolean, or string) is passed to an erase function, the iterator has to be the @ref begin() iterator, because it is the only way to address the stored value. All other iterators are invalid.
+json.exception.invalid_iterator.206 | cannot construct with iterators from null | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) belong to a JSON null value and hence to not define a valid range.
+json.exception.invalid_iterator.207 | cannot use key() for non-object iterators | The key() member function can only be used on iterators belonging to a JSON object, because other types do not have a concept of a key.
+json.exception.invalid_iterator.208 | cannot use operator[] for object iterators | The operator[] to specify a concrete offset cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.209 | cannot use offsets with object iterators | The offset operators (+, -, +=, -=) cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.210 | iterators do not fit | The iterator range passed to the insert function are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.211 | passed iterators may not belong to container | The iterator range passed to the insert function must not be a subrange of the container to insert to.
+json.exception.invalid_iterator.212 | cannot compare iterators of different containers | When two iterators are compared, they must belong to the same container.
+json.exception.invalid_iterator.213 | cannot compare order of object iterators | The order of object iterators cannot be compared, because JSON objects are unordered.
+json.exception.invalid_iterator.214 | cannot get value | Cannot get value for iterator: Either the iterator belongs to a null value or it is an iterator to a primitive type (number, boolean, or string), but the iterator is different to @ref begin().
+
+@liveexample{The following code shows how an `invalid_iterator` exception can be
+caught.,invalid_iterator}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class invalid_iterator : public exception
+{
+  public:
+    static invalid_iterator create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("invalid_iterator", id_) + what_arg;
+        return invalid_iterator(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating executing a member function with a wrong type
+
+This exception is thrown in case of a type error; that is, a library function is
+executed on a JSON value whose type does not match the expected semantics.
+
+Exceptions have ids 3xx.
+
+name / id                     | example message | description
+----------------------------- | --------------- | -------------------------
+json.exception.type_error.301 | cannot create object from initializer list | To create an object from an initializer list, the initializer list must consist only of a list of pairs whose first element is a string. When this constraint is violated, an array is created instead.
+json.exception.type_error.302 | type must be object, but is array | During implicit or explicit value conversion, the JSON type must be compatible to the target type. For instance, a JSON string can only be converted into string types, but not into numbers or boolean types.
+json.exception.type_error.303 | incompatible ReferenceType for get_ref, actual type is object | To retrieve a reference to a value stored in a @ref basic_json object with @ref get_ref, the type of the reference must match the value type. For instance, for a JSON array, the @a ReferenceType must be @ref array_t &.
+json.exception.type_error.304 | cannot use at() with string | The @ref at() member functions can only be executed for certain JSON types.
+json.exception.type_error.305 | cannot use operator[] with string | The @ref operator[] member functions can only be executed for certain JSON types.
+json.exception.type_error.306 | cannot use value() with string | The @ref value() member functions can only be executed for certain JSON types.
+json.exception.type_error.307 | cannot use erase() with string | The @ref erase() member functions can only be executed for certain JSON types.
+json.exception.type_error.308 | cannot use push_back() with string | The @ref push_back() and @ref operator+= member functions can only be executed for certain JSON types.
+json.exception.type_error.309 | cannot use insert() with | The @ref insert() member functions can only be executed for certain JSON types.
+json.exception.type_error.310 | cannot use swap() with number | The @ref swap() member functions can only be executed for certain JSON types.
+json.exception.type_error.311 | cannot use emplace_back() with string | The @ref emplace_back() member function can only be executed for certain JSON types.
+json.exception.type_error.312 | cannot use update() with string | The @ref update() member functions can only be executed for certain JSON types.
+json.exception.type_error.313 | invalid value to unflatten | The @ref unflatten function converts an object whose keys are JSON Pointers back into an arbitrary nested JSON value. The JSON Pointers must not overlap, because then the resulting value would not be well defined.
+json.exception.type_error.314 | only objects can be unflattened | The @ref unflatten function only works for an object whose keys are JSON Pointers.
+json.exception.type_error.315 | values in object must be primitive | The @ref unflatten function only works for an object whose keys are JSON Pointers and whose values are primitive.
+json.exception.type_error.316 | invalid UTF-8 byte at index 10: 0x7E | The @ref dump function only works with UTF-8 encoded strings; that is, if you assign a `std::string` to a JSON value, make sure it is UTF-8 encoded. |
+json.exception.type_error.317 | JSON value cannot be serialized to requested format | The dynamic type of the object cannot be represented in the requested serialization format (e.g. a raw `true` or `null` JSON object cannot be serialized to BSON) |
+
+@liveexample{The following code shows how a `type_error` exception can be
+caught.,type_error}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class type_error : public exception
+{
+  public:
+    static type_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("type_error", id_) + what_arg;
+        return type_error(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating access out of the defined range
+
+This exception is thrown in case a library function is called on an input
+parameter that exceeds the expected range, for instance in case of array
+indices or nonexisting object keys.
+
+Exceptions have ids 4xx.
+
+name / id                       | example message | description
+------------------------------- | --------------- | -------------------------
+json.exception.out_of_range.401 | array index 3 is out of range | The provided array index @a i is larger than @a size-1.
+json.exception.out_of_range.402 | array index '-' (3) is out of range | The special array index `-` in a JSON Pointer never describes a valid element of the array, but the index past the end. That is, it can only be used to add elements at this position, but not to read it.
+json.exception.out_of_range.403 | key 'foo' not found | The provided key was not found in the JSON object.
+json.exception.out_of_range.404 | unresolved reference token 'foo' | A reference token in a JSON Pointer could not be resolved.
+json.exception.out_of_range.405 | JSON pointer has no parent | The JSON Patch operations 'remove' and 'add' can not be applied to the root element of the JSON value.
+json.exception.out_of_range.406 | number overflow parsing '10E1000' | A parsed number could not be stored as without changing it to NaN or INF.
+json.exception.out_of_range.407 | number overflow serializing '9223372036854775808' | UBJSON and BSON only support integer numbers up to 9223372036854775807. (until version 3.8.0) |
+json.exception.out_of_range.408 | excessive array size: 8658170730974374167 | The size (following `#`) of an UBJSON array or object exceeds the maximal capacity. |
+json.exception.out_of_range.409 | BSON key cannot contain code point U+0000 (at byte 2) | Key identifiers to be serialized to BSON cannot contain code point U+0000, since the key is stored as zero-terminated c-string |
+
+@liveexample{The following code shows how an `out_of_range` exception can be
+caught.,out_of_range}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class out_of_range : public exception
+{
+  public:
+    static out_of_range create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("out_of_range", id_) + what_arg;
+        return out_of_range(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating other library errors
+
+This exception is thrown in case of errors that cannot be classified with the
+other exception types.
+
+Exceptions have ids 5xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.other_error.501 | unsuccessful: {"op":"test","path":"/baz", "value":"bar"} | A JSON Patch operation 'test' failed. The unsuccessful operation is also printed.
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+
+@liveexample{The following code shows how an `other_error` exception can be
+caught.,other_error}
+
+@since version 3.0.0
+*/
+class other_error : public exception
+{
+  public:
+    static other_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("other_error", id_) + what_arg;
+        return other_error(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+
+namespace nlohmann
+{
+namespace detail
+{
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+// implementation of C++14 index_sequence and affiliates
+// source: https://stackoverflow.com/a/32223343
+template<std::size_t... Ints>
+struct index_sequence
+{
+    using type = index_sequence;
+    using value_type = std::size_t;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+template<class Sequence1, class Sequence2>
+struct merge_and_renumber;
+
+template<std::size_t... I1, std::size_t... I2>
+struct merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
+        : index_sequence < I1..., (sizeof...(I1) + I2)... > {};
+
+template<std::size_t N>
+struct make_index_sequence
+    : merge_and_renumber < typename make_index_sequence < N / 2 >::type,
+      typename make_index_sequence < N - N / 2 >::type > {};
+
+template<> struct make_index_sequence<0> : index_sequence<> {};
+template<> struct make_index_sequence<1> : index_sequence<0> {};
+
+template<typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static constexpr T value{};
+};
+
+template<typename T>
+constexpr T static_const<T>::value;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+
+#include <iterator> // random_access_iterator_tag
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template<typename ...Ts> using void_t = typename make_void<Ts...>::type;
+} // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename It, typename = void>
+struct iterator_types {};
+
+template<typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template<typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template<typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template<typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+
+#include <type_traits>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+// https://en.cppreference.com/w/cpp/experimental/is_detected
+namespace nlohmann
+{
+namespace detail
+{
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    nonesuch(nonesuch const&&) = delete;
+    void operator=(nonesuch const&) = delete;
+    void operator=(nonesuch&&) = delete;
+};
+
+template<class Default,
+         class AlwaysVoid,
+         template<class...> class Op,
+         class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template<class Default, template<class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template<template<class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template<template<class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template<class Expected, template<class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template<class To, template<class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/json_fwd.hpp>
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+/*!
+@brief default JSONSerializer template argument
+
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer,
+         class BinaryType = std::vector<std::uint8_t>>
+class basic_json;
+
+/*!
+@brief JSON Pointer
+
+A JSON pointer defines a string syntax for identifying a specific value
+within a JSON document. It can be used with functions `at` and
+`operator[]`. Furthermore, JSON pointers are the base for JSON patches.
+
+@sa [RFC 6901](https://tools.ietf.org/html/rfc6901)
+
+@since version 2.0.0
+*/
+template<typename BasicJsonType>
+class json_pointer;
+
+/*!
+@brief default JSON class
+
+This type is the default specialization of the @ref basic_json class which
+uses the standard template types.
+
+@since version 1.0.0
+*/
+using json = basic_json<>;
+
+template<class Key, class T, class IgnoredLess, class Allocator>
+struct ordered_map;
+
+/*!
+@brief ordered JSON class
+
+This type preserves the insertion order of object keys.
+
+@since version 3.9.0
+*/
+using ordered_json = basic_json<nlohmann::ordered_map>;
+
+}  // namespace nlohmann
+
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+
+namespace nlohmann
+{
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+//////////////////////
+// json_ref helpers //
+//////////////////////
+
+template<typename>
+class json_ref;
+
+template<typename>
+struct is_json_ref : std::false_type {};
+
+template<typename T>
+struct is_json_ref<json_ref<T>> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template<typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template<typename T>
+using key_type_t = typename T::key_type;
+
+template<typename T>
+using value_type_t = typename T::value_type;
+
+template<typename T>
+using difference_type_t = typename T::difference_type;
+
+template<typename T>
+using pointer_t = typename T::pointer;
+
+template<typename T>
+using reference_t = typename T::reference;
+
+template<typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template<typename T>
+using iterator_t = typename T::iterator;
+
+template<typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template<typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template<typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template<typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+// trait checking if j.get<T> is valid
+// use this trait instead of std::is_constructible or std::is_convertible,
+// both rely on, or make use of implicit conversions, and thus fail when T
+// has several constructors/operator= (see https://github.com/nlohmann/json/issues/958)
+template <typename BasicJsonType, typename T>
+struct is_getable
+{
+    static constexpr bool value = is_detected<get_template_function, const BasicJsonType&, T>::value;
+};
+
+template<typename BasicJsonType, typename T>
+struct has_from_json < BasicJsonType, T,
+           enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template<typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template<typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+
+///////////////////
+// is_ functions //
+///////////////////
+
+template<typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template<typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+// source: https://stackoverflow.com/a/37193089/4116453
+
+template<typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template<typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, CompatibleObjectType>::value&&
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        std::is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value &&
+        std::is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, ConstructibleObjectType>::value&&
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (std::is_default_constructible<ConstructibleObjectType>::value &&
+         (std::is_move_assignable<ConstructibleObjectType>::value ||
+          std::is_copy_assignable<ConstructibleObjectType>::value) &&
+         (std::is_constructible<typename ConstructibleObjectType::key_type,
+          typename object_t::key_type>::value &&
+          std::is_same <
+          typename object_t::mapped_type,
+          typename ConstructibleObjectType::mapped_type >::value)) ||
+        (has_from_json<BasicJsonType,
+         typename ConstructibleObjectType::mapped_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType,
+         typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template<typename BasicJsonType, typename CompatibleStringType,
+         typename = void>
+struct is_compatible_string_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type_impl <
+    BasicJsonType, CompatibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, CompatibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_compatible_string_type
+    : is_compatible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template<typename BasicJsonType, typename ConstructibleStringType,
+         typename = void>
+struct is_constructible_string_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type_impl <
+    BasicJsonType, ConstructibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, ConstructibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<ConstructibleStringType,
+        typename BasicJsonType::string_t>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+    : is_constructible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template<typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t < is_detected<value_type_t, CompatibleArrayType>::value&&
+    is_detected<iterator_t, CompatibleArrayType>::value&&
+// This is needed because json_reverse_iterator has a ::iterator type...
+// Therefore it is detected as a CompatibleArrayType.
+// The real fix would be to have an Iterable concept.
+    !is_iterator_traits <
+    iterator_traits<CompatibleArrayType >>::value >>
+{
+    static constexpr bool value =
+        std::is_constructible<BasicJsonType,
+        typename CompatibleArrayType::value_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t < !std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value&&
+    std::is_default_constructible<ConstructibleArrayType>::value&&
+(std::is_move_assignable<ConstructibleArrayType>::value ||
+ std::is_copy_assignable<ConstructibleArrayType>::value)&&
+is_detected<value_type_t, ConstructibleArrayType>::value&&
+is_detected<iterator_t, ConstructibleArrayType>::value&&
+is_complete_type <
+detected_t<value_type_t, ConstructibleArrayType >>::value >>
+{
+    static constexpr bool value =
+        // This is needed because json_reverse_iterator has a ::iterator type,
+        // furthermore, std::back_insert_iterator (and other iterators) have a
+        // base class `iterator`... Therefore it is detected as a
+        // ConstructibleArrayType. The real fix would be to have an Iterable
+        // concept.
+        !is_iterator_traits<iterator_traits<ConstructibleArrayType>>::value &&
+
+        (std::is_same<typename ConstructibleArrayType::value_type,
+         typename BasicJsonType::array_t::value_type>::value ||
+         has_from_json<BasicJsonType,
+         typename ConstructibleArrayType::value_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType, typename ConstructibleArrayType::value_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType,
+         typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t < std::is_integral<RealIntegerType>::value&&
+    std::is_integral<CompatibleNumberIntegerType>::value&&
+    !std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        std::is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value &&
+        CompatibleLimits::is_integer &&
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template<typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+
+// https://en.cppreference.com/w/cpp/types/conjunction
+template<class...> struct conjunction : std::true_type { };
+template<class B1> struct conjunction<B1> : B1 { };
+template<class B1, class... Bn>
+struct conjunction<B1, Bn...>
+: std::conditional<bool(B1::value), conjunction<Bn...>, B1>::type {};
+
+template<typename T1, typename T2>
+struct is_constructible_tuple : std::false_type {};
+
+template<typename T1, typename... Args>
+struct is_constructible_tuple<T1, std::tuple<Args...>> : conjunction<std::is_constructible<T1, Args>...> {};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+#include <string> // string
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    binary,           ///< binary array (ordered collection of bytes)
+    discarded         ///< discarded by the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string < binary
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+- binary is represented as a b"" string in python and directly comparable to a
+  string; however, making a binary array directly comparable with a string would
+  be surprising behavior in a JSON file.
+
+@since version 1.0.0
+*/
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    static constexpr std::array<std::uint8_t, 9> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */,
+            6 /* binary */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+    return l_index < order.size() && r_index < order.size() && order[l_index] < order[r_index];
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, "type must be null, but is " + std::string(j.type_name())));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t < std::is_arithmetic<ArithmeticType>::value&&
+                         !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                         int > = 0 >
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(j.type_name())));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename ConstructibleStringType,
+    enable_if_t <
+        is_constructible_string_type<BasicJsonType, ConstructibleStringType>::value&&
+        !std::is_same<typename BasicJsonType::string_t,
+                      ConstructibleStringType>::value,
+        int > = 0 >
+void from_json(const BasicJsonType& j, ConstructibleStringType& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.clear();
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.resize(j.size());
+    std::transform(j.begin(), j.end(), std::begin(l),
+                   [](const BasicJsonType & elem)
+    {
+        return elem.template get<T>();
+    });
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json(const BasicJsonType& j, T (&arr)[N])
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType>
+void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    ret.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(ret, end(ret)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                          priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    std::transform(
+        j.begin(), j.end(), std::inserter(ret, end(ret)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template < typename BasicJsonType, typename ConstructibleArrayType,
+           enable_if_t <
+               is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !std::is_same<ConstructibleArrayType, typename BasicJsonType::binary_t>::value&&
+               !is_basic_json<ConstructibleArrayType>::value,
+               int > = 0 >
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " +
+                                      std::string(j.type_name())));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::binary_t& bin)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_binary()))
+    {
+        JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(j.type_name())));
+    }
+
+    bin = *j.template get_ptr<const typename BasicJsonType::binary_t*>();
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, "type must be object, but is " + std::string(j.type_name())));
+    }
+
+    ConstructibleObjectType ret;
+    auto inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(ret, ret.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+    obj = std::move(ret);
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t <
+               std::is_arithmetic<ArithmeticType>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+               int > = 0 >
+void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+void from_json(const BasicJsonType& j, std::pair<A1, A2>& p)
+{
+    p = {j.at(0).template get<A1>(), j.at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    t = std::make_tuple(j.at(Idx).template get<typename std::tuple_element<Idx, Tuple>::type>()...);
+}
+
+template<typename BasicJsonType, typename... Args>
+void from_json(const BasicJsonType& j, std::tuple<Args...>& t)
+{
+    from_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T& val) const
+    noexcept(noexcept(from_json(j, val)))
+    -> decltype(from_json(j, val), void())
+    {
+        return from_json(j, val);
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace
+{
+constexpr const auto& from_json = detail::static_const<detail::from_json_fn>::value;
+} // namespace
+} // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+#include <algorithm> // copy
+#include <iterator> // begin, end
+#include <string> // string
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+
+#include <cstddef> // size_t
+#include <iterator> // input_iterator_tag
+#include <string> // string, to_string
+#include <tuple> // tuple_size, get, tuple_element
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename string_type>
+void int_to_string( string_type& target, std::size_t value )
+{
+    // For ADL
+    using std::to_string;
+    target = to_string(value);
+}
+template<typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type * ;
+    using reference = value_type & ;
+    using iterator_category = std::input_iterator_tag;
+    using string_type = typename std::remove_cv< typename std::remove_reference<decltype( std::declval<IteratorType>().key() ) >::type >::type;
+
+  private:
+    /// the iterator
+    IteratorType anchor;
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable string_type array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    const string_type empty_str = "";
+
+  public:
+    explicit iteration_proxy_value(IteratorType it) noexcept : anchor(it) {}
+
+    /// dereference operator (needed for range-based for)
+    iteration_proxy_value& operator*()
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const string_type& key() const
+    {
+        JSON_ASSERT(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    int_to_string( array_index_str, array_index );
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::reference container;
+
+  public:
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(cont) {}
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.end());
+    }
+};
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+#if defined(__clang__)
+    // Fix: https://github.com/nlohmann/json/issues/1401
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+template<typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>>
+            : public std::integral_constant<std::size_t, 2> {};
+
+template<std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >>
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+} // namespace std
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////
+// constructors //
+//////////////////
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_type = value_t::boolean;
+        j.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleStringType,
+               enable_if_t < !std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_type = value_t::string;
+        j.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::binary>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::binary_t& b)
+    {
+        j.m_type = value_t::binary;
+        typename BasicJsonType::binary_t value{b};
+        j.m_value = value;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::binary_t&& b)
+    {
+        j.m_type = value_t::binary;
+        typename BasicJsonType::binary_t value{std::move(b)};
+        j.m_value = value;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_type = value_t::number_float;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_type = value_t::number_unsigned;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_type = value_t::number_integer;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = arr;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = std::move(arr);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleArrayType,
+               enable_if_t < !std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+        j.m_type = value_t::array;
+        j.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_value.array->push_back(x);
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->resize(arr.size());
+        if (arr.size() > 0)
+        {
+            std::copy(std::begin(arr), std::end(arr), j.m_value.array->begin());
+        }
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = obj;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = std::move(obj);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleObjectType,
+               enable_if_t < !std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_type = value_t::object;
+        j.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template < typename BasicJsonType, typename CompatibleArrayType,
+           enable_if_t < is_compatible_array_type<BasicJsonType,
+                         CompatibleArrayType>::value&&
+                         !is_compatible_object_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !std::is_same<typename BasicJsonType::binary_t, CompatibleArrayType>::value&&
+                         !is_basic_json<CompatibleArrayType>::value,
+                         int > = 0 >
+void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const typename BasicJsonType::binary_t& bin)
+{
+    external_constructor<value_t::binary>::construct(j, bin);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template < typename BasicJsonType, typename CompatibleObjectType,
+           enable_if_t < is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value&& !is_basic_json<CompatibleObjectType>::value, int > = 0 >
+void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t < !std::is_constructible<typename BasicJsonType::string_t,
+                  const T(&)[N]>::value,
+                  int > = 0 >
+void to_json(BasicJsonType& j, const T(&arr)[N])
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template < typename BasicJsonType, typename T1, typename T2, enable_if_t < std::is_constructible<BasicJsonType, T1>::value&& std::is_constructible<BasicJsonType, T2>::value, int > = 0 >
+void to_json(BasicJsonType& j, const std::pair<T1, T2>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename T, enable_if_t<is_constructible_tuple<BasicJsonType, T>::value, int > = 0>
+void to_json(BasicJsonType& j, const T& t)
+{
+    to_json_tuple_impl(j, t, make_index_sequence<std::tuple_size<T>::value> {});
+}
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `to_json` function
+namespace
+{
+constexpr const auto& to_json = detail::static_const<detail::to_json_fn>::value;
+} // namespace
+} // namespace nlohmann
+
+
+namespace nlohmann
+{
+
+template<typename, typename>
+struct adl_serializer
+{
+    /*!
+    @brief convert a JSON value to any value type
+
+    This function is usually called by the `get()` function of the
+    @ref basic_json class (either explicit or via conversion operators).
+
+    @param[in] j        JSON value to read from
+    @param[in,out] val  value to write to
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto from_json(BasicJsonType&& j, ValueType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /*!
+    @brief convert any value type to a JSON value
+
+    This function is usually called by the constructors of the @ref basic_json
+    class.
+
+    @param[in,out] j  JSON value to write to
+    @param[in] val    value to read from
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto to_json(BasicJsonType& j, ValueType&& val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<ValueType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<ValueType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<ValueType>(val));
+    }
+};
+
+}  // namespace nlohmann
+
+// #include <nlohmann/byte_container_with_subtype.hpp>
+
+
+#include <cstdint> // uint8_t
+#include <tuple> // tie
+#include <utility> // move
+
+namespace nlohmann
+{
+
+/*!
+@brief an internal type for a backed binary type
+
+This type extends the template parameter @a BinaryType provided to `basic_json`
+with a subtype used by BSON and MessagePack. This type exists so that the user
+does not have to specify a type themselves with a specific naming scheme in
+order to override the binary type.
+
+@tparam BinaryType container to store bytes (`std::vector<std::uint8_t>` by
+                   default)
+
+@since version 3.8.0
+*/
+template<typename BinaryType>
+class byte_container_with_subtype : public BinaryType
+{
+  public:
+    /// the type of the underlying container
+    using container_type = BinaryType;
+
+    byte_container_with_subtype() noexcept(noexcept(container_type()))
+        : container_type()
+    {}
+
+    byte_container_with_subtype(const container_type& b) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+    {}
+
+    byte_container_with_subtype(container_type&& b) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+    {}
+
+    byte_container_with_subtype(const container_type& b, std::uint8_t subtype) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+        , m_subtype(subtype)
+        , m_has_subtype(true)
+    {}
+
+    byte_container_with_subtype(container_type&& b, std::uint8_t subtype) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+        , m_subtype(subtype)
+        , m_has_subtype(true)
+    {}
+
+    bool operator==(const byte_container_with_subtype& rhs) const
+    {
+        return std::tie(static_cast<const BinaryType&>(*this), m_subtype, m_has_subtype) ==
+               std::tie(static_cast<const BinaryType&>(rhs), rhs.m_subtype, rhs.m_has_subtype);
+    }
+
+    bool operator!=(const byte_container_with_subtype& rhs) const
+    {
+        return !(rhs == *this);
+    }
+
+    /*!
+    @brief sets the binary subtype
+
+    Sets the binary subtype of the value, also flags a binary JSON value as
+    having a subtype, which has implications for serialization.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    void set_subtype(std::uint8_t subtype) noexcept
+    {
+        m_subtype = subtype;
+        m_has_subtype = true;
+    }
+
+    /*!
+    @brief return the binary subtype
+
+    Returns the numerical subtype of the value if it has a subtype. If it does
+    not have a subtype, this function will return size_t(-1) as a sentinel
+    value.
+
+    @return the numerical subtype of the binary value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    constexpr std::uint8_t subtype() const noexcept
+    {
+        return m_subtype;
+    }
+
+    /*!
+    @brief return whether the value has a subtype
+
+    @return whether the value has a subtype
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+
+    @since version 3.8.0
+    */
+    constexpr bool has_subtype() const noexcept
+    {
+        return m_has_subtype;
+    }
+
+    /*!
+    @brief clears the binary subtype
+
+    Clears the binary subtype and flags the value as not having a subtype, which
+    has implications for serialization; for instance MessagePack will prefer the
+    bin family over the ext family.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    void clear_subtype() noexcept
+    {
+        m_subtype = 0;
+        m_has_subtype = false;
+    }
+
+  private:
+    std::uint8_t m_subtype = 0;
+    bool m_has_subtype = false;
+};
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/hash.hpp>
+
+
+#include <cstddef> // size_t, uint8_t
+#include <functional> // hash
+
+namespace nlohmann
+{
+namespace detail
+{
+
+// boost::hash_combine
+inline std::size_t combine(std::size_t seed, std::size_t h) noexcept
+{
+    seed ^= h + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+    return seed;
+}
+
+/*!
+@brief hash a JSON value
+
+The hash function tries to rely on std::hash where possible. Furthermore, the
+type of the JSON value is taken into account to have different hash values for
+null, 0, 0U, and false, etc.
+
+@tparam BasicJsonType basic_json specialization
+@param j JSON value to hash
+@return hash value of j
+*/
+template<typename BasicJsonType>
+std::size_t hash(const BasicJsonType& j)
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+    const auto type = static_cast<std::size_t>(j.type());
+    switch (j.type())
+    {
+        case BasicJsonType::value_t::null:
+        case BasicJsonType::value_t::discarded:
+        {
+            return combine(type, 0);
+        }
+
+        case BasicJsonType::value_t::object:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j.items())
+            {
+                const auto h = std::hash<string_t> {}(element.key());
+                seed = combine(seed, h);
+                seed = combine(seed, hash(element.value()));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::array:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j)
+            {
+                seed = combine(seed, hash(element));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::string:
+        {
+            const auto h = std::hash<string_t> {}(j.template get_ref<const string_t&>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::boolean:
+        {
+            const auto h = std::hash<bool> {}(j.template get<bool>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_integer:
+        {
+            const auto h = std::hash<number_integer_t> {}(j.template get<number_integer_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::number_unsigned:
+        {
+            const auto h = std::hash<number_unsigned_t> {}(j.template get<number_unsigned_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::number_float:
+        {
+            const auto h = std::hash<number_float_t> {}(j.template get<number_float_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::binary:
+        {
+            auto seed = combine(type, j.get_binary().size());
+            const auto h = std::hash<bool> {}(j.get_binary().has_subtype());
+            seed = combine(seed, h);
+            seed = combine(seed, j.get_binary().subtype());
+            for (const auto byte : j.get_binary())
+            {
+                seed = combine(seed, std::hash<std::uint8_t> {}(byte));
+            }
+            return seed;
+        }
+
+        default: // LCOV_EXCL_LINE
+            JSON_ASSERT(false); // LCOV_EXCL_LINE
+    }
+}
+
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdio> //FILE *
+#include <cstring> // strlen
+#include <istream> // istream
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson };
+
+////////////////////
+// input adapters //
+////////////////////
+
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter
+{
+  public:
+    using char_type = char;
+
+    JSON_HEDLEY_NON_NULL(2)
+    explicit file_input_adapter(std::FILE* f) noexcept
+        : m_file(f)
+    {}
+
+    // make class move-only
+    file_input_adapter(const file_input_adapter&) = delete;
+    file_input_adapter(file_input_adapter&&) = default;
+    file_input_adapter& operator=(const file_input_adapter&) = delete;
+    file_input_adapter& operator=(file_input_adapter&&) = delete;
+
+    std::char_traits<char>::int_type get_character() noexcept
+    {
+        return std::fgetc(m_file);
+    }
+
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter
+{
+  public:
+    using char_type = char;
+
+    ~input_stream_adapter()
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        if (is != nullptr)
+        {
+            is->clear(is->rdstate() & std::ios::eofbit);
+        }
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(&i), sb(i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&& rhs) = delete;
+
+    input_stream_adapter(input_stream_adapter&& rhs) noexcept : is(rhs.is), sb(rhs.sb)
+    {
+        rhs.is = nullptr;
+        rhs.sb = nullptr;
+    }
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, eg. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character()
+    {
+        auto res = sb->sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (JSON_HEDLEY_UNLIKELY(res == EOF))
+        {
+            is->clear(is->rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream* is = nullptr;
+    std::streambuf* sb = nullptr;
+};
+
+// General-purpose iterator-based adapter. It might not be as fast as
+// theoretically possible for some containers, but it is extremely versatile.
+template<typename IteratorType>
+class iterator_input_adapter
+{
+  public:
+    using char_type = typename std::iterator_traits<IteratorType>::value_type;
+
+    iterator_input_adapter(IteratorType first, IteratorType last)
+        : current(std::move(first)), end(std::move(last)) {}
+
+    typename std::char_traits<char_type>::int_type get_character()
+    {
+        if (JSON_HEDLEY_LIKELY(current != end))
+        {
+            auto result = std::char_traits<char_type>::to_int_type(*current);
+            std::advance(current, 1);
+            return result;
+        }
+        else
+        {
+            return std::char_traits<char_type>::eof();
+        }
+    }
+
+  private:
+    IteratorType current;
+    IteratorType end;
+
+    template<typename BaseInputAdapter, size_t T>
+    friend struct wide_string_input_helper;
+
+    bool empty() const
+    {
+        return current == end;
+    }
+
+};
+
+
+template<typename BaseInputAdapter, size_t T>
+struct wide_string_input_helper;
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 4>
+{
+    // UTF-32
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u) & 0x1Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u) & 0x0Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | ((static_cast<unsigned int>(wc) >> 18u) & 0x07u));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 12u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 2>
+{
+    // UTF-16
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc || wc >= 0xE000)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (JSON_HEDLEY_UNLIKELY(!input.empty()))
+                {
+                    const auto wc2 = static_cast<unsigned int>(input.get_character());
+                    const auto charcode = 0x10000u + (((static_cast<unsigned int>(wc) & 0x3FFu) << 10u) | (wc2 & 0x3FFu));
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | (charcode >> 18u));
+                    utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 12u) & 0x3Fu));
+                    utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 6u) & 0x3Fu));
+                    utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (charcode & 0x3Fu));
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+// Wraps another input apdater to convert wide character types into individual bytes.
+template<typename BaseInputAdapter, typename WideCharType>
+class wide_string_input_adapter
+{
+  public:
+    using char_type = char;
+
+    wide_string_input_adapter(BaseInputAdapter base)
+        : base_adapter(base) {}
+
+    typename std::char_traits<char>::int_type get_character() noexcept
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(WideCharType)>();
+
+            JSON_ASSERT(utf8_bytes_filled > 0);
+            JSON_ASSERT(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        JSON_ASSERT(utf8_bytes_filled > 0);
+        JSON_ASSERT(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    BaseInputAdapter base_adapter;
+
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<BaseInputAdapter, T>::fill_buffer(base_adapter, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+
+template<typename IteratorType, typename Enable = void>
+struct iterator_input_adapter_factory
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using adapter_type = iterator_input_adapter<iterator_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(std::move(first), std::move(last));
+    }
+};
+
+template<typename T>
+struct is_iterator_of_multibyte
+{
+    using value_type = typename std::iterator_traits<T>::value_type;
+    enum
+    {
+        value = sizeof(value_type) > 1
+    };
+};
+
+template<typename IteratorType>
+struct iterator_input_adapter_factory<IteratorType, enable_if_t<is_iterator_of_multibyte<IteratorType>::value>>
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using base_adapter_type = iterator_input_adapter<iterator_type>;
+    using adapter_type = wide_string_input_adapter<base_adapter_type, char_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(base_adapter_type(std::move(first), std::move(last)));
+    }
+};
+
+// General purpose iterator-based input
+template<typename IteratorType>
+typename iterator_input_adapter_factory<IteratorType>::adapter_type input_adapter(IteratorType first, IteratorType last)
+{
+    using factory_type = iterator_input_adapter_factory<IteratorType>;
+    return factory_type::create(first, last);
+}
+
+// Convenience shorthand from container to iterator
+template<typename ContainerType>
+auto input_adapter(const ContainerType& container) -> decltype(input_adapter(begin(container), end(container)))
+{
+    // Enable ADL
+    using std::begin;
+    using std::end;
+
+    return input_adapter(begin(container), end(container));
+}
+
+// Special cases with fast paths
+inline file_input_adapter input_adapter(std::FILE* file)
+{
+    return file_input_adapter(file);
+}
+
+inline input_stream_adapter input_adapter(std::istream& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+inline input_stream_adapter input_adapter(std::istream&& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+using contiguous_bytes_input_adapter = decltype(input_adapter(std::declval<const char*>(), std::declval<const char*>()));
+
+// Null-delimited strings, and the like.
+template < typename CharT,
+           typename std::enable_if <
+               std::is_pointer<CharT>::value&&
+               !std::is_array<CharT>::value&&
+               std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+               sizeof(typename std::remove_pointer<CharT>::type) == 1,
+               int >::type = 0 >
+contiguous_bytes_input_adapter input_adapter(CharT b)
+{
+    auto length = std::strlen(reinterpret_cast<const char*>(b));
+    const auto* ptr = reinterpret_cast<const char*>(b);
+    return input_adapter(ptr, ptr + length);
+}
+
+template<typename T, std::size_t N>
+auto input_adapter(T (&array)[N]) -> decltype(input_adapter(array, array + N))
+{
+    return input_adapter(array, array + N);
+}
+
+// This class only handles inputs of input_buffer_adapter type.
+// It's required so that expressions like {ptr, len} can be implicitely casted
+// to the correct adapter.
+class span_input_adapter
+{
+  public:
+    template < typename CharT,
+               typename std::enable_if <
+                   std::is_pointer<CharT>::value&&
+                   std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+                   sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                   int >::type = 0 >
+    span_input_adapter(CharT b, std::size_t l)
+        : ia(reinterpret_cast<const char*>(b), reinterpret_cast<const char*>(b) + l) {}
+
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    span_input_adapter(IteratorType first, IteratorType last)
+        : ia(input_adapter(first, last)) {}
+
+    contiguous_bytes_input_adapter&& get()
+    {
+        return std::move(ia);
+    }
+
+  private:
+    contiguous_bytes_input_adapter ia;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+
+#include <cstddef>
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief an floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief a binary string was read
+    @param[in] val  binary value
+    @return whether parsing should proceed
+    @note It is safe to move the passed binary.
+    */
+    virtual bool binary(binary_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    virtual ~json_sax() = default;
+};
+
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @param[in, out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    // make class move-only
+    json_sax_dom_parser(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser(json_sax_dom_parser&&) = default;
+    json_sax_dom_parser& operator=(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser& operator=(json_sax_dom_parser&&) = default;
+    ~json_sax_dom_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_value.array->back());
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_object());
+        JSON_ASSERT(object_element);
+        *object_element = BasicJsonType(std::forward<Value>(v));
+        return object_element;
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    // make class move-only
+    json_sax_dom_callback_parser(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser(json_sax_dom_callback_parser&&) = default;
+    json_sax_dom_callback_parser& operator=(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser& operator=(json_sax_dom_callback_parser&&) = default;
+    ~json_sax_dom_callback_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep && ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back() && !callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+        {
+            // discard object
+            *ref_stack.back() = discarded;
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (!ref_stack.empty() && ref_stack.back() && ref_stack.back()->is_structured())
+        {
+            // remove discarded value
+            for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+            {
+                if (it->is_discarded())
+                {
+                    ref_stack.back()->erase(it);
+                    break;
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (!keep)
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (!keep && !ref_stack.empty() && ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->pop_back();
+        }
+
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        JSON_ASSERT(!keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (!keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback || callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (!keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, &root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (!ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        // array
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->push_back(std::move(value));
+            return {true, &(ref_stack.back()->m_value.array->back())};
+        }
+
+        // object
+        JSON_ASSERT(ref_stack.back()->is_object());
+        // check if we should store an element for the current key
+        JSON_ASSERT(!key_keep_stack.empty());
+        const bool store_element = key_keep_stack.back();
+        key_keep_stack.pop_back();
+
+        if (!store_element)
+        {
+            return {false, nullptr};
+        }
+
+        JSON_ASSERT(object_element);
+        *object_element = std::move(value);
+        return {true, object_element};
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack {};
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool binary(binary_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+}  // namespace detail
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+
+#include <array> // array
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdio> // snprintf
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////
+// lexer //
+///////////
+
+template<typename BasicJsonType>
+class lexer_base
+{
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    JSON_HEDLEY_RETURNS_NON_NULL
+    JSON_HEDLEY_CONST
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case token_type::value_unsigned:
+            case token_type::value_integer:
+            case token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+};
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class lexer : public lexer_base<BasicJsonType>
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    using token_type = typename lexer_base<BasicJsonType>::token_type;
+
+    explicit lexer(InputAdapterType&& adapter, bool ignore_comments_ = false)
+        : ia(std::move(adapter))
+        , ignore_comments(ignore_comments_)
+        , decimal_point_char(static_cast<char_int_type>(get_decimal_point()))
+    {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = default;
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = default;
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    JSON_HEDLEY_PURE
+    static char get_decimal_point() noexcept
+    {
+        const auto* loc = localeconv();
+        JSON_ASSERT(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        JSON_ASSERT(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12u, 8u, 4u, 0u };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' && current <= '9')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x30u) << factor);
+            }
+            else if (current >= 'A' && current <= 'F')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x37u) << factor);
+            }
+            else if (current >= 'a' && current <= 'f')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x57u) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        JSON_ASSERT(0x0000 <= codepoint && codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<char_int_type> ranges)
+    {
+        JSON_ASSERT(ranges.size() == 2 || ranges.size() == 4 || ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_HEDLEY_LIKELY(*range <= current && current <= *(++range)))
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 7159. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        JSON_ASSERT(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case std::char_traits<char_type>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_HEDLEY_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 && codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_HEDLEY_LIKELY(get() == '\\' && get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_HEDLEY_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_HEDLEY_LIKELY(0xDC00 <= codepoint2 && codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint = static_cast<int>(
+                                                        // high surrogate occupies the most significant 22 bits
+                                                        (static_cast<unsigned int>(codepoint1) << 10u)
+                                                        // low surrogate occupies the least significant 15 bits
+                                                        + static_cast<unsigned int>(codepoint2)
+                                                        // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                                        // in the result so we have to subtract with:
+                                                        // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                                        - 0x35FDC00u);
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_HEDLEY_UNLIKELY(0xDC00 <= codepoint1 && codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            JSON_ASSERT(0x00 <= codepoint && codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(static_cast<char_int_type>(codepoint));
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xC0u | (static_cast<unsigned int>(codepoint) >> 6u)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xE0u | (static_cast<unsigned int>(codepoint) >> 12u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xF0u | (static_cast<unsigned int>(codepoint) >> 18u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 12u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    /*!
+     * @brief scan a comment
+     * @return whether comment could be scanned successfully
+     */
+    bool scan_comment()
+    {
+        switch (get())
+        {
+            // single-line comments skip input until a newline or EOF is read
+            case '/':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case '\n':
+                        case '\r':
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                            return true;
+
+                        default:
+                            break;
+                    }
+                }
+            }
+
+            // multi-line comments skip input until */ is read
+            case '*':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                        {
+                            error_message = "invalid comment; missing closing '*/'";
+                            return false;
+                        }
+
+                        case '*':
+                        {
+                            switch (get())
+                            {
+                                case '/':
+                                    return true;
+
+                                default:
+                                {
+                                    unget();
+                                    continue;
+                                }
+                            }
+                        }
+
+                        default:
+                            continue;
+                    }
+                }
+            }
+
+            // unexpected character after reading '/'
+            default:
+            {
+                error_message = "invalid comment; expecting '/' or '*' after '/'";
+                return false;
+            }
+        }
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 7159.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 7159. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | decimal2 | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // all other characters are rejected outside scan_number()
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr;
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    JSON_HEDLEY_NON_NULL(2)
+    token_type scan_literal(const char_type* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        JSON_ASSERT(std::char_traits<char_type>::to_char_type(current) == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(std::char_traits<char_type>::to_char_type(get()) != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `std::char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia.get_character();
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            JSON_ASSERT(!token_string.empty());
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(char_int_type c)
+    {
+        token_buffer.push_back(static_cast<typename string_t::value_type>(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if (static_cast<unsigned char>(c) <= '\x1F')
+            {
+                // escape control characters
+                std::array<char, 9> cs{{}};
+                (std::snprintf)(cs.data(), cs.size(), "<U+%.4X>", static_cast<unsigned char>(c));
+                result += cs.data();
+            }
+            else
+            {
+                // add character as is
+                result.push_back(static_cast<std::string::value_type>(c));
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    JSON_HEDLEY_RETURNS_NON_NULL
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB && get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    void skip_whitespace()
+    {
+        do
+        {
+            get();
+        }
+        while (current == ' ' || current == '\t' || current == '\n' || current == '\r');
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 && !skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        skip_whitespace();
+
+        // ignore comments
+        while (ignore_comments && current == '/')
+        {
+            if (!scan_comment())
+            {
+                return token_type::parse_error;
+            }
+
+            // skip following whitespace
+            skip_whitespace();
+        }
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+            {
+                std::array<char_type, 4> true_literal = {{'t', 'r', 'u', 'e'}};
+                return scan_literal(true_literal.data(), true_literal.size(), token_type::literal_true);
+            }
+            case 'f':
+            {
+                std::array<char_type, 5> false_literal = {{'f', 'a', 'l', 's', 'e'}};
+                return scan_literal(false_literal.data(), false_literal.size(), token_type::literal_false);
+            }
+            case 'n':
+            {
+                std::array<char_type, 4> null_literal = {{'n', 'u', 'l', 'l'}};
+                return scan_literal(null_literal.data(), null_literal.size(), token_type::literal_null);
+            }
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case std::char_traits<char_type>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// whether comments should be ignored (true) or signaled as errors (false)
+    const bool ignore_comments = false;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position {};
+
+    /// raw input token string (for error messages)
+    std::vector<char_type> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char_int_type decimal_point_char = '.';
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+
+#include <cstdint> // size_t
+#include <utility> // declval
+#include <string> // string
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template<typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template<typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template<typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template<typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template<typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template<typename T, typename Binary>
+using binary_function_t =
+    decltype(std::declval<T&>().binary(std::declval<Binary&>()));
+
+template<typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template<typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template<typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template<typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template<typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template<typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX, number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX, number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t, string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value,
+        "Missing/invalid function: bool binary(binary_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/// how to treat CBOR tags
+enum class cbor_tag_handler_t
+{
+    error,  ///< throw a parse_error exception in case of a tag
+    ignore   ///< ignore tags
+};
+
+/*!
+@brief determine system byte order
+
+@return true if and only if system's byte order is little endian
+
+@note from https://stackoverflow.com/a/1001328/266378
+*/
+static inline bool little_endianess(int num = 1) noexcept
+{
+    return *reinterpret_cast<char*>(&num) == 1;
+}
+
+
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename InputAdapterType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using json_sax_t = SAX;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(InputAdapterType&& adapter) : ia(std::move(adapter))
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+    }
+
+    // make class move-only
+    binary_reader(const binary_reader&) = delete;
+    binary_reader(binary_reader&&) = default;
+    binary_reader& operator=(const binary_reader&) = delete;
+    binary_reader& operator=(binary_reader&&) = default;
+    ~binary_reader() = default;
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+    @param[in] tag_handler  how to treat CBOR tags
+
+    @return
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true,
+                   const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal(true, tag_handler);
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+                result = parse_ubjson_internal();
+                break;
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+        // strict mode: next byte must be EOF
+        if (result && strict)
+        {
+            if (format == input_format_t::ubjson)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(current != std::char_traits<char_type>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(),
+                                        parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value")));
+            }
+        }
+
+        return result;
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<typename string_t::value_type>(current);
+        }
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string")));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) && get() != std::char_traits<char_type>::eof();
+    }
+
+    /*!
+    @brief Parses a byte array input of length @a len from the BSON input.
+    @param[in] len  The length of the byte array to be read.
+    @param[in, out] result  A reference to the binary variable where the read
+                            array is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 0
+    @return `true` if the byte array was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_binary(const NumberType len, binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 0))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "byte array length cannot be negative, is " + std::to_string(len), "binary")));
+        }
+
+        // All BSON binary values have a subtype
+        std::uint8_t subtype{};
+        get_number<std::uint8_t>(input_format_t::bson, subtype);
+        result.set_subtype(subtype);
+
+        return get_binary(input_format_t::bson, len, result);
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const char_int_type element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number{};
+                return get_number<double, true>(input_format_t::bson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len{};
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_string(len, value) && sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x05: // binary
+            {
+                std::int32_t len{};
+                binary_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_binary(len, value) && sax->binary(value);
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value{};
+                return get_number<std::int32_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value{};
+                return get_number<std::int64_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                std::array<char, 3> cr{{}};
+                (std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(element_type));
+                return sax->parse_error(element_type_parse_position, std::string(cr.data()), parse_error::create(114, element_type_parse_position, "Unsupported BSON record type 0x" + std::string(cr.data())));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+
+        while (auto element_type = get())
+        {
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_HEDLEY_UNLIKELY(!get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (!is_array && !sax->key(key))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true) or whether the last read character should
+                         be considered instead (false)
+    @param[in] tag_handler how CBOR tags should be treated
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char,
+                             const cbor_tag_handler_t tag_handler)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<std::int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            case 0x5F: // Binary data (indefinite length)
+            {
+                binary_t b;
+                return get_cbor_binary(b) && sax->binary(b);
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) && sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(std::size_t(-1), tag_handler);
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(std::size_t(-1), tag_handler);
+
+            case 0xC6: // tagged item
+            case 0xC7:
+            case 0xC8:
+            case 0xC9:
+            case 0xCA:
+            case 0xCB:
+            case 0xCC:
+            case 0xCD:
+            case 0xCE:
+            case 0xCF:
+            case 0xD0:
+            case 0xD1:
+            case 0xD2:
+            case 0xD3:
+            case 0xD4:
+            case 0xD8: // tagged item (1 bytes follow)
+            case 0xD9: // tagged item (2 bytes follow)
+            case 0xDA: // tagged item (4 bytes follow)
+            case 0xDB: // tagged item (8 bytes follow)
+            {
+                switch (tag_handler)
+                {
+                    case cbor_tag_handler_t::error:
+                    {
+                        auto last_token = get_token_string();
+                        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+                    }
+
+                    case cbor_tag_handler_t::ignore:
+                    {
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            default:
+                                break;
+                        }
+                        return parse_cbor_internal(true, tag_handler);
+                    }
+
+                    default:            // LCOV_EXCL_LINE
+                        JSON_ASSERT(false);  // LCOV_EXCL_LINE
+                }
+            }
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte1 << 8u) + byte2);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (!get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into the byte array.
+    Additionally, CBOR's byte arrays with indefinite lengths are supported.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_cbor_binary(binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "binary")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            {
+                return get_binary(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5F: // Binary data (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    binary_t chunk;
+                    if (!get_cbor_binary(chunk))
+                    {
+                        return false;
+                    }
+                    result.insert(result.end(), chunk.begin(), chunk.end());
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x40-0x5B) or indefinite binary array type (0x5F); last byte: 0x" + last_token, "binary")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or std::size_t(-1) for an
+                    array of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len,
+                        const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(false, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or std::size_t(-1) for an
+                    object of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len,
+                         const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) && sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xC4: // bin 8
+            case 0xC5: // bin 16
+            case 0xC6: // bin 32
+            case 0xC7: // ext 8
+            case 0xC8: // ext 16
+            case 0xC9: // ext 32
+            case 0xD4: // fixext 1
+            case 0xD5: // fixext 2
+            case 0xD6: // fixext 4
+            case 0xD7: // fixext 8
+            case 0xD8: // fixext 16
+            {
+                binary_t b;
+                return get_msgpack_binary(b) && sax->binary(b);
+            }
+
+            case 0xCA: // float 32
+            {
+                float number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xDC: // array 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<std::int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::msgpack, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::msgpack, "expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into a byte array.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_msgpack_binary(binary_t& result)
+    {
+        // helper function to set the subtype
+        auto assign_and_return_true = [&result](std::int8_t subtype)
+        {
+            result.set_subtype(static_cast<std::uint8_t>(subtype));
+            return true;
+        };
+
+        switch (current)
+        {
+            case 0xC4: // bin 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC5: // bin 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC6: // bin 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC7: // ext 8
+            {
+                std::uint8_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC8: // ext 16
+            {
+                std::uint16_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC9: // ext 32
+            {
+                std::uint32_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD4: // fixext 1
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 1, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD5: // fixext 2
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 2, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD6: // fixext 4
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 4, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD7: // fixext 8
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 8, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD8: // fixext 16
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 16, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            default:           // LCOV_EXCL_LINE
+                return false;  // LCOV_EXCL_LINE
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!get_msgpack_string(key) || !sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO(niels): may we ignore N here?
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'i':
+            {
+                std::int8_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'I':
+            {
+                std::int16_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'l':
+            {
+                std::int32_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'L':
+            {
+                std::int64_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            default:
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token, "string")));
+        }
+    }
+
+    /*!
+    @param[out] result  determined size
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result)
+    {
+        switch (get_ignore_noop())
+        {
+            case 'U':
+            {
+                std::uint8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token, "size")));
+            }
+        }
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, char_int_type>& result)
+    {
+        result.first = string_t::npos; // size
+        result.second = 0; // type
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_HEDLEY_UNLIKELY(current != '#'))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "expected '#' after type information; last byte: 0x" + last_token, "size")));
+            }
+
+            return get_ubjson_size_value(result.first);
+        }
+
+        if (current == '#')
+        {
+            return get_ubjson_size_value(result.first);
+        }
+
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const char_int_type prefix)
+    {
+        switch (prefix)
+        {
+            case std::char_traits<char_type>::eof():  // EOF
+                return unexpect_eof(input_format_t::ubjson, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'd':
+            {
+                float number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'H':
+            {
+                return get_ubjson_high_precision_number();
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "char")))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "byte after 'C' must be in range 0x00..0x7F; last byte: 0x" + last_token, "char")));
+                }
+                string_t s(1, static_cast<typename string_t::value_type>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) && sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key, false) || !sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    // Note, no reader for UBJSON binary types is implemented because they do
+    // not exist
+
+    bool get_ubjson_high_precision_number()
+    {
+        // get size of following number string
+        std::size_t size{};
+        auto res = get_ubjson_size_value(size);
+        if (JSON_HEDLEY_UNLIKELY(!res))
+        {
+            return res;
+        }
+
+        // get number string
+        std::vector<char> number_vector;
+        for (std::size_t i = 0; i < size; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "number")))
+            {
+                return false;
+            }
+            number_vector.push_back(static_cast<char>(current));
+        }
+
+        // parse number string
+        auto number_ia = detail::input_adapter(std::forward<decltype(number_vector)>(number_vector));
+        auto number_lexer = detail::lexer<BasicJsonType, decltype(number_ia)>(std::move(number_ia), false);
+        const auto result_number = number_lexer.scan();
+        const auto number_string = number_lexer.get_token_string();
+        const auto result_remainder = number_lexer.scan();
+
+        using token_type = typename detail::lexer_base<BasicJsonType>::token_type;
+
+        if (JSON_HEDLEY_UNLIKELY(result_remainder != token_type::end_of_input))
+        {
+            return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read, exception_message(input_format_t::ubjson, "invalid number text: " + number_lexer.get_token_string(), "high-precision number")));
+        }
+
+        switch (result_number)
+        {
+            case token_type::value_integer:
+                return sax->number_integer(number_lexer.get_number_integer());
+            case token_type::value_unsigned:
+                return sax->number_unsigned(number_lexer.get_number_unsigned());
+            case token_type::value_float:
+                return sax->number_float(number_lexer.get_number_float(), std::move(number_string));
+            default:
+                return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read, exception_message(input_format_t::ubjson, "invalid number text: " + number_lexer.get_token_string(), "high-precision number")));
+        }
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `std::char_traits<char_type>::eof()` in that case.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++chars_read;
+        return current = ia.get_character();
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    char_int_type get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianess, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<std::uint8_t, sizeof(NumberType)> vec;
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian != InputIsLittleEndian)
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<std::uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<std::uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "string")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<typename string_t::value_type>(current));
+        };
+        return success;
+    }
+
+    /*!
+    @brief create a byte array by reading bytes from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of bytes to read
+    @param[out] result byte array created by reading @a len bytes
+
+    @return whether byte array creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of memory.
+    */
+    template<typename NumberType>
+    bool get_binary(const input_format_t format,
+                    const NumberType len,
+                    binary_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "binary")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<std::uint8_t>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_HEDLEY_UNLIKELY(current == std::char_traits<char_type>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context)));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        std::array<char, 3> cr{{}};
+        (std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(current));
+        return std::string{cr.data()};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further context information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+        return error_msg + " " + context + ": " + detail;
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+enum class parse_event_t : uint8_t
+{
+    /// the parser read `{` and started to process a JSON object
+    object_start,
+    /// the parser read `}` and finished processing a JSON object
+    object_end,
+    /// the parser read `[` and started to process a JSON array
+    array_start,
+    /// the parser read `]` and finished processing a JSON array
+    array_end,
+    /// the parser read a key of a value in an object
+    key,
+    /// the parser finished reading a JSON value
+    value
+};
+
+template<typename BasicJsonType>
+using parser_callback_t =
+    std::function<bool(int depth, parse_event_t event, BasicJsonType& parsed)>;
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive descent parser.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType, InputAdapterType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    /// a parser reading from an input adapter
+    explicit parser(InputAdapterType&& adapter,
+                    const parser_callback_t<BasicJsonType> cb = nullptr,
+                    const bool allow_exceptions_ = true,
+                    const bool skip_comments = false)
+        : callback(cb)
+        , m_lexer(std::move(adapter), skip_comments)
+        , allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result && strict && (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(),
+                                            exception_message(token_type::end_of_input, "value")));
+        }
+
+        return result;
+    }
+
+  private:
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (!skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_HEDLEY_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_HEDLEY_UNLIKELY(!std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, "number overflow parsing '" + m_lexer.get_token_string() + "'"));
+                        }
+
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_float(res, m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        break;
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::uninitialized, "value")));
+                    }
+
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::literal_or_value, "value")));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+
+            if (states.back())  // array
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse a new value
+                    get_token();
+                    continue;
+                }
+
+                // closing ]
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_array))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this array. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(),
+                                                exception_message(token_type::end_array, "array")));
+            }
+            else  // object
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse key
+                    if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::value_string))
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::value_string, "object key")));
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                    {
+                        return false;
+                    }
+
+                    // parse separator (:)
+                    if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::name_separator, "object separator")));
+                    }
+
+                    // parse values
+                    get_token();
+                    continue;
+                }
+
+                // closing }
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_object))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this object. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(),
+                                                exception_message(token_type::end_object, "object")));
+            }
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return last_token = m_lexer.scan();
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (!context.empty())
+        {
+            error_msg += "while parsing " + context + " ";
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += std::string(m_lexer.get_error_message()) + "; last read: '" +
+                         m_lexer.get_token_string() + "'";
+        }
+        else
+        {
+            error_msg += "unexpected " + std::string(lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += "; expected " + std::string(lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t<BasicJsonType> callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+namespace nlohmann
+{
+namespace detail
+{
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator++(int) noexcept
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator--(int) noexcept
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iter_impl.hpp>
+
+
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl
+{
+    /// allow basic_json to access private members
+    friend iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+
+  public:
+
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    /// default constructor
+    iter_impl() = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief const copy constructor
+    @param[in] other const iterator to copy from
+    @note This copy constructor had to be defined explicitly to circumvent a bug
+          occurring on msvc v19.0 compiler (VS 2015) debug build. For more
+          information refer to: https://github.com/nlohmann/json/issues/1608
+    */
+    iter_impl(const iter_impl<const BasicJsonType>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<const BasicJsonType>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  private:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator++(int)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator--(int)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator==(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator!=(const iter_impl& other) const
+    {
+        return !operator==(other);
+    }
+
+    /*!
+    @brief  comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators"));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return !other.operator < (*this);
+    }
+
+    /*!
+    @brief  comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return !operator<=(other);
+    }
+
+    /*!
+    @brief  comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return !operator<(other);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief  return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief  access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators"));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief  return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        if (JSON_HEDLEY_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators"));
+    }
+
+    /*!
+    @brief  return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  private:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it {};
+};
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+// #include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator const operator++(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator const operator--(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/json_pointer.hpp>
+
+
+#include <algorithm> // all_of
+#include <cctype> // isdigit
+#include <limits> // max
+#include <numeric> // accumulate
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+template<typename BasicJsonType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+  public:
+    /*!
+    @brief create JSON pointer
+
+    Create a JSON pointer according to the syntax described in
+    [Section 3 of RFC6901](https://tools.ietf.org/html/rfc6901#section-3).
+
+    @param[in] s  string representing the JSON pointer; if omitted, the empty
+                  string is assumed which references the whole JSON value
+
+    @throw parse_error.107 if the given JSON pointer @a s is nonempty and does
+                           not begin with a slash (`/`); see example below
+
+    @throw parse_error.108 if a tilde (`~`) in the given JSON pointer @a s is
+    not followed by `0` (representing `~`) or `1` (representing `/`); see
+    example below
+
+    @liveexample{The example shows the construction several valid JSON pointers
+    as well as the exceptional behavior.,json_pointer}
+
+    @since version 2.0.0
+    */
+    explicit json_pointer(const std::string& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /*!
+    @brief return a string representation of the JSON pointer
+
+    @invariant For each JSON pointer `ptr`, it holds:
+    @code {.cpp}
+    ptr == json_pointer(ptr.to_string());
+    @endcode
+
+    @return a string representation of the JSON pointer
+
+    @liveexample{The example shows the result of `to_string`.,json_pointer__to_string}
+
+    @since version 2.0.0
+    */
+    std::string to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               std::string{},
+                               [](const std::string & a, const std::string & b)
+        {
+            return a + "/" + escape(b);
+        });
+    }
+
+    /// @copydoc to_string()
+    operator std::string() const
+    {
+        return to_string();
+    }
+
+    /*!
+    @brief append another JSON pointer at the end of this JSON pointer
+
+    @param[in] ptr  JSON pointer to append
+    @return JSON pointer with @a ptr appended
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::string) to append a reference token
+    @sa @ref operator/=(std::size_t) to append an array index
+    @sa @ref operator/(const json_pointer&, const json_pointer&) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(const json_pointer& ptr)
+    {
+        reference_tokens.insert(reference_tokens.end(),
+                                ptr.reference_tokens.begin(),
+                                ptr.reference_tokens.end());
+        return *this;
+    }
+
+    /*!
+    @brief append an unescaped reference token at the end of this JSON pointer
+
+    @param[in] token  reference token to append
+    @return JSON pointer with @a token appended without escaping @a token
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Amortized constant.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+    @sa @ref operator/=(std::size_t) to append an array index
+    @sa @ref operator/(const json_pointer&, std::size_t) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(std::string token)
+    {
+        push_back(std::move(token));
+        return *this;
+    }
+
+    /*!
+    @brief append an array index at the end of this JSON pointer
+
+    @param[in] array_idx  array index to append
+    @return JSON pointer with @a array_idx appended
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Amortized constant.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+    @sa @ref operator/=(std::string) to append a reference token
+    @sa @ref operator/(const json_pointer&, std::string) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(std::size_t array_idx)
+    {
+        return *this /= std::to_string(array_idx);
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the right JSON pointer at the end of the left JSON pointer
+
+    @param[in] lhs  JSON pointer
+    @param[in] rhs  JSON pointer
+    @return a new JSON pointer with @a rhs appended to @a lhs
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a lhs and @a rhs.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& lhs,
+                                  const json_pointer& rhs)
+    {
+        return json_pointer(lhs) /= rhs;
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the unescaped token at the end of the JSON pointer
+
+    @param[in] ptr  JSON pointer
+    @param[in] token  reference token
+    @return a new JSON pointer with unescaped @a token appended to @a ptr
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::string) to append a reference token
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& ptr, std::string token)
+    {
+        return json_pointer(ptr) /= std::move(token);
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the array-index-token at the end of the JSON pointer
+
+    @param[in] ptr  JSON pointer
+    @param[in] array_idx  array index
+    @return a new JSON pointer with @a array_idx appended to @a ptr
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::size_t) to append an array index
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& ptr, std::size_t array_idx)
+    {
+        return json_pointer(ptr) /= array_idx;
+    }
+
+    /*!
+    @brief returns the parent of this JSON pointer
+
+    @return parent of this JSON pointer; in case this JSON pointer is the root,
+            the root itself is returned
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @liveexample{The example shows the result of `parent_pointer` for different
+    JSON Pointers.,json_pointer__parent_pointer}
+
+    @since version 3.6.0
+    */
+    json_pointer parent_pointer() const
+    {
+        if (empty())
+        {
+            return *this;
+        }
+
+        json_pointer res = *this;
+        res.pop_back();
+        return res;
+    }
+
+    /*!
+    @brief remove last reference token
+
+    @pre not `empty()`
+
+    @liveexample{The example shows the usage of `pop_back`.,json_pointer__pop_back}
+
+    @complexity Constant.
+
+    @throw out_of_range.405 if JSON pointer has no parent
+
+    @since version 3.6.0
+    */
+    void pop_back()
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        reference_tokens.pop_back();
+    }
+
+    /*!
+    @brief return last reference token
+
+    @pre not `empty()`
+    @return last reference token
+
+    @liveexample{The example shows the usage of `back`.,json_pointer__back}
+
+    @complexity Constant.
+
+    @throw out_of_range.405 if JSON pointer has no parent
+
+    @since version 3.6.0
+    */
+    const std::string& back() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        return reference_tokens.back();
+    }
+
+    /*!
+    @brief append an unescaped token at the end of the reference pointer
+
+    @param[in] token  token to add
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows the result of `push_back` for different
+    JSON Pointers.,json_pointer__push_back}
+
+    @since version 3.6.0
+    */
+    void push_back(const std::string& token)
+    {
+        reference_tokens.push_back(token);
+    }
+
+    /// @copydoc push_back(const std::string&)
+    void push_back(std::string&& token)
+    {
+        reference_tokens.push_back(std::move(token));
+    }
+
+    /*!
+    @brief return whether pointer points to the root document
+
+    @return true iff the JSON pointer points to the root document
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example shows the result of `empty` for different JSON
+    Pointers.,json_pointer__empty}
+
+    @since version 3.6.0
+    */
+    bool empty() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+  private:
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw parse_error.106  if an array index begins with '0'
+    @throw parse_error.109  if an array index begins not with a digit
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    @throw out_of_range.410 if an array index exceeds size_type
+    */
+    static typename BasicJsonType::size_type array_index(const std::string& s)
+    {
+        using size_type = typename BasicJsonType::size_type;
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && s[0] == '0'))
+        {
+            JSON_THROW(detail::parse_error::create(106, 0,
+                                                   "array index '" + s +
+                                                   "' must not begin with '0'"));
+        }
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && !(s[0] >= '1' && s[0] <= '9')))
+        {
+            JSON_THROW(detail::parse_error::create(109, 0, "array index '" + s + "' is not a number"));
+        }
+
+        std::size_t processed_chars = 0;
+        unsigned long long res = 0;
+        JSON_TRY
+        {
+            res = std::stoull(s, &processed_chars);
+        }
+        JSON_CATCH(std::out_of_range&)
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        // check if the string was completely read
+        if (JSON_HEDLEY_UNLIKELY(processed_chars != s.size()))
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        // only triggered on special platforms (like 32bit), see also
+        // https://github.com/nlohmann/json/pull/2203
+        if (res >= static_cast<unsigned long long>((std::numeric_limits<size_type>::max)()))
+        {
+            JSON_THROW(detail::out_of_range::create(410, "array index " + s + " exceeds size_type")); // LCOV_EXCL_LINE
+        }
+
+        return static_cast<size_type>(res);
+    }
+
+    json_pointer top() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        auto result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->type())
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    result = &result->operator[](array_index(reference_token));
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten"));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->is_null())
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const unsigned char x)
+                {
+                    return std::isdigit(x);
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums || reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        ptr = &ptr->operator[](array_index(reference_token));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // use unchecked array access
+                    ptr = &ptr->operator[](array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    */
+    bool contains(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    if (!ptr->contains(reference_token))
+                    {
+                        // we did not find the key in the object
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() == 1 && !("0" <= reference_token && reference_token <= "9")))
+                    {
+                        // invalid char
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() > 1))
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!('1' <= reference_token[0] && reference_token[0] <= '9')))
+                        {
+                            // first char should be between '1' and '9'
+                            return false;
+                        }
+                        for (std::size_t i = 1; i < reference_token.size(); i++)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!('0' <= reference_token[i] && reference_token[i] <= '9')))
+                            {
+                                // other char should be between '0' and '9'
+                                return false;
+                            }
+                        }
+                    }
+
+                    const auto idx = array_index(reference_token);
+                    if (idx >= ptr->size())
+                    {
+                        // index out of range
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](idx);
+                    break;
+                }
+
+                default:
+                {
+                    // we do not expect primitive values if there is still a
+                    // reference token to process
+                    return false;
+                }
+            }
+        }
+
+        // no reference token left means we found a primitive value
+        return true;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<std::string> split(const std::string& reference_string)
+    {
+        std::vector<std::string> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_HEDLEY_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1,
+                                                   "JSON pointer must be empty or begin with '/' - was: '" +
+                                                   reference_string + "'"));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == std::string::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == std::string::npos)
+            start = (slash == std::string::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != std::string::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                JSON_ASSERT(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_HEDLEY_UNLIKELY(pos == reference_token.size() - 1 ||
+                                         (reference_token[pos + 1] != '0' &&
+                                          reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'"));
+                }
+            }
+
+            // finally, store the reference token
+            unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief replace all occurrences of a substring by another string
+
+    @param[in,out] s  the string to manipulate; changed so that all
+                   occurrences of @a f are replaced with @a t
+    @param[in]     f  the substring to replace with @a t
+    @param[in]     t  the string to replace @a f
+
+    @pre The search string @a f must not be empty. **This precondition is
+    enforced with an assertion.**
+
+    @since version 2.0.0
+    */
+    static void replace_substring(std::string& s, const std::string& f,
+                                  const std::string& t)
+    {
+        JSON_ASSERT(!f.empty());
+        for (auto pos = s.find(f);                // find first occurrence of f
+                pos != std::string::npos;         // make sure f was found
+                s.replace(pos, f.size(), t),      // replace with t, and
+                pos = s.find(f, pos + t.size()))  // find next occurrence of f
+        {}
+    }
+
+    /// escape "~" to "~0" and "/" to "~1"
+    static std::string escape(std::string s)
+    {
+        replace_substring(s, "~", "~0");
+        replace_substring(s, "/", "~1");
+        return s;
+    }
+
+    /// unescape "~1" to tilde and "~0" to slash (order is important!)
+    static void unescape(std::string& s)
+    {
+        replace_substring(s, "~1", "/");
+        replace_substring(s, "~0", "~");
+    }
+
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    static void flatten(const std::string& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.type())
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_value.array->size(); ++i)
+                    {
+                        flatten(reference_string + "/" + std::to_string(i),
+                                value.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_value.object)
+                    {
+                        flatten(reference_string + "/" + escape(element.first), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened"));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_value.object)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive"));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief compares two JSON pointers for equality
+
+    @param[in] lhs  JSON pointer to compare
+    @param[in] rhs  JSON pointer to compare
+    @return whether @a lhs is equal to @a rhs
+
+    @complexity Linear in the length of the JSON pointer
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+    */
+    friend bool operator==(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return lhs.reference_tokens == rhs.reference_tokens;
+    }
+
+    /*!
+    @brief compares two JSON pointers for inequality
+
+    @param[in] lhs  JSON pointer to compare
+    @param[in] rhs  JSON pointer to compare
+    @return whether @a lhs is not equal @a rhs
+
+    @complexity Linear in the length of the JSON pointer
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+    */
+    friend bool operator!=(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return !(lhs == rhs);
+    }
+
+    /// the reference tokens
+    std::vector<std::string> reference_tokens;
+};
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_ref.hpp>
+
+
+#include <initializer_list>
+#include <utility>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value))
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(const_cast<value_type*>(&value))
+        , is_rvalue(false)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init)
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...)
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    // class should be movable only
+    json_ref(json_ref&&) = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (is_rvalue)
+        {
+            return std::move(*value_ref);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return *static_cast<value_type const*>(value_ref);
+    }
+
+    value_type const* operator->() const
+    {
+        return static_cast<value_type const*>(value_ref);
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type* value_ref = nullptr;
+    const bool is_rvalue = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+#include <string> // string
+#include <cmath> // isnan, isinf
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <ios> // streamsize
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <ostream> // basic_ostream
+#include <string> // basic_string
+#include <vector> // vector
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        std::copy(s, s + length, std::back_inserter(v));
+    }
+
+  private:
+    std::vector<CharType>& v;
+};
+
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    output_adapter(std::vector<CharType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType>>(vec)) {}
+
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(adapter)
+    {
+        JSON_ASSERT(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_value.object);
+                break;
+            }
+
+            default:
+            {
+                JSON_THROW(type_error::create(317, "to serialize to BSON, top-level type must be object, but is " + std::string(j.type_name())));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_value.number_integer;
+                    if (j.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<std::uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<std::uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<std::uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<std::uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<std::uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<std::uint16_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<std::uint32_t>(j.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<std::uint64_t>(j.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                if (std::isnan(j.m_value.number_float))
+                {
+                    // NaN is 0xf97e00 in CBOR
+                    oa->write_character(to_char_type(0xF9));
+                    oa->write_character(to_char_type(0x7E));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else if (std::isinf(j.m_value.number_float))
+                {
+                    // Infinity is 0xf97c00, -Infinity is 0xf9fc00
+                    oa->write_character(to_char_type(0xf9));
+                    oa->write_character(j.m_value.number_float > 0 ? to_char_type(0x7C) : to_char_type(0xFC));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else
+                {
+                    write_compact_float(j.m_value.number_float, detail::input_format_t::cbor);
+                }
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (j.m_value.binary->has_subtype())
+                {
+                    write_number(static_cast<std::uint8_t>(0xd8));
+                    write_number(j.m_value.binary->subtype());
+                }
+
+                // step 1: write control byte and the binary array size
+                const auto N = j.m_value.binary->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x40 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x58));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x59));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<std::int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int8_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<std::int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int16_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<std::int16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int32_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<std::int32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int64_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<std::int64_t>(j.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_compact_float(j.m_value.number_float, detail::input_format_t::msgpack);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<std::uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<std::uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                // step 0: determine if the binary type has a set subtype to
+                // determine whether or not to use the ext or fixext types
+                const bool use_ext = j.m_value.binary->has_subtype();
+
+                // step 1: write control byte and the byte string length
+                const auto N = j.m_value.binary->size();
+                if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    std::uint8_t output_type{};
+                    bool fixed = true;
+                    if (use_ext)
+                    {
+                        switch (N)
+                        {
+                            case 1:
+                                output_type = 0xD4; // fixext 1
+                                break;
+                            case 2:
+                                output_type = 0xD5; // fixext 2
+                                break;
+                            case 4:
+                                output_type = 0xD6; // fixext 4
+                                break;
+                            case 8:
+                                output_type = 0xD7; // fixext 8
+                                break;
+                            case 16:
+                                output_type = 0xD8; // fixext 16
+                                break;
+                            default:
+                                output_type = 0xC7; // ext 8
+                                fixed = false;
+                                break;
+                        }
+
+                    }
+                    else
+                    {
+                        output_type = 0xC4; // bin 8
+                        fixed = false;
+                    }
+
+                    oa->write_character(to_char_type(output_type));
+                    if (!fixed)
+                    {
+                        write_number(static_cast<std::uint8_t>(N));
+                    }
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    std::uint8_t output_type = use_ext
+                                               ? 0xC8 // ext 16
+                                               : 0xC5; // bin 16
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    std::uint8_t output_type = use_ext
+                                               ? 0xC9 // ext 32
+                                               : 0xC6; // bin 32
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 1.5: if this is an ext type, write the subtype
+                if (use_ext)
+                {
+                    write_number(static_cast<std::int8_t>(j.m_value.binary->subtype()));
+                }
+
+                // step 2: write the byte string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<std::uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_integer, add_prefix);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_unsigned, add_prefix);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_float, add_prefix);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_value.string->size(), true);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_value.array->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.array->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                if (use_type && !j.m_value.binary->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    oa->write_character(to_char_type('$'));
+                    oa->write_character('U');
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.binary->size(), true);
+                }
+
+                if (use_type)
+                {
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                        j.m_value.binary->size());
+                }
+                else
+                {
+                    for (size_t i = 0; i < j.m_value.binary->size(); ++i)
+                    {
+                        oa->write_character(to_char_type('U'));
+                        oa->write_character(j.m_value.binary->data()[i]);
+                    }
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_value.object->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.object->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_HEDLEY_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409,
+                                            "BSON key cannot contain code point U+0000 (at byte " + std::to_string(it) + ")"));
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double, true>(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size() + 1ul));
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        return (std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)()
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const std::uint64_t value)
+    {
+        if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(value) + " cannot be represented by BSON as it does not fit int64"));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t array_index = 0ul;
+
+        const std::size_t embedded_document_size = std::accumulate(std::begin(value), std::end(value), std::size_t(0), [&array_index](std::size_t result, const typename BasicJsonType::array_t::value_type & el)
+        {
+            return result + calc_bson_element_size(std::to_string(array_index++), el);
+        });
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @return The size of the BSON-encoded binary array @a value
+    */
+    static std::size_t calc_bson_binary_size(const typename BasicJsonType::binary_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_array_size(value)));
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and binary value @a value
+    */
+    void write_bson_binary(const string_t& name,
+                           const binary_t& value)
+    {
+        write_bson_entry_header(name, 0x05);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size()));
+        write_number(value.has_subtype() ? value.subtype() : std::uint8_t(0x00));
+
+        oa->write_characters(reinterpret_cast<const CharType*>(value.data()), value.size());
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_value.array);
+
+            case value_t::binary:
+                return header_size + calc_bson_binary_size(*j.m_value.binary);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            default:
+                JSON_ASSERT(false);
+                return 0ul;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    @return The size of the BSON entry
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_value.array);
+
+            case value_t::binary:
+                return write_bson_binary(name, *j.m_value.binary);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j.m_value.number_unsigned);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            default:
+                JSON_ASSERT(false);
+                return;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        std::size_t document_size = std::accumulate(value.begin(), value.end(), std::size_t(0),
+                                    [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_object_size(value)));
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if (n <= (std::numeric_limits<std::uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n));
+        }
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template < typename NumberType, typename std::enable_if <
+                   std::is_signed<NumberType>::value&&
+                   !std::is_floating_point<NumberType>::value, int >::type = 0 >
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if ((std::numeric_limits<std::int8_t>::min)() <= n && n <= (std::numeric_limits<std::int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::int8_t>(n));
+        }
+        else if (static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if ((std::numeric_limits<std::int16_t>::min)() <= n && n <= (std::numeric_limits<std::int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n));
+        }
+        else if ((std::numeric_limits<std::int32_t>::min)() <= n && n <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n));
+        }
+        else if ((std::numeric_limits<std::int64_t>::min)() <= n && n <= (std::numeric_limits<std::int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n));
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+    */
+    CharType ubjson_prefix(const BasicJsonType& j) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<std::int8_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<std::uint8_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<std::int16_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if ((std::numeric_limits<std::int32_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                {
+                    return 'l';
+                }
+                if ((std::numeric_limits<std::int64_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+                {
+                    return 'i';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint8_t>::max)()))
+                {
+                    return 'U';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+                {
+                    return 'I';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+                {
+                    return 'l';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array: // fallthrough
+            case value_t::binary:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @tparam NumberType the type of the number
+    @tparam OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+
+    @note This function needs to respect the system's endianess, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool OutputIsLittleEndian = false>
+    void write_number(const NumberType n)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec;
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian != OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+    void write_compact_float(const number_float_t n, detail::input_format_t format)
+    {
+        if (static_cast<double>(n) >= static_cast<double>(std::numeric_limits<float>::lowest()) &&
+                static_cast<double>(n) <= static_cast<double>((std::numeric_limits<float>::max)()) &&
+                static_cast<double>(static_cast<float>(n)) == static_cast<double>(n))
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(static_cast<float>(n))
+                                : get_msgpack_float_prefix(static_cast<float>(n)));
+            write_number(static_cast<float>(n));
+        }
+        else
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(n)
+                                : get_msgpack_float_prefix(n));
+            write_number(n);
+        }
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_trivial<CharType>::value, "CharType must be trivial");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value &&
+                   std::is_signed<char>::value &&
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/output/serializer.hpp>
+
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string, char_traits
+#include <type_traits> // is_same
+#include <utility> // move
+
+// #include <nlohmann/detail/conversions/to_chars.hpp>
+
+
+#include <array> // array
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+#include <limits> // numeric_limits
+#include <type_traits> // conditional
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template<typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    std::uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(std::uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        JSON_ASSERT(x.e == y.e);
+        JSON_ASSERT(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const std::uint64_t u_lo = x.f & 0xFFFFFFFFu;
+        const std::uint64_t u_hi = x.f >> 32u;
+        const std::uint64_t v_lo = y.f & 0xFFFFFFFFu;
+        const std::uint64_t v_hi = y.f >> 32u;
+
+        const std::uint64_t p0 = u_lo * v_lo;
+        const std::uint64_t p1 = u_lo * v_hi;
+        const std::uint64_t p2 = u_hi * v_lo;
+        const std::uint64_t p3 = u_hi * v_hi;
+
+        const std::uint64_t p0_hi = p0 >> 32u;
+        const std::uint64_t p1_lo = p1 & 0xFFFFFFFFu;
+        const std::uint64_t p1_hi = p1 >> 32u;
+        const std::uint64_t p2_lo = p2 & 0xFFFFFFFFu;
+        const std::uint64_t p2_hi = p2 >> 32u;
+
+        std::uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += std::uint64_t{1} << (64u - 32u - 1u); // round, ties up
+
+        const std::uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32u);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        JSON_ASSERT(x.f != 0);
+
+        while ((x.f >> 63u) == 0)
+        {
+            x.f <<= 1u;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        JSON_ASSERT(delta >= 0);
+        JSON_ASSERT(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template<typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr std::uint64_t kHiddenBit = std::uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional<kPrecision == 24, std::uint32_t, std::uint64_t >::type;
+
+    const std::uint64_t bits = reinterpret_bits<bits_type>(value);
+    const std::uint64_t E = bits >> (kPrecision - 1);
+    const std::uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = E == 0;
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = F == 0 && E > 1;
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    std::uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exact power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr std::array<cached_power, 79> kCachedPowers =
+    {
+        {
+            { 0xAB70FE17C79AC6CA, -1060, -300 },
+            { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+            { 0xBE5691EF416BD60C, -1007, -284 },
+            { 0x8DD01FAD907FFC3C,  -980, -276 },
+            { 0xD3515C2831559A83,  -954, -268 },
+            { 0x9D71AC8FADA6C9B5,  -927, -260 },
+            { 0xEA9C227723EE8BCB,  -901, -252 },
+            { 0xAECC49914078536D,  -874, -244 },
+            { 0x823C12795DB6CE57,  -847, -236 },
+            { 0xC21094364DFB5637,  -821, -228 },
+            { 0x9096EA6F3848984F,  -794, -220 },
+            { 0xD77485CB25823AC7,  -768, -212 },
+            { 0xA086CFCD97BF97F4,  -741, -204 },
+            { 0xEF340A98172AACE5,  -715, -196 },
+            { 0xB23867FB2A35B28E,  -688, -188 },
+            { 0x84C8D4DFD2C63F3B,  -661, -180 },
+            { 0xC5DD44271AD3CDBA,  -635, -172 },
+            { 0x936B9FCEBB25C996,  -608, -164 },
+            { 0xDBAC6C247D62A584,  -582, -156 },
+            { 0xA3AB66580D5FDAF6,  -555, -148 },
+            { 0xF3E2F893DEC3F126,  -529, -140 },
+            { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+            { 0x87625F056C7C4A8B,  -475, -124 },
+            { 0xC9BCFF6034C13053,  -449, -116 },
+            { 0x964E858C91BA2655,  -422, -108 },
+            { 0xDFF9772470297EBD,  -396, -100 },
+            { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+            { 0xF8A95FCF88747D94,  -343,  -84 },
+            { 0xB94470938FA89BCF,  -316,  -76 },
+            { 0x8A08F0F8BF0F156B,  -289,  -68 },
+            { 0xCDB02555653131B6,  -263,  -60 },
+            { 0x993FE2C6D07B7FAC,  -236,  -52 },
+            { 0xE45C10C42A2B3B06,  -210,  -44 },
+            { 0xAA242499697392D3,  -183,  -36 },
+            { 0xFD87B5F28300CA0E,  -157,  -28 },
+            { 0xBCE5086492111AEB,  -130,  -20 },
+            { 0x8CBCCC096F5088CC,  -103,  -12 },
+            { 0xD1B71758E219652C,   -77,   -4 },
+            { 0x9C40000000000000,   -50,    4 },
+            { 0xE8D4A51000000000,   -24,   12 },
+            { 0xAD78EBC5AC620000,     3,   20 },
+            { 0x813F3978F8940984,    30,   28 },
+            { 0xC097CE7BC90715B3,    56,   36 },
+            { 0x8F7E32CE7BEA5C70,    83,   44 },
+            { 0xD5D238A4ABE98068,   109,   52 },
+            { 0x9F4F2726179A2245,   136,   60 },
+            { 0xED63A231D4C4FB27,   162,   68 },
+            { 0xB0DE65388CC8ADA8,   189,   76 },
+            { 0x83C7088E1AAB65DB,   216,   84 },
+            { 0xC45D1DF942711D9A,   242,   92 },
+            { 0x924D692CA61BE758,   269,  100 },
+            { 0xDA01EE641A708DEA,   295,  108 },
+            { 0xA26DA3999AEF774A,   322,  116 },
+            { 0xF209787BB47D6B85,   348,  124 },
+            { 0xB454E4A179DD1877,   375,  132 },
+            { 0x865B86925B9BC5C2,   402,  140 },
+            { 0xC83553C5C8965D3D,   428,  148 },
+            { 0x952AB45CFA97A0B3,   455,  156 },
+            { 0xDE469FBD99A05FE3,   481,  164 },
+            { 0xA59BC234DB398C25,   508,  172 },
+            { 0xF6C69A72A3989F5C,   534,  180 },
+            { 0xB7DCBF5354E9BECE,   561,  188 },
+            { 0x88FCF317F22241E2,   588,  196 },
+            { 0xCC20CE9BD35C78A5,   614,  204 },
+            { 0x98165AF37B2153DF,   641,  212 },
+            { 0xE2A0B5DC971F303A,   667,  220 },
+            { 0xA8D9D1535CE3B396,   694,  228 },
+            { 0xFB9B7CD9A4A7443C,   720,  236 },
+            { 0xBB764C4CA7A44410,   747,  244 },
+            { 0x8BAB8EEFB6409C1A,   774,  252 },
+            { 0xD01FEF10A657842C,   800,  260 },
+            { 0x9B10A4E5E9913129,   827,  268 },
+            { 0xE7109BFBA19C0C9D,   853,  276 },
+            { 0xAC2820D9623BF429,   880,  284 },
+            { 0x80444B5E7AA7CF85,   907,  292 },
+            { 0xBF21E44003ACDD2D,   933,  300 },
+            { 0x8E679C2F5E44FF8F,   960,  308 },
+            { 0xD433179D9C8CB841,   986,  316 },
+            { 0x9E19DB92B4E31BA9,  1013,  324 },
+        }
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    JSON_ASSERT(e >= -1500);
+    JSON_ASSERT(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    JSON_ASSERT(index >= 0);
+    JSON_ASSERT(static_cast<std::size_t>(index) < kCachedPowers.size());
+
+    const cached_power cached = kCachedPowers[static_cast<std::size_t>(index)];
+    JSON_ASSERT(kAlpha <= cached.e + e + 64);
+    JSON_ASSERT(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const std::uint32_t n, std::uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    else if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    else if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    else if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    else if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    else if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    else if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    else if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    else if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+    else
+    {
+        pow10 = 1;
+        return 1;
+    }
+}
+
+inline void grisu2_round(char* buf, int len, std::uint64_t dist, std::uint64_t delta,
+                         std::uint64_t rest, std::uint64_t ten_k)
+{
+    JSON_ASSERT(len >= 1);
+    JSON_ASSERT(dist <= delta);
+    JSON_ASSERT(rest <= delta);
+    JSON_ASSERT(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            && delta - rest >= ten_k
+            && (rest + ten_k < dist || dist - rest > rest + ten_k - dist))
+    {
+        JSON_ASSERT(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    JSON_ASSERT(M_plus.e >= kAlpha);
+    JSON_ASSERT(M_plus.e <= kGamma);
+
+    std::uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    std::uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(std::uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<std::uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    std::uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    JSON_ASSERT(p1 > 0);
+
+    std::uint32_t pow10;
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const std::uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const std::uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const std::uint64_t rest = (std::uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const std::uint64_t ten_n = std::uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    JSON_ASSERT(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        JSON_ASSERT(p2 <= (std::numeric_limits<std::uint64_t>::max)() / 10);
+        p2 *= 10;
+        const std::uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const std::uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const std::uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    JSON_ASSERT(m_plus.e == m_minus.e);
+    JSON_ASSERT(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1)
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes float's to double's, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* append_exponent(char* buf, int e)
+{
+    JSON_ASSERT(e > -1000);
+    JSON_ASSERT(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<std::uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    JSON_ASSERT(min_exp < 0);
+    JSON_ASSERT(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n && n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n) - static_cast<size_t>(k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (static_cast<size_t>(n) + 2);
+    }
+
+    if (0 < n && n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        JSON_ASSERT(k > n);
+
+        std::memmove(buf + (static_cast<size_t>(n) + 1), buf + n, static_cast<size_t>(k) - static_cast<size_t>(n));
+        buf[n] = '.';
+        return buf + (static_cast<size_t>(k) + 1U);
+    }
+
+    if (min_exp < n && n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + static_cast<size_t>(-n)), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2U + static_cast<size_t>(-n) + static_cast<size_t>(k));
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k) - 1);
+        buf[1] = '.';
+        buf += 1 + static_cast<size_t>(k);
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+} // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1, 2)
+JSON_HEDLEY_RETURNS_NON_NULL
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    JSON_ASSERT(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    JSON_ASSERT(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    JSON_ASSERT(last - first >= kMaxExp + 2);
+    JSON_ASSERT(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using binary_char_t = typename BasicJsonType::binary_t::value_type;
+    static constexpr std::uint8_t UTF8_ACCEPT = 0;
+    static constexpr std::uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->thousands_sep)))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->decimal_point)))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+    - binary values are serialized as objects containing the subtype and the
+      byte array
+
+    @param[in] val               value to serialize
+    @param[in] pretty_print      whether the output shall be pretty-printed
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] indent_step       the indent level
+    @param[in] current_indent    the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val,
+              const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_value.array->empty());
+                    dump(val.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::binary:
+            {
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"bytes\": [", 10);
+
+                    if (!val.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_value.binary->cbegin();
+                                i != val.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_characters(", ", 2);
+                        }
+                        dump_integer(val.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\n", 3);
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"subtype\": ", 11);
+                    if (val.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_value.binary->subtype());
+                    }
+                    else
+                    {
+                        o->write_characters("null", 4);
+                    }
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_characters("{\"bytes\":[", 10);
+
+                    if (!val.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_value.binary->cbegin();
+                                i != val.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_character(',');
+                        }
+                        dump_integer(val.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\"subtype\":", 12);
+                    if (val.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_value.binary->subtype());
+                        o->write_character('}');
+                    }
+                    else
+                    {
+                        o->write_characters("null}", 5);
+                    }
+                }
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+    }
+
+  private:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        std::uint32_t codepoint;
+        std::uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) || (ensure_ascii && (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                    static_cast<std::uint16_t>(codepoint));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                    static_cast<std::uint16_t>(0xD7C0u + (codepoint >> 10u)),
+                                                    static_cast<std::uint16_t>(0xDC00u + (codepoint & 0x3FFu)));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            std::string sn(3, '\0');
+                            (std::snprintf)(&sn[0], sn.size(), "%.2X", byte);
+                            JSON_THROW(type_error::create(316, "invalid UTF-8 byte at index " + std::to_string(i) + ": 0x" + sn));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+
+                                // write buffer and reset index; there must be 13 bytes
+                                // left, as this is the maximal number of bytes to be
+                                // written ("\uxxxx\uxxxx\0") for one code point
+                                if (string_buffer.size() - bytes < 13)
+                                {
+                                    o->write_characters(string_buffer.data(), bytes);
+                                    bytes = 0;
+                                }
+
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+
+                        default:            // LCOV_EXCL_LINE
+                            JSON_ASSERT(false);  // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (!ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_HEDLEY_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    std::string sn(3, '\0');
+                    (std::snprintf)(&sn[0], sn.size(), "%.2X", static_cast<std::uint8_t>(s.back()));
+                    JSON_THROW(type_error::create(316, "incomplete UTF-8 string; last byte: 0x" + sn));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false);  // LCOV_EXCL_LINE
+            }
+        }
+    }
+
+    /*!
+    @brief count digits
+
+    Count the number of decimal (base 10) digits for an input unsigned integer.
+
+    @param[in] x  unsigned integer number to count its digits
+    @return    number of decimal digits
+    */
+    inline unsigned int count_digits(number_unsigned_t x) noexcept
+    {
+        unsigned int n_digits = 1;
+        for (;;)
+        {
+            if (x < 10)
+            {
+                return n_digits;
+            }
+            if (x < 100)
+            {
+                return n_digits + 1;
+            }
+            if (x < 1000)
+            {
+                return n_digits + 2;
+            }
+            if (x < 10000)
+            {
+                return n_digits + 3;
+            }
+            x = x / 10000u;
+            n_digits += 4;
+        }
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template < typename NumberType, detail::enable_if_t <
+                   std::is_same<NumberType, number_unsigned_t>::value ||
+                   std::is_same<NumberType, number_integer_t>::value ||
+                   std::is_same<NumberType, binary_char_t>::value,
+                   int > = 0 >
+    void dump_integer(NumberType x)
+    {
+        static constexpr std::array<std::array<char, 2>, 100> digits_to_99
+        {
+            {
+                {{'0', '0'}}, {{'0', '1'}}, {{'0', '2'}}, {{'0', '3'}}, {{'0', '4'}}, {{'0', '5'}}, {{'0', '6'}}, {{'0', '7'}}, {{'0', '8'}}, {{'0', '9'}},
+                {{'1', '0'}}, {{'1', '1'}}, {{'1', '2'}}, {{'1', '3'}}, {{'1', '4'}}, {{'1', '5'}}, {{'1', '6'}}, {{'1', '7'}}, {{'1', '8'}}, {{'1', '9'}},
+                {{'2', '0'}}, {{'2', '1'}}, {{'2', '2'}}, {{'2', '3'}}, {{'2', '4'}}, {{'2', '5'}}, {{'2', '6'}}, {{'2', '7'}}, {{'2', '8'}}, {{'2', '9'}},
+                {{'3', '0'}}, {{'3', '1'}}, {{'3', '2'}}, {{'3', '3'}}, {{'3', '4'}}, {{'3', '5'}}, {{'3', '6'}}, {{'3', '7'}}, {{'3', '8'}}, {{'3', '9'}},
+                {{'4', '0'}}, {{'4', '1'}}, {{'4', '2'}}, {{'4', '3'}}, {{'4', '4'}}, {{'4', '5'}}, {{'4', '6'}}, {{'4', '7'}}, {{'4', '8'}}, {{'4', '9'}},
+                {{'5', '0'}}, {{'5', '1'}}, {{'5', '2'}}, {{'5', '3'}}, {{'5', '4'}}, {{'5', '5'}}, {{'5', '6'}}, {{'5', '7'}}, {{'5', '8'}}, {{'5', '9'}},
+                {{'6', '0'}}, {{'6', '1'}}, {{'6', '2'}}, {{'6', '3'}}, {{'6', '4'}}, {{'6', '5'}}, {{'6', '6'}}, {{'6', '7'}}, {{'6', '8'}}, {{'6', '9'}},
+                {{'7', '0'}}, {{'7', '1'}}, {{'7', '2'}}, {{'7', '3'}}, {{'7', '4'}}, {{'7', '5'}}, {{'7', '6'}}, {{'7', '7'}}, {{'7', '8'}}, {{'7', '9'}},
+                {{'8', '0'}}, {{'8', '1'}}, {{'8', '2'}}, {{'8', '3'}}, {{'8', '4'}}, {{'8', '5'}}, {{'8', '6'}}, {{'8', '7'}}, {{'8', '8'}}, {{'8', '9'}},
+                {{'9', '0'}}, {{'9', '1'}}, {{'9', '2'}}, {{'9', '3'}}, {{'9', '4'}}, {{'9', '5'}}, {{'9', '6'}}, {{'9', '7'}}, {{'9', '8'}}, {{'9', '9'}},
+            }
+        };
+
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        // use a pointer to fill the buffer
+        auto buffer_ptr = number_buffer.begin();
+
+        const bool is_negative = std::is_same<NumberType, number_integer_t>::value && !(x >= 0); // see issue #755
+        number_unsigned_t abs_value;
+
+        unsigned int n_chars;
+
+        if (is_negative)
+        {
+            *buffer_ptr = '-';
+            abs_value = remove_sign(static_cast<number_integer_t>(x));
+
+            // account one more byte for the minus sign
+            n_chars = 1 + count_digits(abs_value);
+        }
+        else
+        {
+            abs_value = static_cast<number_unsigned_t>(x);
+            n_chars = count_digits(abs_value);
+        }
+
+        // spare 1 byte for '\0'
+        JSON_ASSERT(n_chars < number_buffer.size() - 1);
+
+        // jump to the end to generate the string from backward
+        // so we later avoid reversing the result
+        buffer_ptr += n_chars;
+
+        // Fast int2ascii implementation inspired by "Fastware" talk by Andrei Alexandrescu
+        // See: https://www.youtube.com/watch?v=o4-CwDo2zpg
+        while (abs_value >= 100)
+        {
+            const auto digits_index = static_cast<unsigned>((abs_value % 100));
+            abs_value /= 100;
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+
+        if (abs_value >= 10)
+        {
+            const auto digits_index = static_cast<unsigned>(abs_value);
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+        else
+        {
+            *(--buffer_ptr) = static_cast<char>('0' + abs_value);
+        }
+
+        o->write_characters(number_buffer.data(), n_chars);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (!std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 24 && std::numeric_limits<number_float_t>::max_exponent == 128) ||
+              (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 53 && std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        char* begin = number_buffer.data();
+        char* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        JSON_ASSERT(len > 0);
+        // check if buffer was large enough
+        JSON_ASSERT(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            const auto end = std::remove(number_buffer.begin(),
+                                         number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            JSON_ASSERT((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' && decimal_point != '.')
+        {
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return c == '.' || c == 'e';
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static std::uint8_t decode(std::uint8_t& state, std::uint32_t& codep, const std::uint8_t byte) noexcept
+    {
+        static const std::array<std::uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        const std::uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6u)
+                : (0xFFu >> type) & (byte);
+
+        std::size_t index = 256u + static_cast<size_t>(state) * 16u + static_cast<size_t>(type);
+        JSON_ASSERT(index < 400);
+        state = utf8d[index];
+        return state;
+    }
+
+    /*
+     * Overload to make the compiler happy while it is instantiating
+     * dump_integer for number_unsigned_t.
+     * Must never be called.
+     */
+    number_unsigned_t remove_sign(number_unsigned_t x)
+    {
+        JSON_ASSERT(false); // LCOV_EXCL_LINE
+        return x; // LCOV_EXCL_LINE
+    }
+
+    /*
+     * Helper function for dump_integer
+     *
+     * This function takes a negative signed integer and returns its absolute
+     * value as unsigned integer. The plus/minus shuffling is necessary as we can
+     * not directly remove the sign of an arbitrary signed integer as the
+     * absolute values of INT_MIN and INT_MAX are usually not the same. See
+     * #1708 for details.
+     */
+    inline number_unsigned_t remove_sign(number_integer_t x) noexcept
+    {
+        JSON_ASSERT(x < 0 && x < (std::numeric_limits<number_integer_t>::max)());
+        return static_cast<number_unsigned_t>(-(x + 1)) + 1;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/json_fwd.hpp>
+
+// #include <nlohmann/ordered_map.hpp>
+
+
+#include <functional> // less
+#include <memory> // allocator
+#include <utility> // pair
+#include <vector> // vector
+
+namespace nlohmann
+{
+
+/// ordered_map: a minimal map-like container that preserves insertion order
+/// for use within nlohmann::basic_json<ordered_map>
+template <class Key, class T, class IgnoredLess = std::less<Key>,
+          class Allocator = std::allocator<std::pair<const Key, T>>>
+                  struct ordered_map : std::vector<std::pair<const Key, T>, Allocator>
+{
+    using key_type = Key;
+    using mapped_type = T;
+    using Container = std::vector<std::pair<const Key, T>, Allocator>;
+    using typename Container::iterator;
+    using typename Container::const_iterator;
+    using typename Container::size_type;
+    using typename Container::value_type;
+
+    // Explicit constructors instead of `using Container::Container`
+    // otherwise older compilers choke on it (GCC <= 5.5, xcode <= 9.4)
+    ordered_map(const Allocator& alloc = Allocator()) : Container{alloc} {}
+    template <class It>
+    ordered_map(It first, It last, const Allocator& alloc = Allocator())
+        : Container{first, last, alloc} {}
+    ordered_map(std::initializer_list<T> init, const Allocator& alloc = Allocator() )
+        : Container{init, alloc} {}
+
+    std::pair<iterator, bool> emplace(const key_type& key, T&& t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(key, t);
+        return {--this->end(), true};
+    }
+
+    T& operator[](const Key& key)
+    {
+        return emplace(key, T{}).first->second;
+    }
+
+    const T& operator[](const Key& key) const
+    {
+        return at(key);
+    }
+
+    T& at(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it->second;
+            }
+        }
+
+        throw std::out_of_range("key not found");
+    }
+
+    const T& at(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it->second;
+            }
+        }
+
+        throw std::out_of_range("key not found");
+    }
+
+    size_type erase(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator erase(iterator pos)
+    {
+        auto it = pos;
+
+        // Since we cannot move const Keys, re-construct them in place
+        for (auto next = it; ++next != this->end(); ++it)
+        {
+            it->~value_type(); // Destroy but keep allocation
+            new (&*it) value_type{std::move(*next)};
+        }
+        Container::pop_back();
+        return pos;
+    }
+
+    size_type count(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator find(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    const_iterator find(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    std::pair<iterator, bool> insert( value_type&& value )
+    {
+        return emplace(value.first, std::move(value.second));
+    }
+
+    std::pair<iterator, bool> insert( const value_type& value )
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == value.first)
+            {
+                return {it, false};
+            }
+        }
+        Container::push_back(value);
+        return {--this->end(), true};
+    }
+};
+
+}  // namespace nlohmann
+
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+
+/*!
+@brief a class to store JSON values
+
+@tparam ObjectType type for JSON objects (`std::map` by default; will be used
+in @ref object_t)
+@tparam ArrayType type for JSON arrays (`std::vector` by default; will be used
+in @ref array_t)
+@tparam StringType type for JSON strings and object keys (`std::string` by
+default; will be used in @ref string_t)
+@tparam BooleanType type for JSON booleans (`bool` by default; will be used
+in @ref boolean_t)
+@tparam NumberIntegerType type for JSON integer numbers (`int64_t` by
+default; will be used in @ref number_integer_t)
+@tparam NumberUnsignedType type for JSON unsigned integer numbers (@c
+`uint64_t` by default; will be used in @ref number_unsigned_t)
+@tparam NumberFloatType type for JSON floating-point numbers (`double` by
+default; will be used in @ref number_float_t)
+@tparam BinaryType type for packed binary data for compatibility with binary
+serialization formats (`std::vector<std::uint8_t>` by default; will be used in
+@ref binary_t)
+@tparam AllocatorType type of the allocator to use (`std::allocator` by
+default)
+@tparam JSONSerializer the serializer to resolve internal calls to `to_json()`
+and `from_json()` (@ref adl_serializer by default)
+
+@requirement The class satisfies the following concept requirements:
+- Basic
+ - [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible):
+   JSON values can be default constructed. The result will be a JSON null
+   value.
+ - [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible):
+   A JSON value can be constructed from an rvalue argument.
+ - [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible):
+   A JSON value can be copy-constructed from an lvalue expression.
+ - [MoveAssignable](https://en.cppreference.com/w/cpp/named_req/MoveAssignable):
+   A JSON value van be assigned from an rvalue argument.
+ - [CopyAssignable](https://en.cppreference.com/w/cpp/named_req/CopyAssignable):
+   A JSON value can be copy-assigned from an lvalue expression.
+ - [Destructible](https://en.cppreference.com/w/cpp/named_req/Destructible):
+   JSON values can be destructed.
+- Layout
+ - [StandardLayoutType](https://en.cppreference.com/w/cpp/named_req/StandardLayoutType):
+   JSON values have
+   [standard layout](https://en.cppreference.com/w/cpp/language/data_members#Standard_layout):
+   All non-static data members are private and standard layout types, the
+   class has no virtual functions or (virtual) base classes.
+- Library-wide
+ - [EqualityComparable](https://en.cppreference.com/w/cpp/named_req/EqualityComparable):
+   JSON values can be compared with `==`, see @ref
+   operator==(const_reference,const_reference).
+ - [LessThanComparable](https://en.cppreference.com/w/cpp/named_req/LessThanComparable):
+   JSON values can be compared with `<`, see @ref
+   operator<(const_reference,const_reference).
+ - [Swappable](https://en.cppreference.com/w/cpp/named_req/Swappable):
+   Any JSON lvalue or rvalue of can be swapped with any lvalue or rvalue of
+   other compatible types, using unqualified function call @ref swap().
+ - [NullablePointer](https://en.cppreference.com/w/cpp/named_req/NullablePointer):
+   JSON values can be compared against `std::nullptr_t` objects which are used
+   to model the `null` value.
+- Container
+ - [Container](https://en.cppreference.com/w/cpp/named_req/Container):
+   JSON values can be used like STL containers and provide iterator access.
+ - [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer);
+   JSON values can be used like STL containers and provide reverse iterator
+   access.
+
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@internal
+@note ObjectType trick from https://stackoverflow.com/a/9860911
+@endinternal
+
+@see [RFC 7159: The JavaScript Object Notation (JSON) Data Interchange
+Format](http://rfc7159.net/rfc7159)
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+    friend ::nlohmann::json_pointer<basic_json>;
+
+    template<typename BasicJsonType, typename InputType>
+    friend class ::nlohmann::detail::parser;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename InputType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer_base<basic_json>;
+
+    template<typename InputAdapterType>
+    static ::nlohmann::detail::parser<basic_json, InputAdapterType> parser(
+        InputAdapterType adapter,
+        detail::parser_callback_t<basic_json>cb = nullptr,
+        const bool allow_exceptions = true,
+        const bool ignore_comments = false
+                                 )
+    {
+        return ::nlohmann::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
+                std::move(cb), allow_exceptions, ignore_comments);
+    }
+
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    template<typename InputType>
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json, InputType>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<basic_json>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// how to treat CBOR tags
+    using cbor_tag_handler_t = detail::cbor_tag_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    /// @copydoc detail::exception
+    using exception = detail::exception;
+    /// @copydoc detail::parse_error
+    using parse_error = detail::parse_error;
+    /// @copydoc detail::invalid_iterator
+    using invalid_iterator = detail::invalid_iterator;
+    /// @copydoc detail::type_error
+    using type_error = detail::type_error;
+    /// @copydoc detail::out_of_range
+    using out_of_range = detail::out_of_range;
+    /// @copydoc detail::other_error
+    using other_error = detail::other_error;
+
+    /// @}
+
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+
+    /*!
+    @brief returns the allocator associated with the container
+    */
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /*!
+    @brief returns version information on the library
+
+    This function returns a JSON object with information about the library,
+    including the version number and information on the platform and compiler.
+
+    @return JSON object holding version information
+    key         | description
+    ----------- | ---------------
+    `compiler`  | Information on the used compiler. It is an object with the following keys: `c++` (the used C++ standard), `family` (the compiler family; possible values are `clang`, `icc`, `gcc`, `ilecpp`, `msvc`, `pgcpp`, `sunpro`, and `unknown`), and `version` (the compiler version).
+    `copyright` | The copyright line for the library as string.
+    `name`      | The name of the library as string.
+    `platform`  | The used platform as string. Possible values are `win32`, `linux`, `apple`, `unix`, and `unknown`.
+    `url`       | The URL of the project as string.
+    `version`   | The version of the library. It is an object with the following keys: `major`, `minor`, and `patch` as defined by [Semantic Versioning](http://semver.org), and `string` (the version string).
+
+    @liveexample{The following code shows an example output of the `meta()`
+    function.,meta}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @complexity Constant.
+
+    @since 2.1.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2020 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            std::to_string(NLOHMANN_JSON_VERSION_MAJOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_MINOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_PATCH);
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", std::to_string(__GNUC__) + "." + std::to_string(__GNUC_MINOR__) + "." + std::to_string(__GNUC_PATCHLEVEL__)}};
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+#ifdef __cplusplus
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+#if defined(JSON_HAS_CPP_14)
+    // Use transparent comparator if possible, combined with perfect forwarding
+    // on find() and count() calls prevents unnecessary string construction.
+    using object_comparator_t = std::less<>;
+#else
+    using object_comparator_t = std::less<StringType>;
+#endif
+
+    /*!
+    @brief a type for an object
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON objects as follows:
+    > An object is an unordered collection of zero or more name/value pairs,
+    > where a name is a string and a value is a string, number, boolean, null,
+    > object, or array.
+
+    To store objects in C++, a type is defined by the template parameters
+    described below.
+
+    @tparam ObjectType  the container to store objects (e.g., `std::map` or
+    `std::unordered_map`)
+    @tparam StringType the type of the keys or names (e.g., `std::string`).
+    The comparison function `std::less<StringType>` is used to order elements
+    inside the container.
+    @tparam AllocatorType the allocator to use for objects (e.g.,
+    `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ObjectType (`std::map`), @a StringType
+    (`std::string`), and @a AllocatorType (`std::allocator`), the default
+    value for @a object_t is:
+
+    @code {.cpp}
+    std::map<
+      std::string, // key_type
+      basic_json, // value_type
+      std::less<std::string>, // key_compare
+      std::allocator<std::pair<const std::string, basic_json>> // allocator_type
+    >
+    @endcode
+
+    #### Behavior
+
+    The choice of @a object_t influences the behavior of the JSON class. With
+    the default type, objects have the following behavior:
+
+    - When all names are unique, objects will be interoperable in the sense
+      that all software implementations receiving that object will agree on
+      the name-value mappings.
+    - When the names within an object are not unique, it is unspecified which
+      one of the values for a given key will be chosen. For instance,
+      `{"key": 2, "key": 1}` could be equal to either `{"key": 1}` or
+      `{"key": 2}`.
+    - Internally, name/value pairs are stored in lexicographical order of the
+      names. Objects will also be serialized (see @ref dump) in this order.
+      For instance, `{"b": 1, "a": 2}` and `{"a": 2, "b": 1}` will be stored
+      and serialized as `{"a": 2, "b": 1}`.
+    - When comparing objects, the order of the name/value pairs is irrelevant.
+      This makes objects interoperable in the sense that they will not be
+      affected by these differences. For instance, `{"b": 1, "a": 2}` and
+      `{"a": 2, "b": 1}` will be treated as equal.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the object's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON object.
+
+    #### Storage
+
+    Objects are stored as pointers in a @ref basic_json type. That is, for any
+    access to object values, a pointer of type `object_t*` must be
+    dereferenced.
+
+    @sa @ref array_t -- type for an array value
+
+    @since version 1.0.0
+
+    @note The order name/value pairs are added to the object is *not*
+    preserved by the library. Therefore, iterating an object may return
+    name/value pairs in a different order than they were originally stored. In
+    fact, keys will be traversed in alphabetical order as `std::map` with
+    `std::less` is used by default. Please note this behavior conforms to [RFC
+    7159](http://rfc7159.net/rfc7159), because any order implements the
+    specified "unordered" nature of JSON objects.
+    */
+    using object_t = ObjectType<StringType,
+          basic_json,
+          object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /*!
+    @brief a type for an array
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON arrays as follows:
+    > An array is an ordered sequence of zero or more values.
+
+    To store objects in C++, a type is defined by the template parameters
+    explained below.
+
+    @tparam ArrayType  container type to store arrays (e.g., `std::vector` or
+    `std::list`)
+    @tparam AllocatorType allocator to use for arrays (e.g., `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ArrayType (`std::vector`) and @a
+    AllocatorType (`std::allocator`), the default value for @a array_t is:
+
+    @code {.cpp}
+    std::vector<
+      basic_json, // value_type
+      std::allocator<basic_json> // allocator_type
+    >
+    @endcode
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the array's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON array.
+
+    #### Storage
+
+    Arrays are stored as pointers in a @ref basic_json type. That is, for any
+    access to array values, a pointer of type `array_t*` must be dereferenced.
+
+    @sa @ref object_t -- type for an object value
+
+    @since version 1.0.0
+    */
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /*!
+    @brief a type for a string
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON strings as follows:
+    > A string is a sequence of zero or more Unicode characters.
+
+    To store objects in C++, a type is defined by the template parameter
+    described below. Unicode values are split by the JSON class into
+    byte-sized characters during deserialization.
+
+    @tparam StringType  the container to store strings (e.g., `std::string`).
+    Note this container is used for keys/names in objects, see @ref object_t.
+
+    #### Default type
+
+    With the default values for @a StringType (`std::string`), the default
+    value for @a string_t is:
+
+    @code {.cpp}
+    std::string
+    @endcode
+
+    #### Encoding
+
+    Strings are stored in UTF-8 encoding. Therefore, functions like
+    `std::string::size()` or `std::string::length()` return the number of
+    bytes in the string rather than the number of characters or glyphs.
+
+    #### String comparison
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > Software implementations are typically required to test names of object
+    > members for equality. Implementations that transform the textual
+    > representation into sequences of Unicode code units and then perform the
+    > comparison numerically, code unit by code unit, are interoperable in the
+    > sense that implementations will agree in all cases on equality or
+    > inequality of two strings. For example, implementations that compare
+    > strings with escaped characters unconverted may incorrectly find that
+    > `"a\\b"` and `"a\u005Cb"` are not equal.
+
+    This implementation is interoperable as it does compare strings code unit
+    by code unit.
+
+    #### Storage
+
+    String values are stored as pointers in a @ref basic_json type. That is,
+    for any access to string values, a pointer of type `string_t*` must be
+    dereferenced.
+
+    @since version 1.0.0
+    */
+    using string_t = StringType;
+
+    /*!
+    @brief a type for a boolean
+
+    [RFC 7159](http://rfc7159.net/rfc7159) implicitly describes a boolean as a
+    type which differentiates the two literals `true` and `false`.
+
+    To store objects in C++, a type is defined by the template parameter @a
+    BooleanType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a BooleanType (`bool`), the default value for
+    @a boolean_t is:
+
+    @code {.cpp}
+    bool
+    @endcode
+
+    #### Storage
+
+    Boolean values are stored directly inside a @ref basic_json type.
+
+    @since version 1.0.0
+    */
+    using boolean_t = BooleanType;
+
+    /*!
+    @brief a type for a number (integer)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store integer numbers in C++, a type is defined by the template
+    parameter @a NumberIntegerType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberIntegerType (`int64_t`), the default
+    value for @a number_integer_t is:
+
+    @code {.cpp}
+    int64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `9223372036854775807` (INT64_MAX) and the minimal integer number
+    that can be stored is `-9223372036854775808` (INT64_MIN). Integer numbers
+    that are out of range will yield over/underflow when used in a
+    constructor. During deserialization, too large or small integer numbers
+    will be automatically be stored as @ref number_unsigned_t or @ref
+    number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange of the exactly supported range [INT64_MIN,
+    INT64_MAX], this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_integer_t = NumberIntegerType;
+
+    /*!
+    @brief a type for a number (unsigned)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store unsigned integer numbers in C++, a type is defined by the
+    template parameter @a NumberUnsignedType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberUnsignedType (`uint64_t`), the
+    default value for @a number_unsigned_t is:
+
+    @code {.cpp}
+    uint64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `18446744073709551615` (UINT64_MAX) and the minimal integer
+    number that can be stored is `0`. Integer numbers that are out of range
+    will yield over/underflow when used in a constructor. During
+    deserialization, too large or small integer numbers will be automatically
+    be stored as @ref number_integer_t or @ref number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange (when considered in conjunction with the
+    number_integer_t type) of the exactly supported range [0, UINT64_MAX],
+    this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @since version 2.0.0
+    */
+    using number_unsigned_t = NumberUnsignedType;
+
+    /*!
+    @brief a type for a number (floating-point)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store floating-point numbers in C++, a type is defined by the template
+    parameter @a NumberFloatType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberFloatType (`double`), the default
+    value for @a number_float_t is:
+
+    @code {.cpp}
+    double
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in floating-point literals will be ignored. Internally,
+      the value will be stored as decimal number. For instance, the C++
+      floating-point literal `01.2` will be serialized to `1.2`. During
+      deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > This specification allows implementations to set limits on the range and
+    > precision of numbers accepted. Since software that implements IEEE
+    > 754-2008 binary64 (double precision) numbers is generally available and
+    > widely used, good interoperability can be achieved by implementations
+    > that expect no more precision or range than these provide, in the sense
+    > that implementations will approximate JSON numbers within the expected
+    > precision.
+
+    This implementation does exactly follow this approach, as it uses double
+    precision floating-point numbers. Note values smaller than
+    `-1.79769313486232e+308` and values greater than `1.79769313486232e+308`
+    will be stored as NaN internally and be serialized to `null`.
+
+    #### Storage
+
+    Floating-point number values are stored directly inside a @ref basic_json
+    type.
+
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_float_t = NumberFloatType;
+
+    /*!
+    @brief a type for a packed binary type
+
+    This type is a type designed to carry binary data that appears in various
+    serialized formats, such as CBOR's Major Type 2, MessagePack's bin, and
+    BSON's generic binary subtype. This type is NOT a part of standard JSON and
+    exists solely for compatibility with these binary types. As such, it is
+    simply defined as an ordered sequence of zero or more byte values.
+
+    Additionally, as an implementation detail, the subtype of the binary data is
+    carried around as a `std::uint8_t`, which is compatible with both of the
+    binary data formats that use binary subtyping, (though the specific
+    numbering is incompatible with each other, and it is up to the user to
+    translate between them).
+
+    [CBOR's RFC 7049](https://tools.ietf.org/html/rfc7049) describes this type
+    as:
+    > Major type 2: a byte string. The string's length in bytes is represented
+    > following the rules for positive integers (major type 0).
+
+    [MessagePack's documentation on the bin type
+    family](https://github.com/msgpack/msgpack/blob/master/spec.md#bin-format-family)
+    describes this type as:
+    > Bin format family stores an byte array in 2, 3, or 5 bytes of extra bytes
+    > in addition to the size of the byte array.
+
+    [BSON's specifications](http://bsonspec.org/spec.html) describe several
+    binary types; however, this type is intended to represent the generic binary
+    type which has the description:
+    > Generic binary subtype - This is the most commonly used binary subtype and
+    > should be the 'default' for drivers and tools.
+
+    None of these impose any limitations on the internal representation other
+    than the basic unit of storage be some type of array whose parts are
+    decomposable into bytes.
+
+    The default representation of this binary format is a
+    `std::vector<std::uint8_t>`, which is a very common way to represent a byte
+    array in modern C++.
+
+    #### Default type
+
+    The default values for @a BinaryType is `std::vector<std::uint8_t>`
+
+    #### Storage
+
+    Binary Arrays are stored as pointers in a @ref basic_json type. That is,
+    for any access to array values, a pointer of the type `binary_t*` must be
+    dereferenced.
+
+    #### Notes on subtypes
+
+    - CBOR
+       - Binary values are represented as byte strings. No subtypes are
+         supported and will be ignored when CBOR is written.
+    - MessagePack
+       - If a subtype is given and the binary array contains exactly 1, 2, 4, 8,
+         or 16 elements, the fixext family (fixext1, fixext2, fixext4, fixext8)
+         is used. For other sizes, the ext family (ext8, ext16, ext32) is used.
+         The subtype is then added as singed 8-bit integer.
+       - If no subtype is given, the bin family (bin8, bin16, bin32) is used.
+    - BSON
+       - If a subtype is given, it is used and added as unsigned 8-bit integer.
+       - If no subtype is given, the generic binary subtype 0x00 is used.
+
+    @sa @ref binary -- create a binary array
+
+    @since version 3.8.0
+    */
+    using binary_t = nlohmann::byte_container_with_subtype<BinaryType>;
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * object)
+        {
+            AllocatorTraits::deallocate(alloc, object, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> object(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, object.get(), std::forward<Args>(args)...);
+        JSON_ASSERT(object != nullptr);
+        return object.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    binary    | binary          | pointer to @ref binary_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// binary (stored with pointer to save storage)
+        binary_t* binary;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    binary = create<binary_t>();
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = boolean_t(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = number_integer_t(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = number_unsigned_t(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = number_float_t(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_HEDLEY_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.9.1")); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value)
+        {
+            string = create<string_t>(value);
+        }
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value)
+        {
+            string = create<string_t>(std::move(value));
+        }
+
+        /// constructor for objects
+        json_value(const object_t& value)
+        {
+            object = create<object_t>(value);
+        }
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value)
+        {
+            object = create<object_t>(std::move(value));
+        }
+
+        /// constructor for arrays
+        json_value(const array_t& value)
+        {
+            array = create<array_t>(value);
+        }
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value)
+        {
+            array = create<array_t>(std::move(value));
+        }
+
+        /// constructor for binary arrays
+        json_value(const typename binary_t::container_type& value)
+        {
+            binary = create<binary_t>(value);
+        }
+
+        /// constructor for rvalue binary arrays
+        json_value(typename binary_t::container_type&& value)
+        {
+            binary = create<binary_t>(std::move(value));
+        }
+
+        /// constructor for binary arrays (internal type)
+        json_value(const binary_t& value)
+        {
+            binary = create<binary_t>(value);
+        }
+
+        /// constructor for rvalue binary arrays (internal type)
+        json_value(binary_t&& value)
+        {
+            binary = create<binary_t>(std::move(value));
+        }
+
+        void destroy(value_t t) noexcept
+        {
+            // flatten the current json_value to a heap-allocated stack
+            std::vector<basic_json> stack;
+
+            // move the top-level items to stack
+            if (t == value_t::array)
+            {
+                stack.reserve(array->size());
+                std::move(array->begin(), array->end(), std::back_inserter(stack));
+            }
+            else if (t == value_t::object)
+            {
+                stack.reserve(object->size());
+                for (auto&& it : *object)
+                {
+                    stack.push_back(std::move(it.second));
+                }
+            }
+
+            while (!stack.empty())
+            {
+                // move the last item to local variable to be processed
+                basic_json current_item(std::move(stack.back()));
+                stack.pop_back();
+
+                // if current_item is array/object, move
+                // its children to the stack to be processed later
+                if (current_item.is_array())
+                {
+                    std::move(current_item.m_value.array->begin(), current_item.m_value.array->end(),
+                              std::back_inserter(stack));
+
+                    current_item.m_value.array->clear();
+                }
+                else if (current_item.is_object())
+                {
+                    for (auto&& it : *current_item.m_value.object)
+                    {
+                        stack.push_back(std::move(it.second));
+                    }
+
+                    current_item.m_value.object->clear();
+                }
+
+                // it's now safe that current_item get destructed
+                // since it doesn't have any children
+            }
+
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, binary, 1);
+                    break;
+                }
+
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+    */
+    void assert_invariant() const noexcept
+    {
+        JSON_ASSERT(m_type != value_t::object || m_value.object != nullptr);
+        JSON_ASSERT(m_type != value_t::array || m_value.array != nullptr);
+        JSON_ASSERT(m_type != value_t::string || m_value.string != nullptr);
+        JSON_ASSERT(m_type != value_t::binary || m_value.binary != nullptr);
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /*!
+    @brief parser event types
+
+    The parser callback distinguishes the following events:
+    - `object_start`: the parser read `{` and started to process a JSON object
+    - `key`: the parser read a key of a value in an object
+    - `object_end`: the parser read `}` and finished processing a JSON object
+    - `array_start`: the parser read `[` and started to process a JSON array
+    - `array_end`: the parser read `]` and finished processing a JSON array
+    - `value`: the parser finished reading a JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    @sa @ref parser_callback_t for more information and examples
+    */
+    using parse_event_t = detail::parse_event_t;
+
+    /*!
+    @brief per-element parser callback type
+
+    With a parser callback function, the result of parsing a JSON text can be
+    influenced. When passed to @ref parse, it is called on certain events
+    (passed as @ref parse_event_t via parameter @a event) with a set recursion
+    depth @a depth and context JSON value @a parsed. The return value of the
+    callback function is a boolean indicating whether the element that emitted
+    the callback shall be kept or not.
+
+    We distinguish six scenarios (determined by the event type) in which the
+    callback function can be called. The following table describes the values
+    of the parameters @a depth, @a event, and @a parsed.
+
+    parameter @a event | description | parameter @a depth | parameter @a parsed
+    ------------------ | ----------- | ------------------ | -------------------
+    parse_event_t::object_start | the parser read `{` and started to process a JSON object | depth of the parent of the JSON object | a JSON value with type discarded
+    parse_event_t::key | the parser read a key of a value in an object | depth of the currently parsed JSON object | a JSON string containing the key
+    parse_event_t::object_end | the parser read `}` and finished processing a JSON object | depth of the parent of the JSON object | the parsed JSON object
+    parse_event_t::array_start | the parser read `[` and started to process a JSON array | depth of the parent of the JSON array | a JSON value with type discarded
+    parse_event_t::array_end | the parser read `]` and finished processing a JSON array | depth of the parent of the JSON array | the parsed JSON array
+    parse_event_t::value | the parser finished reading a JSON value | depth of the value | the parsed JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    Discarding a value (i.e., returning `false`) has different effects
+    depending on the context in which function was called:
+
+    - Discarded values in structured types are skipped. That is, the parser
+      will behave as if the discarded value was never read.
+    - In case a value outside a structured type is skipped, it is replaced
+      with `null`. This case happens if the top-level element is skipped.
+
+    @param[in] depth  the depth of the recursion during parsing
+
+    @param[in] event  an event of type parse_event_t indicating the context in
+    the callback function has been called
+
+    @param[in,out] parsed  the current intermediate parse result; note that
+    writing to this value has no effect for parse_event_t::key events
+
+    @return Whether the JSON value which called the function during parsing
+    should be kept (`true`) or not (`false`). In the latter case, it is either
+    skipped completely or replaced by an empty discarded object.
+
+    @sa @ref parse for examples
+
+    @since version 1.0.0
+    */
+    using parser_callback_t = detail::parser_callback_t<basic_json>;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /*!
+    @brief create an empty value with a given type
+
+    Create an empty JSON value with a given type. The value will be default
+    initialized with an empty value which depends on the type:
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+    binary      | empty array
+
+    @param[in] v  the type of the value to create
+
+    @complexity Constant.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows the constructor for different @ref
+    value_t values,basic_json__value_t}
+
+    @sa @ref clear() -- restores the postcondition of this constructor
+
+    @since version 1.0.0
+    */
+    basic_json(const value_t v)
+        : m_type(v), m_value(v)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a null object
+
+    Create a `null` JSON value. It either takes a null pointer as parameter
+    (explicitly creating `null`) or no parameter (implicitly creating `null`).
+    The passed null pointer itself is not read -- it is only used to choose
+    the right constructor.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @liveexample{The following code shows the constructor with and without a
+    null pointer parameter.,basic_json__nullptr_t}
+
+    @since version 1.0.0
+    */
+    basic_json(std::nullptr_t = nullptr) noexcept
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value
+
+    This is a "catch all" constructor for all compatible JSON types; that is,
+    types for which a `to_json()` method exists. The constructor forwards the
+    parameter @a val to that method (to `json_serializer<U>::to_json` method
+    with `U = uncvref_t<CompatibleType>`, to be exact).
+
+    Template type @a CompatibleType includes, but is not limited to, the
+    following types:
+    - **arrays**: @ref array_t and all kinds of compatible containers such as
+      `std::vector`, `std::deque`, `std::list`, `std::forward_list`,
+      `std::array`, `std::valarray`, `std::set`, `std::unordered_set`,
+      `std::multiset`, and `std::unordered_multiset` with a `value_type` from
+      which a @ref basic_json value can be constructed.
+    - **objects**: @ref object_t and all kinds of compatible associative
+      containers such as `std::map`, `std::unordered_map`, `std::multimap`,
+      and `std::unordered_multimap` with a `key_type` compatible to
+      @ref string_t and a `value_type` from which a @ref basic_json value can
+      be constructed.
+    - **strings**: @ref string_t, string literals, and all compatible string
+      containers can be used.
+    - **numbers**: @ref number_integer_t, @ref number_unsigned_t,
+      @ref number_float_t, and all convertible number types such as `int`,
+      `size_t`, `int64_t`, `float` or `double` can be used.
+    - **boolean**: @ref boolean_t / `bool` can be used.
+    - **binary**: @ref binary_t / `std::vector<uint8_t>` may be used,
+      unfortunately because string literals cannot be distinguished from binary
+      character arrays by the C++ type system, all types compatible with `const
+      char*` will be directed to the string constructor instead.  This is both
+      for backwards compatibility, and due to the fact that a binary type is not
+      a standard JSON type.
+
+    See the examples below.
+
+    @tparam CompatibleType a type such that:
+    - @a CompatibleType is not derived from `std::istream`,
+    - @a CompatibleType is not @ref basic_json (to avoid hijacking copy/move
+         constructors),
+    - @a CompatibleType is not a different @ref basic_json type (i.e. with different template arguments)
+    - @a CompatibleType is not a @ref basic_json nested type (e.g.,
+         @ref json_pointer, @ref iterator, etc ...)
+    - @ref @ref json_serializer<U> has a
+         `to_json(basic_json_t&, CompatibleType&&)` method
+
+    @tparam U = `uncvref_t<CompatibleType>`
+
+    @param[in] val the value to be forwarded to the respective constructor
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @liveexample{The following code shows the constructor with several
+    compatible types.,basic_json__CompatibleType}
+
+    @since version 2.1.0
+    */
+    template < typename CompatibleType,
+               typename U = detail::uncvref_t<CompatibleType>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<U>::value && detail::is_compatible_type<basic_json_t, U>::value, int > = 0 >
+    basic_json(CompatibleType && val) noexcept(noexcept(
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value from an existing one
+
+    This is a constructor for existing @ref basic_json types.
+    It does not hijack copy/move constructors, since the parameter has different
+    template arguments than the current ones.
+
+    The constructor tries to convert the internal @ref m_value of the parameter.
+
+    @tparam BasicJsonType a type such that:
+    - @a BasicJsonType is a @ref basic_json type.
+    - @a BasicJsonType has different template arguments than @ref basic_json_t.
+
+    @param[in] val the @ref basic_json value to be converted.
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value&& !std::is_same<basic_json, BasicJsonType>::value, int > = 0 >
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+        using other_binary_t = typename BasicJsonType::binary_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::binary:
+                JSONSerializer<other_binary_t>::to_json(*this, val.template get_ref<const other_binary_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_type = value_t::discarded;
+                break;
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a container (array or object) from an initializer list
+
+    Creates a JSON value of type array or object from the passed initializer
+    list @a init. In case @a type_deduction is `true` (default), the type of
+    the JSON value to be created is deducted from the initializer list @a init
+    according to the following rules:
+
+    1. If the list is empty, an empty JSON object value `{}` is created.
+    2. If the list consists of pairs whose first element is a string, a JSON
+       object value is created where the first elements of the pairs are
+       treated as keys and the second elements are as values.
+    3. In all other cases, an array is created.
+
+    The rules aim to create the best fit between a C++ initializer list and
+    JSON values. The rationale is as follows:
+
+    1. The empty initializer list is written as `{}` which is exactly an empty
+       JSON object.
+    2. C++ has no way of describing mapped types other than to list a list of
+       pairs. As JSON requires that keys must be of type string, rule 2 is the
+       weakest constraint one can pose on initializer lists to interpret them
+       as an object.
+    3. In all other cases, the initializer list could not be interpreted as
+       JSON object type, so interpreting it as JSON array type is safe.
+
+    With the rules described above, the following JSON values cannot be
+    expressed by an initializer list:
+
+    - the empty array (`[]`): use @ref array(initializer_list_t)
+      with an empty initializer list in this case
+    - arrays whose elements satisfy rule 2: use @ref
+      array(initializer_list_t) with the same initializer list
+      in this case
+
+    @note When used without parentheses around an empty initializer list, @ref
+    basic_json() is called instead of this function, yielding the JSON null
+    value.
+
+    @param[in] init  initializer list with JSON values
+
+    @param[in] type_deduction internal parameter; when set to `true`, the type
+    of the JSON value is deducted from the initializer list @a init; when set
+    to `false`, the type provided via @a manual_type is forced. This mode is
+    used by the functions @ref array(initializer_list_t) and
+    @ref object(initializer_list_t).
+
+    @param[in] manual_type internal parameter; when @a type_deduction is set
+    to `false`, the created JSON value will use the provided type (only @ref
+    value_t::array and @ref value_t::object are valid); when @a type_deduction
+    is set to `true`, this parameter has no effect
+
+    @throw type_error.301 if @a type_deduction is `false`, @a manual_type is
+    `value_t::object`, but @a init contains an element which is not a pair
+    whose first element is a string. In this case, the constructor could not
+    create an object. If @a type_deduction would have be `true`, an array
+    would have been created. See @ref object(initializer_list_t)
+    for an example.
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows how JSON values are created from
+    initializer lists.,basic_json__list_init_t}
+
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            return element_ref->is_array() && element_ref->size() == 2 && (*element_ref)[0].is_string();
+        });
+
+        // adjust type if type deduction is not wanted
+        if (!type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_HEDLEY_UNLIKELY(manual_type == value_t::object && !is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list"));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_type = value_t::object;
+            m_value = value_t::object;
+
+            std::for_each(init.begin(), init.end(), [this](const detail::json_ref<basic_json>& element_ref)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_value.object->emplace(
+                    std::move(*((*element.m_value.array)[0].m_value.string)),
+                    std::move((*element.m_value.array)[1]));
+            });
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_type = value_t::array;
+            m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief explicitly create a binary array (without subtype)
+
+    Creates a JSON binary array value from a given binary container. Binary
+    values are part of various binary formats, such as CBOR, MessagePack, and
+    BSON. This constructor is used to create a value for serialization to those
+    formats.
+
+    @note Note, this function exists because of the difficulty in correctly
+    specifying the correct template overload in the standard value ctor, as both
+    JSON arrays and JSON binary arrays are backed with some form of a
+    `std::vector`. Because JSON binary arrays are a non-standard extension it
+    was decided that it would be best to prevent automatic initialization of a
+    binary array type, for backwards compatibility and so it does not happen on
+    accident.
+
+    @param[in] init container containing bytes to use as binary type
+
+    @return JSON binary array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @since version 3.8.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = init;
+        return res;
+    }
+
+    /*!
+    @brief explicitly create a binary array (with subtype)
+
+    Creates a JSON binary array value from a given binary container. Binary
+    values are part of various binary formats, such as CBOR, MessagePack, and
+    BSON. This constructor is used to create a value for serialization to those
+    formats.
+
+    @note Note, this function exists because of the difficulty in correctly
+    specifying the correct template overload in the standard value ctor, as both
+    JSON arrays and JSON binary arrays are backed with some form of a
+    `std::vector`. Because JSON binary arrays are a non-standard extension it
+    was decided that it would be best to prevent automatic initialization of a
+    binary array type, for backwards compatibility and so it does not happen on
+    accident.
+
+    @param[in] init container containing bytes to use as binary type
+    @param[in] subtype subtype to use in MessagePack and BSON
+
+    @return JSON binary array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @since version 3.8.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init, std::uint8_t subtype)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = binary_t(init, subtype);
+        return res;
+    }
+
+    /// @copydoc binary(const typename binary_t::container_type&)
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = std::move(init);
+        return res;
+    }
+
+    /// @copydoc binary(const typename binary_t::container_type&, std::uint8_t)
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init, std::uint8_t subtype)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = binary_t(std::move(init), subtype);
+        return res;
+    }
+
+    /*!
+    @brief explicitly create an array from an initializer list
+
+    Creates a JSON array value from a given initializer list. That is, given a
+    list of values `a, b, c`, creates the JSON value `[a, b, c]`. If the
+    initializer list is empty, the empty array `[]` is created.
+
+    @note This function is only needed to express two edge cases that cannot
+    be realized with the initializer list constructor (@ref
+    basic_json(initializer_list_t, bool, value_t)). These cases
+    are:
+    1. creating an array whose elements are all pairs whose first element is a
+    string -- in this case, the initializer list constructor would create an
+    object, taking the first elements as keys
+    2. creating an empty array -- passing the empty initializer list to the
+    initializer list constructor yields an empty object
+
+    @param[in] init  initializer list with JSON values to create an array from
+    (optional)
+
+    @return JSON array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `array`
+    function.,array}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /*!
+    @brief explicitly create an object from an initializer list
+
+    Creates a JSON object value from a given initializer list. The initializer
+    lists elements must be pairs, and their first elements must be strings. If
+    the initializer list is empty, the empty object `{}` is created.
+
+    @note This function is only added for symmetry reasons. In contrast to the
+    related function @ref array(initializer_list_t), there are
+    no cases which can only be expressed by this function. That is, any
+    initializer list @a init can also be passed to the initializer list
+    constructor @ref basic_json(initializer_list_t, bool, value_t).
+
+    @param[in] init  initializer list to create an object from (optional)
+
+    @return JSON object value
+
+    @throw type_error.301 if @a init is not a list of pairs whose first
+    elements are strings. In this case, no object can be created. When such a
+    value is passed to @ref basic_json(initializer_list_t, bool, value_t),
+    an array would have been created from the passed initializer list @a init.
+    See example below.
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `object`
+    function.,object}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /*!
+    @brief construct an array with count copies of given value
+
+    Constructs a JSON array value by creating @a cnt copies of a passed value.
+    In case @a cnt is `0`, an empty array is created.
+
+    @param[in] cnt  the number of JSON copies of @a val to create
+    @param[in] val  the JSON value to copy
+
+    @post `std::distance(begin(),end()) == cnt` holds.
+
+    @complexity Linear in @a cnt.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows examples for the @ref
+    basic_json(size_type\, const basic_json&)
+    constructor.,basic_json__size_type_basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(size_type cnt, const basic_json& val)
+        : m_type(value_t::array)
+    {
+        m_value.array = create<array_t>(cnt, val);
+        assert_invariant();
+    }
+
+    /*!
+    @brief construct a JSON container given an iterator range
+
+    Constructs the JSON value with the contents of the range `[first, last)`.
+    The semantics depends on the different types a JSON value can have:
+    - In case of a null type, invalid_iterator.206 is thrown.
+    - In case of other primitive types (number, boolean, or string), @a first
+      must be `begin()` and @a last must be `end()`. In this case, the value is
+      copied. Otherwise, invalid_iterator.204 is thrown.
+    - In case of structured types (array, object), the constructor behaves as
+      similar versions for `std::vector` or `std::map`; that is, a JSON array
+      or object is constructed from the values in the range.
+
+    @tparam InputIT an input iterator type (@ref iterator or @ref
+    const_iterator)
+
+    @param[in] first begin of the range to copy from (included)
+    @param[in] last end of the range to copy from (excluded)
+
+    @pre Iterators @a first and @a last must be initialized. **This
+         precondition is enforced with an assertion (see warning).** If
+         assertions are switched off, a violation of this precondition yields
+         undefined behavior.
+
+    @pre Range `[first, last)` is valid. Usually, this precondition cannot be
+         checked efficiently. Only certain edge cases are detected; see the
+         description of the exceptions below. A violation of this precondition
+         yields undefined behavior.
+
+    @warning A precondition is enforced with a runtime assertion that will
+             result in calling `std::abort` if this precondition is not met.
+             Assertions can be disabled by defining `NDEBUG` at compile time.
+             See https://en.cppreference.com/w/cpp/error/assert for more
+             information.
+
+    @throw invalid_iterator.201 if iterators @a first and @a last are not
+    compatible (i.e., do not belong to the same JSON value). In this case,
+    the range `[first, last)` is undefined.
+    @throw invalid_iterator.204 if iterators @a first and @a last belong to a
+    primitive type (number, boolean, or string), but @a first does not point
+    to the first element any more. In this case, the range `[first, last)` is
+    undefined. See example code below.
+    @throw invalid_iterator.206 if iterators @a first and @a last belong to a
+    null value. In this case, the range `[first, last)` is undefined.
+
+    @complexity Linear in distance between @a first and @a last.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows several ways to create JSON values by
+    specifying a subrange with iterators.,basic_json__InputIt_InputIt}
+
+    @since version 1.0.0
+    */
+    template < class InputIT, typename std::enable_if <
+                   std::is_same<InputIT, typename basic_json_t::iterator>::value ||
+                   std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int >::type = 0 >
+    basic_json(InputIT first, InputIT last)
+    {
+        JSON_ASSERT(first.m_object != nullptr);
+        JSON_ASSERT(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible"));
+        }
+
+        // copy type from first iterator
+        m_type = first.m_object->m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!first.m_it.primitive_iterator.is_begin()
+                                         || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = first.m_object->m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = first.m_object->m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = first.m_object->m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = first.m_object->m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *first.m_object->m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object = create<object_t>(first.m_it.object_iterator,
+                                                  last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value = *first.m_object->m_value.binary;
+                break;
+            }
+
+            default:
+                JSON_THROW(invalid_iterator::create(206, "cannot construct with iterators from " +
+                                                    std::string(first.m_object->type_name())));
+        }
+
+        assert_invariant();
+    }
+
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    template<typename JsonRef,
+             detail::enable_if_t<detail::conjunction<detail::is_json_ref<JsonRef>,
+                                 std::is_same<typename JsonRef::value_type, basic_json>>::value, int> = 0 >
+    basic_json(const JsonRef& ref) : basic_json(ref.moved_or_copied()) {}
+
+    /*!
+    @brief copy constructor
+
+    Creates a copy of a given JSON value.
+
+    @param[in] other  the JSON value to copy
+
+    @post `*this == other`
+
+    @complexity Linear in the size of @a other.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - As postcondition, it holds: `other == basic_json(other)`.
+
+    @liveexample{The following code shows an example for the copy
+    constructor.,basic_json__basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(const basic_json& other)
+        : m_type(other.m_type)
+    {
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_type)
+        {
+            case value_t::object:
+            {
+                m_value = *other.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value = *other.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *other.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value = other.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_value = other.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value = other.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value = other.m_value.number_float;
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value = *other.m_value.binary;
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief move constructor
+
+    Move constructor. Constructs a JSON value with the contents of the given
+    value @a other using move semantics. It "steals" the resources from @a
+    other and leaves it as JSON null value.
+
+    @param[in,out] other  value to move to this object
+
+    @post `*this` has the same value as @a other before the call.
+    @post @a other is a JSON null value.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible)
+    requirements.
+
+    @liveexample{The code below shows the move constructor explicitly called
+    via std::move.,basic_json__moveconstructor}
+
+    @since version 1.0.0
+    */
+    basic_json(basic_json&& other) noexcept
+        : m_type(std::move(other.m_type)),
+          m_value(std::move(other.m_value))
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        // invalidate payload
+        other.m_type = value_t::null;
+        other.m_value = {};
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief copy assignment
+
+    Copy assignment operator. Copies a JSON value via the "copy and swap"
+    strategy: It is expressed in terms of the copy constructor, destructor,
+    and the `swap()` member function.
+
+    @param[in] other  value to copy from
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+
+    @liveexample{The code below shows and example for the copy assignment. It
+    creates a copy of value `a` which is then swapped with `b`. Finally\, the
+    copy of `a` (which is the null value after the swap) is
+    destroyed.,basic_json__copyassignment}
+
+    @since version 1.0.0
+    */
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_type, other.m_type);
+        swap(m_value, other.m_value);
+
+        assert_invariant();
+        return *this;
+    }
+
+    /*!
+    @brief destructor
+
+    Destroys the JSON value and frees all allocated memory.
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - All stored elements are destroyed and all memory is freed.
+
+    @since version 1.0.0
+    */
+    ~basic_json() noexcept
+    {
+        assert_invariant();
+        m_value.destroy(m_type);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /*!
+    @brief serialization
+
+    Serialization function for JSON values. The function tries to mimic
+    Python's `json.dumps()` function, and currently supports its @a indent
+    and @a ensure_ascii parameters.
+
+    @param[in] indent If indent is nonnegative, then array elements and object
+    members will be pretty-printed with that indent level. An indent level of
+    `0` will only insert newlines. `-1` (the default) selects the most compact
+    representation.
+    @param[in] indent_char The character to use for indentation if @a indent is
+    greater than `0`. The default is ` ` (space).
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] error_handler  how to react on decoding errors; there are three
+    possible values: `strict` (throws and exception in case a decoding error
+    occurs; default), `replace` (replace invalid UTF-8 sequences with U+FFFD),
+    and `ignore` (ignore invalid UTF-8 sequences during serialization; all
+    bytes are copied to the output unchanged).
+
+    @return string containing the serialization of the JSON value
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded and @a error_handler is set to strict
+
+    @note Binary values are serialized as object containing two keys:
+      - "bytes": an array of bytes as integers
+      - "subtype": the subtype as integer or "null" if the binary has no subtype
+
+    @complexity Linear.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @liveexample{The following example shows the effect of different @a indent\,
+    @a indent_char\, and @a ensure_ascii parameters to the result of the
+    serialization.,dump}
+
+    @see https://docs.python.org/2/library/json.html#json.dump
+
+    @since version 1.0.0; indentation character @a indent_char, option
+           @a ensure_ascii and exceptions added in version 3.0.0; error
+           handlers added in version 3.4.0; serialization of binary values added
+           in version 3.8.0.
+    */
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief return the type of the JSON value (explicit)
+
+    Return the type of the JSON value as a value from the @ref value_t
+    enumeration.
+
+    @return the type of the JSON value
+            Value type                | return value
+            ------------------------- | -------------------------
+            null                      | value_t::null
+            boolean                   | value_t::boolean
+            string                    | value_t::string
+            number (integer)          | value_t::number_integer
+            number (unsigned integer) | value_t::number_unsigned
+            number (floating-point)   | value_t::number_float
+            object                    | value_t::object
+            array                     | value_t::array
+            binary                    | value_t::binary
+            discarded                 | value_t::discarded
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `type()` for all JSON
+    types.,type}
+
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr value_t type() const noexcept
+    {
+        return m_type;
+    }
+
+    /*!
+    @brief return whether type is primitive
+
+    This function returns true if and only if the JSON type is primitive
+    (string, number, boolean, or null).
+
+    @return `true` if type is primitive (string, number, boolean, or null),
+    `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_primitive()` for all JSON
+    types.,is_primitive}
+
+    @sa @ref is_structured() -- returns whether JSON value is structured
+    @sa @ref is_null() -- returns whether JSON value is `null`
+    @sa @ref is_string() -- returns whether JSON value is a string
+    @sa @ref is_boolean() -- returns whether JSON value is a boolean
+    @sa @ref is_number() -- returns whether JSON value is a number
+    @sa @ref is_binary() -- returns whether JSON value is a binary array
+
+    @since version 1.0.0
+    */
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() || is_string() || is_boolean() || is_number() || is_binary();
+    }
+
+    /*!
+    @brief return whether type is structured
+
+    This function returns true if and only if the JSON type is structured
+    (array or object).
+
+    @return `true` if type is structured (array or object), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_structured()` for all JSON
+    types.,is_structured}
+
+    @sa @ref is_primitive() -- returns whether value is primitive
+    @sa @ref is_array() -- returns whether value is an array
+    @sa @ref is_object() -- returns whether value is an object
+
+    @since version 1.0.0
+    */
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() || is_object();
+    }
+
+    /*!
+    @brief return whether value is null
+
+    This function returns true if and only if the JSON value is null.
+
+    @return `true` if type is null, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_null()` for all JSON
+    types.,is_null}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_null() const noexcept
+    {
+        return m_type == value_t::null;
+    }
+
+    /*!
+    @brief return whether value is a boolean
+
+    This function returns true if and only if the JSON value is a boolean.
+
+    @return `true` if type is boolean, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_boolean()` for all JSON
+    types.,is_boolean}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_boolean() const noexcept
+    {
+        return m_type == value_t::boolean;
+    }
+
+    /*!
+    @brief return whether value is a number
+
+    This function returns true if and only if the JSON value is a number. This
+    includes both integer (signed and unsigned) and floating-point values.
+
+    @return `true` if type is number (regardless whether integer, unsigned
+    integer or floating-type), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number()` for all JSON
+    types.,is_number}
+
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() || is_number_float();
+    }
+
+    /*!
+    @brief return whether value is an integer number
+
+    This function returns true if and only if the JSON value is a signed or
+    unsigned integer number. This excludes floating-point values.
+
+    @return `true` if type is an integer or unsigned integer number, `false`
+    otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_integer()` for all
+    JSON types.,is_number_integer}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_integer() const noexcept
+    {
+        return m_type == value_t::number_integer || m_type == value_t::number_unsigned;
+    }
+
+    /*!
+    @brief return whether value is an unsigned integer number
+
+    This function returns true if and only if the JSON value is an unsigned
+    integer number. This excludes floating-point and signed integer values.
+
+    @return `true` if type is an unsigned integer number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_unsigned()` for all
+    JSON types.,is_number_unsigned}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 2.0.0
+    */
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return m_type == value_t::number_unsigned;
+    }
+
+    /*!
+    @brief return whether value is a floating-point number
+
+    This function returns true if and only if the JSON value is a
+    floating-point number. This excludes signed and unsigned integer values.
+
+    @return `true` if type is a floating-point number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_float()` for all
+    JSON types.,is_number_float}
+
+    @sa @ref is_number() -- check if value is number
+    @sa @ref is_number_integer() -- check if value is an integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_float() const noexcept
+    {
+        return m_type == value_t::number_float;
+    }
+
+    /*!
+    @brief return whether value is an object
+
+    This function returns true if and only if the JSON value is an object.
+
+    @return `true` if type is object, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_object()` for all JSON
+    types.,is_object}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_object() const noexcept
+    {
+        return m_type == value_t::object;
+    }
+
+    /*!
+    @brief return whether value is an array
+
+    This function returns true if and only if the JSON value is an array.
+
+    @return `true` if type is array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_array()` for all JSON
+    types.,is_array}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_array() const noexcept
+    {
+        return m_type == value_t::array;
+    }
+
+    /*!
+    @brief return whether value is a string
+
+    This function returns true if and only if the JSON value is a string.
+
+    @return `true` if type is string, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_string()` for all JSON
+    types.,is_string}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_string() const noexcept
+    {
+        return m_type == value_t::string;
+    }
+
+    /*!
+    @brief return whether value is a binary array
+
+    This function returns true if and only if the JSON value is a binary array.
+
+    @return `true` if type is binary array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_binary()` for all JSON
+    types.,is_binary}
+
+    @since version 3.8.0
+    */
+    constexpr bool is_binary() const noexcept
+    {
+        return m_type == value_t::binary;
+    }
+
+    /*!
+    @brief return whether value is discarded
+
+    This function returns true if and only if the JSON value was discarded
+    during parsing with a callback function (see @ref parser_callback_t).
+
+    @note This function will always be `false` for JSON values after parsing.
+    That is, discarded values can only occur during parsing, but will be
+    removed when inside a structured value or replaced by null in other cases.
+
+    @return `true` if type is discarded, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_discarded()` for all JSON
+    types.,is_discarded}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_discarded() const noexcept
+    {
+        return m_type == value_t::discarded;
+    }
+
+    /*!
+    @brief return the type of the JSON value (implicit)
+
+    Implicitly return the type of the JSON value as a value from the @ref
+    value_t enumeration.
+
+    @return the type of the JSON value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies the @ref value_t operator for
+    all JSON types.,operator__value_t}
+
+    @sa @ref type() -- return the type of the JSON value (explicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr operator value_t() const noexcept
+    {
+        return m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_HEDLEY_LIKELY(is_boolean()))
+        {
+            return m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(type_name())));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    binary_t* get_impl_ptr(binary_t* /*unused*/) noexcept
+    {
+        return is_binary() ? m_value.binary : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    constexpr const binary_t* get_impl_ptr(const binary_t* /*unused*/) const noexcept
+    {
+        return is_binary() ? m_value.binary : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_HEDLEY_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, "incompatible ReferenceType for get_ref, actual type is " + std::string(obj.type_name())));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 std::is_same<typename std::remove_const<BasicJsonType>::type, basic_json_t>::value,
+                 int> = 0>
+    basic_json get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @tparam BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType, detail::enable_if_t <
+                   !std::is_same<BasicJsonType, basic_json>::value&&
+                   detail::is_basic_json<BasicJsonType>::value, int > = 0 >
+    BasicJsonType get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value &&
+                   detail::has_from_json<basic_json_t, ValueType>::value &&
+                   !detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        static_assert(std::is_default_constructible<ValueType>::value,
+                      "types must be DefaultConstructible when used with get()");
+
+        ValueType ret;
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueTypeCV>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+               detail::enable_if_t < !std::is_same<basic_json_t, ValueType>::value &&
+                                     detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                                     int > = 0 >
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>())))
+    {
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return JSONSerializer<ValueType>::from_json(*this);
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value.
+    The value is filled into the input parameter by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType v;
+    JSONSerializer<ValueType>::from_json(*this, v);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+
+    @tparam ValueType the input parameter type.
+
+    @return the input parameter, allowing chaining calls.
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get_to}
+
+    @since version 3.3.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+    // specialization to allow to call get_to with a basic_json value
+    // see https://github.com/nlohmann/json/issues/2175
+    template<typename ValueType,
+             detail::enable_if_t <
+                 detail::is_basic_json<ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const
+    {
+        v = *this;
+        return v;
+    }
+
+    template <
+        typename T, std::size_t N,
+        typename Array = T (&)[N],
+        detail::enable_if_t <
+            detail::has_from_json<basic_json_t, Array>::value, int > = 0 >
+    Array get_to(T (&v)[N]) const
+    noexcept(noexcept(JSONSerializer<Array>::from_json(
+                          std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<Array>::from_json(*this, v);
+        return v;
+    }
+
+
+    /*!
+    @brief get a pointer value (implicit)
+
+    Implicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning Writing data to the pointee of the result yields an undefined
+    state.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t. Enforced by a static
+    assertion.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get_ptr}
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (implicit)
+    @copydoc get_ptr()
+    */
+    template < typename PointerType, typename std::enable_if <
+                   std::is_pointer<PointerType>::value&&
+                   std::is_const<typename std::remove_pointer<PointerType>::type>::value, int >::type = 0 >
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    constexpr auto get() const noexcept -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+
+    Implicit reference access to the internally stored JSON value. No copies
+    are made.
+
+    @warning Writing data to the referee of the result yields an undefined
+    state.
+
+    @tparam ReferenceType reference type; must be a reference to @ref array_t,
+    @ref object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, or
+    @ref number_float_t. Enforced by static assertion.
+
+    @return reference to the internally stored JSON value if the requested
+    reference type @a ReferenceType fits to the JSON value; throws
+    type_error.303 otherwise
+
+    @throw type_error.303 in case passed type @a ReferenceType is incompatible
+    with the stored JSON value; see example below
+
+    @complexity Constant.
+
+    @liveexample{The example shows several calls to `get_ref()`.,get_ref}
+
+    @since version 1.1.0
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+    @copydoc get_ref()
+    */
+    template < typename ReferenceType, typename std::enable_if <
+                   std::is_reference<ReferenceType>::value&&
+                   std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int >::type = 0 >
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   !std::is_pointer<ValueType>::value&&
+                   !std::is_same<ValueType, detail::json_ref<basic_json>>::value&&
+                   !std::is_same<ValueType, typename string_t::value_type>::value&&
+                   !detail::is_basic_json<ValueType>::value
+                   && !std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>::value
+#if defined(JSON_HAS_CPP_17) && (defined(__GNUC__) || (defined(_MSC_VER) && _MSC_VER >= 1910 && _MSC_VER <= 1914))
+                   && !std::is_same<ValueType, typename std::string_view>::value
+#endif
+                   && detail::is_detected<detail::get_template_function, const basic_json_t&, ValueType>::value
+                   , int >::type = 0 >
+    JSON_EXPLICIT operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /*!
+    @return reference to the binary value
+
+    @throw type_error.302 if the value is not binary
+
+    @sa @ref is_binary() to check if the value is binary
+
+    @since version 3.8.0
+    */
+    binary_t& get_binary()
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(type_name())));
+        }
+
+        return *get_ptr<binary_t*>();
+    }
+
+    /// @copydoc get_binary()
+    const binary_t& get_binary() const
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(type_name())));
+        }
+
+        return *get_ptr<const binary_t*>();
+    }
+
+    /// @}
+
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a reference to the element at specified location @a idx, with
+    bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__size_type}
+    */
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a const reference to the element at specified location @a idx,
+    with bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__size_type_const}
+    */
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a reference to the element at with specified key @a key, with
+    bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__object_t_key_type}
+    */
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a const reference to the element at with specified key @a key,
+    with bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__object_t_key_type_const}
+    */
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a reference to the element at specified location @a idx.
+
+    @note If @a idx is beyond the range of the array (i.e., `idx >= size()`),
+    then the array is silently filled up with `null` values to make `idx` a
+    valid reference to the last stored element.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array or null; in that
+    cases, using the [] operator with an index makes no sense.
+
+    @complexity Constant if @a idx is in the range of the array. Otherwise
+    linear in `idx - size()`.
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `[]` operator. Note the addition of `null`
+    values.,operatorarray__size_type}
+
+    @since version 1.0.0
+    */
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_value.array->size())
+            {
+                m_value.array->insert(m_value.array->end(),
+                                      idx - m_value.array->size() + 1,
+                                      basic_json());
+            }
+
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a const reference to the element at specified location @a idx.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array; in that case,
+    using the [] operator with an index makes no sense.
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how array elements can be read using
+    the `[]` operator.,operatorarray__size_type_const}
+
+    @since version 1.0.0
+    */
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    reference operator[](const typename object_t::key_type& key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_ASSERT(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    JSON_HEDLEY_NON_NULL(2)
+    reference operator[](T* key)
+    {
+        // implicitly convert null to object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    JSON_HEDLEY_NON_NULL(2)
+    const_reference operator[](T* key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_ASSERT(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(key);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const typename object_t::key_type&), this function
+    does not throw if the given key @a key was not found.
+
+    @note Unlike @ref operator[](const typename object_t::key_type& key), this
+    function does not implicitly add an element to the position defined by @a
+    key. This function is furthermore also applicable to const objects.
+
+    @param[in] key  key of the element to access
+    @param[in] default_value  the value to return if @a key is not found
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.302 if @a default_value does not match the type of the
+    value at @a key
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+
+    @since version 1.0.0
+    */
+    // using std::is_convertible in a std::enable_if will fail when using explicit conversions
+    template < class ValueType, typename std::enable_if <
+                   detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, ValueType>::value, int >::type = 0 >
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const typename object_t::key_type&, const ValueType&) const
+    */
+    string_t value(const typename object_t::key_type& key, const char* default_value) const
+    {
+        return value(key, string_t(default_value));
+    }
+
+    /*!
+    @brief access specified object element via JSON Pointer with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(ptr);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const json_pointer&), this function does not throw
+    if the given key @a key was not found.
+
+    @param[in] ptr  a JSON pointer to the element to access
+    @param[in] default_value  the value to return if @a ptr found no value
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.302 if @a default_value does not match the type of the
+    value at @a ptr
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value_ptr}
+
+    @sa @ref operator[](const json_pointer&) for unchecked access by reference
+
+    @since version 2.0.2
+    */
+    template<class ValueType, typename std::enable_if<
+                 detail::is_getable<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ValueType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const json_pointer&, ValueType) const
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    string_t value(const json_pointer& ptr, const char* default_value) const
+    {
+        return value(ptr, string_t(default_value));
+    }
+
+    /*!
+    @brief access the first element
+
+    Returns a reference to the first element in the container. For a JSON
+    container `c`, the expression `c.front()` is equivalent to `*c.begin()`.
+
+    @return In case of a structured type (array or object), a reference to the
+    first element is returned. In case of number, string, boolean, or binary
+    values, a reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on `null` value
+
+    @liveexample{The following code shows an example for `front()`.,front}
+
+    @sa @ref back() -- access the last element
+
+    @since version 1.0.0
+    */
+    reference front()
+    {
+        return *begin();
+    }
+
+    /*!
+    @copydoc basic_json::front()
+    */
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /*!
+    @brief access the last element
+
+    Returns a reference to the last element in the container. For a JSON
+    container `c`, the expression `c.back()` is equivalent to
+    @code {.cpp}
+    auto tmp = c.end();
+    --tmp;
+    return *tmp;
+    @endcode
+
+    @return In case of a structured type (array or object), a reference to the
+    last element is returned. In case of number, string, boolean, or binary
+    values, a reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on a `null` value. See example
+    below.
+
+    @liveexample{The following code shows an example for `back()`.,back}
+
+    @sa @ref front() -- access the first element
+
+    @since version 1.0.0
+    */
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @copydoc basic_json::back()
+    */
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @brief remove element given an iterator
+
+    Removes the element specified by iterator @a pos. The iterator @a pos must
+    be valid and dereferenceable. Thus the `end()` iterator (which is valid,
+    but is not dereferenceable) cannot be used as a value for @a pos.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] pos iterator to the element to remove
+    @return Iterator following the last removed element. If the iterator @a
+    pos refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.202 if called on an iterator which does not belong
+    to the current JSON value; example: `"iterator does not fit current
+    value"`
+    @throw invalid_iterator.205 if called on a primitive type with invalid
+    iterator (i.e., any iterator which is not `begin()`); example: `"iterator
+    out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: amortized constant
+    - arrays: linear in distance between @a pos and the end of the container
+    - strings and binary: linear in the length of the member
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType}
+
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template < class IteratorType, typename std::enable_if <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int >::type
+               = 0 >
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.binary, 1);
+                    m_value.binary = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove elements given an iterator range
+
+    Removes the element specified by the range `[first; last)`. The iterator
+    @a first does not need to be dereferenceable if `first == last`: erasing
+    an empty range is a no-op.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] first iterator to the beginning of the range to remove
+    @param[in] last iterator past the end of the range to remove
+    @return Iterator following the last removed element. If the iterator @a
+    second refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.203 if called on iterators which does not belong
+    to the current JSON value; example: `"iterators do not fit current value"`
+    @throw invalid_iterator.204 if called on a primitive type with invalid
+    iterators (i.e., if `first != begin()` and `last != end()`); example:
+    `"iterators out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: `log(size()) + std::distance(first, last)`
+    - arrays: linear in the distance between @a first and @a last, plus linear
+      in the distance between @a last and end of the container
+    - strings and binary: linear in the length of the member
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType_IteratorType}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template < class IteratorType, typename std::enable_if <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int >::type
+               = 0 >
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != first.m_object || this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_LIKELY(!first.m_it.primitive_iterator.is_begin()
+                                       || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.binary, 1);
+                    m_value.binary = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove element from a JSON object given a key
+
+    Removes elements from a JSON object with the key value @a key.
+
+    @param[in] key value of the elements to remove
+
+    @return Number of elements removed. If @a ObjectType is the default
+    `std::map` type, the return value will always be `0` (@a key was not
+    found) or `1` (@a key was found).
+
+    @post References and iterators to the erased elements are invalidated.
+    Other references and iterators are not affected.
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+
+    @complexity `log(size()) + count(key)`
+
+    @liveexample{The example shows the effect of `erase()`.,erase__key_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->erase(key);
+        }
+
+        JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief remove element from a JSON array given an index
+
+    Removes element from a JSON array at the index @a idx.
+
+    @param[in] idx index of the element to remove
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+    @throw out_of_range.401 when `idx >= size()`; example: `"array index 17
+    is out of range"`
+
+    @complexity Linear in distance between @a idx and the end of the container.
+
+    @liveexample{The example shows the effect of `erase()`.,erase__size_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+
+    @since version 1.0.0
+    */
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            if (JSON_HEDLEY_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+
+            m_value.array->erase(m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /*!
+    @brief find an element in a JSON object
+
+    Finds an element in a JSON object with key equivalent to @a key. If the
+    element is not found or the JSON value is not an object, end() is
+    returned.
+
+    @note This method always returns @ref end() when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value of the element to search for.
+
+    @return Iterator to an element with key equivalent to @a key. If no such
+    element is found or the JSON value is not an object, past-the-end (see
+    @ref end()) iterator is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `find()` is used.,find__key_type}
+
+    @sa @ref contains(KeyT&&) const -- checks whether a key exists
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    iterator find(KeyT&& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief find an element in a JSON object
+    @copydoc find(KeyT&&)
+    */
+    template<typename KeyT>
+    const_iterator find(KeyT&& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief returns the number of occurrences of a key in a JSON object
+
+    Returns the number of elements with key @a key. If ObjectType is the
+    default `std::map` type, the return value will always be `0` (@a key was
+    not found) or `1` (@a key was found).
+
+    @note This method always returns `0` when executed on a JSON type that is
+          not an object.
+
+    @param[in] key key value of the element to count
+
+    @return Number of elements with key @a key. If the JSON value is not an
+    object, the return value will be `0`.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `count()` is used.,count}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    size_type count(KeyT&& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_value.object->count(std::forward<KeyT>(key)) : 0;
+    }
+
+    /*!
+    @brief check the existence of an element in a JSON object
+
+    Check whether an element exists in a JSON object with key equivalent to
+    @a key. If the element is not found or the JSON value is not an object,
+    false is returned.
+
+    @note This method always returns false when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value to check its existence.
+
+    @return true if an element with specified @a key exists. If no such
+    element with such key is found or the JSON value is not an object,
+    false is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The following code shows an example for `contains()`.,contains}
+
+    @sa @ref find(KeyT&&) -- returns an iterator to an object element
+    @sa @ref contains(const json_pointer&) const -- checks the existence for a JSON pointer
+
+    @since version 3.6.0
+    */
+    template < typename KeyT, typename std::enable_if <
+                   !std::is_same<typename std::decay<KeyT>::type, json_pointer>::value, int >::type = 0 >
+    bool contains(KeyT && key) const
+    {
+        return is_object() && m_value.object->find(std::forward<KeyT>(key)) != m_value.object->end();
+    }
+
+    /*!
+    @brief check the existence of an element in a JSON object given a JSON pointer
+
+    Check whether the given JSON pointer @a ptr can be resolved in the current
+    JSON value.
+
+    @note This method can be executed on any JSON value type.
+
+    @param[in] ptr JSON pointer to check its existence.
+
+    @return true if the JSON pointer can be resolved to a stored value, false
+    otherwise.
+
+    @post If `j.contains(ptr)` returns true, it is safe to call `j[ptr]`.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The following code shows an example for `contains()`.,contains_json_pointer}
+
+    @sa @ref contains(KeyT &&) const -- checks the existence of a key
+
+    @since version 3.7.0
+    */
+    bool contains(const json_pointer& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    /// @}
+
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /*!
+    @brief returns an iterator to the first element
+
+    Returns an iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `begin()`.,begin}
+
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cbegin()
+    */
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /*!
+    @brief returns a const iterator to the first element
+
+    Returns a const iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).begin()`.
+
+    @liveexample{The following code shows an example for `cbegin()`.,cbegin}
+
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to one past the last element
+
+    Returns an iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `end()`.,end}
+
+    @sa @ref cend() -- returns a const iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cend()
+    */
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /*!
+    @brief returns a const iterator to one past the last element
+
+    Returns a const iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).end()`.
+
+    @liveexample{The following code shows an example for `cend()`.,cend}
+
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-beginning
+
+    Returns an iterator to the reverse-beginning; that is, the last element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(end())`.
+
+    @liveexample{The following code shows an example for `rbegin()`.,rbegin}
+
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /*!
+    @copydoc basic_json::crbegin()
+    */
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-end
+
+    Returns an iterator to the reverse-end; that is, one before the first
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(begin())`.
+
+    @liveexample{The following code shows an example for `rend()`.,rend}
+
+    @sa @ref crend() -- returns a const reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /*!
+    @copydoc basic_json::crend()
+    */
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /*!
+    @brief returns a const reverse iterator to the last element
+
+    Returns a const iterator to the reverse-beginning; that is, the last
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rbegin()`.
+
+    @liveexample{The following code shows an example for `crbegin()`.,crbegin}
+
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /*!
+    @brief returns a const reverse iterator to one before the first
+
+    Returns a const reverse iterator to the reverse-end; that is, one before
+    the first element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rend()`.
+
+    @liveexample{The following code shows an example for `crend()`.,crend}
+
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /*!
+    @brief wrapper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without iterator_wrapper:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without iterator proxy:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with iterator proxy:
+
+    @code{cpp}
+    for (auto it : json::iterator_wrapper(j_object))
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example).
+
+    @param[in] ref  reference to a JSON value
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the wrapper is used,iterator_wrapper}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @note The name of this function is not yet final and may change in the
+    future.
+
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use @ref items() instead;
+                that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @copydoc iterator_wrapper(reference)
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @brief helper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without `items()` function:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without `items()` function:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with `items()` function:
+
+    @code{cpp}
+    for (auto& el : j_object.items())
+    {
+        std::cout << "key: " << el.key() << ", value:" << el.value() << '\n';
+    }
+    @endcode
+
+    The `items()` function also allows to use
+    [structured bindings](https://en.cppreference.com/w/cpp/language/structured_binding)
+    (C++17):
+
+    @code{cpp}
+    for (auto& [key, val] : j_object.items())
+    {
+        std::cout << "key: " << key << ", value:" << val << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example). For primitive types (e.g., numbers),
+          `key()` returns an empty string.
+
+    @warning Using `items()` on temporary objects is dangerous. Make sure the
+             object's lifetime exeeds the iteration. See
+             <https://github.com/nlohmann/json/issues/2040> for more
+             information.
+
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the function is used.,items}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 3.1.0, structured bindings support since 3.5.0.
+    */
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /*!
+    @copydoc items()
+    */
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /*!
+    @brief checks whether the container is empty.
+
+    Checks if a JSON value has no elements (i.e. whether its @ref size is `0`).
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `true`
+            boolean     | `false`
+            string      | `false`
+            number      | `false`
+            binary      | `false`
+            object      | result of function `object_t::empty()`
+            array       | result of function `array_t::empty()`
+
+    @liveexample{The following code uses `empty()` to check if a JSON
+    object contains any elements.,empty}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `empty()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return whether a string stored as JSON value
+    is empty - it returns whether the JSON container itself is empty which is
+    false in the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `begin() == end()`.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    bool empty() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_value.object->empty();
+            }
+
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the number of elements
+
+    Returns the number of elements in a JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0`
+            boolean     | `1`
+            string      | `1`
+            number      | `1`
+            binary      | `1`
+            object      | result of function object_t::size()
+            array       | result of function array_t::size()
+
+    @liveexample{The following code calls `size()` on the different value
+    types.,size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their size() functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return the length of a string stored as JSON
+    value - it returns the number of elements in the JSON value which is 1 in
+    the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `std::distance(begin(), end())`.
+
+    @sa @ref empty() -- checks whether the container is empty
+    @sa @ref max_size() -- returns the maximal number of elements
+
+    @since version 1.0.0
+    */
+    size_type size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_value.object->size();
+            }
+
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the maximum possible number of elements
+
+    Returns the maximum number of elements a JSON value is able to hold due to
+    system or library implementation limitations, i.e. `std::distance(begin(),
+    end())` for the JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0` (same as `size()`)
+            boolean     | `1` (same as `size()`)
+            string      | `1` (same as `size()`)
+            number      | `1` (same as `size()`)
+            binary      | `1` (same as `size()`)
+            object      | result of function `object_t::max_size()`
+            array       | result of function `array_t::max_size()`
+
+    @liveexample{The following code calls `max_size()` on the different value
+    types. Note the output is implementation specific.,max_size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `max_size()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of returning `b.size()` where `b` is the largest
+      possible JSON value.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    size_type max_size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_value.object->max_size();
+            }
+
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /*!
+    @brief clears the contents
+
+    Clears the content of a JSON value and resets it to the default value as
+    if @ref basic_json(value_t) would have been called with the current value
+    type from @ref type():
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    binary      | An empty byte vector
+    object      | `{}`
+    array       | `[]`
+
+    @post Has the same effect as calling
+    @code {.cpp}
+    *this = basic_json(type());
+    @endcode
+
+    @liveexample{The example below shows the effect of `clear()` to different
+    JSON types.,clear}
+
+    @complexity Linear in the size of the JSON value.
+
+    @iterators All iterators, pointers and references related to this container
+               are invalidated.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @sa @ref basic_json(value_t) -- constructor that creates an object with the
+        same value than calling `clear()`
+
+    @since version 1.0.0
+    */
+    void clear() noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value.string->clear();
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value.binary->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object->clear();
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Appends the given element @a val to the end of the JSON value. If the
+    function is called on a JSON null value, an empty array is created before
+    appending @a val.
+
+    @param[in] val the value to add to the JSON array
+
+    @throw type_error.308 when called on a type other than JSON array or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON array. Note how the `null` value was silently
+    converted to a JSON array.,push_back}
+
+    @since version 1.0.0
+    */
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        m_value.array->push_back(std::move(val));
+        // if val is moved from, basic_json move constructor marks it null so we do not call the destructor
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.array->push_back(val);
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    Inserts the given element @a val to the JSON object. If the function is
+    called on a JSON null value, an empty object is created before inserting
+    @a val.
+
+    @param[in] val the value to add to the JSON object
+
+    @throw type_error.308 when called on a type other than JSON object or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON object. Note how the `null` value was silently
+    converted to a JSON object.,push_back__object_t__value}
+
+    @since version 1.0.0
+    */
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.object->insert(val);
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(const typename object_t::value_type&)
+    */
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    This function allows to use `push_back` with an initializer list. In case
+
+    1. the current value is an object,
+    2. the initializer list @a init contains only two elements, and
+    3. the first element of @a init is a string,
+
+    @a init is converted into an object element and added using
+    @ref push_back(const typename object_t::value_type&). Otherwise, @a init
+    is converted to a JSON value and added using @ref push_back(basic_json&&).
+
+    @param[in] init  an initializer list
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @note This function is required to resolve an ambiguous overload error,
+          because pairs like `{"key", "value"}` can be both interpreted as
+          `object_t::value_type` or `std::initializer_list<basic_json>`, see
+          https://github.com/nlohmann/json/issues/235 for more information.
+
+    @liveexample{The example shows how initializer lists are treated as
+    objects when possible.,push_back__initializer_list}
+    */
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() && init.size() == 2 && (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(initializer_list_t)
+    */
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Creates a JSON value from the passed parameters @a args to the end of the
+    JSON value. If the function is called on a JSON null value, an empty array
+    is created before appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return reference to the inserted element
+
+    @throw type_error.311 when called on a type other than JSON array or
+    null; example: `"cannot use emplace_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` can be used to add
+    elements to a JSON array. Note how the `null` value was silently converted
+    to a JSON array.,emplace_back}
+
+    @since version 2.0.8, returns reference since 3.7.0
+    */
+    template<class... Args>
+    reference emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+#ifdef JSON_HAS_CPP_17
+        return m_value.array->emplace_back(std::forward<Args>(args)...);
+#else
+        m_value.array->emplace_back(std::forward<Args>(args)...);
+        return m_value.array->back();
+#endif
+    }
+
+    /*!
+    @brief add an object to an object if key does not exist
+
+    Inserts a new element into a JSON object constructed in-place with the
+    given @a args if there is no element with the key in the container. If the
+    function is called on a JSON null value, an empty object is created before
+    appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return a pair consisting of an iterator to the inserted element, or the
+            already-existing element if no insertion happened, and a bool
+            denoting whether the insertion took place.
+
+    @throw type_error.311 when called on a type other than JSON object or
+    null; example: `"cannot use emplace() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `emplace()` can be used to add elements
+    to a JSON object. Note how the `null` value was silently converted to a
+    JSON object. Further note how no value is added if there was already one
+    value stored with the same key.,emplace}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_value.object->emplace(std::forward<Args>(args)...);
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        JSON_ASSERT(m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_value.array->begin(), pos.m_it.array_iterator);
+        m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        return result;
+    }
+
+    /*!
+    @brief inserts element
+
+    Inserts element @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] val element to insert
+    @return iterator pointing to the inserted @a val.
+
+    @throw type_error.309 if called on JSON values other than arrays;
+    example: `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Constant plus linear in the distance between @a pos and end of
+    the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts element
+    @copydoc insert(const_iterator, const basic_json&)
+    */
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts @a cnt copies of @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] cnt number of copies of @a val to insert
+    @param[in] val element to insert
+    @return iterator pointing to the first element inserted, or @a pos if
+    `cnt==0`
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Linear in @a cnt plus linear in the distance between @a pos
+    and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__count}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)` before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+    @throw invalid_iterator.211 if @a first or @a last are iterators into
+    container for which insert is called; example: `"passed iterators may not
+    belong to container"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `first==last`
+
+    @complexity Linear in `std::distance(first, last)` plus linear in the
+    distance between @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from initializer list @a ilist before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] ilist initializer list to insert the values from
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `ilist` is empty
+
+    @complexity Linear in `ilist.size()` plus linear in the distance between
+    @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__ilist}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)`.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than objects; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity Logarithmic: `O(N*log(size() + N))`, where `N` is the number
+    of elements to insert.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range_object}
+
+    @since version 3.0.0
+    */
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from JSON object @a j and overwrites existing keys.
+
+    @param[in] j  JSON object to read values from
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_reference j)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+        if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(j.type_name())));
+        }
+
+        for (auto it = j.cbegin(); it != j.cend(); ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from from range `[first, last)` and overwrites existing
+    keys.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used__range.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_iterator first, const_iterator last)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()
+                                 || !last.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_type, other.m_type);
+        std::swap(m_value, other.m_value);
+        assert_invariant();
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value from @a left with those of @a right. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated. implemented as a friend function callable via ADL.
+
+    @param[in,out] left JSON value to exchange the contents with
+    @param[in,out] right JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    friend void swap(reference left, reference right) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        left.swap(right);
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON array with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other array to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an array; example: `"cannot
+    use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how arrays can be swapped with
+    `swap()`.,swap__array_t}
+
+    @since version 1.0.0
+    */
+    void swap(array_t& other)
+    {
+        // swap only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            std::swap(*(m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON object with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other object to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an object; example:
+    `"cannot use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how objects can be swapped with
+    `swap()`.,swap__object_t}
+
+    @since version 1.0.0
+    */
+    void swap(object_t& other)
+    {
+        // swap only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            std::swap(*(m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other string to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__string_t}
+
+    @since version 1.0.0
+    */
+    void swap(string_t& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_string()))
+        {
+            std::swap(*(m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other binary to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__binary_t}
+
+    @since version 3.8.0
+    */
+    void swap(binary_t& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            std::swap(*(m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @copydoc swap(binary_t)
+    void swap(typename binary_t::container_type& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            std::swap(*(m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+  public:
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    /*!
+    @brief comparison: equal
+
+    Compares two JSON values for equality according to the following rules:
+    - Two JSON values are equal if (1) they are from the same type and (2)
+      their stored values are the same according to their respective
+      `operator==`.
+    - Integer and floating-point numbers are automatically converted before
+      comparison. Note that two NaN values are always treated as unequal.
+    - Two JSON null values are equal.
+
+    @note Floating-point inside JSON values numbers are compared with
+    `json::number_float_t::operator==` which is `double::operator==` by
+    default. To compare floating-point while respecting an epsilon, an alternative
+    [comparison function](https://github.com/mariokonrad/marnav/blob/master/include/marnav/math/floatingpoint.hpp#L34-#L39)
+    could be used, for instance
+    @code {.cpp}
+    template<typename T, typename = typename std::enable_if<std::is_floating_point<T>::value, T>::type>
+    inline bool is_same(T a, T b, T epsilon = std::numeric_limits<T>::epsilon()) noexcept
+    {
+        return std::abs(a - b) <= epsilon;
+    }
+    @endcode
+    Or you can self-defined operator equal function like this:
+    @code {.cpp}
+    bool my_equal(const_reference lhs, const_reference rhs) {
+    const auto lhs_type lhs.type();
+    const auto rhs_type rhs.type();
+    if (lhs_type == rhs_type) {
+        switch(lhs_type)
+            // self_defined case
+            case value_t::number_float:
+                return std::abs(lhs - rhs) <= std::numeric_limits<float>::epsilon();
+            // other cases remain the same with the original
+            ...
+    }
+    ...
+    }
+    @endcode
+
+    @note NaN values never compare equal to themselves or to other NaN values.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are equal
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Linear.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__equal}
+
+    @since version 1.0.0
+    */
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return *lhs.m_value.array == *rhs.m_value.array;
+
+                case value_t::object:
+                    return *lhs.m_value.object == *rhs.m_value.object;
+
+                case value_t::null:
+                    return true;
+
+                case value_t::string:
+                    return *lhs.m_value.string == *rhs.m_value.string;
+
+                case value_t::boolean:
+                    return lhs.m_value.boolean == rhs.m_value.boolean;
+
+                case value_t::number_integer:
+                    return lhs.m_value.number_integer == rhs.m_value.number_integer;
+
+                case value_t::number_unsigned:
+                    return lhs.m_value.number_unsigned == rhs.m_value.number_unsigned;
+
+                case value_t::number_float:
+                    return lhs.m_value.number_float == rhs.m_value.number_float;
+
+                case value_t::binary:
+                    return *lhs.m_value.binary == *rhs.m_value.binary;
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) == rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_integer;
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer == static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+
+        return false;
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs == basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) == rhs;
+    }
+
+    /*!
+    @brief comparison: not equal
+
+    Compares two JSON values for inequality by calculating `not (lhs == rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are not equal
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__notequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs != basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) != rhs;
+    }
+
+    /*!
+    @brief comparison: less than
+
+    Compares whether one JSON value @a lhs is less than another JSON value @a
+    rhs according to the following rules:
+    - If @a lhs and @a rhs have the same type, the values are compared using
+      the default `<` operator.
+    - Integer and floating-point numbers are automatically converted before
+      comparison
+    - In case @a lhs and @a rhs have different types, the values are ignored
+      and the order of the types is considered, see
+      @ref operator<(const value_t, const value_t).
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__less}
+
+    @since version 1.0.0
+    */
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    // note parentheses are necessary, see
+                    // https://github.com/nlohmann/json/issues/1530
+                    return (*lhs.m_value.array) < (*rhs.m_value.array);
+
+                case value_t::object:
+                    return (*lhs.m_value.object) < (*rhs.m_value.object);
+
+                case value_t::null:
+                    return false;
+
+                case value_t::string:
+                    return (*lhs.m_value.string) < (*rhs.m_value.string);
+
+                case value_t::boolean:
+                    return (lhs.m_value.boolean) < (rhs.m_value.boolean);
+
+                case value_t::number_integer:
+                    return (lhs.m_value.number_integer) < (rhs.m_value.number_integer);
+
+                case value_t::number_unsigned:
+                    return (lhs.m_value.number_unsigned) < (rhs.m_value.number_unsigned);
+
+                case value_t::number_float:
+                    return (lhs.m_value.number_float) < (rhs.m_value.number_float);
+
+                case value_t::binary:
+                    return (*lhs.m_value.binary) < (*rhs.m_value.binary);
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer < static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_integer;
+        }
+
+        // We only reach this line if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        return operator<(lhs_type, rhs_type);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs < basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) < rhs;
+    }
+
+    /*!
+    @brief comparison: less than or equal
+
+    Compares whether one JSON value @a lhs is less than or equal to another
+    JSON value by calculating `not (rhs < lhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greater}
+
+    @since version 1.0.0
+    */
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(rhs < lhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs <= basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) <= rhs;
+    }
+
+    /*!
+    @brief comparison: greater than
+
+    Compares whether one JSON value @a lhs is greater than another
+    JSON value by calculating `not (lhs <= rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__lessequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs > basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) > rhs;
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+
+    Compares whether one JSON value @a lhs is greater than or equal to another
+    JSON value by calculating `not (lhs < rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greaterequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs < rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs >= basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) >= rhs;
+    }
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+
+    /*!
+    @brief serialize to stream
+
+    Serialize the given JSON value @a j to the output stream @a o. The JSON
+    value will be serialized using the @ref dump member function.
+
+    - The indentation of the output can be controlled with the member variable
+      `width` of the output stream @a o. For instance, using the manipulator
+      `std::setw(4)` on @a o sets the indentation level to `4` and the
+      serialization result is the same as calling `dump(4)`.
+
+    - The indentation character can be controlled with the member variable
+      `fill` of the output stream @a o. For instance, the manipulator
+      `std::setfill('\\t')` sets indentation to use a tab character rather than
+      the default space character.
+
+    @param[in,out] o  stream to serialize to
+    @param[in] j  JSON value to serialize
+
+    @return the stream @a o
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @liveexample{The example below shows the serialization with different
+    parameters to `width` to adjust the indentation level.,operator_serialize}
+
+    @since version 1.0.0; indentation character added in version 3.0.0
+    */
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = o.width() > 0;
+        const auto indentation = pretty_print ? o.width() : 0;
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /*!
+    @brief serialize to stream
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use
+                @ref operator<<(std::ostream&, const basic_json&)
+                instead; that is, replace calls like `j >> o;` with `o << j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator<<(std::ostream&, const basic_json&))
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+
+    /// @}
+
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /*!
+    @brief deserialize from a compatible input
+
+    @tparam InputType A compatible input, for instance
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i  input to read from
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb or reading from the input @a i has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an array.,parse__array__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__string__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__istream__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from a contiguous container.,parse__contiguouscontainer__parser_callback_t}
+
+    @since version 2.0.3 (contiguous containers); version 3.9.0 allowed to
+    ignore comments.
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(InputType&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::forward<InputType>(i)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /*!
+    @brief deserialize from a pair of character iterators
+
+    The value_type of the iterator must be a integral type with size of 1, 2 or
+    4 bytes, which will be interpreted respectively as UTF-8, UTF-16 and UTF-32.
+
+    @param[in] first iterator to start of character range
+    @param[in] last  iterator to end of character range
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(IteratorType first,
+                            IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::move(first), std::move(last)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, parse(ptr, ptr + len))
+    static basic_json parse(detail::span_input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(i.get(), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /*!
+    @brief check if the input is valid JSON
+
+    Unlike the @ref parse(InputType&&, const parser_callback_t,const bool)
+    function, this function neither throws an exception in case of invalid JSON
+    input (i.e., a parse error) nor creates diagnostic information.
+
+    @tparam InputType A compatible input, for instance
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i input to read from
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return Whether the input read from @a i is valid JSON.
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `accept()` function reading
+    from a string.,accept__string}
+    */
+    template<typename InputType>
+    static bool accept(InputType&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::forward<InputType>(i)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    template<typename IteratorType>
+    static bool accept(IteratorType first, IteratorType last,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::move(first), std::move(last)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, accept(ptr, ptr + len))
+    static bool accept(detail::span_input_adapter&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(i.get(), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /*!
+    @brief generate SAX events
+
+    The SAX event lister must follow the interface of @ref json_sax.
+
+    This function reads from a compatible input. Examples are:
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i  input to read from
+    @param[in,out] sax  SAX event listener
+    @param[in] format  the format to parse (JSON, CBOR, MessagePack, or UBJSON)
+    @param[in] strict  whether the input has to be consumed completely
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default); only applies to the JSON file format.
+
+    @return return value of the last processed SAX event
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the SAX consumer @a sax has
+    a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `sax_parse()` function
+    reading from string and processing the events with a user-defined SAX
+    event consumer.,sax_parse}
+
+    @since version 3.2.0
+    */
+    template <typename InputType, typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(InputType&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    template<class IteratorType, class SAX>
+    JSON_HEDLEY_NON_NULL(3)
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    template <typename SAX>
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, sax_parse(ptr, ptr + len, ...))
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(detail::span_input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = i.get();
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    /*!
+    @brief deserialize from stream
+    @deprecated This stream operator is deprecated and will be removed in
+                version 4.0.0 of the library. Please use
+                @ref operator>>(std::istream&, basic_json&)
+                instead; that is, replace calls like `j << i;` with `i >> j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator>>(std::istream&, basic_json&))
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /*!
+    @brief deserialize from stream
+
+    Deserializes an input stream to a JSON value.
+
+    @param[in,out] i  input stream to read a serialized JSON value from
+    @param[in,out] j  JSON value to write the deserialized input to
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below shows how a JSON value is constructed by
+    reading a serialization from a stream.,operator_deserialize}
+
+    @sa parse(std::istream&, const parser_callback_t) for a variant with a
+    parser callback function to filter values while parsing
+
+    @since version 1.0.0
+    */
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /*!
+    @brief return the type as string
+
+    Returns the type name as string to be used in error messages - usually to
+    indicate that a function was called on a wrong JSON type.
+
+    @return a string representation of a the @a m_type member:
+            Value type  | return value
+            ----------- | -------------
+            null        | `"null"`
+            boolean     | `"boolean"`
+            string      | `"string"`
+            number      | `"number"` (for all number types)
+            object      | `"object"`
+            array       | `"array"`
+            binary      | `"binary"`
+            discarded   | `"discarded"`
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Constant.
+
+    @liveexample{The following code exemplifies `type_name()` for all JSON
+    types.,type_name}
+
+    @sa @ref type() -- return the type of the JSON value
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+
+    @since version 1.0.0, public since 2.1.0, `const char*` and `noexcept`
+    since 3.0.0
+    */
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* type_name() const noexcept
+    {
+        {
+            switch (m_type)
+            {
+                case value_t::null:
+                    return "null";
+                case value_t::object:
+                    return "object";
+                case value_t::array:
+                    return "array";
+                case value_t::string:
+                    return "string";
+                case value_t::boolean:
+                    return "boolean";
+                case value_t::binary:
+                    return "binary";
+                case value_t::discarded:
+                    return "discarded";
+                default:
+                    return "number";
+            }
+        }
+    }
+
+
+  private:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    /// the type of the current element
+    value_t m_type = value_t::null;
+
+    /// the value of the current element
+    json_value m_value = {};
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /*!
+    @brief create a CBOR serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the CBOR (Concise
+    Binary Object Representation) serialization format. CBOR is a binary
+    serialization format which aims to be more compact than JSON itself, yet
+    more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    CBOR types according to the CBOR specification (RFC 7049):
+
+    JSON value type | value/range                                | CBOR type                          | first byte
+    --------------- | ------------------------------------------ | ---------------------------------- | ---------------
+    null            | `null`                                     | Null                               | 0xF6
+    boolean         | `true`                                     | True                               | 0xF5
+    boolean         | `false`                                    | False                              | 0xF4
+    number_integer  | -9223372036854775808..-2147483649          | Negative integer (8 bytes follow)  | 0x3B
+    number_integer  | -2147483648..-32769                        | Negative integer (4 bytes follow)  | 0x3A
+    number_integer  | -32768..-129                               | Negative integer (2 bytes follow)  | 0x39
+    number_integer  | -128..-25                                  | Negative integer (1 byte follow)   | 0x38
+    number_integer  | -24..-1                                    | Negative integer                   | 0x20..0x37
+    number_integer  | 0..23                                      | Integer                            | 0x00..0x17
+    number_integer  | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_integer  | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_integer  | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_integer  | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_unsigned | 0..23                                      | Integer                            | 0x00..0x17
+    number_unsigned | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_unsigned | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_unsigned | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_unsigned | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_float    | *any value representable by a float*       | Single-Precision Float             | 0xFA
+    number_float    | *any value NOT representable by a float*   | Double-Precision Float             | 0xFB
+    string          | *length*: 0..23                            | UTF-8 string                       | 0x60..0x77
+    string          | *length*: 23..255                          | UTF-8 string (1 byte follow)       | 0x78
+    string          | *length*: 256..65535                       | UTF-8 string (2 bytes follow)      | 0x79
+    string          | *length*: 65536..4294967295                | UTF-8 string (4 bytes follow)      | 0x7A
+    string          | *length*: 4294967296..18446744073709551615 | UTF-8 string (8 bytes follow)      | 0x7B
+    array           | *size*: 0..23                              | array                              | 0x80..0x97
+    array           | *size*: 23..255                            | array (1 byte follow)              | 0x98
+    array           | *size*: 256..65535                         | array (2 bytes follow)             | 0x99
+    array           | *size*: 65536..4294967295                  | array (4 bytes follow)             | 0x9A
+    array           | *size*: 4294967296..18446744073709551615   | array (8 bytes follow)             | 0x9B
+    object          | *size*: 0..23                              | map                                | 0xA0..0xB7
+    object          | *size*: 23..255                            | map (1 byte follow)                | 0xB8
+    object          | *size*: 256..65535                         | map (2 bytes follow)               | 0xB9
+    object          | *size*: 65536..4294967295                  | map (4 bytes follow)               | 0xBA
+    object          | *size*: 4294967296..18446744073709551615   | map (8 bytes follow)               | 0xBB
+    binary          | *size*: 0..23                              | byte string                        | 0x40..0x57
+    binary          | *size*: 23..255                            | byte string (1 byte follow)        | 0x58
+    binary          | *size*: 256..65535                         | byte string (2 bytes follow)       | 0x59
+    binary          | *size*: 65536..4294967295                  | byte string (4 bytes follow)       | 0x5A
+    binary          | *size*: 4294967296..18446744073709551615   | byte string (8 bytes follow)       | 0x5B
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a CBOR value.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The following CBOR types are not used in the conversion:
+          - UTF-8 strings terminated by "break" (0x7F)
+          - arrays terminated by "break" (0x9F)
+          - maps terminated by "break" (0xBF)
+          - byte strings terminated by "break" (0x5F)
+          - date/time (0xC0..0xC1)
+          - bignum (0xC2..0xC3)
+          - decimal fraction (0xC4)
+          - bigfloat (0xC5)
+          - expected conversions (0xD5..0xD7)
+          - simple values (0xE0..0xF3, 0xF8)
+          - undefined (0xF7)
+          - half-precision floats (0xF9)
+          - break (0xFF)
+
+    @param[in] j  JSON value to serialize
+    @return CBOR serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in CBOR format.,to_cbor}
+
+    @sa http://cbor.io
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        analogous deserialization
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9; compact representation of floating-point numbers
+           since version 3.8.0
+    */
+    static std::vector<uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_cbor(j);
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /*!
+    @brief create a MessagePack serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the MessagePack
+    serialization format. MessagePack is a binary serialization format which
+    aims to be more compact than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    MessagePack types according to the MessagePack specification:
+
+    JSON value type | value/range                       | MessagePack type | first byte
+    --------------- | --------------------------------- | ---------------- | ----------
+    null            | `null`                            | nil              | 0xC0
+    boolean         | `true`                            | true             | 0xC3
+    boolean         | `false`                           | false            | 0xC2
+    number_integer  | -9223372036854775808..-2147483649 | int64            | 0xD3
+    number_integer  | -2147483648..-32769               | int32            | 0xD2
+    number_integer  | -32768..-129                      | int16            | 0xD1
+    number_integer  | -128..-33                         | int8             | 0xD0
+    number_integer  | -32..-1                           | negative fixint  | 0xE0..0xFF
+    number_integer  | 0..127                            | positive fixint  | 0x00..0x7F
+    number_integer  | 128..255                          | uint 8           | 0xCC
+    number_integer  | 256..65535                        | uint 16          | 0xCD
+    number_integer  | 65536..4294967295                 | uint 32          | 0xCE
+    number_integer  | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_unsigned | 0..127                            | positive fixint  | 0x00..0x7F
+    number_unsigned | 128..255                          | uint 8           | 0xCC
+    number_unsigned | 256..65535                        | uint 16          | 0xCD
+    number_unsigned | 65536..4294967295                 | uint 32          | 0xCE
+    number_unsigned | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_float    | *any value representable by a float*     | float 32 | 0xCA
+    number_float    | *any value NOT representable by a float* | float 64 | 0xCB
+    string          | *length*: 0..31                   | fixstr           | 0xA0..0xBF
+    string          | *length*: 32..255                 | str 8            | 0xD9
+    string          | *length*: 256..65535              | str 16           | 0xDA
+    string          | *length*: 65536..4294967295       | str 32           | 0xDB
+    array           | *size*: 0..15                     | fixarray         | 0x90..0x9F
+    array           | *size*: 16..65535                 | array 16         | 0xDC
+    array           | *size*: 65536..4294967295         | array 32         | 0xDD
+    object          | *size*: 0..15                     | fix map          | 0x80..0x8F
+    object          | *size*: 16..65535                 | map 16           | 0xDE
+    object          | *size*: 65536..4294967295         | map 32           | 0xDF
+    binary          | *size*: 0..255                    | bin 8            | 0xC4
+    binary          | *size*: 256..65535                | bin 16           | 0xC5
+    binary          | *size*: 65536..4294967295         | bin 32           | 0xC6
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a MessagePack value.
+
+    @note The following values can **not** be converted to a MessagePack value:
+          - strings with more than 4294967295 bytes
+          - byte strings with more than 4294967295 bytes
+          - arrays with more than 4294967295 elements
+          - objects with more than 4294967295 elements
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in MessagePack format.,to_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref from_msgpack for the analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_msgpack(j);
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /*!
+    @brief create a UBJSON serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the UBJSON
+    (Universal Binary JSON) serialization format. UBJSON aims to be more compact
+    than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    UBJSON types according to the UBJSON specification:
+
+    JSON value type | value/range                       | UBJSON type | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | `Z`
+    boolean         | `true`                            | true        | `T`
+    boolean         | `false`                           | false       | `F`
+    number_integer  | -9223372036854775808..-2147483649 | int64       | `L`
+    number_integer  | -2147483648..-32769               | int32       | `l`
+    number_integer  | -32768..-129                      | int16       | `I`
+    number_integer  | -128..127                         | int8        | `i`
+    number_integer  | 128..255                          | uint8       | `U`
+    number_integer  | 256..32767                        | int16       | `I`
+    number_integer  | 32768..2147483647                 | int32       | `l`
+    number_integer  | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 0..127                            | int8        | `i`
+    number_unsigned | 128..255                          | uint8       | `U`
+    number_unsigned | 256..32767                        | int16       | `I`
+    number_unsigned | 32768..2147483647                 | int32       | `l`
+    number_unsigned | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 2147483649..18446744073709551615  | high-precision | `H`
+    number_float    | *any value*                       | float64     | `D`
+    string          | *with shortest length indicator*  | string      | `S`
+    array           | *see notes on optimized format*   | array       | `[`
+    object          | *see notes on optimized format*   | map         | `{`
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a UBJSON value.
+
+    @note The following values can **not** be converted to a UBJSON value:
+          - strings with more than 9223372036854775807 bytes (theoretical)
+
+    @note The following markers are not used in the conversion:
+          - `Z`: no-op values are not created.
+          - `C`: single-byte strings are serialized with `S` markers.
+
+    @note Any UBJSON output created @ref to_ubjson can be successfully parsed
+          by @ref from_ubjson.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The optimized formats for containers are supported: Parameter
+          @a use_size adds size information to the beginning of a container and
+          removes the closing marker. Parameter @a use_type further checks
+          whether all elements of a container have the same type and adds the
+          type marker to the beginning of the container. The @a use_type
+          parameter must only be used together with @a use_size = true. Note
+          that @a use_size = true alone may result in larger representations -
+          the benefit of this parameter is that the receiving side is
+          immediately informed on the number of elements of the container.
+
+    @note If the JSON data contains the binary type, the value stored is a list
+          of integers, as suggested by the UBJSON documentation.  In particular,
+          this means that serialization and the deserialization of a JSON
+          containing binary values into UBJSON and back will result in a
+          different JSON object.
+
+    @param[in] j  JSON value to serialize
+    @param[in] use_size  whether to add size annotations to container types
+    @param[in] use_type  whether to add type annotations to container types
+                         (must be combined with @a use_size = true)
+    @return UBJSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in UBJSON format.,to_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+
+    @since version 3.1.0
+    */
+    static std::vector<uint8_t> to_ubjson(const basic_json& j,
+                                          const bool use_size = false,
+                                          const bool use_type = false)
+    {
+        std::vector<uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and returns a vector
+           containing the corresponding BSON-representation.
+
+    BSON (Binary JSON) is a binary format in which zero or more ordered key/value pairs are
+    stored as a single entity (a so-called document).
+
+    The library uses the following mapping from JSON values types to BSON types:
+
+    JSON value type | value/range                       | BSON type   | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | 0x0A
+    boolean         | `true`, `false`                   | boolean     | 0x08
+    number_integer  | -9223372036854775808..-2147483649 | int64       | 0x12
+    number_integer  | -2147483648..2147483647           | int32       | 0x10
+    number_integer  | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 0..2147483647                     | int32       | 0x10
+    number_unsigned | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 9223372036854775808..18446744073709551615| --   | --
+    number_float    | *any value*                       | double      | 0x01
+    string          | *any value*                       | string      | 0x02
+    array           | *any value*                       | document    | 0x04
+    object          | *any value*                       | document    | 0x03
+    binary          | *any value*                       | binary      | 0x05
+
+    @warning The mapping is **incomplete**, since only JSON-objects (and things
+    contained therein) can be serialized to BSON.
+    Also, integers larger than 9223372036854775807 cannot be serialized to BSON,
+    and the keys may not contain U+0000, since they are serialized a
+    zero-terminated c-strings.
+
+    @throw out_of_range.407  if `j.is_number_unsigned() && j.get<std::uint64_t>() > 9223372036854775807`
+    @throw out_of_range.409  if a key in `j` contains a NULL (U+0000)
+    @throw type_error.317    if `!j.is_object()`
+
+    @pre The input `j` is required to be an object: `j.is_object() == true`.
+
+    @note Any BSON output created via @ref to_bson can be successfully parsed
+          by @ref from_bson.
+
+    @param[in] j  JSON value to serialize
+    @return BSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in BSON format.,to_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref from_bson(detail::input_adapter&&, const bool strict) for the
+        analogous deserialization
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+    @sa @ref to_cbor(const basic_json&) for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    */
+    static std::vector<uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and forwards the
+           corresponding BSON-representation to the given output_adapter `o`.
+    @param j The JSON object to convert to BSON.
+    @param o The output adapter that receives the binary BSON representation.
+    @pre The input `j` shall be an object: `j.is_object() == true`
+    @sa @ref to_bson(const basic_json&)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_bson(j);
+    }
+
+    /*!
+    @copydoc to_bson(const basic_json&, detail::output_adapter<uint8_t>)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in CBOR format
+
+    Deserializes a given input @a i to a JSON value using the CBOR (Concise
+    Binary Object Representation) serialization format.
+
+    The library maps CBOR types to JSON value types as follows:
+
+    CBOR type              | JSON value type | first byte
+    ---------------------- | --------------- | ----------
+    Integer                | number_unsigned | 0x00..0x17
+    Unsigned integer       | number_unsigned | 0x18
+    Unsigned integer       | number_unsigned | 0x19
+    Unsigned integer       | number_unsigned | 0x1A
+    Unsigned integer       | number_unsigned | 0x1B
+    Negative integer       | number_integer  | 0x20..0x37
+    Negative integer       | number_integer  | 0x38
+    Negative integer       | number_integer  | 0x39
+    Negative integer       | number_integer  | 0x3A
+    Negative integer       | number_integer  | 0x3B
+    Byte string            | binary          | 0x40..0x57
+    Byte string            | binary          | 0x58
+    Byte string            | binary          | 0x59
+    Byte string            | binary          | 0x5A
+    Byte string            | binary          | 0x5B
+    UTF-8 string           | string          | 0x60..0x77
+    UTF-8 string           | string          | 0x78
+    UTF-8 string           | string          | 0x79
+    UTF-8 string           | string          | 0x7A
+    UTF-8 string           | string          | 0x7B
+    UTF-8 string           | string          | 0x7F
+    array                  | array           | 0x80..0x97
+    array                  | array           | 0x98
+    array                  | array           | 0x99
+    array                  | array           | 0x9A
+    array                  | array           | 0x9B
+    array                  | array           | 0x9F
+    map                    | object          | 0xA0..0xB7
+    map                    | object          | 0xB8
+    map                    | object          | 0xB9
+    map                    | object          | 0xBA
+    map                    | object          | 0xBB
+    map                    | object          | 0xBF
+    False                  | `false`         | 0xF4
+    True                   | `true`          | 0xF5
+    Null                   | `null`          | 0xF6
+    Half-Precision Float   | number_float    | 0xF9
+    Single-Precision Float | number_float    | 0xFA
+    Double-Precision Float | number_float    | 0xFB
+
+    @warning The mapping is **incomplete** in the sense that not all CBOR
+             types can be converted to a JSON value. The following CBOR types
+             are not supported and will yield parse errors (parse_error.112):
+             - date/time (0xC0..0xC1)
+             - bignum (0xC2..0xC3)
+             - decimal fraction (0xC4)
+             - bigfloat (0xC5)
+             - expected conversions (0xD5..0xD7)
+             - simple values (0xE0..0xF3, 0xF8)
+             - undefined (0xF7)
+
+    @warning CBOR allows map keys of any type, whereas JSON only allows
+             strings as keys in object values. Therefore, CBOR maps with keys
+             other than UTF-8 strings are rejected (parse_error.113).
+
+    @note Any CBOR output created @ref to_cbor can be successfully parsed by
+          @ref from_cbor.
+
+    @param[in] i  an input in CBOR format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] tag_handler how to treat CBOR tags (optional, error by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from CBOR were
+    used in the given input @a v or if the input is not valid CBOR
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in CBOR
+    format to a JSON value.,from_cbor}
+
+    @sa http://cbor.io
+    @sa @ref to_cbor(const basic_json&) for the analogous serialization
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for the
+        related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0; added @a tag_handler parameter since 3.9.0.
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        return from_cbor(ptr, ptr + len, strict, allow_exceptions, tag_handler);
+    }
+
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in MessagePack format
+
+    Deserializes a given input @a i to a JSON value using the MessagePack
+    serialization format.
+
+    The library maps MessagePack types to JSON value types as follows:
+
+    MessagePack type | JSON value type | first byte
+    ---------------- | --------------- | ----------
+    positive fixint  | number_unsigned | 0x00..0x7F
+    fixmap           | object          | 0x80..0x8F
+    fixarray         | array           | 0x90..0x9F
+    fixstr           | string          | 0xA0..0xBF
+    nil              | `null`          | 0xC0
+    false            | `false`         | 0xC2
+    true             | `true`          | 0xC3
+    float 32         | number_float    | 0xCA
+    float 64         | number_float    | 0xCB
+    uint 8           | number_unsigned | 0xCC
+    uint 16          | number_unsigned | 0xCD
+    uint 32          | number_unsigned | 0xCE
+    uint 64          | number_unsigned | 0xCF
+    int 8            | number_integer  | 0xD0
+    int 16           | number_integer  | 0xD1
+    int 32           | number_integer  | 0xD2
+    int 64           | number_integer  | 0xD3
+    str 8            | string          | 0xD9
+    str 16           | string          | 0xDA
+    str 32           | string          | 0xDB
+    array 16         | array           | 0xDC
+    array 32         | array           | 0xDD
+    map 16           | object          | 0xDE
+    map 32           | object          | 0xDF
+    bin 8            | binary          | 0xC4
+    bin 16           | binary          | 0xC5
+    bin 32           | binary          | 0xC6
+    ext 8            | binary          | 0xC7
+    ext 16           | binary          | 0xC8
+    ext 32           | binary          | 0xC9
+    fixext 1         | binary          | 0xD4
+    fixext 2         | binary          | 0xD5
+    fixext 4         | binary          | 0xD6
+    fixext 8         | binary          | 0xD7
+    fixext 16        | binary          | 0xD8
+    negative fixint  | number_integer  | 0xE0-0xFF
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @param[in] i  an input in MessagePack format convertible to an input
+                  adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from MessagePack were
+    used in the given input @a i or if the input is not valid MessagePack
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    MessagePack format to a JSON value.,from_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref to_msgpack(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for
+        the related UBJSON format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(InputType&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_msgpack(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(IteratorType first, IteratorType last,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(const T* ptr, std::size_t len,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        return from_msgpack(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(detail::span_input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in UBJSON format
+
+    Deserializes a given input @a i to a JSON value using the UBJSON (Universal
+    Binary JSON) serialization format.
+
+    The library maps UBJSON types to JSON value types as follows:
+
+    UBJSON type | JSON value type                         | marker
+    ----------- | --------------------------------------- | ------
+    no-op       | *no value, next value is read*          | `N`
+    null        | `null`                                  | `Z`
+    false       | `false`                                 | `F`
+    true        | `true`                                  | `T`
+    float32     | number_float                            | `d`
+    float64     | number_float                            | `D`
+    uint8       | number_unsigned                         | `U`
+    int8        | number_integer                          | `i`
+    int16       | number_integer                          | `I`
+    int32       | number_integer                          | `l`
+    int64       | number_integer                          | `L`
+    high-precision number | number_integer, number_unsigned, or number_float - depends on number string | 'H'
+    string      | string                                  | `S`
+    char        | string                                  | `C`
+    array       | array (optimized values are supported)  | `[`
+    object      | object (optimized values are supported) | `{`
+
+    @note The mapping is **complete** in the sense that any UBJSON value can
+          be converted to a JSON value.
+
+    @param[in] i  an input in UBJSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if a parse error occurs
+    @throw parse_error.113 if a string could not be parsed successfully
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    UBJSON format to a JSON value.,from_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 3.1.0; added @a allow_exceptions parameter since 3.2.0
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_ubjson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(const T* ptr, std::size_t len,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        return from_ubjson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(detail::span_input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    /*!
+    @brief Create a JSON value from an input in BSON format
+
+    Deserializes a given input @a i to a JSON value using the BSON (Binary JSON)
+    serialization format.
+
+    The library maps BSON record types to JSON value types as follows:
+
+    BSON type       | BSON marker byte | JSON value type
+    --------------- | ---------------- | ---------------------------
+    double          | 0x01             | number_float
+    string          | 0x02             | string
+    document        | 0x03             | object
+    array           | 0x04             | array
+    binary          | 0x05             | still unsupported
+    undefined       | 0x06             | still unsupported
+    ObjectId        | 0x07             | still unsupported
+    boolean         | 0x08             | boolean
+    UTC Date-Time   | 0x09             | still unsupported
+    null            | 0x0A             | null
+    Regular Expr.   | 0x0B             | still unsupported
+    DB Pointer      | 0x0C             | still unsupported
+    JavaScript Code | 0x0D             | still unsupported
+    Symbol          | 0x0E             | still unsupported
+    JavaScript Code | 0x0F             | still unsupported
+    int32           | 0x10             | number_integer
+    Timestamp       | 0x11             | still unsupported
+    128-bit decimal float | 0x13       | still unsupported
+    Max Key         | 0x7F             | still unsupported
+    Min Key         | 0xFF             | still unsupported
+
+    @warning The mapping is **incomplete**. The unsupported mappings
+             are indicated in the table above.
+
+    @param[in] i  an input in BSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.114 if an unsupported BSON record type is encountered
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    BSON format to a JSON value.,from_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref to_bson(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_bson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        return from_bson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. Similar to @ref operator[](const typename
+    object_t::key_type&), `null` values are created in arrays and objects if
+    necessary.
+
+    In particular:
+    - If the JSON pointer points to an object key that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned.
+    - If the JSON pointer points to an array index that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned. All indices between the current maximum and the given
+      index are also filled with `null`.
+    - The special value `-` is treated as a synonym for the index past the
+      end.
+
+    @param[in] ptr  a JSON pointer
+
+    @return reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer}
+
+    @since version 2.0.0
+    */
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. The function does not change the JSON
+    value; no `null` values are created. In particular, the special value
+    `-` yields an exception.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return const reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer_const}
+
+    @since version 2.0.0
+    */
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a reference to the element at with specified JSON pointer @a ptr,
+    with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer}
+    */
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a const reference to the element at with specified JSON pointer @a
+    ptr, with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer_const}
+    */
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief return flattened JSON value
+
+    The function creates a JSON object whose keys are JSON pointers (see [RFC
+    6901](https://tools.ietf.org/html/rfc6901)) and whose values are all
+    primitive. The original JSON value can be restored using the @ref
+    unflatten() function.
+
+    @return an object that maps JSON pointers to primitive values
+
+    @note Empty objects and arrays are flattened to `null` and will not be
+          reconstructed correctly by the @ref unflatten() function.
+
+    @complexity Linear in the size the JSON value.
+
+    @liveexample{The following code shows how a JSON object is flattened to an
+    object whose keys consist of JSON pointers.,flatten}
+
+    @sa @ref unflatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /*!
+    @brief unflatten a previously flattened JSON value
+
+    The function restores the arbitrary nesting of a JSON value that has been
+    flattened before using the @ref flatten() function. The JSON value must
+    meet certain constraints:
+    1. The value must be an object.
+    2. The keys must be JSON pointers (see
+       [RFC 6901](https://tools.ietf.org/html/rfc6901))
+    3. The mapped values must be primitive JSON types.
+
+    @return the original JSON from a flattened version
+
+    @note Empty objects and arrays are flattened by @ref flatten() to `null`
+          values and can not unflattened to their original type. Apart from
+          this example, for a JSON value `j`, the following is always true:
+          `j == j.flatten().unflatten()`.
+
+    @complexity Linear in the size the JSON value.
+
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+
+    @liveexample{The following code shows how a flattened JSON object is
+    unflattened into the original nested JSON object.,unflatten}
+
+    @sa @ref flatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON patch
+
+    [JSON Patch](http://jsonpatch.com) defines a JSON document structure for
+    expressing a sequence of operations to apply to a JSON) document. With
+    this function, a JSON Patch is applied to the current JSON value by
+    executing all operations from the patch.
+
+    @param[in] json_patch  JSON patch document
+    @return patched document
+
+    @note The application of a patch is atomic: Either all operations succeed
+          and the patched document is returned or an exception is thrown. In
+          any case, the original value is not changed: the patch is applied
+          to a copy of the value.
+
+    @throw parse_error.104 if the JSON patch does not consist of an array of
+    objects
+
+    @throw parse_error.105 if the JSON patch is malformed (e.g., mandatory
+    attributes are missing); example: `"operation add must have member path"`
+
+    @throw out_of_range.401 if an array index is out of range.
+
+    @throw out_of_range.403 if a JSON pointer inside the patch could not be
+    resolved successfully in the current JSON value; example: `"key baz not
+    found"`
+
+    @throw out_of_range.405 if JSON pointer has no parent ("add", "remove",
+    "move")
+
+    @throw other_error.501 if "test" operation was unsuccessful
+
+    @complexity Linear in the size of the JSON value and the length of the
+    JSON patch. As usually only a fraction of the JSON value is affected by
+    the patch, the complexity can usually be neglected.
+
+    @liveexample{The following code shows how a JSON patch is applied to a
+    value.,patch}
+
+    @sa @ref diff -- create a JSON patch by comparing two JSON values
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+    @sa [RFC 6901 (JSON Pointer)](https://tools.ietf.org/html/rfc6901)
+
+    @since version 2.0.0
+    */
+    basic_json patch(const basic_json& json_patch) const
+    {
+        // make a working copy to apply the patch to
+        basic_json result = *this;
+
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.empty())
+            {
+                result = val;
+                return;
+            }
+
+            // make sure the top element of the pointer exists
+            json_pointer top_pointer = ptr.top();
+            if (top_pointer != ptr)
+            {
+                result.at(top_pointer);
+            }
+
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result[ptr];
+
+            switch (parent.m_type)
+            {
+                case value_t::null:
+                case value_t::object:
+                {
+                    // use operator[] to add value
+                    parent[last_path] = val;
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    if (last_path == "-")
+                    {
+                        // special case: append to back
+                        parent.push_back(val);
+                    }
+                    else
+                    {
+                        const auto idx = json_pointer::array_index(last_path);
+                        if (JSON_HEDLEY_UNLIKELY(idx > parent.size()))
+                        {
+                            // avoid undefined behavior
+                            JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+                        }
+
+                        // default case: insert add offset
+                        parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                    }
+                    break;
+                }
+
+                // if there exists a parent it cannot be primitive
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false);  // LCOV_EXCL_LINE
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [&result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_HEDLEY_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, "key '" + last_path + "' not found"));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(json_pointer::array_index(last_path));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_HEDLEY_UNLIKELY(!json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : "operation '" + op + "'";
+
+                // check if desired value is present
+                if (JSON_HEDLEY_UNLIKELY(it == val.m_value.object->end()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have member '" + member + "'"));
+                }
+
+                // check if result is of type string
+                if (JSON_HEDLEY_UNLIKELY(string_type && !it->second.is_string()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have string member '" + member + "'"));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_HEDLEY_UNLIKELY(!val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+            }
+
+            // collect mandatory members
+            const auto op = get_value("op", "op", true).template get<std::string>();
+            const auto path = get_value(op, "path", true).template get<std::string>();
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const auto from_path = get_value("move", "from", true).template get<std::string>();
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const auto from_path = get_value("copy", "from", true).template get<std::string>();
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_HEDLEY_UNLIKELY(!success))
+                    {
+                        JSON_THROW(other_error::create(501, "unsuccessful: " + val.dump()));
+                    }
+
+                    break;
+                }
+
+                default:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, "operation value '" + op + "' is invalid"));
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief creates a diff as a JSON patch
+
+    Creates a [JSON Patch](http://jsonpatch.com) so that value @a source can
+    be changed into the value @a target by calling @ref patch function.
+
+    @invariant For two JSON values @a source and @a target, the following code
+    yields always `true`:
+    @code {.cpp}
+    source.patch(diff(source, target)) == target;
+    @endcode
+
+    @note Currently, only `remove`, `add`, and `replace` operations are
+          generated.
+
+    @param[in] source  JSON value to compare from
+    @param[in] target  JSON value to compare against
+    @param[in] path    helper value to create JSON pointers
+
+    @return a JSON patch to convert the @a source to @a target
+
+    @complexity Linear in the lengths of @a source and @a target.
+
+    @liveexample{The following code shows how a JSON patch is created as a
+    diff for two JSON values.,diff}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa @ref merge_patch -- apply a JSON Merge Patch
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+
+    @since version 2.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+            return result;
+        }
+
+        switch (source.type())
+        {
+            case value_t::array:
+            {
+                // first pass: traverse common elements
+                std::size_t i = 0;
+                while (i < source.size() && i < target.size())
+                {
+                    // recursive call to compare array values at index i
+                    auto temp_diff = diff(source[i], target[i], path + "/" + std::to_string(i));
+                    result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    ++i;
+                }
+
+                // i now reached the end of at least one array
+                // in a second pass, traverse the remaining elements
+
+                // remove my remaining elements
+                const auto end_index = static_cast<difference_type>(result.size());
+                while (i < source.size())
+                {
+                    // add operations in reverse order to avoid invalid
+                    // indices
+                    result.insert(result.begin() + end_index, object(
+                    {
+                        {"op", "remove"},
+                        {"path", path + "/" + std::to_string(i)}
+                    }));
+                    ++i;
+                }
+
+                // add other remaining elements
+                while (i < target.size())
+                {
+                    result.push_back(
+                    {
+                        {"op", "add"},
+                        {"path", path + "/-"},
+                        {"value", target[i]}
+                    });
+                    ++i;
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // first pass: traverse this object's elements
+                for (auto it = source.cbegin(); it != source.cend(); ++it)
+                {
+                    // escape the key name to be used in a JSON patch
+                    const auto key = json_pointer::escape(it.key());
+
+                    if (target.find(it.key()) != target.end())
+                    {
+                        // recursive call to compare object values at key it
+                        auto temp_diff = diff(it.value(), target[it.key()], path + "/" + key);
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    }
+                    else
+                    {
+                        // found a key that is not in o -> remove it
+                        result.push_back(object(
+                        {
+                            {"op", "remove"}, {"path", path + "/" + key}
+                        }));
+                    }
+                }
+
+                // second pass: traverse other object's elements
+                for (auto it = target.cbegin(); it != target.cend(); ++it)
+                {
+                    if (source.find(it.key()) == source.end())
+                    {
+                        // found a key that is not in this -> add it
+                        const auto key = json_pointer::escape(it.key());
+                        result.push_back(
+                        {
+                            {"op", "add"}, {"path", path + "/" + key},
+                            {"value", it.value()}
+                        });
+                    }
+                }
+
+                break;
+            }
+
+            default:
+            {
+                // both primitive type: replace value
+                result.push_back(
+                {
+                    {"op", "replace"}, {"path", path}, {"value", target}
+                });
+                break;
+            }
+        }
+
+        return result;
+    }
+
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON Merge Patch
+
+    The merge patch format is primarily intended for use with the HTTP PATCH
+    method as a means of describing a set of modifications to a target
+    resource's content. This function applies a merge patch to the current
+    JSON value.
+
+    The function implements the following algorithm from Section 2 of
+    [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396):
+
+    ```
+    define MergePatch(Target, Patch):
+      if Patch is an Object:
+        if Target is not an Object:
+          Target = {} // Ignore the contents and set it to an empty Object
+        for each Name/Value pair in Patch:
+          if Value is null:
+            if Name exists in Target:
+              remove the Name/Value pair from Target
+          else:
+            Target[Name] = MergePatch(Target[Name], Value)
+        return Target
+      else:
+        return Patch
+    ```
+
+    Thereby, `Target` is the current object; that is, the patch is applied to
+    the current value.
+
+    @param[in] apply_patch  the patch to apply
+
+    @complexity Linear in the lengths of @a patch.
+
+    @liveexample{The following code shows how a JSON Merge Patch is applied to
+    a JSON document.,merge_patch}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396)
+
+    @since version 3.0.0
+    */
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (!is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+
+/*!
+@brief user-defined to_string function for JSON values
+
+This function implements a user-defined to_string  for JSON objects.
+
+@param[in] j  a JSON object
+@return a std::string object
+*/
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+std::string to_string(const NLOHMANN_BASIC_JSON_TPL& j)
+{
+    return j.dump();
+}
+} // namespace nlohmann
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+// specialization of std::swap, and std::hash
+namespace std
+{
+
+/// hash value for JSON objects
+template<>
+struct hash<nlohmann::json>
+{
+    /*!
+    @brief return a hash value for a JSON object
+
+    @since version 1.0.0
+    */
+    std::size_t operator()(const nlohmann::json& j) const
+    {
+        return nlohmann::detail::hash(j);
+    }
+};
+
+/// specialization for std::less<value_t>
+/// @note: do not remove the space after '<',
+///        see https://github.com/nlohmann/json/pull/679
+template<>
+struct less<::nlohmann::detail::value_t>
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(nlohmann::detail::value_t lhs,
+                    nlohmann::detail::value_t rhs) const noexcept
+    {
+        return nlohmann::detail::operator<(lhs, rhs);
+    }
+};
+
+// C++20 prohibit function specialization in the std namespace.
+#ifndef JSON_HAS_CPP_20
+
+/*!
+@brief exchanges the values of two JSON objects
+
+@since version 1.0.0
+*/
+template<>
+inline void swap<nlohmann::json>(nlohmann::json& j1, nlohmann::json& j2) noexcept(
+    is_nothrow_move_constructible<nlohmann::json>::value&&
+    is_nothrow_move_assignable<nlohmann::json>::value
+                              )
+{
+    j1.swap(j2);
+}
+
+#endif
+
+} // namespace std
+
+/*!
+@brief user-defined string literal for JSON values
+
+This operator implements a user-defined string literal for JSON objects. It
+can be used by adding `"_json"` to a string literal and returns a JSON object
+if no parse error occurred.
+
+@param[in] s  a string representation of a JSON object
+@param[in] n  the length of string @a s
+@return a JSON object
+
+@since version 1.0.0
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/*!
+@brief user-defined string literal for JSON pointer
+
+This operator implements a user-defined string literal for JSON Pointers. It
+can be used by adding `"_json_pointer"` to a string literal and returns a JSON pointer
+object if no parse error occurred.
+
+@param[in] s  a string representation of a JSON Pointer
+@param[in] n  the length of string @a s
+@return a JSON pointer object
+
+@since version 2.0.0
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+// #include <nlohmann/detail/macro_unscope.hpp>
+
+
+// restore GCC/clang diagnostic settings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic pop
+#endif
+#if defined(__clang__)
+    #pragma GCC diagnostic pop
+#endif
+
+// clean up
+#undef JSON_ASSERT
+#undef JSON_INTERNAL_CATCH
+#undef JSON_CATCH
+#undef JSON_THROW
+#undef JSON_TRY
+#undef JSON_HAS_CPP_14
+#undef JSON_HAS_CPP_17
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+#undef JSON_EXPLICIT
+
+// #include <nlohmann/thirdparty/hedley/hedley_undef.hpp>
+#undef JSON_HEDLEY_ALWAYS_INLINE
+#undef JSON_HEDLEY_ARM_VERSION
+#undef JSON_HEDLEY_ARM_VERSION_CHECK
+#undef JSON_HEDLEY_ARRAY_PARAM
+#undef JSON_HEDLEY_ASSUME
+#undef JSON_HEDLEY_BEGIN_C_DECLS
+#undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#undef JSON_HEDLEY_CLANG_HAS_WARNING
+#undef JSON_HEDLEY_COMPCERT_VERSION
+#undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#undef JSON_HEDLEY_CONCAT
+#undef JSON_HEDLEY_CONCAT3
+#undef JSON_HEDLEY_CONCAT3_EX
+#undef JSON_HEDLEY_CONCAT_EX
+#undef JSON_HEDLEY_CONST
+#undef JSON_HEDLEY_CONSTEXPR
+#undef JSON_HEDLEY_CONST_CAST
+#undef JSON_HEDLEY_CPP_CAST
+#undef JSON_HEDLEY_CRAY_VERSION
+#undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#undef JSON_HEDLEY_C_DECL
+#undef JSON_HEDLEY_DEPRECATED
+#undef JSON_HEDLEY_DEPRECATED_FOR
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#undef JSON_HEDLEY_DIAGNOSTIC_POP
+#undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#undef JSON_HEDLEY_DMC_VERSION
+#undef JSON_HEDLEY_DMC_VERSION_CHECK
+#undef JSON_HEDLEY_EMPTY_BASES
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#undef JSON_HEDLEY_END_C_DECLS
+#undef JSON_HEDLEY_FLAGS
+#undef JSON_HEDLEY_FLAGS_CAST
+#undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#undef JSON_HEDLEY_GCC_HAS_FEATURE
+#undef JSON_HEDLEY_GCC_HAS_WARNING
+#undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#undef JSON_HEDLEY_GCC_VERSION
+#undef JSON_HEDLEY_GCC_VERSION_CHECK
+#undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#undef JSON_HEDLEY_GNUC_HAS_WARNING
+#undef JSON_HEDLEY_GNUC_VERSION
+#undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#undef JSON_HEDLEY_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_BUILTIN
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_EXTENSION
+#undef JSON_HEDLEY_HAS_FEATURE
+#undef JSON_HEDLEY_HAS_WARNING
+#undef JSON_HEDLEY_IAR_VERSION
+#undef JSON_HEDLEY_IAR_VERSION_CHECK
+#undef JSON_HEDLEY_IBM_VERSION
+#undef JSON_HEDLEY_IBM_VERSION_CHECK
+#undef JSON_HEDLEY_IMPORT
+#undef JSON_HEDLEY_INLINE
+#undef JSON_HEDLEY_INTEL_VERSION
+#undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#undef JSON_HEDLEY_IS_CONSTANT
+#undef JSON_HEDLEY_IS_CONSTEXPR_
+#undef JSON_HEDLEY_LIKELY
+#undef JSON_HEDLEY_MALLOC
+#undef JSON_HEDLEY_MESSAGE
+#undef JSON_HEDLEY_MSVC_VERSION
+#undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#undef JSON_HEDLEY_NEVER_INLINE
+#undef JSON_HEDLEY_NON_NULL
+#undef JSON_HEDLEY_NO_ESCAPE
+#undef JSON_HEDLEY_NO_RETURN
+#undef JSON_HEDLEY_NO_THROW
+#undef JSON_HEDLEY_NULL
+#undef JSON_HEDLEY_PELLES_VERSION
+#undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#undef JSON_HEDLEY_PGI_VERSION
+#undef JSON_HEDLEY_PGI_VERSION_CHECK
+#undef JSON_HEDLEY_PREDICT
+#undef JSON_HEDLEY_PRINTF_FORMAT
+#undef JSON_HEDLEY_PRIVATE
+#undef JSON_HEDLEY_PUBLIC
+#undef JSON_HEDLEY_PURE
+#undef JSON_HEDLEY_REINTERPRET_CAST
+#undef JSON_HEDLEY_REQUIRE
+#undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#undef JSON_HEDLEY_REQUIRE_MSG
+#undef JSON_HEDLEY_RESTRICT
+#undef JSON_HEDLEY_RETURNS_NON_NULL
+#undef JSON_HEDLEY_SENTINEL
+#undef JSON_HEDLEY_STATIC_ASSERT
+#undef JSON_HEDLEY_STATIC_CAST
+#undef JSON_HEDLEY_STRINGIFY
+#undef JSON_HEDLEY_STRINGIFY_EX
+#undef JSON_HEDLEY_SUNPRO_VERSION
+#undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#undef JSON_HEDLEY_TINYC_VERSION
+#undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#undef JSON_HEDLEY_TI_ARMCL_VERSION
+#undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL2000_VERSION
+#undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL430_VERSION
+#undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL6X_VERSION
+#undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL7X_VERSION
+#undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CLPRU_VERSION
+#undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#undef JSON_HEDLEY_TI_VERSION
+#undef JSON_HEDLEY_TI_VERSION_CHECK
+#undef JSON_HEDLEY_UNAVAILABLE
+#undef JSON_HEDLEY_UNLIKELY
+#undef JSON_HEDLEY_UNPREDICTABLE
+#undef JSON_HEDLEY_UNREACHABLE
+#undef JSON_HEDLEY_UNREACHABLE_RETURN
+#undef JSON_HEDLEY_VERSION
+#undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#undef JSON_HEDLEY_VERSION_ENCODE
+#undef JSON_HEDLEY_WARNING
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#undef JSON_HEDLEY_FALL_THROUGH
+
+
+
+#endif  // INCLUDE_NLOHMANN_JSON_HPP_
diff --git a/src/adaptive_pursuit_controller/package.xml b/src/adaptive_pursuit_controller/package.xml
new file mode 100644
index 000000000..13c4bb7a3
--- /dev/null
+++ b/src/adaptive_pursuit_controller/package.xml
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>adaptive_pursuit_controller</name>
+  <version>0.0.0</version>
+  <description>The adaptive_pursuit_controller package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="kempena@todo.todo">kempena</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/adaptive_pursuit_controller</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/src/adaptive_pursuit_controller/src/Math/Pose.cpp b/src/adaptive_pursuit_controller/src/Math/Pose.cpp
new file mode 100644
index 000000000..460566f2c
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/Math/Pose.cpp
@@ -0,0 +1,3 @@
+#include "Math/Pose.h"
+
+
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
new file mode 100644
index 000000000..0c8a9a9c6
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
@@ -0,0 +1,139 @@
+#include "AdaptivePursuit.h"
+
+VelocityPair::VelocityPair(double l, double r) {
+    left = l;
+    right = r;
+}
+
+AdaptivePursuit::AdaptivePursuit(double fixedLookahead, double maxAccel,
+                                 double nominalDt, Path path, bool reversed,
+                                 double pathCompletionTolerance, bool gradualStop, double wheelDiameter):
+        m_lastCommand(0,0,0) {
+    m_fixedLookahead = fixedLookahead;
+    m_maxAccel = maxAccel;
+    m_path = path;
+    m_dt = nominalDt;
+    m_reversed = reversed;
+    m_pathCompletionTolerance = pathCompletionTolerance;
+    m_lastTime = 0.0;
+    m_gradualStop = gradualStop;
+    m_wheelDiameter = wheelDiameter;
+}
+
+bool AdaptivePursuit::isDone() {
+    double remainingLength = m_path.getRemainingLength();
+    return (remainingLength <= m_pathCompletionTolerance);
+}
+
+VelocityPair AdaptivePursuit::Update(Pose robotPos, double now) {
+    Position2d pos = Position2d({robotPos.position.x(), robotPos.position.y()}, Rotation2d::fromRadians(robotPos.angle.angle()));
+    if (m_reversed){
+        pos = Position2d(pos.getTranslation(),
+                         pos.getRotation().rotateBy(Rotation2d::fromRadians(PI)));
+    }
+
+    double distanceFromPath = m_path.update(pos.getTranslation());
+    if(isDone()){
+        return VelocityPair(0, 0);
+    }
+
+//	std::cout << "Dist From Path" << distanceFromPath << std::endl;
+
+    PathSegment::Sample lookaheadPoint = m_path.getLookaheadPoint(pos.getTranslation(),
+                                                                  distanceFromPath + m_fixedLookahead);
+    std::optional<Circle> circle = joinPath(pos, lookaheadPoint.translation);
+//	std::cout << "Look X: " << lookaheadPoint.translation.getX() << "  Look Y: " << lookaheadPoint.translation.getY() << std::endl;
+
+
+    m_path.getClosestPoint(pos.getTranslation());
+    double speed = lookaheadPoint.speed;
+    if(m_reversed){
+//		std::cout << "Reversed: " << speed << std::endl;
+        speed *= -1;
+    }
+
+    double dt = now - m_lastTime;
+    if (!m_hasRun){
+        m_lastCommand = Position2d::Delta(0,0,0);
+        dt = m_dt;
+        m_hasRun = true;
+    }
+    double accel = (speed - m_lastCommand.dx) / dt;
+    if(accel < -m_maxAccel){
+        speed = m_lastCommand.dx - m_maxAccel * dt;
+    } else if (accel > m_maxAccel){
+        speed = m_lastCommand.dx + m_maxAccel * dt;
+    }
+
+    double remainingDistance = m_path.getRemainingLength();
+	std::cout << "Remain: " << remainingDistance << std::endl;
+    if(m_gradualStop){
+        double maxAllowedSpeed = sqrt(2 * m_maxAccel * remainingDistance);
+        if (fabs(speed) > maxAllowedSpeed){
+            speed = maxAllowedSpeed * (speed / fabs(speed));
+        }
+    }
+
+//    double minSpeed = 5.0;
+//    if (fabs(speed) < minSpeed){
+//        speed = minSpeed * (speed / fabs(speed));
+//    }
+
+    Position2d::Delta rv(0,0,0);
+    if(circle){
+        rv = Position2d::Delta(speed, 0,
+                               (((*circle).turnRight) ? -1 : 1) * fabs(speed) / (*circle).radius);
+    } else {
+        rv = Position2d::Delta(speed, 0, 0);
+    }
+    m_lastTime = now;
+    m_lastCommand = rv;
+
+    if(fabs(rv.dtheta) < kE){
+        return VelocityPair(rv.dx, rv.dx);
+    }
+    double deltaV = m_wheelDiameter * rv.dtheta / (2 * 0.15);
+    return VelocityPair(rv.dx + deltaV, rv.dx - deltaV);
+}
+
+bool AdaptivePursuit::checkEvent(std::string event) {
+    return m_path.eventPassed(event);
+}
+
+AdaptivePursuit::Circle::Circle(Trans2d cent, double rad,
+                                bool turn_right) {
+    center = cent;
+    radius = rad;
+    turnRight = turn_right;
+}
+
+std::optional<AdaptivePursuit::Circle> AdaptivePursuit::joinPath(Position2d pos,
+                                                                   Trans2d lookahead) {
+    double x1 = pos.getTranslation().getX();
+    double y1 = pos.getTranslation().getY();
+    double x2 = lookahead.getX();
+    double y2 = lookahead.getY();
+
+    Trans2d posToLookahead = pos.getTranslation().inverse().translateBy(lookahead);
+    double crossProduct = posToLookahead.getX() * pos.getRotation().getSin()
+                          - posToLookahead.getY() * pos.getRotation().getCos();
+    if(abs(crossProduct) < kE){
+        return {};
+    }
+
+    double dx = x1 - x2;
+    double dy = y1 - y2;
+    double my = ((crossProduct > 0) ? -1 : 1) * pos.getRotation().getCos();
+    double mx = ((crossProduct > 0) ? 1 : -1) * pos.getRotation().getSin();
+
+    double crossTerm = mx * dx + my * dy;
+
+    if(abs(crossTerm) < kE){
+        return {};
+    }
+
+    return Circle(
+            Trans2d((mx * (x1 * x1 - x2 * x2 - dy * dy) + 2 * my * x1 * dy) / (2 * crossTerm),
+                          (-my * (-y1 * y1 + y2 * y2 + dy * dy) + 2 * mx * y1 * dx) / (2 * crossTerm)),
+            .5 * abs((dx * dx + dy * dy) / crossTerm), (crossProduct > 0));
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Logger.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Logger.cpp
new file mode 100644
index 000000000..e15b3dd49
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Logger.cpp
@@ -0,0 +1,38 @@
+#include "Logger.h"
+
+Logger::loggingLevel Logger::m_consoleLoggingLevel;
+
+
+void Logger::logInfo(ostringstream& message) {
+	//logInfo(message.str());
+}
+
+void Logger::logInfo(string message) {
+    if(m_consoleLoggingLevel <= INFO) {
+        cout << "INFO: " << message << "\n";
+    }
+}
+
+void Logger::logWarning(ostringstream& message) {
+//	logWarning(message.str());
+}
+
+void Logger::logWarning(string message) {
+    if(m_consoleLoggingLevel <= WARNING) {
+        cout << "WARNING: " << message << "\n";
+    }
+}
+
+void Logger::logError(ostringstream& message) {
+//	logError(message.str());
+}
+
+void Logger::logError(string message) {
+    if(m_consoleLoggingLevel <= WARNING) {
+        cout << "ERROR: " << message << "\n";
+    }
+}
+
+void Logger::setConsoleLoggingLevel(Logger::loggingLevel level) {
+    m_consoleLoggingLevel = level;
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Math/Pose.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Math/Pose.cpp
new file mode 100644
index 000000000..460566f2c
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Math/Pose.cpp
@@ -0,0 +1,3 @@
+#include "Math/Pose.h"
+
+
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
new file mode 100644
index 000000000..a02fdc539
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
@@ -0,0 +1,229 @@
+#include "Path.h"
+
+Waypoint::Waypoint(Trans2d pos, double spd, string completeEvent) {
+	position = pos;
+	speed = spd;
+	event = completeEvent;
+}
+
+Path::Path() : Path({Waypoint(Trans2d(), 0)}, false) {
+
+}
+
+Path::Path(vector<Waypoint> waypoints, bool flip) {
+	m_waypoints = waypoints;
+	for (int i = 0; i < m_waypoints.size() - 1; i++) {
+        m_segments.emplace_back(m_waypoints[i].position, m_waypoints[i+1].position,
+                                (flip ? m_waypoints[i].rotation.inverse() : m_waypoints[i].rotation),
+                                m_waypoints[i].speed);
+	}
+
+/*	if(m_waypoints.size() > 0){
+		if(m_waypoints[0].event != ""){
+			m_events.push_back(m_waypoints[0].event);
+		}
+		m_waypoints.erase(m_waypoints.begin());
+	}*/
+}
+
+Path Path::fromFile(string fileName, bool flip) {
+    Logger::logInfo("Loading File: " + fileName);
+    string fileStarter = "/home/lvuser/Paths/";
+    ifstream inFile(fileStarter + fileName);
+    if (inFile.is_open()) {
+        string text((istreambuf_iterator<char>(inFile)), istreambuf_iterator<char>());
+        return fromText(text, flip);
+    }
+    cout << "Failed to open: " << fileName << endl;
+    return Path();
+}
+
+Path Path::fromText(string text, bool flip) {
+    vector<Waypoint> points;
+    json json;
+    try {
+        json = json::parse(text);
+    } catch (const exception& e) {
+        Logger::logError("Error parsing json path! " + string(e.what()));
+        return Path();
+    }
+
+    //Logger::logInfo("Json text contents:\n" + json.dump(4));
+    try {
+        for (auto point : json) {
+            Waypoint waypoint({point["x"].get<double>(), point["y"].get<double>()}, 100);
+            if(flip) {
+                waypoint.position = waypoint.position.flipX();
+            }
+            if(point["name"].get<string>() != "point") {
+                waypoint.event = point["name"].get<string>();
+            }
+            points.push_back(waypoint);
+        }
+    } catch (const exception& e) {
+        Logger::logError("Error reading json path! " + string(e.what()));
+        return Path();
+    }
+
+    if(!points.empty()){
+        Logger::logInfo("Path with " + to_string(points.size()) + " points was loaded successfully.");
+        return Path(points);
+    } else{
+        Logger::logError("Loaded path text was empty!");
+        return Path();
+    }
+}
+
+double Path::update(Trans2d pos) {
+	double rv = 0.0;
+	for(int i = 0; i < m_segments.size(); i++) {
+//		PathSegment segment = m_segments[i];
+		PathSegment::ClosestPointReport closestPointReport = m_segments[i].getClosestPoint(pos);
+//		cout << "Index " << closestPointReport.index << endl;
+		if (closestPointReport.index >= .99){
+			m_segments.erase(m_segments.begin() + i);
+			if(!m_waypoints.empty()){
+				if(!m_waypoints[0].event.empty()){
+					m_events.push_back(m_waypoints[0].event);
+				}
+				m_waypoints.erase(m_waypoints.begin());
+			}
+			return update(pos);
+		} else {
+			if(closestPointReport.index > 0.0){
+				m_segments[i].updateStart(closestPointReport.closestPoint);
+			}
+
+			rv = closestPointReport.distance;
+
+			if(m_segments.size() > i + 1){
+				PathSegment::ClosestPointReport nextClosestPointReport = m_segments[i+1].getClosestPoint(pos);
+				if(nextClosestPointReport.index > 0
+						&& nextClosestPointReport.index < .99
+						&& nextClosestPointReport.distance < rv){
+					m_segments[i+1].updateStart(nextClosestPointReport.closestPoint);
+					rv = nextClosestPointReport.distance;
+					m_segments.erase(m_segments.begin() + i);
+					if(!m_waypoints.empty()){
+						if(!m_waypoints[0].event.empty()){
+							m_events.push_back(m_waypoints[0].event);
+						}
+						m_waypoints.erase(m_waypoints.begin());
+					}
+				}
+			}
+			break;
+		}
+	}
+	return rv;
+}
+
+bool Path::eventPassed(string event) {
+	return (find(m_events.begin(), m_events.end(), event) != m_events.end());
+}
+
+double Path::getRemainingLength() {
+	double length = 0.0;
+	for (auto i: m_segments){
+		length += i.getLength();
+	}
+	return length;
+}
+
+PathSegment::Sample Path::getLookaheadPoint(Trans2d pos, double lookahead) {
+	if(m_segments.empty()){
+		return {Trans2d(), 0};
+	}
+
+	Trans2d posInverse = pos.inverse();
+	if(posInverse.translateBy(m_segments[0].getStart()).norm() >= lookahead){
+		return {m_segments[0].getStart(), m_segments[0].getSpeed()};
+	}
+	for (auto segment : m_segments) {
+        double distance = posInverse.translateBy(segment.getEnd()).norm();
+		if(distance >= lookahead){
+			pair<bool, Trans2d> intersectionPoint =
+                    getFirstCircleSegmentIntersection(segment, pos, lookahead);
+			if(intersectionPoint.first){
+				return {intersectionPoint.second, segment.getSpeed()};
+			} else {
+				cout << "Error? Bad things happened" << endl;
+			}
+		}
+	}
+
+	PathSegment lastSegment = m_segments[m_segments.size() - 1];
+	PathSegment newLastSegment = PathSegment(lastSegment.getStart(), lastSegment.interpolate(10000),
+                                             lastSegment.getAngle(), lastSegment.getSpeed());
+	pair<bool, Trans2d> intersectionPoint = getFirstCircleSegmentIntersection(newLastSegment, pos,
+			lookahead);
+	if(intersectionPoint.first){
+		return {intersectionPoint.second, lastSegment.getSpeed()};
+	} else {
+		cout << "Error? REALLY Bad things happened" << endl;
+		return {lastSegment.getEnd(), lastSegment.getSpeed()};
+	}
+}
+
+pair<bool, Trans2d> Path::getFirstCircleSegmentIntersection(PathSegment segment, Trans2d center,
+                                                                       double radius) {
+	double x1 = segment.getStart().getX() - center.getX();
+	double y1 = segment.getStart().getY() - center.getY();
+	double x2 = segment.getEnd().getX() - center.getX();
+	double y2 = segment.getEnd().getY() - center.getY();
+	double dx = x2 - x1;
+	double dy = y2 - y1;
+	double drSquared = dx * dx + dy * dy;
+	double det = x1 * y2 - x2 * y1;
+
+	double discriminant = drSquared *radius * radius - det * det;
+	if (discriminant < 0) {
+		return {false, Trans2d()};
+	}
+
+	double sqrtDiscriminant = sqrt(discriminant);
+	Trans2d posSolution = Trans2d(
+			(det * dy + ((dy < 0) ? -1 : 1) * dx * sqrtDiscriminant) / drSquared + center.getX(),
+			(-det * dx + abs(dy) * sqrtDiscriminant) / drSquared + center.getY());
+	Trans2d negSolution = Trans2d(
+			(det * dy - ((dy < 0) ? -1 : 1) * dx * sqrtDiscriminant) / drSquared + center.getX(),
+			(-det * dx - abs(dy) * sqrtDiscriminant) / drSquared + center.getY());
+
+	double posDot = segment.dotProduct(posSolution);
+	double negDot = segment.dotProduct(negSolution);
+	if (posDot < 0 && negDot >= 0){
+		return {true, negSolution};
+	} else if (posDot >= 0 && negDot < 0){
+		return {true, posSolution};
+	} else {
+		if (abs(posDot) <= abs(negDot)){
+			return {true, posSolution};
+		} else {
+			return {true, negSolution};
+		}
+	}
+}
+
+Waypoint Path::getFirstWaypoint() {
+    return m_waypoints[0];
+}
+
+Position2d Path::getClosestPoint(Trans2d pos) {
+    Position2d closestPoint = Position2d(m_segments[0].getStart(), m_segments[0].getAngle());
+    double closestDistance = hypot(pos.getX() - closestPoint.getTranslation().getX(),
+                                   pos.getY() - closestPoint.getTranslation().getY());
+    for (unsigned int i = 1; i < m_segments.size(); i++){
+        PathSegment segment = m_segments[i];
+        double distance = hypot(pos.getX() - segment.getStart().getX(),
+                                pos.getY() - segment.getStart().getY());
+        if(distance < closestDistance) {
+            closestPoint = Position2d(segment.getStart(), segment.getAngle());
+            closestDistance = distance;
+        }
+    }
+    return closestPoint;
+}
+
+vector<Waypoint> Path::getWaypoints() {
+    return m_waypoints;
+}
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathManager.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathManager.cpp
new file mode 100644
index 000000000..df7d31f1c
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathManager.cpp
@@ -0,0 +1,90 @@
+#include "PathManager.h"
+
+PathManager* PathManager::m_instance = nullptr;
+
+PathManager * PathManager::GetInstance() {
+    if(!m_instance) {
+        m_instance = new PathManager;
+    }
+
+    return m_instance;
+}
+
+int PathManager::NumPaths() {
+    return m_paths.size();
+}
+
+bool PathManager::LoadPathsText(string text) {
+    json loadedJson;
+
+    try {
+        loadedJson = json::parse(text);
+    } catch (const exception& e) {
+        Logger::logError("Could not parse paths file:" + string(e.what()));
+        return false;
+    }
+
+    return LoadPaths(loadedJson);
+}
+
+bool PathManager::LoadPaths(json loadedJson) {
+    m_paths.clear();
+
+    try {
+        json pathJson;
+        for (auto path : loadedJson["paths"]) {
+            string name = path["name"];
+            vector<Waypoint> waypoints;
+            for (auto point : path["points"]) {
+                double speed = point["speed"];
+                Trans2d pos = Trans2d(-(double)point["y"], (double)point["x"]);
+                Waypoint waypoint = Waypoint(pos, speed, "");
+                waypoints.push_back(waypoint);
+            }
+            Path newPath(waypoints);
+            m_paths[name] = newPath;
+        }
+    } catch (const exception& e) {
+        Logger::logError("Error reading json path! " + string(e.what()));
+        return false;
+    }
+
+    return true;
+}
+
+bool PathManager::LoadPathsFile(string filePath) {
+    ifstream pathsFile;
+    try {
+        pathsFile.open(filePath);
+        if(!pathsFile.is_open()) {
+            Logger::logError("Could not open paths file at " + filePath);
+            return false;
+        }
+    } catch (const exception& e) {
+        Logger::logError("Could not open paths file at " + filePath + " : " + string(e.what()));
+        return false;
+    }
+
+    json loadedJson;
+    try {
+        pathsFile >> loadedJson;
+    } catch (const exception& e) {
+        Logger::logError("Could not parse paths file:" + string(e.what()));
+        pathsFile.close();
+        return false;
+    }
+
+    pathsFile.close();
+    return LoadPaths(loadedJson);
+}
+
+unordered_map<string, Path> PathManager::GetPaths() {
+    return m_paths;
+}
+
+Path PathManager::GetPath(string name) {
+    if (m_paths.find(name) == m_paths.end())
+        Logger::logError("Path with key: " + name + " not found!");
+    else
+        return m_paths[name];
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathSegment.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathSegment.cpp
new file mode 100644
index 000000000..c2f79ad31
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/PathSegment.cpp
@@ -0,0 +1,65 @@
+#include "PathSegment.h"
+
+PathSegment::Sample::Sample(Trans2d newTranslation, double newSpeed) {
+	translation = newTranslation;
+	speed = newSpeed;
+}
+
+PathSegment::PathSegment(Trans2d start, Trans2d end, Rotation2d angle, double speed) {
+	m_end = end;
+	m_speed = speed;
+    m_angle = angle;
+	updateStart(start);
+}
+
+void PathSegment::updateStart(Trans2d newStart) {
+	m_start = newStart;
+	m_startToEnd = m_start.inverse().translateBy(m_end);
+	m_length = m_startToEnd.norm();
+//	std::cout << "New Length: " << m_length << std::endl;
+}
+
+double PathSegment::getSpeed() {
+	return m_speed;
+}
+
+Trans2d PathSegment::getStart() {
+	return m_start;
+}
+
+Trans2d PathSegment::getEnd() {
+	return m_end;
+}
+
+double PathSegment::getLength() {
+	return m_length;
+}
+
+Trans2d PathSegment::interpolate(double index) {
+	return m_start.interpolate(m_end, index);
+}
+
+double PathSegment::dotProduct(Trans2d other) {
+	Trans2d startToOther = m_start.inverse().translateBy(other);
+	return m_startToEnd.getX() * startToOther.getX() + m_startToEnd.getY() * startToOther.getY();
+}
+
+PathSegment::ClosestPointReport PathSegment::getClosestPoint(Trans2d queryPoint) {
+	ClosestPointReport rv;
+	if (m_length > kE){
+		double dot = dotProduct(queryPoint);
+		rv.index = dot / (m_length * m_length);
+		rv.clampedIndex = min(1.0, max(0.0, rv.index));
+		rv.closestPoint = interpolate(rv.index);
+	} else {
+		rv.index = 0.0;
+		rv.clampedIndex = 0.0;
+		rv.closestPoint = Trans2d(m_start);
+	}
+	rv.distance = rv.closestPoint.inverse().translateBy(queryPoint).norm();
+	return rv;
+}
+
+Rotation2d PathSegment::getAngle() {
+    return m_angle;
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Position2d.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Position2d.cpp
new file mode 100644
index 000000000..218c232d9
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Position2d.cpp
@@ -0,0 +1,81 @@
+#include "Position2d.h"
+
+Position2d::Delta::Delta(double x, double y, double t) {
+	dx = x;
+	dy = y;
+	dtheta = t;
+}
+
+Position2d::Position2d() {
+	m_translation = Trans2d();
+	m_rotation = Rotation2d();
+}
+
+Position2d::Position2d(Trans2d tran, Rotation2d rot) {
+	m_translation = tran;
+	m_rotation = rot;
+}
+
+Position2d::Position2d(const Position2d& other) {
+	m_translation = other.m_translation;
+	m_rotation = other.m_rotation;
+}
+
+Position2d Position2d::fromTranslation(Trans2d tran) {
+	return Position2d(tran, Rotation2d());
+}
+
+Position2d Position2d::fromRotation(Rotation2d rot) {
+	return Position2d(Trans2d(), rot);
+}
+
+Position2d Position2d::fromVelocity(Delta delta) {
+	double sinT = sin(delta.dtheta);
+	double cosT = cos(delta.dtheta);
+	double s, c;
+	if(fabs(delta.dtheta) < kE){
+		s = 1.0 - 1.0 / 6.0 * delta.dtheta * delta.dtheta;
+		c = .5 * delta.dtheta;
+	} else {
+		s = sinT / delta.dtheta;
+		c = (1.0 - cosT) / delta.dtheta;
+	}
+	return Position2d(Trans2d(delta.dx * s - delta.dy * c, delta.dx * c + delta.dy * s),
+			Rotation2d(cosT, sinT, false));
+}
+
+Trans2d Position2d::getTranslation() {
+	return m_translation;
+}
+
+void Position2d::setTranslation(Trans2d tran) {
+	m_translation = tran;
+}
+
+Rotation2d Position2d::getRotation() {
+	return m_rotation;
+}
+
+void Position2d::setRotation(Rotation2d rot) {
+	m_rotation = rot;
+}
+
+Position2d Position2d::transformBy(Position2d other) {
+	return Position2d(m_translation.translateBy(other.m_translation.rotateBy(m_rotation)),
+			m_rotation.rotateBy(other.m_rotation));
+}
+
+Position2d Position2d::inverse() {
+	Rotation2d invert = m_rotation.inverse();
+	return Position2d(m_translation.inverse().rotateBy(invert), invert);
+}
+
+Position2d Position2d::interpolate(Position2d other, double x) {
+	if (x <= 0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	return Position2d(m_translation.interpolate(other.m_translation, x),
+			m_rotation.interpolate(other.m_rotation, x));
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Rotation2d.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Rotation2d.cpp
new file mode 100644
index 000000000..42d2ef1f6
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Rotation2d.cpp
@@ -0,0 +1,77 @@
+#include "Rotation2d.h"
+
+Rotation2d::Rotation2d() {
+	m_cos = 1;
+	m_sin = 0;
+}
+
+Rotation2d::Rotation2d(double x, double y, bool doNormalize) {
+	m_cos = x;
+	m_sin = y;
+	if(doNormalize){
+		normalize();
+	}
+}
+
+Rotation2d::Rotation2d(const Rotation2d& other) {
+	m_cos = other.m_cos;
+	m_sin = other.m_sin;
+}
+
+Rotation2d Rotation2d::fromRadians(double radians) {
+	return Rotation2d(cos(radians), sin(radians), false);
+}
+
+Rotation2d Rotation2d::fromDegrees(double degrees) {
+	return fromRadians(toRadians(degrees));
+}
+
+void Rotation2d::normalize() {
+	double mag = hypot(m_cos, m_sin);
+	if (mag > kE){
+		m_sin /= mag;
+		m_cos /= mag;
+	} else {
+		m_sin = 0;
+		m_cos = 1;
+	}
+}
+
+double Rotation2d::getCos() {
+	return m_cos;
+}
+
+double Rotation2d::getSin() {
+	return m_sin;
+}
+
+double Rotation2d::getRadians() {
+	return atan2(m_sin, m_cos);
+}
+
+double Rotation2d::getDegrees() {
+	return toDegrees(getRadians());
+}
+
+Rotation2d Rotation2d::rotateBy(Rotation2d other) {
+	return Rotation2d(m_cos * other.getCos() - m_sin * other.getSin(),
+			m_cos * other.getSin() + m_sin * other.getCos(), true);
+}
+
+Rotation2d Rotation2d::inverse() {
+	return Rotation2d(m_cos, -m_sin, false);
+}
+
+Rotation2d Rotation2d::opposite() {
+	return Rotation2d(-m_cos, -m_sin, false);
+}
+
+Rotation2d Rotation2d::interpolate(Rotation2d other, double x) {
+	if (x <= 0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	double diff = inverse().rotateBy(other).getRadians();
+	return rotateBy(fromRadians(diff * x));
+}
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/TankOdometry.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/TankOdometry.cpp
new file mode 100644
index 000000000..86cd414a7
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/TankOdometry.cpp
@@ -0,0 +1,117 @@
+#include "TankOdometry.h"
+
+TankOdometry* TankOdometry::m_instance = nullptr;
+
+TankOdometry * TankOdometry::GetInstance() {
+    if(!m_instance) {
+        m_instance = new TankOdometry;
+    }
+    return m_instance;
+}
+
+void TankOdometry::Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig,
+        Pose currentPose) {
+    m_leftTicksToDist = (leftEncoderConfig.wheelDiameter * PI) / leftEncoderConfig.ticksPerWheelRevolution;
+    m_rightTicksToDist = (rightEncoderConfig.wheelDiameter * PI) / rightEncoderConfig.ticksPerWheelRevolution;
+    m_lastLeftEncoderDist = 0;
+    m_lastRightEncoderDist = 0;
+    SetCurrentPose(currentPose);
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot. Not as accurate as gyro version
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ */
+void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth) {
+    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
+    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
+
+    if(m_poseReset) {
+        m_lastLeftEncoderDist = leftDist;
+        m_lastRightEncoderDist = rightDist;
+        m_poseReset = false;
+    }
+
+    double leftDelta = leftDist - m_lastLeftEncoderDist;
+    double rightDelta = rightDist - m_lastRightEncoderDist;
+    double distanceMoved = (leftDelta + rightDelta) / 2.0;
+
+    double rotation = (rightDelta - leftDelta) / trackWidth;
+
+    Vector2d robotTranslation(0, distanceMoved);
+
+    m_robotPose.angle = m_robotPose.angle * Rotation2Dd(rotation);
+    robotTranslation = m_robotPose.angle * robotTranslation;
+    m_robotPose.position += robotTranslation;
+
+    m_lastLeftEncoderDist = leftDist;
+    m_lastRightEncoderDist = rightDist;
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param gyroAngle The current yaw of the robot as measured by the gyro
+ */
+void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle) {
+    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
+    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
+
+    if(m_poseReset) {
+        m_lastLeftEncoderDist = leftDist;
+        m_lastRightEncoderDist = rightDist;
+        m_gyroInitialAngle = gyroAngle;
+        m_poseReset = false;
+    }
+
+    double leftDelta = leftDist - m_lastLeftEncoderDist;
+    double rightDelta = rightDist - m_lastRightEncoderDist;
+    double distanceMoved = (leftDelta + rightDelta) / 2.0;
+
+    Vector2d robotTranslation(0, distanceMoved);
+    robotTranslation = gyroAngle * robotTranslation;
+    m_robotPose.position += robotTranslation;
+    m_robotPose.angle = gyroAngle * m_gyroInitialAngle.inverse();
+
+    m_lastLeftEncoderDist = leftDist;
+    m_lastRightEncoderDist = rightDist;
+}
+
+/**
+ * Set the current pose of the robot
+ *
+ * @param currentPose Robot pose
+ */
+void TankOdometry::SetCurrentPose(Pose currentPose) {
+    m_robotPose = currentPose;
+    m_poseReset = true;
+}
+
+/**
+ * Reset the positions of the left and right encoders. This function must be called immediately after zeroing encoders.
+ *
+ * Units are in ticks
+ *
+ * @param leftEncoderTicks
+ * @param rightEncoderTicks
+ */
+void TankOdometry::ResetEncoderTicks(double leftEncoderTicks, double rightEncoderTicks) {
+    m_lastLeftEncoderDist = leftEncoderTicks * m_leftTicksToDist;
+    m_lastRightEncoderDist = rightEncoderTicks * m_rightTicksToDist;
+}
+
+Pose TankOdometry::GetPose(){
+    return m_robotPose;
+}
+
+
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Trans2d.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Trans2d.cpp
new file mode 100644
index 000000000..e0b8fa7ca
--- /dev/null
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Trans2d.cpp
@@ -0,0 +1,73 @@
+#include "Trans2d.h"
+
+Trans2d::Trans2d() {
+	m_x = 0;
+	m_y = 0;
+}
+
+Trans2d::Trans2d(double x, double y) {
+	m_x = x;
+	m_y = y;
+}
+
+double Trans2d::norm() {
+	return hypot(m_x, m_y);
+}
+
+double Trans2d::getX() {
+	return m_x;
+}
+
+double Trans2d::getY() {
+	return m_y;
+}
+
+void Trans2d::setX(double x) {
+	m_x = x;
+}
+
+void Trans2d::setY(double y) {
+	m_y = y;
+}
+
+Trans2d Trans2d::translateBy(Trans2d other) {
+	return Trans2d(m_x + other.getX(), m_y + other.getY());
+}
+
+Trans2d Trans2d::rotateBy(Rotation2d rotation) {
+	return Trans2d(m_x * rotation.getCos() - m_y * rotation.getSin(),
+			m_x * rotation.getSin() + m_y * rotation.getCos());
+}
+
+Trans2d Trans2d::inverse() {
+	return Trans2d(-m_x, -m_y);
+}
+
+Trans2d Trans2d::interpolate(Trans2d other, double x) {
+	if(x <=0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	return extrapolate(other, x);
+}
+
+Trans2d Trans2d::extrapolate(Trans2d other, double x) {
+	return Trans2d(x * (other.getX() - m_x) + m_x, x * (other.getY() - m_y) + m_y);
+}
+
+Trans2d Trans2d::flipX() {
+	return Trans2d(-m_x, m_y);
+}
+
+Trans2d Trans2d::flipY() {
+	return Trans2d(m_x, -m_y);
+}
+
+double Trans2d::getSin() {
+    return getY() / norm();
+}
+
+double Trans2d::getCos() {
+    return getX() / norm();
+}
diff --git a/src/adaptive_pursuit_controller/test/testPaths/simplePath.json b/src/adaptive_pursuit_controller/test/testPaths/simplePath.json
new file mode 100644
index 000000000..9fe8597d8
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/testPaths/simplePath.json
@@ -0,0 +1,264 @@
+{
+    "sharedWaypoints": [],
+    "paths": [
+        {
+            "name": "FirstPath",
+            "waypoints": [
+                {
+                    "name": "startWaypoint",
+                    "angle": 0,
+                    "x": 0,
+                    "y": 7.5,
+                    "shared": false
+                },
+                {
+                    "name": "endWaypoint",
+                    "angle": 0,
+                    "x": 0,
+                    "y": 71,
+                    "shared": false
+                }
+            ],
+            "points": [
+                {
+                    "x": 0,
+                    "y": 7.5,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 11.47,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 15.44,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 19.41,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 23.38,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 27.34,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 31.31,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 35.28,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 39.25,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 43.22,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 47.19,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 51.16,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 55.13,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 59.09,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 63.06,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 67.03,
+                    "speed": 5.41
+                },
+                {
+                    "x": 0,
+                    "y": 71,
+                    "speed": 5.41
+                }
+            ]
+        },
+        {
+            "name": "TestPath",
+            "waypoints": [
+                {
+                    "name": "start",
+                    "angle": 0,
+                    "x": 20,
+                    "y": 10,
+                    "shared": false
+                },
+                {
+                    "name": "mid",
+                    "angle": 0,
+                    "x": 45,
+                    "y": 30,
+                    "shared": false
+                },
+                {
+                    "name": "end",
+                    "angle": 0,
+                    "x": 30,
+                    "y": 70,
+                    "shared": false
+                }
+            ],
+            "points": [
+                {
+                    "x": 20,
+                    "y": 10,
+                    "speed": 2.6
+                },
+                {
+                    "x": 20.58,
+                    "y": 13.93,
+                    "speed": 1.67
+                },
+                {
+                    "x": 22.18,
+                    "y": 16.59,
+                    "speed": 1.35
+                },
+                {
+                    "x": 24.56,
+                    "y": 18.27,
+                    "speed": 1.88
+                },
+                {
+                    "x": 27.51,
+                    "y": 19.24,
+                    "speed": 4
+                },
+                {
+                    "x": 30.8,
+                    "y": 19.8,
+                    "speed": 3.66
+                },
+                {
+                    "x": 34.2,
+                    "y": 20.2,
+                    "speed": 3.16
+                },
+                {
+                    "x": 37.49,
+                    "y": 20.76,
+                    "speed": 2.58
+                },
+                {
+                    "x": 40.44,
+                    "y": 21.73,
+                    "speed": 1.88
+                },
+                {
+                    "x": 42.82,
+                    "y": 23.41,
+                    "speed": 1.35
+                },
+                {
+                    "x": 44.42,
+                    "y": 26.07,
+                    "speed": 1.67
+                },
+                {
+                    "x": 45,
+                    "y": 30,
+                    "speed": 5
+                },
+                {
+                    "x": 45,
+                    "y": 30,
+                    "speed": 5
+                },
+                {
+                    "x": 44.7,
+                    "y": 33.69,
+                    "speed": 4.61
+                },
+                {
+                    "x": 43.89,
+                    "y": 37.19,
+                    "speed": 5.27
+                },
+                {
+                    "x": 42.66,
+                    "y": 40.53,
+                    "speed": 5.41
+                },
+                {
+                    "x": 41.11,
+                    "y": 43.75,
+                    "speed": 5.37
+                },
+                {
+                    "x": 39.36,
+                    "y": 46.89,
+                    "speed": 5.02
+                },
+                {
+                    "x": 37.5,
+                    "y": 50,
+                    "speed": 4.65
+                },
+                {
+                    "x": 35.64,
+                    "y": 53.11,
+                    "speed": 4.24
+                },
+                {
+                    "x": 33.89,
+                    "y": 56.25,
+                    "speed": 3.79
+                },
+                {
+                    "x": 32.34,
+                    "y": 59.47,
+                    "speed": 3.29
+                },
+                {
+                    "x": 31.11,
+                    "y": 62.81,
+                    "speed": 2.7
+                },
+                {
+                    "x": 30.3,
+                    "y": 66.31,
+                    "speed": 1.92
+                },
+                {
+                    "x": 30,
+                    "y": 70,
+                    "speed": 0
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp b/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
new file mode 100644
index 000000000..b867be68a
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
@@ -0,0 +1,104 @@
+#include "gtest/gtest.h"
+#include "PathManager.h"
+#include "Math/Pose.h"
+#include "TankOdometry.h"
+#include "AdaptivePursuit.h"
+#include <stdio.h>
+
+TEST(AdaptivePurePursuit, FollowsStraightPath) {
+    PathManager::GetInstance()->LoadPathsFile("test/testPaths/simplePath.json");
+
+    auto paths = PathManager::GetInstance()->GetPaths();
+
+    AdaptivePursuit controller(10, 0.1, 0.1, paths["FirstPath"], false,
+            0.01, true, 3.25);
+
+    TankOdometry::EncoderConfig encoderConfig;
+
+    encoderConfig.initialTicks = 0;
+    encoderConfig.ticksPerWheelRevolution = 360;
+    encoderConfig.wheelDiameter = 3.25;
+
+    TankOdometry::GetInstance()->Initialize(encoderConfig, encoderConfig,
+                                            Pose(Vector2d(paths["FirstPath"].getFirstWaypoint().position.getY(),-paths["FirstPath"].getFirstWaypoint().position.getX()), Rotation2Dd(0)));
+
+    double leftPosition = 0;
+    double rightPosition = 0;
+
+    const double dt = 0.1;
+
+    FILE *myfile;
+
+    myfile = fopen("log.csv", "w");
+
+    fprintf(myfile, "time,leftVelocity,rightVelocity,leftPosition,rightPosition,x,y,\n");
+
+    for (double t = dt; t < 25; t += dt) {
+        auto command = controller.Update(TankOdometry::GetInstance()->GetPose(), t);
+
+        leftPosition += (command.left * dt) * 100 / 60 * 360;
+        rightPosition += (command.right * dt) * 100 / 60 * 360;
+
+        TankOdometry::GetInstance()->Update(leftPosition, rightPosition, 10);
+
+        fprintf(myfile, "%.1f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,\n", t, command.left, command.right,
+                leftPosition, rightPosition, TankOdometry::GetInstance()->GetPose().position.x(),
+                TankOdometry::GetInstance()->GetPose().position.y());
+    }
+
+    fclose(myfile);
+
+    Pose pose = TankOdometry::GetInstance()->GetPose();
+
+    EXPECT_NEAR(pose.position.y(), 71.0, 0.1);
+    EXPECT_NEAR(pose.position.x(), 0.0, 0.02);
+}
+
+TEST(AdaptivePurePursuit, FollowsSplinePath) {
+    PathManager::GetInstance()->LoadPathsFile("test/testPaths/simplePath.json");
+
+    auto paths = PathManager::GetInstance()->GetPaths();
+
+    AdaptivePursuit controller(6, 10,0.1, paths["TestPath"], false,
+                               0.01, true, 4);
+
+    TankOdometry::EncoderConfig encoderConfig;
+
+    encoderConfig.initialTicks = 0;
+    encoderConfig.ticksPerWheelRevolution = 1;
+    encoderConfig.wheelDiameter = (1 / PI);
+
+    TankOdometry::GetInstance()->Initialize(encoderConfig, encoderConfig,
+                                            Pose(Vector2d(paths["TestPath"].getFirstWaypoint().position.getY(),-paths["TestPath"].getFirstWaypoint().position.getX()), Rotation2Dd(0)));
+
+    double leftPosition = 0;
+    double rightPosition = 0;
+
+    const double dt = 0.1;
+
+    FILE *myfile;
+
+    myfile = fopen("log2.csv", "w");
+
+    fprintf(myfile, "time,leftVelocity,rightVelocity,leftPosition,rightPosition,x,y,\n");
+
+    for (double t = dt; t < 25; t += dt) {
+        auto command = controller.Update(TankOdometry::GetInstance()->GetPose(), t);
+
+        leftPosition += (command.left * dt);
+        rightPosition += (command.right * dt);
+
+        TankOdometry::GetInstance()->Update(leftPosition, rightPosition, 10);
+
+        fprintf(myfile, "%.1f,%.5f,%.5f,%.5f,%.5f,%.5f,%.5f,\n", t, command.left, command.right,
+                leftPosition, rightPosition, TankOdometry::GetInstance()->GetPose().position.x(),
+                TankOdometry::GetInstance()->GetPose().position.y());
+    }
+
+    fclose(myfile);
+
+    Pose pose = TankOdometry::GetInstance()->GetPose();
+
+    EXPECT_NEAR(pose.position.x(), -22.2, 0.1);
+    EXPECT_NEAR(pose.position.y(), 38.07, 0.1);
+}
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/test/test_Main.cpp b/src/adaptive_pursuit_controller/test/test_Main.cpp
new file mode 100644
index 000000000..b42b72163
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/test_Main.cpp
@@ -0,0 +1,6 @@
+#include "gtest/gtest.h"
+
+int main(int argc, char **argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/test/test_Path.cpp b/src/adaptive_pursuit_controller/test/test_Path.cpp
new file mode 100644
index 000000000..78f497bfd
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/test_Path.cpp
@@ -0,0 +1,336 @@
+/*
+#include "gtest/gtest.h"
+#include "PathManager.h"
+
+
+TEST(PathTest, CanLoadFromText) {
+    auto sucess = PathManager::GetInstance()->LoadPathsText("{\n"
+                          "    \"sharedWaypoints\": [],\n"
+                          "    \"paths\": [\n"
+                          "        {\n"
+                          "            \"name\": \"FirstPath\",\n"
+                          "            \"waypoints\": [\n"
+                          "                {\n"
+                          "                    \"name\": \"startWaypoint\",\n"
+                          "                    \"angle\": 0,\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 7.5,\n"
+                          "                    \"shared\": false\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"name\": \"endWaypoint\",\n"
+                          "                    \"angle\": 0,\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 71,\n"
+                          "                    \"shared\": false\n"
+                          "                }\n"
+                          "            ],\n"
+                          "            \"points\": [\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 7.5,\n"
+                          "                    \"speed\": 0\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 11.47,\n"
+                          "                    \"speed\": 25.2\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 15.44,\n"
+                          "                    \"speed\": 35.64\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 19.41,\n"
+                          "                    \"speed\": 43.65\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 23.38,\n"
+                          "                    \"speed\": 50.4\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 27.34,\n"
+                          "                    \"speed\": 56.34\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 31.31,\n"
+                          "                    \"speed\": 61.72\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 35.28,\n"
+                          "                    \"speed\": 66.67\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 39.25,\n"
+                          "                    \"speed\": 71.27\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 43.22,\n"
+                          "                    \"speed\": 66.67\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 47.19,\n"
+                          "                    \"speed\": 61.72\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 51.16,\n"
+                          "                    \"speed\": 56.34\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 55.13,\n"
+                          "                    \"speed\": 50.39\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 59.09,\n"
+                          "                    \"speed\": 43.65\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 63.06,\n"
+                          "                    \"speed\": 35.64\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 67.03,\n"
+                          "                    \"speed\": 25.2\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 0,\n"
+                          "                    \"y\": 71,\n"
+                          "                    \"speed\": 0\n"
+                          "                }\n"
+                          "            ]\n"
+                          "        },\n"
+                          "        {\n"
+                          "            \"name\": \"TestPath\",\n"
+                          "            \"waypoints\": [\n"
+                          "                {\n"
+                          "                    \"name\": \"start\",\n"
+                          "                    \"angle\": 0,\n"
+                          "                    \"x\": 20,\n"
+                          "                    \"y\": 10,\n"
+                          "                    \"shared\": false\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"name\": \"mid\",\n"
+                          "                    \"angle\": 0,\n"
+                          "                    \"x\": 45,\n"
+                          "                    \"y\": 30,\n"
+                          "                    \"shared\": false\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"name\": \"end\",\n"
+                          "                    \"angle\": 0,\n"
+                          "                    \"x\": 30,\n"
+                          "                    \"y\": 70,\n"
+                          "                    \"shared\": false\n"
+                          "                }\n"
+                          "            ],\n"
+                          "            \"points\": [\n"
+                          "                {\n"
+                          "                    \"x\": 20,\n"
+                          "                    \"y\": 10,\n"
+                          "                    \"speed\": 0\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 20.58,\n"
+                          "                    \"y\": 13.93,\n"
+                          "                    \"speed\": 9.02\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 22.18,\n"
+                          "                    \"y\": 16.59,\n"
+                          "                    \"speed\": 7.31\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 24.56,\n"
+                          "                    \"y\": 18.27,\n"
+                          "                    \"speed\": 10.17\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 27.51,\n"
+                          "                    \"y\": 19.24,\n"
+                          "                    \"speed\": 21.63\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 30.8,\n"
+                          "                    \"y\": 19.8,\n"
+                          "                    \"speed\": 31.65\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 34.2,\n"
+                          "                    \"y\": 20.2,\n"
+                          "                    \"speed\": 31.65\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 37.49,\n"
+                          "                    \"y\": 20.76,\n"
+                          "                    \"speed\": 21.63\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 40.44,\n"
+                          "                    \"y\": 21.73,\n"
+                          "                    \"speed\": 10.17\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 42.82,\n"
+                          "                    \"y\": 23.41,\n"
+                          "                    \"speed\": 7.31\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 44.42,\n"
+                          "                    \"y\": 26.07,\n"
+                          "                    \"speed\": 9.02\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 45,\n"
+                          "                    \"y\": 30,\n"
+                          "                    \"speed\": 26.78\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 45,\n"
+                          "                    \"y\": 30,\n"
+                          "                    \"speed\": 26.78\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 44.7,\n"
+                          "                    \"y\": 33.69,\n"
+                          "                    \"speed\": 24.95\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 43.89,\n"
+                          "                    \"y\": 37.19,\n"
+                          "                    \"speed\": 28.53\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 42.66,\n"
+                          "                    \"y\": 40.53,\n"
+                          "                    \"speed\": 37.19\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 41.11,\n"
+                          "                    \"y\": 43.75,\n"
+                          "                    \"speed\": 44.21\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 39.36,\n"
+                          "                    \"y\": 46.89,\n"
+                          "                    \"speed\": 50.3\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 37.5,\n"
+                          "                    \"y\": 50,\n"
+                          "                    \"speed\": 55.77\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 35.64,\n"
+                          "                    \"y\": 53.11,\n"
+                          "                    \"speed\": 50.3\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 33.89,\n"
+                          "                    \"y\": 56.25,\n"
+                          "                    \"speed\": 44.21\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 32.34,\n"
+                          "                    \"y\": 59.47,\n"
+                          "                    \"speed\": 37.19\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 31.11,\n"
+                          "                    \"y\": 62.81,\n"
+                          "                    \"speed\": 28.53\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 30.3,\n"
+                          "                    \"y\": 66.31,\n"
+                          "                    \"speed\": 24.34\n"
+                          "                },\n"
+                          "                {\n"
+                          "                    \"x\": 30,\n"
+                          "                    \"y\": 70,\n"
+                          "                    \"speed\": 0\n"
+                          "                }\n"
+                          "            ]\n"
+                          "        }\n"
+                          "    ]\n"
+                          "}");
+    EXPECT_TRUE(sucess);
+
+    auto paths = PathManager::GetInstance()->GetPaths();
+
+    auto waypoints = paths[0].getWaypoints();
+
+    EXPECT_EQ(waypoints[0].getPoint().x(), 0);
+    EXPECT_EQ(waypoints[0].getPoint().y(), 7.5);
+    EXPECT_EQ(waypoints[1].getPoint().y(), 11.47);
+}
+
+TEST(PathTest, CanLoadFromFile) {
+    auto sucess = PathManager::GetInstance()->LoadPathsFile("test/testPaths/simplePath.json");
+    EXPECT_TRUE(sucess);
+
+    auto paths = PathManager::GetInstance()->GetPaths();
+
+    auto waypoints = paths[0].getWaypoints();
+
+    EXPECT_EQ(waypoints[0].getPoint().x(), 0);
+    EXPECT_EQ(waypoints[0].getPoint().y(), 7.5);
+    EXPECT_EQ(waypoints[1].getPoint().y(), 11.47);
+}
+
+TEST(PathTest, SpeedIsSmooth) {
+    Waypoint point1(Vector2d(0, 0), 0);
+    Waypoint point2(Vector2d(0, 10), 10);
+    Waypoint point3(Vector2d(0, 20), 0);
+
+    vector<Waypoint> waypoints;
+    waypoints.push_back(point1);
+    waypoints.push_back(point2);
+    waypoints.push_back(point3);
+
+    Path path("test", waypoints);
+
+    auto report = path.update(Vector2d(0,0));
+
+    EXPECT_EQ(report.speed, 0);
+    EXPECT_EQ(report.distanceAway, 0);
+    EXPECT_EQ(report.closestPoint.x(), 0);
+    EXPECT_EQ(report.closestPoint.y(), 0);
+
+    report = path.update(Vector2d(0, 5));
+
+    EXPECT_EQ(report.speed, 5);
+    EXPECT_EQ(report.distanceAway, 0);
+    EXPECT_EQ(report.closestPoint.x(), 0);
+    EXPECT_EQ(report.closestPoint.y(), 5);
+
+    report = path.update(Vector2d(0, 10));
+
+    EXPECT_EQ(report.speed, 10);
+    EXPECT_EQ(report.distanceAway, 0);
+    EXPECT_EQ(report.closestPoint.x(), 0);
+    EXPECT_EQ(report.closestPoint.y(), 10);
+
+    report = path.update(Vector2d(0, 15));
+
+    EXPECT_EQ(report.speed, 5);
+    EXPECT_EQ(report.distanceAway, 0);
+    EXPECT_EQ(report.closestPoint.x(), 0);
+    EXPECT_EQ(report.closestPoint.y(), 15);
+
+}
+*/
diff --git a/src/adaptive_pursuit_controller/test/test_PathSegment.cpp b/src/adaptive_pursuit_controller/test/test_PathSegment.cpp
new file mode 100644
index 000000000..b03171f1e
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/test_PathSegment.cpp
@@ -0,0 +1,43 @@
+#include "gtest/gtest.h"
+#include "PathSegment.h"
+
+//TEST(PathSegmentTest, FindsStartPoint) {
+//    Waypoint startPoint(Vector2d(0, 0), 0);
+//    Waypoint endPoint(Vector2d(0, 10), 5);
+//
+//    PathSegment segment(startPoint, endPoint);
+//
+//    EXPECT_EQ(segment.getLength(), 10);
+//    EXPECT_EQ(segment.getSpeed(0), 0);
+//    EXPECT_EQ(segment.getSpeed(10), 5);
+//    EXPECT_EQ(segment.getSpeed(5), 2.5);
+//
+//    Vector2d intersection = segment.getCircularIntersectionPoint(Vector2d(5, 5), 5);
+//
+//    EXPECT_EQ(intersection.x(), 0);
+//    EXPECT_EQ(intersection.y(), 5);
+//
+//    auto report = segment.getClosestPoint(Vector2d(0, 0), 0);
+//    EXPECT_EQ(report.closestPoint.x(), 0);
+//    EXPECT_EQ(report.closestPoint.y(), 0);
+//    EXPECT_EQ(report.distanceToStart, 0);
+//    EXPECT_EQ(report.distanceToEnd, 10);
+//    EXPECT_EQ(report.distanceAway, 0);
+//    EXPECT_EQ(report.speed, 0);
+//
+//    report = segment.getClosestPoint(Vector2d(0, 0), 5);
+//    EXPECT_EQ(report.closestPoint.x(), 0);
+//    EXPECT_EQ(report.closestPoint.y(), 5);
+//    EXPECT_EQ(report.distanceToStart, 0);
+//    EXPECT_EQ(report.distanceToEnd, 5);
+//    EXPECT_EQ(report.distanceAway, 5);
+//    EXPECT_EQ(report.speed, 2.5);
+//
+//    report = segment.getClosestPoint(Vector2d(1, 2), 2);
+//    EXPECT_EQ(report.closestPoint.x(), 0);
+//    EXPECT_EQ(report.closestPoint.y(), 2);
+//    EXPECT_EQ(report.distanceToStart, 0);
+//    EXPECT_EQ(report.distanceToEnd, 8);
+//    EXPECT_EQ(report.distanceAway, 1);
+//    EXPECT_EQ(report.speed, 1);
+//}
diff --git a/src/adaptive_pursuit_controller/test/test_TankOdometry.cpp b/src/adaptive_pursuit_controller/test/test_TankOdometry.cpp
new file mode 100644
index 000000000..d01951d43
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/test_TankOdometry.cpp
@@ -0,0 +1,96 @@
+#include "gtest/gtest.h"
+#include "TankOdometry.h"
+
+TEST(TankOdometry, StraightLineGyroOdometry) {
+    TankOdometry::EncoderConfig encoderConfig;
+
+    encoderConfig.initialTicks = 0;
+    encoderConfig.ticksPerWheelRevolution = 1;
+    encoderConfig.wheelDiameter = (1 / PI);
+
+    TankOdometry::GetInstance()->Initialize(encoderConfig, encoderConfig);
+
+    //Stationary
+    TankOdometry::GetInstance()->Update(0, 0, Rotation2Dd(0));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //Forward
+    TankOdometry::GetInstance()->Update(10, 10, Rotation2Dd(0));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 10, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //Backward
+    TankOdometry::GetInstance()->Update(0, 0, Rotation2Dd(0));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //180 deg point turn counter-clockwise
+    TankOdometry::GetInstance()->Update(-(PI * 10) / 2.0, (PI * 10) / 2.0, Rotation2Dd(PI));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), PI, 0.1);
+
+    //180 deg point turn clockwise
+    TankOdometry::GetInstance()->Update(0, 0, Rotation2Dd(0));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //180 deg point turn clockwise
+    TankOdometry::GetInstance()->Update(PI * 10, 0, Rotation2Dd(PI));
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), -PI * 5, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), PI, 0.1);
+
+
+}
+
+TEST(TankOdometry, StraightLineSimpleOdometry) {
+    TankOdometry::EncoderConfig encoderConfig;
+
+    encoderConfig.initialTicks = 0;
+    encoderConfig.ticksPerWheelRevolution = 1;
+    encoderConfig.wheelDiameter = (1 / PI);
+
+    TankOdometry::GetInstance()->Initialize(encoderConfig, encoderConfig);
+
+    //Stationary
+    TankOdometry::GetInstance()->Update(0, 0, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //Forward
+    TankOdometry::GetInstance()->Update(10, 10, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 10, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //Backward
+    TankOdometry::GetInstance()->Update(0, 0, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //180 deg point turn counter-clockwise
+    TankOdometry::GetInstance()->Update(-(PI * 10) / 2.0, (PI * 10) / 2.0, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), PI, 0.1);
+
+    //180 deg point turn clockwise
+    TankOdometry::GetInstance()->Update(0, 0, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), 0, 0.1);
+
+    //180 deg pivot turn clockwise
+    TankOdometry::GetInstance()->Update(PI * 10, 0, 10);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.x(), 0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().position.y(), -(PI * 10) / 2.0, 0.1);
+    EXPECT_NEAR(TankOdometry::GetInstance()->GetPose().angle.angle(), -PI, 0.1);
+}
\ No newline at end of file

From 565ca6487d62277a353581153b3c94566f07ed0d Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Wed, 10 Feb 2021 20:34:11 -0600
Subject: [PATCH 15/37] Fixed path follower

---
 .../AdaptivePursuit.cpp                       |  30 +-
 .../src/adaptive_pursuit_controller/Path.cpp  |  17 +-
 .../test/testPaths/simplePath.h               | 266 ++++++++++++++++++
 .../test/testPaths/simplePath.json            | 264 -----------------
 .../test_AdaptivePurePursuitController.cpp    |  11 +-
 5 files changed, 292 insertions(+), 296 deletions(-)
 create mode 100644 src/adaptive_pursuit_controller/test/testPaths/simplePath.h
 delete mode 100644 src/adaptive_pursuit_controller/test/testPaths/simplePath.json

diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
index 0c8a9a9c6..9b351592b 100644
--- a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
@@ -26,29 +26,27 @@ bool AdaptivePursuit::isDone() {
 }
 
 VelocityPair AdaptivePursuit::Update(Pose robotPos, double now) {
-    Position2d pos = Position2d({robotPos.position.x(), robotPos.position.y()}, Rotation2d::fromRadians(robotPos.angle.angle()));
+    Position2d pos = Position2d({-robotPos.position.y(), robotPos.position.x()}, Rotation2d::fromRadians(robotPos.angle.angle()));
     if (m_reversed){
         pos = Position2d(pos.getTranslation(),
                          pos.getRotation().rotateBy(Rotation2d::fromRadians(PI)));
     }
 
     double distanceFromPath = m_path.update(pos.getTranslation());
+	// std::cout << "Dist From Path: " << distanceFromPath << std::endl;
     if(isDone()){
         return VelocityPair(0, 0);
     }
 
-//	std::cout << "Dist From Path" << distanceFromPath << std::endl;
+	// std::cout << "Dist From Path" << distanceFromPath << std::endl;
 
     PathSegment::Sample lookaheadPoint = m_path.getLookaheadPoint(pos.getTranslation(),
                                                                   distanceFromPath + m_fixedLookahead);
     std::optional<Circle> circle = joinPath(pos, lookaheadPoint.translation);
-//	std::cout << "Look X: " << lookaheadPoint.translation.getX() << "  Look Y: " << lookaheadPoint.translation.getY() << std::endl;
 
 
-    m_path.getClosestPoint(pos.getTranslation());
     double speed = lookaheadPoint.speed;
     if(m_reversed){
-//		std::cout << "Reversed: " << speed << std::endl;
         speed *= -1;
     }
 
@@ -66,23 +64,19 @@ VelocityPair AdaptivePursuit::Update(Pose robotPos, double now) {
     }
 
     double remainingDistance = m_path.getRemainingLength();
-	std::cout << "Remain: " << remainingDistance << std::endl;
-    if(m_gradualStop){
-        double maxAllowedSpeed = sqrt(2 * m_maxAccel * remainingDistance);
-        if (fabs(speed) > maxAllowedSpeed){
-            speed = maxAllowedSpeed * (speed / fabs(speed));
-        }
+    double maxAllowedSpeed = sqrt(2 * m_maxAccel * remainingDistance);
+    if (fabs(speed) > maxAllowedSpeed) {
+        speed = std::copysign(maxAllowedSpeed, speed);
     }
 
-//    double minSpeed = 5.0;
-//    if (fabs(speed) < minSpeed){
-//        speed = minSpeed * (speed / fabs(speed));
-//    }
+    // double minimumSpeed = 5.0;
+    // if (fabs(speed) < minimumSpeed) {
+    //     speed = std::copysign(minimumSpeed, speed);
+    // }
 
     Position2d::Delta rv(0,0,0);
     if(circle){
-        rv = Position2d::Delta(speed, 0,
-                               (((*circle).turnRight) ? -1 : 1) * fabs(speed) / (*circle).radius);
+        rv = Position2d::Delta(speed, 0, (((*circle).turnRight) ? -1 : 1) * fabs(speed) / (*circle).radius);
     } else {
         rv = Position2d::Delta(speed, 0, 0);
     }
@@ -134,6 +128,6 @@ std::optional<AdaptivePursuit::Circle> AdaptivePursuit::joinPath(Position2d pos,
 
     return Circle(
             Trans2d((mx * (x1 * x1 - x2 * x2 - dy * dy) + 2 * my * x1 * dy) / (2 * crossTerm),
-                          (-my * (-y1 * y1 + y2 * y2 + dy * dy) + 2 * mx * y1 * dx) / (2 * crossTerm)),
+                          (-my * (-y1 * y1 + y2 * y2 + dx * dx) + 2 * mx * y1 * dx) / (2 * crossTerm)),
             .5 * abs((dx * dx + dy * dy) / crossTerm), (crossProduct > 0));
 }
diff --git a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
index a02fdc539..e6b288aa5 100644
--- a/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
+++ b/src/adaptive_pursuit_controller/src/adaptive_pursuit_controller/Path.cpp
@@ -14,8 +14,7 @@ Path::Path(vector<Waypoint> waypoints, bool flip) {
 	m_waypoints = waypoints;
 	for (int i = 0; i < m_waypoints.size() - 1; i++) {
         m_segments.emplace_back(m_waypoints[i].position, m_waypoints[i+1].position,
-                                (flip ? m_waypoints[i].rotation.inverse() : m_waypoints[i].rotation),
-                                m_waypoints[i].speed);
+                                m_waypoints[i].rotation, m_waypoints[i].speed);
 	}
 
 /*	if(m_waypoints.size() > 0){
@@ -76,14 +75,14 @@ Path Path::fromText(string text, bool flip) {
 
 double Path::update(Trans2d pos) {
 	double rv = 0.0;
-	for(int i = 0; i < m_segments.size(); i++) {
+	for(unsigned int i = 0; i < m_segments.size(); i++){
 //		PathSegment segment = m_segments[i];
 		PathSegment::ClosestPointReport closestPointReport = m_segments[i].getClosestPoint(pos);
-//		cout << "Index " << closestPointReport.index << endl;
+//		std::cout << "Index " << closestPointReport.index << std::endl;
 		if (closestPointReport.index >= .99){
 			m_segments.erase(m_segments.begin() + i);
-			if(!m_waypoints.empty()){
-				if(!m_waypoints[0].event.empty()){
+			if(m_waypoints.size() > 0){
+				if(m_waypoints[0].event != ""){
 					m_events.push_back(m_waypoints[0].event);
 				}
 				m_waypoints.erase(m_waypoints.begin());
@@ -104,8 +103,8 @@ double Path::update(Trans2d pos) {
 					m_segments[i+1].updateStart(nextClosestPointReport.closestPoint);
 					rv = nextClosestPointReport.distance;
 					m_segments.erase(m_segments.begin() + i);
-					if(!m_waypoints.empty()){
-						if(!m_waypoints[0].event.empty()){
+					if(m_waypoints.size() > 0){
+						if(m_waypoints[0].event != ""){
 							m_events.push_back(m_waypoints[0].event);
 						}
 						m_waypoints.erase(m_waypoints.begin());
@@ -118,7 +117,7 @@ double Path::update(Trans2d pos) {
 	return rv;
 }
 
-bool Path::eventPassed(string event) {
+bool Path::eventPassed(std::string event) {
 	return (find(m_events.begin(), m_events.end(), event) != m_events.end());
 }
 
diff --git a/src/adaptive_pursuit_controller/test/testPaths/simplePath.h b/src/adaptive_pursuit_controller/test/testPaths/simplePath.h
new file mode 100644
index 000000000..dd008b77a
--- /dev/null
+++ b/src/adaptive_pursuit_controller/test/testPaths/simplePath.h
@@ -0,0 +1,266 @@
+#include <string>
+
+std::string simplePath = "{\
+    \"sharedWaypoints\": [],\
+    \"paths\": [\
+        {\
+            \"name\": \"FirstPath\",\
+            \"waypoints\": [\
+                {\
+                    \"name\": \"startWaypoint\",\
+                    \"angle\": 0,\
+                    \"x\": 0,\
+                    \"y\": 7.5,\
+                    \"shared\": false\
+                },\
+                {\
+                    \"name\": \"endWaypoint\",\
+                    \"angle\": 0,\
+                    \"x\": 0,\
+                    \"y\": 71,\
+                    \"shared\": false\
+                }\
+            ],\
+            \"points\": [\
+                {\
+                    \"x\": 0,\
+                    \"y\": 7.5,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 11.47,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 15.44,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 19.41,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 23.38,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 27.34,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 31.31,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 35.28,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 39.25,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 43.22,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 47.19,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 51.16,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 55.13,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 59.09,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 63.06,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 67.03,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 0,\
+                    \"y\": 71,\
+                    \"speed\": 5.41\
+                }\
+            ]\
+        },\
+        {\
+            \"name\": \"TestPath\",\
+            \"waypoints\": [\
+                {\
+                    \"name\": \"start\",\
+                    \"angle\": 0,\
+                    \"x\": 20,\
+                    \"y\": 10,\
+                    \"shared\": false\
+                },\
+                {\
+                    \"name\": \"mid\",\
+                    \"angle\": 0,\
+                    \"x\": 45,\
+                    \"y\": 30,\
+                    \"shared\": false\
+                },\
+                {\
+                    \"name\": \"end\",\
+                    \"angle\": 0,\
+                    \"x\": 30,\
+                    \"y\": 70,\
+                    \"shared\": false\
+                }\
+            ],\
+            \"points\": [\
+                {\
+                    \"x\": 20,\
+                    \"y\": 10,\
+                    \"speed\": 2.6\
+                },\
+                {\
+                    \"x\": 20.58,\
+                    \"y\": 13.93,\
+                    \"speed\": 1.67\
+                },\
+                {\
+                    \"x\": 22.18,\
+                    \"y\": 16.59,\
+                    \"speed\": 1.35\
+                },\
+                {\
+                    \"x\": 24.56,\
+                    \"y\": 18.27,\
+                    \"speed\": 1.88\
+                },\
+                {\
+                    \"x\": 27.51,\
+                    \"y\": 19.24,\
+                    \"speed\": 4\
+                },\
+                {\
+                    \"x\": 30.8,\
+                    \"y\": 19.8,\
+                    \"speed\": 3.66\
+                },\
+                {\
+                    \"x\": 34.2,\
+                    \"y\": 20.2,\
+                    \"speed\": 3.16\
+                },\
+                {\
+                    \"x\": 37.49,\
+                    \"y\": 20.76,\
+                    \"speed\": 2.58\
+                },\
+                {\
+                    \"x\": 40.44,\
+                    \"y\": 21.73,\
+                    \"speed\": 1.88\
+                },\
+                {\
+                    \"x\": 42.82,\
+                    \"y\": 23.41,\
+                    \"speed\": 1.35\
+                },\
+                {\
+                    \"x\": 44.42,\
+                    \"y\": 26.07,\
+                    \"speed\": 1.67\
+                },\
+                {\
+                    \"x\": 45,\
+                    \"y\": 30,\
+                    \"speed\": 5\
+                },\
+                {\
+                    \"x\": 45,\
+                    \"y\": 30,\
+                    \"speed\": 5\
+                },\
+                {\
+                    \"x\": 44.7,\
+                    \"y\": 33.69,\
+                    \"speed\": 4.61\
+                },\
+                {\
+                    \"x\": 43.89,\
+                    \"y\": 37.19,\
+                    \"speed\": 5.27\
+                },\
+                {\
+                    \"x\": 42.66,\
+                    \"y\": 40.53,\
+                    \"speed\": 5.41\
+                },\
+                {\
+                    \"x\": 41.11,\
+                    \"y\": 43.75,\
+                    \"speed\": 5.37\
+                },\
+                {\
+                    \"x\": 39.36,\
+                    \"y\": 46.89,\
+                    \"speed\": 5.02\
+                },\
+                {\
+                    \"x\": 37.5,\
+                    \"y\": 50,\
+                    \"speed\": 4.65\
+                },\
+                {\
+                    \"x\": 35.64,\
+                    \"y\": 53.11,\
+                    \"speed\": 4.24\
+                },\
+                {\
+                    \"x\": 33.89,\
+                    \"y\": 56.25,\
+                    \"speed\": 3.79\
+                },\
+                {\
+                    \"x\": 32.34,\
+                    \"y\": 59.47,\
+                    \"speed\": 3.29\
+                },\
+                {\
+                    \"x\": 31.11,\
+                    \"y\": 62.81,\
+                    \"speed\": 2.7\
+                },\
+                {\
+                    \"x\": 30.3,\
+                    \"y\": 66.31,\
+                    \"speed\": 1.92\
+                },\
+                {\
+                    \"x\": 30,\
+                    \"y\": 70,\
+                    \"speed\": 0\
+                }\
+            ]\
+        }\
+    ]\
+}";
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/test/testPaths/simplePath.json b/src/adaptive_pursuit_controller/test/testPaths/simplePath.json
deleted file mode 100644
index 9fe8597d8..000000000
--- a/src/adaptive_pursuit_controller/test/testPaths/simplePath.json
+++ /dev/null
@@ -1,264 +0,0 @@
-{
-    "sharedWaypoints": [],
-    "paths": [
-        {
-            "name": "FirstPath",
-            "waypoints": [
-                {
-                    "name": "startWaypoint",
-                    "angle": 0,
-                    "x": 0,
-                    "y": 7.5,
-                    "shared": false
-                },
-                {
-                    "name": "endWaypoint",
-                    "angle": 0,
-                    "x": 0,
-                    "y": 71,
-                    "shared": false
-                }
-            ],
-            "points": [
-                {
-                    "x": 0,
-                    "y": 7.5,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 11.47,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 15.44,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 19.41,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 23.38,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 27.34,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 31.31,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 35.28,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 39.25,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 43.22,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 47.19,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 51.16,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 55.13,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 59.09,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 63.06,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 67.03,
-                    "speed": 5.41
-                },
-                {
-                    "x": 0,
-                    "y": 71,
-                    "speed": 5.41
-                }
-            ]
-        },
-        {
-            "name": "TestPath",
-            "waypoints": [
-                {
-                    "name": "start",
-                    "angle": 0,
-                    "x": 20,
-                    "y": 10,
-                    "shared": false
-                },
-                {
-                    "name": "mid",
-                    "angle": 0,
-                    "x": 45,
-                    "y": 30,
-                    "shared": false
-                },
-                {
-                    "name": "end",
-                    "angle": 0,
-                    "x": 30,
-                    "y": 70,
-                    "shared": false
-                }
-            ],
-            "points": [
-                {
-                    "x": 20,
-                    "y": 10,
-                    "speed": 2.6
-                },
-                {
-                    "x": 20.58,
-                    "y": 13.93,
-                    "speed": 1.67
-                },
-                {
-                    "x": 22.18,
-                    "y": 16.59,
-                    "speed": 1.35
-                },
-                {
-                    "x": 24.56,
-                    "y": 18.27,
-                    "speed": 1.88
-                },
-                {
-                    "x": 27.51,
-                    "y": 19.24,
-                    "speed": 4
-                },
-                {
-                    "x": 30.8,
-                    "y": 19.8,
-                    "speed": 3.66
-                },
-                {
-                    "x": 34.2,
-                    "y": 20.2,
-                    "speed": 3.16
-                },
-                {
-                    "x": 37.49,
-                    "y": 20.76,
-                    "speed": 2.58
-                },
-                {
-                    "x": 40.44,
-                    "y": 21.73,
-                    "speed": 1.88
-                },
-                {
-                    "x": 42.82,
-                    "y": 23.41,
-                    "speed": 1.35
-                },
-                {
-                    "x": 44.42,
-                    "y": 26.07,
-                    "speed": 1.67
-                },
-                {
-                    "x": 45,
-                    "y": 30,
-                    "speed": 5
-                },
-                {
-                    "x": 45,
-                    "y": 30,
-                    "speed": 5
-                },
-                {
-                    "x": 44.7,
-                    "y": 33.69,
-                    "speed": 4.61
-                },
-                {
-                    "x": 43.89,
-                    "y": 37.19,
-                    "speed": 5.27
-                },
-                {
-                    "x": 42.66,
-                    "y": 40.53,
-                    "speed": 5.41
-                },
-                {
-                    "x": 41.11,
-                    "y": 43.75,
-                    "speed": 5.37
-                },
-                {
-                    "x": 39.36,
-                    "y": 46.89,
-                    "speed": 5.02
-                },
-                {
-                    "x": 37.5,
-                    "y": 50,
-                    "speed": 4.65
-                },
-                {
-                    "x": 35.64,
-                    "y": 53.11,
-                    "speed": 4.24
-                },
-                {
-                    "x": 33.89,
-                    "y": 56.25,
-                    "speed": 3.79
-                },
-                {
-                    "x": 32.34,
-                    "y": 59.47,
-                    "speed": 3.29
-                },
-                {
-                    "x": 31.11,
-                    "y": 62.81,
-                    "speed": 2.7
-                },
-                {
-                    "x": 30.3,
-                    "y": 66.31,
-                    "speed": 1.92
-                },
-                {
-                    "x": 30,
-                    "y": 70,
-                    "speed": 0
-                }
-            ]
-        }
-    ]
-}
\ No newline at end of file
diff --git a/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp b/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
index b867be68a..6796cc451 100644
--- a/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
+++ b/src/adaptive_pursuit_controller/test/test_AdaptivePurePursuitController.cpp
@@ -4,9 +4,10 @@
 #include "TankOdometry.h"
 #include "AdaptivePursuit.h"
 #include <stdio.h>
+#include "testPaths/simplePath.h"
 
 TEST(AdaptivePurePursuit, FollowsStraightPath) {
-    PathManager::GetInstance()->LoadPathsFile("test/testPaths/simplePath.json");
+    PathManager::GetInstance()->LoadPathsText(simplePath);
 
     auto paths = PathManager::GetInstance()->GetPaths();
 
@@ -55,7 +56,7 @@ TEST(AdaptivePurePursuit, FollowsStraightPath) {
 }
 
 TEST(AdaptivePurePursuit, FollowsSplinePath) {
-    PathManager::GetInstance()->LoadPathsFile("test/testPaths/simplePath.json");
+    PathManager::GetInstance()->LoadPathsText(simplePath);
 
     auto paths = PathManager::GetInstance()->GetPaths();
 
@@ -82,7 +83,7 @@ TEST(AdaptivePurePursuit, FollowsSplinePath) {
 
     fprintf(myfile, "time,leftVelocity,rightVelocity,leftPosition,rightPosition,x,y,\n");
 
-    for (double t = dt; t < 25; t += dt) {
+    for (double t = dt; t < 30; t += dt) {
         auto command = controller.Update(TankOdometry::GetInstance()->GetPose(), t);
 
         leftPosition += (command.left * dt);
@@ -99,6 +100,6 @@ TEST(AdaptivePurePursuit, FollowsSplinePath) {
 
     Pose pose = TankOdometry::GetInstance()->GetPose();
 
-    EXPECT_NEAR(pose.position.x(), -22.2, 0.1);
-    EXPECT_NEAR(pose.position.y(), 38.07, 0.1);
+    EXPECT_NEAR(pose.position.x(), 30, 0.3);
+    EXPECT_NEAR(pose.position.y(), 70, 0.3);
 }
\ No newline at end of file

From 9ae104622a2fff4ddc8b8e8cee6766fe891d2e0a Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Wed, 10 Feb 2021 21:23:28 -0600
Subject: [PATCH 16/37] Added adaptive_pursuit_controller code to PROS project

---
 .../src/Math/Pose.cpp                         |     2 +-
 .../AdaptivePursuit.h                         |    47 +
 .../adaptive_pursuit_controller/Logger.h      |    30 +
 .../adaptive_pursuit_controller/Math/Math.h   |    50 +
 .../adaptive_pursuit_controller/Math/Pose.h   |    22 +
 .../adaptive_pursuit_controller/Path.h        |    39 +
 .../adaptive_pursuit_controller/PathManager.h |    28 +
 .../adaptive_pursuit_controller/PathSegment.h |    42 +
 .../adaptive_pursuit_controller/Position2d.h  |    38 +
 .../adaptive_pursuit_controller/Rotation2d.h  |    30 +
 .../TankOdometry.h                            |    50 +
 .../adaptive_pursuit_controller/Trans2d.h     |    41 +
 .../adaptive_pursuit_controller/greeter.hpp   |    18 +
 .../adaptive_pursuit_controller/json.hpp      | 25447 ++++++++++++++++
 .../AdaptivePursuit.cpp                       |   133 +
 .../adaptive_pursuit_controller/Logger.cpp    |    38 +
 .../src/adaptive_pursuit_controller/Path.cpp  |   228 +
 .../PathManager.cpp                           |    90 +
 .../PathSegment.cpp                           |    65 +
 .../Position2d.cpp                            |    81 +
 .../Rotation2d.cpp                            |    77 +
 .../TankOdometry.cpp                          |   117 +
 .../adaptive_pursuit_controller/Trans2d.cpp   |    73 +
 23 files changed, 26785 insertions(+), 1 deletion(-)
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Logger.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Path.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/PathManager.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/PathSegment.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Position2d.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Trans2d.h
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/greeter.hpp
 create mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/json.hpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/Logger.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/Path.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/PathSegment.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/Position2d.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/Rotation2d.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp
 create mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/Trans2d.cpp

diff --git a/src/adaptive_pursuit_controller/src/Math/Pose.cpp b/src/adaptive_pursuit_controller/src/Math/Pose.cpp
index 460566f2c..0e41209c6 100644
--- a/src/adaptive_pursuit_controller/src/Math/Pose.cpp
+++ b/src/adaptive_pursuit_controller/src/Math/Pose.cpp
@@ -1,3 +1,3 @@
-#include "Math/Pose.h"
+#include "adaptive_pursuit_controller/Math/Pose.h"
 
 
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
new file mode 100644
index 000000000..9d5bf2ee7
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include "TankOdometry.h"
+#include <optional>
+#include "Path.h"
+#include "Logger.h"
+
+class VelocityPair {
+public:
+    VelocityPair(double l, double r);
+    double left;
+    double right;
+};
+
+class AdaptivePursuit{
+private:
+    double m_fixedLookahead;
+    Path m_path;
+    Position2d::Delta m_lastCommand;
+    double m_lastTime;
+    double m_maxAccel;
+    double m_wheelDiameter;
+    double m_dt;
+    bool m_reversed;
+    double m_pathCompletionTolerance;
+    bool m_hasRun = false;
+    bool m_gradualStop = true;
+
+public:
+    AdaptivePursuit(double fixedLookahead, double maxAccel, double nominalDt, Path path,
+                    bool reversed, double pathCompletionTolerance, bool gradualStop, double wheelDiameter);
+
+    bool isDone();
+
+    VelocityPair Update(Pose robotPos, double now);
+
+    bool checkEvent(std::string event);
+
+    struct Circle{
+        Trans2d center;
+        double radius;
+        bool turnRight;
+        Circle(Trans2d cent, double rad, bool turn_right);
+    };
+
+    std::optional<Circle> joinPath(Position2d pos, Trans2d lookahead);
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Logger.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Logger.h
new file mode 100644
index 000000000..104881740
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Logger.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <vector>
+#include <queue>
+#include <string>
+#include <memory>
+#include <ctime>
+#include <fstream>
+#include <iostream>
+#include <cmath>
+
+using namespace std;
+
+class Logger {
+public:
+    enum loggingLevel {
+        INFO,
+        WARNING,
+        ERROR
+    };
+    static void logInfo(ostringstream& message);
+    static void logInfo(string message);
+    static void logWarning(ostringstream& message);
+    static void logWarning(string message);
+    static void logError(ostringstream& message);
+    static void logError(string message);
+    static void setConsoleLoggingLevel(loggingLevel level);
+private:
+    static loggingLevel m_consoleLoggingLevel;
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
new file mode 100644
index 000000000..53d2f74ae
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+
+#ifndef PI
+#define PI 3.141592653589793
+#endif
+
+#define kEpsilon .000000001
+#define kE .000000001
+
+using namespace std;
+
+inline double toRadians(double degrees) {
+    return degrees * (PI / 180.0);
+}
+
+inline double toDegrees(double degrees) {
+    return degrees * (180.0 / PI);
+}
+
+inline double arctan(double x, double y) {
+    double result = toDegrees(atan2(y, x));
+    if(x >= 0 && y >= 0) {
+        return 90 - result;
+    } else if(x >= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x <= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x < 0 && y >= 0) {
+        return 450 - result;
+    }
+    return -1;
+}
+
+inline double pathogram(double x, double y){
+    return sqrt(x*x + y*y);
+}
+
+inline double clamp(double value, double minimum, double maximum) {
+    if(value < minimum) {
+        return minimum;
+    } else if(value > maximum) {
+        return maximum;
+    } else {
+        return value;
+    }
+}
+
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
new file mode 100644
index 000000000..8c95f81a3
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include "eigen/Eigen/Dense"
+
+using namespace Eigen;
+
+struct Pose {
+    Vector2d position;
+    Rotation2Dd angle;
+
+    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
+        position = positionIn;
+        angle = angleIn;
+    }
+
+    Pose() {
+        position = Vector2d(0, 0);
+        angle = Rotation2Dd(0);
+    }
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Path.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Path.h
new file mode 100644
index 000000000..d13bb7a7e
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Path.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "PathSegment.h"
+#include "Logger.h"
+#include <vector>
+#include <algorithm>
+#include "json.hpp"
+
+using namespace nlohmann;
+using namespace std;
+
+struct Waypoint {
+	Trans2d position;
+	double speed;
+    Rotation2d rotation;
+	string event;
+    Waypoint(Trans2d pos, double spd = 0.0, string completeEvent = "");
+};
+
+class Path {
+protected:
+	vector<Waypoint> m_waypoints;
+	vector<PathSegment> m_segments;
+	vector<string> m_events;
+public:
+	Path();
+	Path(vector<Waypoint> waypoints, bool flip = false);
+	static Path fromFile(string fileName, bool flip);
+	static Path fromText(string textPath, bool flip);
+	Waypoint getFirstWaypoint();
+	double update(Trans2d pos);
+	bool eventPassed(string event);
+	double getRemainingLength();
+    vector<Waypoint> getWaypoints();
+	PathSegment::Sample getLookaheadPoint(Trans2d pos, double lookahead);
+	pair<bool, Trans2d> getFirstCircleSegmentIntersection(PathSegment segment, Trans2d center,
+                                                          double radius);
+	Position2d getClosestPoint(Trans2d pos);
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathManager.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathManager.h
new file mode 100644
index 000000000..4854c46b5
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathManager.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include "Path.h"
+#include <memory>
+#include <unordered_map>
+#include <fstream>
+
+class PathManager {
+public:
+    static PathManager* GetInstance();
+
+    bool LoadPathsText(string text);
+    bool LoadPaths(json pathJson);
+    bool LoadPathsFile(string filePath);
+
+    int NumPaths();
+
+    unordered_map<string, Path> GetPaths();
+
+    Path GetPath(string name);
+
+private:
+    PathManager() = default;
+    unordered_map<string, Path> m_paths;
+    static PathManager* m_instance;
+};
+
+
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathSegment.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathSegment.h
new file mode 100644
index 000000000..67fbc701c
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/PathSegment.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include "Position2d.h"
+
+class PathSegment{
+public:
+	struct Sample{
+		Trans2d translation;
+		double speed;
+		Sample(Trans2d newTranslation, double newSpeed);
+	};
+
+protected:
+	double m_speed;
+	Trans2d m_start;
+	Trans2d m_end;
+	Trans2d m_startToEnd;
+	Rotation2d m_angle;
+	double m_length;
+
+public:
+	struct ClosestPointReport{
+		double index;
+		double clampedIndex;
+		Trans2d closestPoint;
+		double distance;
+	};
+
+	PathSegment(Trans2d start, Trans2d end, Rotation2d angle, double speed);
+
+	void updateStart(Trans2d newStart);
+
+	double getSpeed();
+	Trans2d getStart();
+	Trans2d getEnd();
+	double getLength();
+	Rotation2d getAngle();
+
+	Trans2d interpolate(double index);
+	double dotProduct(Trans2d other);
+	ClosestPointReport getClosestPoint(Trans2d queryPoint);
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Position2d.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Position2d.h
new file mode 100644
index 000000000..57ba4e912
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Position2d.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include "Trans2d.h"
+
+class Position2d{
+public:
+	struct Delta{
+		double dx, dy, dtheta;
+
+		Delta(double x, double y, double t);
+	};
+
+protected:
+	Trans2d m_translation;
+	Rotation2d m_rotation;
+
+public:
+	Position2d();
+	Position2d(Trans2d tran, Rotation2d rot);
+	Position2d(const Position2d& other);
+
+	static Position2d fromTranslation(Trans2d tran);
+	static Position2d fromRotation(Rotation2d rot);
+	static Position2d fromVelocity(Delta delta);
+
+	Trans2d getTranslation();
+	void setTranslation(Trans2d tran);
+	Rotation2d getRotation();
+	void setRotation(Rotation2d rot);
+
+	Position2d transformBy(Position2d other);
+
+	Position2d inverse();
+
+	Position2d interpolate(Position2d other, double x);
+
+
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
new file mode 100644
index 000000000..0949dae5a
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "Math/Math.h"
+
+class Rotation2d{
+protected:
+	double m_cos, m_sin;
+
+public:
+	Rotation2d();
+	Rotation2d(double x, double y, bool doNormalize);
+	Rotation2d(const Rotation2d& other);
+
+	static Rotation2d fromRadians(double radians);
+	static Rotation2d fromDegrees(double degrees);
+
+	void normalize();
+
+	double getCos();
+	double getSin();
+
+	double getRadians();
+	double getDegrees();
+
+	Rotation2d rotateBy(Rotation2d other);
+	Rotation2d inverse();
+	Rotation2d opposite();
+
+	Rotation2d interpolate(Rotation2d other, double x);
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h
new file mode 100644
index 000000000..78eecbaf5
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h
@@ -0,0 +1,50 @@
+#pragma once
+
+#include "Math/Pose.h"
+#include "Math/Math.h"
+
+using namespace std;
+
+
+class TankOdometry {
+public:
+    struct EncoderConfig {
+        double initialTicks;
+        double ticksPerWheelRevolution;
+        double wheelDiameter;
+    };
+
+    void ResetEncoderTicks(double leftEncoderTicks = 0, double rightEncoderTicks = 0);
+
+    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth);
+    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle);
+
+    static TankOdometry* GetInstance();
+
+    void Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig, Pose currentPose = Pose());
+
+    void SetCurrentPose(Pose currentPose);
+
+    Pose GetPose();
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+private:
+    TankOdometry() = default;
+
+    static TankOdometry* m_instance;
+
+    double m_leftTicksToDist;
+    double m_rightTicksToDist;
+
+    double m_lastLeftEncoderDist;
+    double m_lastRightEncoderDist;
+
+    Rotation2Dd m_gyroInitialAngle;
+
+    bool m_poseReset = true;
+
+    Pose m_robotPose = Pose(Vector2d(0, 0), Rotation2Dd());
+};
+
+
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Trans2d.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Trans2d.h
new file mode 100644
index 000000000..8a52631d5
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Trans2d.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#include "Rotation2d.h"
+
+class Trans2d{
+protected:
+	double m_x, m_y;
+
+public:
+	Trans2d();
+
+	Trans2d(double x, double y);
+
+	double norm();
+
+	double getX();
+
+	double getY();
+
+	void setX(double x);
+
+	void setY(double y);
+
+	Trans2d translateBy(Trans2d other);
+
+	Trans2d rotateBy(Rotation2d rotation);
+
+	Trans2d inverse();
+
+	Trans2d interpolate(Trans2d other, double x);
+
+	Trans2d extrapolate(Trans2d other, double x);
+
+	Trans2d flipX();
+	Trans2d flipY();
+
+	double getSin();
+	double getCos();
+
+
+};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/greeter.hpp b/src/v5_hal/firmware/include/adaptive_pursuit_controller/greeter.hpp
new file mode 100644
index 000000000..7dff3223d
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/greeter.hpp
@@ -0,0 +1,18 @@
+#ifndef _GREETER_H_
+#define _GREETER_H_
+
+#include <string>
+#include <algorithm>
+
+
+class Greeter {
+public:
+    Greeter(std::string name_) : name(name_) {};
+    Greeter() : name("World") {};
+    void greet();
+    int getNameLength();
+private:
+    std::string name;
+};
+
+#endif
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/json.hpp b/src/v5_hal/firmware/include/adaptive_pursuit_controller/json.hpp
new file mode 100644
index 000000000..a70aaf8cb
--- /dev/null
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/json.hpp
@@ -0,0 +1,25447 @@
+/*
+    __ _____ _____ _____
+ __|  |   __|     |   | |  JSON for Modern C++
+|  |  |__   |  |  | | | |  version 3.9.1
+|_____|_____|_____|_|___|  https://github.com/nlohmann/json
+
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+SPDX-License-Identifier: MIT
+Copyright (c) 2013-2019 Niels Lohmann <http://nlohmann.me>.
+
+Permission is hereby  granted, free of charge, to any  person obtaining a copy
+of this software and associated  documentation files (the "Software"), to deal
+in the Software  without restriction, including without  limitation the rights
+to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
+copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
+IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
+FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
+AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
+LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef INCLUDE_NLOHMANN_JSON_HPP_
+#define INCLUDE_NLOHMANN_JSON_HPP_
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3
+#define NLOHMANN_JSON_VERSION_MINOR 9
+#define NLOHMANN_JSON_VERSION_PATCH 1
+
+#include <algorithm> // all_of, find, for_each
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#include <iosfwd> // istream, ostream
+#include <iterator> // random_access_iterator_tag
+#include <memory> // unique_ptr
+#include <numeric> // accumulate
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+#include <vector> // vector
+
+// #include <nlohmann/adl_serializer.hpp>
+
+
+#include <utility>
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+
+#include <algorithm> // transform
+#include <array> // array
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+
+#include <exception> // exception
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+
+#include <cstddef> // size_t
+
+namespace nlohmann
+{
+namespace detail
+{
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+#include <utility> // pair
+// #include <nlohmann/thirdparty/hedley/hedley.hpp>
+/* Hedley - https://nemequ.github.io/hedley
+ * Created by Evan Nemerson <evan@nemerson.com>
+ *
+ * To the extent possible under law, the author(s) have dedicated all
+ * copyright and related and neighboring rights to this software to
+ * the public domain worldwide. This software is distributed without
+ * any warranty.
+ *
+ * For details, see <http://creativecommons.org/publicdomain/zero/1.0/>.
+ * SPDX-License-Identifier: CC0-1.0
+ */
+
+#if !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < 13)
+#if defined(JSON_HEDLEY_VERSION)
+    #undef JSON_HEDLEY_VERSION
+#endif
+#define JSON_HEDLEY_VERSION 13
+
+#if defined(JSON_HEDLEY_STRINGIFY_EX)
+    #undef JSON_HEDLEY_STRINGIFY_EX
+#endif
+#define JSON_HEDLEY_STRINGIFY_EX(x) #x
+
+#if defined(JSON_HEDLEY_STRINGIFY)
+    #undef JSON_HEDLEY_STRINGIFY
+#endif
+#define JSON_HEDLEY_STRINGIFY(x) JSON_HEDLEY_STRINGIFY_EX(x)
+
+#if defined(JSON_HEDLEY_CONCAT_EX)
+    #undef JSON_HEDLEY_CONCAT_EX
+#endif
+#define JSON_HEDLEY_CONCAT_EX(a,b) a##b
+
+#if defined(JSON_HEDLEY_CONCAT)
+    #undef JSON_HEDLEY_CONCAT
+#endif
+#define JSON_HEDLEY_CONCAT(a,b) JSON_HEDLEY_CONCAT_EX(a,b)
+
+#if defined(JSON_HEDLEY_CONCAT3_EX)
+    #undef JSON_HEDLEY_CONCAT3_EX
+#endif
+#define JSON_HEDLEY_CONCAT3_EX(a,b,c) a##b##c
+
+#if defined(JSON_HEDLEY_CONCAT3)
+    #undef JSON_HEDLEY_CONCAT3
+#endif
+#define JSON_HEDLEY_CONCAT3(a,b,c) JSON_HEDLEY_CONCAT3_EX(a,b,c)
+
+#if defined(JSON_HEDLEY_VERSION_ENCODE)
+    #undef JSON_HEDLEY_VERSION_ENCODE
+#endif
+#define JSON_HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision))
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MAJOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MINOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_REVISION)
+    #undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000)
+
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #undef JSON_HEDLEY_GNUC_VERSION
+#endif
+#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
+#elif defined(__GNUC__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GNUC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION)
+    #undef JSON_HEDLEY_MSVC_VERSION
+#endif
+#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100)
+#elif defined(_MSC_FULL_VER)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10)
+#elif defined(_MSC_VER)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#endif
+#if !defined(_MSC_VER)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0)
+#elif defined(_MSC_VER) && (_MSC_VER >= 1400)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch)))
+#elif defined(_MSC_VER) && (_MSC_VER >= 1200)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch)))
+#else
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor)))
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #undef JSON_HEDLEY_INTEL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE)
+#elif defined(__INTEL_COMPILER)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #undef JSON_HEDLEY_PGI_VERSION
+#endif
+#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__)
+    #define JSON_HEDLEY_PGI_VERSION JSON_HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION_CHECK)
+    #undef JSON_HEDLEY_PGI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PGI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #undef JSON_HEDLEY_SUNPRO_VERSION
+#endif
+#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10)
+#elif defined(__SUNPRO_C)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf)
+#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10)
+#elif defined(__SUNPRO_CC)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION_CHECK)
+    #undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_SUNPRO_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#endif
+#if defined(__EMSCRIPTEN__)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION JSON_HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_EMSCRIPTEN_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #undef JSON_HEDLEY_ARM_VERSION
+#endif
+#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100)
+#elif defined(__CC_ARM) && defined(__ARMCC_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION_CHECK)
+    #undef JSON_HEDLEY_ARM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_ARM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #undef JSON_HEDLEY_IBM_VERSION
+#endif
+#if defined(__ibmxl__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__)
+#elif defined(__xlC__) && defined(__xlC_ver__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff)
+#elif defined(__xlC__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION_CHECK)
+    #undef JSON_HEDLEY_IBM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IBM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #undef JSON_HEDLEY_TI_VERSION
+#endif
+#if \
+    defined(__TI_COMPILER_VERSION__) && \
+    ( \
+      defined(__TMS470__) || defined(__TI_ARM__) || \
+      defined(__MSP430__) || \
+      defined(__TMS320C2000__) \
+    )
+#if (__TI_COMPILER_VERSION__ >= 16000000)
+    #define JSON_HEDLEY_TI_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__)
+    #define JSON_HEDLEY_TI_CL2000_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL2000_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #undef JSON_HEDLEY_TI_CL430_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__)
+    #define JSON_HEDLEY_TI_CL430_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL430_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__))
+    #define JSON_HEDLEY_TI_ARMCL_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_ARMCL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__)
+    #define JSON_HEDLEY_TI_CL6X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL6X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__)
+    #define JSON_HEDLEY_TI_CL7X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL7X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CLPRU_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #undef JSON_HEDLEY_CRAY_VERSION
+#endif
+#if defined(_CRAYC)
+    #if defined(_RELEASE_PATCHLEVEL)
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL)
+    #else
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION_CHECK)
+    #undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_CRAY_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #undef JSON_HEDLEY_IAR_VERSION
+#endif
+#if defined(__IAR_SYSTEMS_ICC__)
+    #if __VER__ > 1000
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000))
+    #else
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE(VER / 100, __VER__ % 100, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION_CHECK)
+    #undef JSON_HEDLEY_IAR_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IAR_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #undef JSON_HEDLEY_TINYC_VERSION
+#endif
+#if defined(__TINYC__)
+    #define JSON_HEDLEY_TINYC_VERSION JSON_HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION_CHECK)
+    #undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TINYC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #undef JSON_HEDLEY_DMC_VERSION
+#endif
+#if defined(__DMC__)
+    #define JSON_HEDLEY_DMC_VERSION JSON_HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION_CHECK)
+    #undef JSON_HEDLEY_DMC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_DMC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #undef JSON_HEDLEY_COMPCERT_VERSION
+#endif
+#if defined(__COMPCERT_VERSION__)
+    #define JSON_HEDLEY_COMPCERT_VERSION JSON_HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION_CHECK)
+    #undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_COMPCERT_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #undef JSON_HEDLEY_PELLES_VERSION
+#endif
+#if defined(__POCC__)
+    #define JSON_HEDLEY_PELLES_VERSION JSON_HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION_CHECK)
+    #undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PELLES_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #undef JSON_HEDLEY_GCC_VERSION
+#endif
+#if \
+    defined(JSON_HEDLEY_GNUC_VERSION) && \
+    !defined(__clang__) && \
+    !defined(JSON_HEDLEY_INTEL_VERSION) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_ARM_VERSION) && \
+    !defined(JSON_HEDLEY_TI_VERSION) && \
+    !defined(JSON_HEDLEY_TI_ARMCL_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL430_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL2000_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL6X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL7X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CLPRU_VERSION) && \
+    !defined(__COMPCERT__)
+    #define JSON_HEDLEY_GCC_VERSION JSON_HEDLEY_GNUC_VERSION
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) __has_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#endif
+#if \
+    defined(__has_cpp_attribute) && \
+    defined(__cplusplus) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#endif
+#if !defined(__cplusplus) || !defined(__has_cpp_attribute)
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#elif \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_IAR_VERSION) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \
+    (!defined(JSON_HEDLEY_MSVC_VERSION) || JSON_HEDLEY_MSVC_VERSION_CHECK(19,20,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_BUILTIN)
+    #undef JSON_HEDLEY_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_FEATURE)
+    #undef JSON_HEDLEY_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_HAS_FEATURE(feature) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_HAS_FEATURE(feature) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GCC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_EXTENSION)
+    #undef JSON_HEDLEY_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_WARNING)
+    #undef JSON_HEDLEY_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_HAS_WARNING(warning) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_HAS_WARNING(warning) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_WARNING)
+    #undef JSON_HEDLEY_GNUC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_WARNING)
+    #undef JSON_HEDLEY_GCC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+/* JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat")
+#    if JSON_HEDLEY_HAS_WARNING("-Wc++17-extensions")
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    else
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    endif
+#  endif
+#endif
+#if !defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x
+#endif
+
+#if defined(JSON_HEDLEY_CONST_CAST)
+    #undef JSON_HEDLEY_CONST_CAST
+#endif
+#if defined(__cplusplus)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (const_cast<T>(expr))
+#elif \
+  JSON_HEDLEY_HAS_WARNING("-Wcast-qual") || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_CONST_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_REINTERPRET_CAST)
+    #undef JSON_HEDLEY_REINTERPRET_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_CAST)
+    #undef JSON_HEDLEY_STATIC_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) (static_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_CPP_CAST)
+    #undef JSON_HEDLEY_CPP_CAST
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wold-style-cast")
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \
+    ((T) (expr)) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  elif JSON_HEDLEY_IAR_VERSION_CHECK(8,3,0)
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("diag_suppress=Pe137") \
+    JSON_HEDLEY_DIAGNOSTIC_POP \
+#  else
+#    define JSON_HEDLEY_CPP_CAST(T, expr) ((T) (expr))
+#  endif
+#else
+#  define JSON_HEDLEY_CPP_CAST(T, expr) (expr)
+#endif
+
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \
+    (JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR))
+    #define JSON_HEDLEY_PRAGMA(value) _Pragma(#value)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_PRAGMA(value) __pragma(value)
+#else
+    #define JSON_HEDLEY_PRAGMA(value)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_PUSH)
+    #undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#endif
+#if defined(JSON_HEDLEY_DIAGNOSTIC_POP)
+    #undef JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push))
+    #define JSON_HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop))
+#elif JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("pop")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH
+    #define JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wdeprecated-declarations")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(16,9,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-attributes")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wcast-qual")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+
+#if defined(JSON_HEDLEY_DEPRECATED)
+    #undef JSON_HEDLEY_DEPRECATED
+#endif
+#if defined(JSON_HEDLEY_DEPRECATED_FOR)
+    #undef JSON_HEDLEY_DEPRECATED_FOR
+#endif
+#if JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement))
+#elif defined(__cplusplus) && (__cplusplus >= 201402L)
+    #define JSON_HEDLEY_DEPRECATED(since) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]])
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]])
+#elif \
+    JSON_HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since)))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(deprecated) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_PELLES_VERSION_CHECK(6,50,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) _Pragma("deprecated")
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated")
+#else
+    #define JSON_HEDLEY_DEPRECATED(since)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement)
+#endif
+
+#if defined(JSON_HEDLEY_UNAVAILABLE)
+    #undef JSON_HEDLEY_UNAVAILABLE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warning) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since)))
+#else
+    #define JSON_HEDLEY_UNAVAILABLE(available_since)
+#endif
+
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#endif
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT_MSG)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#endif
+#if (JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__))
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__))
+#elif defined(_Check_return_) /* SAL */
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT _Check_return_
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_
+#else
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg)
+#endif
+
+#if defined(JSON_HEDLEY_SENTINEL)
+    #undef JSON_HEDLEY_SENTINEL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(sentinel) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0)
+    #define JSON_HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position)))
+#else
+    #define JSON_HEDLEY_SENTINEL(position)
+#endif
+
+#if defined(JSON_HEDLEY_NO_RETURN)
+    #undef JSON_HEDLEY_NO_RETURN
+#endif
+#if JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NO_RETURN __noreturn
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+    #define JSON_HEDLEY_NO_RETURN _Noreturn
+#elif defined(__cplusplus) && (__cplusplus >= 201103L)
+    #define JSON_HEDLEY_NO_RETURN JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noreturn) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,2,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("does_not_return")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute((noreturn))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#else
+    #define JSON_HEDLEY_NO_RETURN
+#endif
+
+#if defined(JSON_HEDLEY_NO_ESCAPE)
+    #undef JSON_HEDLEY_NO_ESCAPE
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(noescape)
+    #define JSON_HEDLEY_NO_ESCAPE __attribute__((__noescape__))
+#else
+    #define JSON_HEDLEY_NO_ESCAPE
+#endif
+
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #undef JSON_HEDLEY_UNREACHABLE
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE_RETURN)
+    #undef JSON_HEDLEY_UNREACHABLE_RETURN
+#endif
+#if defined(JSON_HEDLEY_ASSUME)
+    #undef JSON_HEDLEY_ASSUME
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_ASSUME(expr) __assume(expr)
+#elif JSON_HEDLEY_HAS_BUILTIN(__builtin_assume)
+    #define JSON_HEDLEY_ASSUME(expr) __builtin_assume(expr)
+#elif \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+    #if defined(__cplusplus)
+        #define JSON_HEDLEY_ASSUME(expr) std::_nassert(expr)
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) _nassert(expr)
+    #endif
+#endif
+#if \
+    (JSON_HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(JSON_HEDLEY_ARM_VERSION))) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,5)
+    #define JSON_HEDLEY_UNREACHABLE() __builtin_unreachable()
+#elif defined(JSON_HEDLEY_ASSUME)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+#if !defined(JSON_HEDLEY_ASSUME)
+    #if defined(JSON_HEDLEY_UNREACHABLE)
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (JSON_HEDLEY_UNREACHABLE(), 1)))
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, expr)
+    #endif
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #if  \
+        JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (JSON_HEDLEY_STATIC_CAST(void, JSON_HEDLEY_ASSUME(0)), (value))
+    #else
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) JSON_HEDLEY_UNREACHABLE()
+    #endif
+#else
+    #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (value)
+#endif
+#if !defined(JSON_HEDLEY_UNREACHABLE)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+
+JSON_HEDLEY_DIAGNOSTIC_PUSH
+#if JSON_HEDLEY_HAS_WARNING("-Wpedantic")
+    #pragma clang diagnostic ignored "-Wpedantic"
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus)
+    #pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#endif
+#if JSON_HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0)
+    #if defined(__clang__)
+        #pragma clang diagnostic ignored "-Wvariadic-macros"
+    #elif defined(JSON_HEDLEY_GCC_VERSION)
+        #pragma GCC diagnostic ignored "-Wvariadic-macros"
+    #endif
+#endif
+#if defined(JSON_HEDLEY_NON_NULL)
+    #undef JSON_HEDLEY_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__)))
+#else
+    #define JSON_HEDLEY_NON_NULL(...)
+#endif
+JSON_HEDLEY_DIAGNOSTIC_POP
+
+#if defined(JSON_HEDLEY_PRINTF_FORMAT)
+    #undef JSON_HEDLEY_PRINTF_FORMAT
+#endif
+#if defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check)))
+#elif defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(format) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check)))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(6,0,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check))
+#else
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check)
+#endif
+
+#if defined(JSON_HEDLEY_CONSTEXPR)
+    #undef JSON_HEDLEY_CONSTEXPR
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_CONSTEXPR JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr)
+    #endif
+#endif
+#if !defined(JSON_HEDLEY_CONSTEXPR)
+    #define JSON_HEDLEY_CONSTEXPR
+#endif
+
+#if defined(JSON_HEDLEY_PREDICT)
+    #undef JSON_HEDLEY_PREDICT
+#endif
+#if defined(JSON_HEDLEY_LIKELY)
+    #undef JSON_HEDLEY_LIKELY
+#endif
+#if defined(JSON_HEDLEY_UNLIKELY)
+    #undef JSON_HEDLEY_UNLIKELY
+#endif
+#if defined(JSON_HEDLEY_UNPREDICTABLE)
+    #undef JSON_HEDLEY_UNPREDICTABLE
+#endif
+#if JSON_HEDLEY_HAS_BUILTIN(__builtin_unpredictable)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr))
+#endif
+#if \
+  JSON_HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(9,0,0)
+#  define JSON_HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability(  (expr), (value), (probability))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability)   __builtin_expect_with_probability(!!(expr),    1   , (probability))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability)  __builtin_expect_with_probability(!!(expr),    0   , (probability))
+#  define JSON_HEDLEY_LIKELY(expr)                      __builtin_expect                 (!!(expr),    1                  )
+#  define JSON_HEDLEY_UNLIKELY(expr)                    __builtin_expect                 (!!(expr),    0                  )
+#elif \
+  JSON_HEDLEY_HAS_BUILTIN(__builtin_expect) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \
+  JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) \
+    (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (JSON_HEDLEY_STATIC_CAST(void, expected), (expr)))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_LIKELY(expr)   __builtin_expect(!!(expr), 1)
+#  define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0)
+#else
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) (JSON_HEDLEY_STATIC_CAST(void, expected), (expr))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_LIKELY(expr) (!!(expr))
+#  define JSON_HEDLEY_UNLIKELY(expr) (!!(expr))
+#endif
+#if !defined(JSON_HEDLEY_UNPREDICTABLE)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) JSON_HEDLEY_PREDICT(expr, 1, 0.5)
+#endif
+
+#if defined(JSON_HEDLEY_MALLOC)
+    #undef JSON_HEDLEY_MALLOC
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(malloc) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_MALLOC __attribute__((__malloc__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_MALLOC _Pragma("returns_new_memory")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(14, 0, 0)
+    #define JSON_HEDLEY_MALLOC __declspec(restrict)
+#else
+    #define JSON_HEDLEY_MALLOC
+#endif
+
+#if defined(JSON_HEDLEY_PURE)
+    #undef JSON_HEDLEY_PURE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(pure) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(2,96,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+#  define JSON_HEDLEY_PURE __attribute__((__pure__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define JSON_HEDLEY_PURE _Pragma("does_not_write_global_data")
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \
+    )
+#  define JSON_HEDLEY_PURE _Pragma("FUNC_IS_PURE;")
+#else
+#  define JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_CONST)
+    #undef JSON_HEDLEY_CONST
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(const) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(2,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_CONST __attribute__((__const__))
+#elif \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_CONST _Pragma("no_side_effect")
+#else
+    #define JSON_HEDLEY_CONST JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_RESTRICT)
+    #undef JSON_HEDLEY_RESTRICT
+#endif
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT restrict
+#elif \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    defined(__clang__)
+    #define JSON_HEDLEY_RESTRICT __restrict
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT _Restrict
+#else
+    #define JSON_HEDLEY_RESTRICT
+#endif
+
+#if defined(JSON_HEDLEY_INLINE)
+    #undef JSON_HEDLEY_INLINE
+#endif
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    (defined(__cplusplus) && (__cplusplus >= 199711L))
+    #define JSON_HEDLEY_INLINE inline
+#elif \
+    defined(JSON_HEDLEY_GCC_VERSION) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(6,2,0)
+    #define JSON_HEDLEY_INLINE __inline__
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_INLINE __inline
+#else
+    #define JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_ALWAYS_INLINE)
+    #undef JSON_HEDLEY_ALWAYS_INLINE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(always_inline) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) JSON_HEDLEY_INLINE
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __forceinline
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+      JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+      JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \
+    )
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("inline=forced")
+#else
+#  define JSON_HEDLEY_ALWAYS_INLINE JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_NEVER_INLINE)
+    #undef JSON_HEDLEY_NEVER_INLINE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noinline) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute__((__noinline__))
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(10,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("noinline")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("inline=never")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute((noinline))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#else
+    #define JSON_HEDLEY_NEVER_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_PRIVATE)
+    #undef JSON_HEDLEY_PRIVATE
+#endif
+#if defined(JSON_HEDLEY_PUBLIC)
+    #undef JSON_HEDLEY_PUBLIC
+#endif
+#if defined(JSON_HEDLEY_IMPORT)
+    #undef JSON_HEDLEY_IMPORT
+#endif
+#if defined(_WIN32) || defined(__CYGWIN__)
+#  define JSON_HEDLEY_PRIVATE
+#  define JSON_HEDLEY_PUBLIC   __declspec(dllexport)
+#  define JSON_HEDLEY_IMPORT   __declspec(dllimport)
+#else
+#  if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(visibility) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    ( \
+      defined(__TI_EABI__) && \
+      ( \
+        (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \
+      ) \
+    )
+#    define JSON_HEDLEY_PRIVATE __attribute__((__visibility__("hidden")))
+#    define JSON_HEDLEY_PUBLIC  __attribute__((__visibility__("default")))
+#  else
+#    define JSON_HEDLEY_PRIVATE
+#    define JSON_HEDLEY_PUBLIC
+#  endif
+#  define JSON_HEDLEY_IMPORT    extern
+#endif
+
+#if defined(JSON_HEDLEY_NO_THROW)
+    #undef JSON_HEDLEY_NO_THROW
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nothrow) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_NO_THROW __attribute__((__nothrow__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NO_THROW __declspec(nothrow)
+#else
+    #define JSON_HEDLEY_NO_THROW
+#endif
+
+#if defined(JSON_HEDLEY_FALL_THROUGH)
+    #undef JSON_HEDLEY_FALL_THROUGH
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(fallthrough) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(7,0,0)
+    #define JSON_HEDLEY_FALL_THROUGH __attribute__((__fallthrough__))
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]])
+#elif defined(__fallthrough) /* SAL */
+    #define JSON_HEDLEY_FALL_THROUGH __fallthrough
+#else
+    #define JSON_HEDLEY_FALL_THROUGH
+#endif
+
+#if defined(JSON_HEDLEY_RETURNS_NON_NULL)
+    #undef JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
+    #define JSON_HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__))
+#elif defined(_Ret_notnull_) /* SAL */
+    #define JSON_HEDLEY_RETURNS_NON_NULL _Ret_notnull_
+#else
+    #define JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+
+#if defined(JSON_HEDLEY_ARRAY_PARAM)
+    #undef JSON_HEDLEY_ARRAY_PARAM
+#endif
+#if \
+    defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \
+    !defined(__STDC_NO_VLA__) && \
+    !defined(__cplusplus) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_ARRAY_PARAM(name) (name)
+#else
+    #define JSON_HEDLEY_ARRAY_PARAM(name)
+#endif
+
+#if defined(JSON_HEDLEY_IS_CONSTANT)
+    #undef JSON_HEDLEY_IS_CONSTANT
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_CONSTEXPR)
+    #undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#endif
+/* JSON_HEDLEY_IS_CONSTEXPR_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #undef JSON_HEDLEY_IS_CONSTEXPR_
+#endif
+#if \
+    JSON_HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0)
+    #define JSON_HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr)
+#endif
+#if !defined(__cplusplus)
+#  if \
+       JSON_HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+       JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+       JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,24)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*)
+#endif
+#  elif \
+       ( \
+          defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \
+          !defined(JSON_HEDLEY_SUNPRO_VERSION) && \
+          !defined(JSON_HEDLEY_PGI_VERSION) && \
+          !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       JSON_HEDLEY_HAS_EXTENSION(c_generic_selections) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,3,0)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0)
+#endif
+#  elif \
+       defined(JSON_HEDLEY_GCC_VERSION) || \
+       defined(JSON_HEDLEY_INTEL_VERSION) || \
+       defined(JSON_HEDLEY_TINYC_VERSION) || \
+       defined(JSON_HEDLEY_TI_ARMCL_VERSION) || \
+       JSON_HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \
+       defined(JSON_HEDLEY_TI_CL2000_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL6X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL7X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CLPRU_VERSION) || \
+       defined(__clang__)
+#    define JSON_HEDLEY_IS_CONSTEXPR_(expr) ( \
+        sizeof(void) != \
+        sizeof(*( \
+                  1 ? \
+                  ((void*) ((expr) * 0L) ) : \
+((struct { char v[sizeof(void) * 2]; } *) 1) \
+                ) \
+              ) \
+                                            )
+#  endif
+#endif
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) JSON_HEDLEY_IS_CONSTEXPR_(expr)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (JSON_HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1))
+#else
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) (0)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_BEGIN_C_DECLS)
+    #undef JSON_HEDLEY_BEGIN_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_END_C_DECLS)
+    #undef JSON_HEDLEY_END_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_C_DECL)
+    #undef JSON_HEDLEY_C_DECL
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_BEGIN_C_DECLS extern "C" {
+    #define JSON_HEDLEY_END_C_DECLS }
+    #define JSON_HEDLEY_C_DECL extern "C"
+#else
+    #define JSON_HEDLEY_BEGIN_C_DECLS
+    #define JSON_HEDLEY_END_C_DECLS
+    #define JSON_HEDLEY_C_DECL
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_ASSERT)
+    #undef JSON_HEDLEY_STATIC_ASSERT
+#endif
+#if \
+  !defined(__cplusplus) && ( \
+      (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \
+      JSON_HEDLEY_HAS_FEATURE(c_static_assert) || \
+      JSON_HEDLEY_GCC_VERSION_CHECK(6,0,0) || \
+      JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+      defined(_Static_assert) \
+    )
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message)
+#elif \
+  (defined(__cplusplus) && (__cplusplus >= 201103L)) || \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(16,0,0)
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message))
+#else
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message)
+#endif
+
+#if defined(JSON_HEDLEY_NULL)
+    #undef JSON_HEDLEY_NULL
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr)
+    #elif defined(NULL)
+        #define JSON_HEDLEY_NULL NULL
+    #else
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_STATIC_CAST(void*, 0)
+    #endif
+#elif defined(NULL)
+    #define JSON_HEDLEY_NULL NULL
+#else
+    #define JSON_HEDLEY_NULL ((void*) 0)
+#endif
+
+#if defined(JSON_HEDLEY_MESSAGE)
+    #undef JSON_HEDLEY_MESSAGE
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_MESSAGE(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(message msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message msg)
+#elif JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(_CRI message msg)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_WARNING)
+    #undef JSON_HEDLEY_WARNING
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_WARNING(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(clang warning msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,8,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(GCC warning msg)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_REQUIRE)
+    #undef JSON_HEDLEY_REQUIRE
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_MSG)
+    #undef JSON_HEDLEY_REQUIRE_MSG
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(diagnose_if)
+#  if JSON_HEDLEY_HAS_WARNING("-Wgcc-compat")
+#    define JSON_HEDLEY_REQUIRE(expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), #expr, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), msg, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error")))
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error")))
+#  endif
+#else
+#  define JSON_HEDLEY_REQUIRE(expr)
+#  define JSON_HEDLEY_REQUIRE_MSG(expr,msg)
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS)
+    #undef JSON_HEDLEY_FLAGS
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(flag_enum)
+    #define JSON_HEDLEY_FLAGS __attribute__((__flag_enum__))
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS_CAST)
+    #undef JSON_HEDLEY_FLAGS_CAST
+#endif
+#if JSON_HEDLEY_INTEL_VERSION_CHECK(19,0,0)
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        _Pragma("warning(disable:188)") \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) JSON_HEDLEY_STATIC_CAST(T, expr)
+#endif
+
+#if defined(JSON_HEDLEY_EMPTY_BASES)
+    #undef JSON_HEDLEY_EMPTY_BASES
+#endif
+#if JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !JSON_HEDLEY_MSVC_VERSION_CHECK(20,0,0)
+    #define JSON_HEDLEY_EMPTY_BASES __declspec(empty_bases)
+#else
+    #define JSON_HEDLEY_EMPTY_BASES
+#endif
+
+/* Remaining macros are deprecated. */
+
+#if defined(JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0)
+#else
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_CLANG_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_BUILTIN)
+    #undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#endif
+#define JSON_HEDLEY_CLANG_HAS_BUILTIN(builtin) JSON_HEDLEY_HAS_BUILTIN(builtin)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_FEATURE)
+    #undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_FEATURE(feature) JSON_HEDLEY_HAS_FEATURE(feature)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_EXTENSION)
+    #undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#endif
+#define JSON_HEDLEY_CLANG_HAS_EXTENSION(extension) JSON_HEDLEY_HAS_EXTENSION(extension)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_WARNING)
+    #undef JSON_HEDLEY_CLANG_HAS_WARNING
+#endif
+#define JSON_HEDLEY_CLANG_HAS_WARNING(warning) JSON_HEDLEY_HAS_WARNING(warning)
+
+#endif /* !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < X) */
+
+
+// This file contains all internal macro definitions
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// C++ language standard detection
+#if (defined(__cplusplus) && __cplusplus >= 202002L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L)
+    #define JSON_HAS_CPP_20
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+    #define JSON_HAS_CPP_17
+    #define JSON_HAS_CPP_14
+#elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+    #define JSON_HAS_CPP_14
+#endif
+
+// disable float-equal warnings on GCC/clang
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma GCC diagnostic push
+    #pragma GCC diagnostic ignored "-Wdocumentation"
+#endif
+
+// allow to disable exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #include <cstdlib>
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// allow to override assert
+#if !defined(JSON_ASSERT)
+    #include <cassert> // assert
+    #define JSON_ASSERT(x) assert(x)
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                            \
+    template<typename BasicJsonType>                                                            \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                   \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool  \
+        {                                                                                       \
+            return ej_pair.first == e;                                                          \
+        });                                                                                     \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                 \
+    }                                                                                           \
+    template<typename BasicJsonType>                                                            \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                 \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [&j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                       \
+            return ej_pair.second == j;                                                         \
+        });                                                                                     \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                  \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer,     \
+             class BinaryType>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer, BinaryType>
+
+// Macros to simplify conversion from/to types
+
+#define NLOHMANN_JSON_EXPAND( x ) x
+#define NLOHMANN_JSON_GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16, _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, _32, _33, _34, _35, _36, _37, _38, _39, _40, _41, _42, _43, _44, _45, _46, _47, _48, _49, _50, _51, _52, _53, _54, _55, _56, _57, _58, _59, _60, _61, _62, _63, _64, NAME,...) NAME
+#define NLOHMANN_JSON_PASTE(...) NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_GET_MACRO(__VA_ARGS__, \
+        NLOHMANN_JSON_PASTE64, \
+        NLOHMANN_JSON_PASTE63, \
+        NLOHMANN_JSON_PASTE62, \
+        NLOHMANN_JSON_PASTE61, \
+        NLOHMANN_JSON_PASTE60, \
+        NLOHMANN_JSON_PASTE59, \
+        NLOHMANN_JSON_PASTE58, \
+        NLOHMANN_JSON_PASTE57, \
+        NLOHMANN_JSON_PASTE56, \
+        NLOHMANN_JSON_PASTE55, \
+        NLOHMANN_JSON_PASTE54, \
+        NLOHMANN_JSON_PASTE53, \
+        NLOHMANN_JSON_PASTE52, \
+        NLOHMANN_JSON_PASTE51, \
+        NLOHMANN_JSON_PASTE50, \
+        NLOHMANN_JSON_PASTE49, \
+        NLOHMANN_JSON_PASTE48, \
+        NLOHMANN_JSON_PASTE47, \
+        NLOHMANN_JSON_PASTE46, \
+        NLOHMANN_JSON_PASTE45, \
+        NLOHMANN_JSON_PASTE44, \
+        NLOHMANN_JSON_PASTE43, \
+        NLOHMANN_JSON_PASTE42, \
+        NLOHMANN_JSON_PASTE41, \
+        NLOHMANN_JSON_PASTE40, \
+        NLOHMANN_JSON_PASTE39, \
+        NLOHMANN_JSON_PASTE38, \
+        NLOHMANN_JSON_PASTE37, \
+        NLOHMANN_JSON_PASTE36, \
+        NLOHMANN_JSON_PASTE35, \
+        NLOHMANN_JSON_PASTE34, \
+        NLOHMANN_JSON_PASTE33, \
+        NLOHMANN_JSON_PASTE32, \
+        NLOHMANN_JSON_PASTE31, \
+        NLOHMANN_JSON_PASTE30, \
+        NLOHMANN_JSON_PASTE29, \
+        NLOHMANN_JSON_PASTE28, \
+        NLOHMANN_JSON_PASTE27, \
+        NLOHMANN_JSON_PASTE26, \
+        NLOHMANN_JSON_PASTE25, \
+        NLOHMANN_JSON_PASTE24, \
+        NLOHMANN_JSON_PASTE23, \
+        NLOHMANN_JSON_PASTE22, \
+        NLOHMANN_JSON_PASTE21, \
+        NLOHMANN_JSON_PASTE20, \
+        NLOHMANN_JSON_PASTE19, \
+        NLOHMANN_JSON_PASTE18, \
+        NLOHMANN_JSON_PASTE17, \
+        NLOHMANN_JSON_PASTE16, \
+        NLOHMANN_JSON_PASTE15, \
+        NLOHMANN_JSON_PASTE14, \
+        NLOHMANN_JSON_PASTE13, \
+        NLOHMANN_JSON_PASTE12, \
+        NLOHMANN_JSON_PASTE11, \
+        NLOHMANN_JSON_PASTE10, \
+        NLOHMANN_JSON_PASTE9, \
+        NLOHMANN_JSON_PASTE8, \
+        NLOHMANN_JSON_PASTE7, \
+        NLOHMANN_JSON_PASTE6, \
+        NLOHMANN_JSON_PASTE5, \
+        NLOHMANN_JSON_PASTE4, \
+        NLOHMANN_JSON_PASTE3, \
+        NLOHMANN_JSON_PASTE2, \
+        NLOHMANN_JSON_PASTE1)(__VA_ARGS__))
+#define NLOHMANN_JSON_PASTE2(func, v1) func(v1)
+#define NLOHMANN_JSON_PASTE3(func, v1, v2) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE2(func, v2)
+#define NLOHMANN_JSON_PASTE4(func, v1, v2, v3) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE3(func, v2, v3)
+#define NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE4(func, v2, v3, v4)
+#define NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5)
+#define NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6)
+#define NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7)
+#define NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8)
+#define NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9)
+#define NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10)
+#define NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11)
+#define NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12)
+#define NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13)
+#define NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14)
+#define NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15)
+#define NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16)
+#define NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17)
+#define NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18)
+#define NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19)
+#define NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20)
+#define NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21)
+#define NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22)
+#define NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23)
+#define NLOHMANN_JSON_PASTE25(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24)
+#define NLOHMANN_JSON_PASTE26(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25)
+#define NLOHMANN_JSON_PASTE27(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE26(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26)
+#define NLOHMANN_JSON_PASTE28(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE27(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27)
+#define NLOHMANN_JSON_PASTE29(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE28(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28)
+#define NLOHMANN_JSON_PASTE30(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE29(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29)
+#define NLOHMANN_JSON_PASTE31(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE30(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30)
+#define NLOHMANN_JSON_PASTE32(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE31(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31)
+#define NLOHMANN_JSON_PASTE33(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE32(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32)
+#define NLOHMANN_JSON_PASTE34(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE33(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33)
+#define NLOHMANN_JSON_PASTE35(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE34(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34)
+#define NLOHMANN_JSON_PASTE36(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE35(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35)
+#define NLOHMANN_JSON_PASTE37(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE36(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36)
+#define NLOHMANN_JSON_PASTE38(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE37(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37)
+#define NLOHMANN_JSON_PASTE39(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE38(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38)
+#define NLOHMANN_JSON_PASTE40(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE39(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39)
+#define NLOHMANN_JSON_PASTE41(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE40(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40)
+#define NLOHMANN_JSON_PASTE42(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE41(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41)
+#define NLOHMANN_JSON_PASTE43(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE42(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42)
+#define NLOHMANN_JSON_PASTE44(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE43(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43)
+#define NLOHMANN_JSON_PASTE45(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE44(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44)
+#define NLOHMANN_JSON_PASTE46(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE45(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45)
+#define NLOHMANN_JSON_PASTE47(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE46(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46)
+#define NLOHMANN_JSON_PASTE48(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE47(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47)
+#define NLOHMANN_JSON_PASTE49(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE48(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48)
+#define NLOHMANN_JSON_PASTE50(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE49(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49)
+#define NLOHMANN_JSON_PASTE51(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE50(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50)
+#define NLOHMANN_JSON_PASTE52(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE51(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51)
+#define NLOHMANN_JSON_PASTE53(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE52(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52)
+#define NLOHMANN_JSON_PASTE54(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE53(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53)
+#define NLOHMANN_JSON_PASTE55(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE54(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54)
+#define NLOHMANN_JSON_PASTE56(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE55(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55)
+#define NLOHMANN_JSON_PASTE57(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE56(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56)
+#define NLOHMANN_JSON_PASTE58(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE57(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57)
+#define NLOHMANN_JSON_PASTE59(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE58(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58)
+#define NLOHMANN_JSON_PASTE60(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE59(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59)
+#define NLOHMANN_JSON_PASTE61(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE60(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60)
+#define NLOHMANN_JSON_PASTE62(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE61(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61)
+#define NLOHMANN_JSON_PASTE63(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE62(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62)
+#define NLOHMANN_JSON_PASTE64(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE63(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63)
+
+#define NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1;
+#define NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1);
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#ifndef JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_USE_IMPLICIT_CONVERSIONS 1
+#endif
+
+#if JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_EXPLICIT
+#else
+    #define JSON_EXPLICIT explicit
+#endif
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////////
+// exceptions //
+////////////////
+
+/*!
+@brief general exception of the @ref basic_json class
+
+This class is an extension of `std::exception` objects with a member @a id for
+exception ids. It is used as the base class for all exceptions thrown by the
+@ref basic_json class. This class can hence be used as "wildcard" to catch
+exceptions.
+
+Subclasses:
+- @ref parse_error for exceptions indicating a parse error
+- @ref invalid_iterator for exceptions indicating errors with iterators
+- @ref type_error for exceptions indicating executing a member function with
+                  a wrong type
+- @ref out_of_range for exceptions indicating access out of the defined range
+- @ref other_error for exceptions indicating other library errors
+
+@internal
+@note To have nothrow-copy-constructible exceptions, we internally use
+      `std::runtime_error` which can cope with arbitrary-length error messages.
+      Intermediate strings are built with static functions and then passed to
+      the actual constructor.
+@endinternal
+
+@liveexample{The following code shows how arbitrary library exceptions can be
+caught.,exception}
+
+@since version 3.0.0
+*/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id;
+
+  protected:
+    JSON_HEDLEY_NON_NULL(3)
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {}
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return "[json.exception." + ename + "." + std::to_string(id_) + "] ";
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/*!
+@brief exception indicating a parse error
+
+This exception is thrown by the library when a parse error occurs. Parse errors
+can occur during the deserialization of JSON text, CBOR, MessagePack, as well
+as when using JSON Patch.
+
+Member @a byte holds the byte index of the last read character in the input
+file.
+
+Exceptions have ids 1xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.parse_error.101 | parse error at 2: unexpected end of input; expected string literal | This error indicates a syntax error while deserializing a JSON text. The error message describes that an unexpected token (character) was encountered, and the member @a byte indicates the error position.
+json.exception.parse_error.102 | parse error at 14: missing or wrong low surrogate | JSON uses the `\uxxxx` format to describe Unicode characters. Code points above above 0xFFFF are split into two `\uxxxx` entries ("surrogate pairs"). This error indicates that the surrogate pair is incomplete or contains an invalid code point.
+json.exception.parse_error.103 | parse error: code points above 0x10FFFF are invalid | Unicode supports code points up to 0x10FFFF. Code points above 0x10FFFF are invalid.
+json.exception.parse_error.104 | parse error: JSON patch must be an array of objects | [RFC 6902](https://tools.ietf.org/html/rfc6902) requires a JSON Patch document to be a JSON document that represents an array of objects.
+json.exception.parse_error.105 | parse error: operation must have string member 'op' | An operation of a JSON Patch document must contain exactly one "op" member, whose value indicates the operation to perform. Its value must be one of "add", "remove", "replace", "move", "copy", or "test"; other values are errors.
+json.exception.parse_error.106 | parse error: array index '01' must not begin with '0' | An array index in a JSON Pointer ([RFC 6901](https://tools.ietf.org/html/rfc6901)) may be `0` or any number without a leading `0`.
+json.exception.parse_error.107 | parse error: JSON pointer must be empty or begin with '/' - was: 'foo' | A JSON Pointer must be a Unicode string containing a sequence of zero or more reference tokens, each prefixed by a `/` character.
+json.exception.parse_error.108 | parse error: escape character '~' must be followed with '0' or '1' | In a JSON Pointer, only `~0` and `~1` are valid escape sequences.
+json.exception.parse_error.109 | parse error: array index 'one' is not a number | A JSON Pointer array index must be a number.
+json.exception.parse_error.110 | parse error at 1: cannot read 2 bytes from vector | When parsing CBOR or MessagePack, the byte vector ends before the complete value has been read.
+json.exception.parse_error.112 | parse error at 1: error reading CBOR; last byte: 0xF8 | Not all types of CBOR or MessagePack are supported. This exception occurs if an unsupported byte was read.
+json.exception.parse_error.113 | parse error at 2: expected a CBOR string; last byte: 0x98 | While parsing a map key, a value that is not a string has been read.
+json.exception.parse_error.114 | parse error: Unsupported BSON record type 0x0F | The parsing of the corresponding BSON record type is not implemented (yet).
+json.exception.parse_error.115 | parse error at byte 5: syntax error while parsing UBJSON high-precision number: invalid number text: 1A | A UBJSON high-precision number could not be parsed.
+
+@note For an input with n bytes, 1 is the index of the first character and n+1
+      is the index of the terminating null byte or the end of file. This also
+      holds true when reading a byte vector (CBOR or MessagePack).
+
+@liveexample{The following code shows how a `parse_error` exception can be
+caught.,parse_error}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] pos       the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        position_string(pos) + ": " + what_arg;
+        return parse_error(id_, pos.chars_read_total, w.c_str());
+    }
+
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg)
+    {
+        std::string w = exception::name("parse_error", id_) + "parse error" +
+                        (byte_ != 0 ? (" at byte " + std::to_string(byte_)) : "") +
+                        ": " + what_arg;
+        return parse_error(id_, byte_, w.c_str());
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return " at line " + std::to_string(pos.lines_read + 1) +
+               ", column " + std::to_string(pos.chars_read_current_line);
+    }
+};
+
+/*!
+@brief exception indicating errors with iterators
+
+This exception is thrown if iterators passed to a library function do not match
+the expected semantics.
+
+Exceptions have ids 2xx.
+
+name / id                           | example message | description
+----------------------------------- | --------------- | -------------------------
+json.exception.invalid_iterator.201 | iterators are not compatible | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.202 | iterator does not fit current value | In an erase or insert function, the passed iterator @a pos does not belong to the JSON value for which the function was called. It hence does not define a valid position for the deletion/insertion.
+json.exception.invalid_iterator.203 | iterators do not fit current value | Either iterator passed to function @ref erase(IteratorType first, IteratorType last) does not belong to the JSON value from which values shall be erased. It hence does not define a valid range to delete values from.
+json.exception.invalid_iterator.204 | iterators out of range | When an iterator range for a primitive type (number, boolean, or string) is passed to a constructor or an erase function, this range has to be exactly (@ref begin(), @ref end()), because this is the only way the single stored value is expressed. All other ranges are invalid.
+json.exception.invalid_iterator.205 | iterator out of range | When an iterator for a primitive type (number, boolean, or string) is passed to an erase function, the iterator has to be the @ref begin() iterator, because it is the only way to address the stored value. All other iterators are invalid.
+json.exception.invalid_iterator.206 | cannot construct with iterators from null | The iterators passed to constructor @ref basic_json(InputIT first, InputIT last) belong to a JSON null value and hence to not define a valid range.
+json.exception.invalid_iterator.207 | cannot use key() for non-object iterators | The key() member function can only be used on iterators belonging to a JSON object, because other types do not have a concept of a key.
+json.exception.invalid_iterator.208 | cannot use operator[] for object iterators | The operator[] to specify a concrete offset cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.209 | cannot use offsets with object iterators | The offset operators (+, -, +=, -=) cannot be used on iterators belonging to a JSON object, because JSON objects are unordered.
+json.exception.invalid_iterator.210 | iterators do not fit | The iterator range passed to the insert function are not compatible, meaning they do not belong to the same container. Therefore, the range (@a first, @a last) is invalid.
+json.exception.invalid_iterator.211 | passed iterators may not belong to container | The iterator range passed to the insert function must not be a subrange of the container to insert to.
+json.exception.invalid_iterator.212 | cannot compare iterators of different containers | When two iterators are compared, they must belong to the same container.
+json.exception.invalid_iterator.213 | cannot compare order of object iterators | The order of object iterators cannot be compared, because JSON objects are unordered.
+json.exception.invalid_iterator.214 | cannot get value | Cannot get value for iterator: Either the iterator belongs to a null value or it is an iterator to a primitive type (number, boolean, or string), but the iterator is different to @ref begin().
+
+@liveexample{The following code shows how an `invalid_iterator` exception can be
+caught.,invalid_iterator}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class invalid_iterator : public exception
+{
+  public:
+    static invalid_iterator create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("invalid_iterator", id_) + what_arg;
+        return invalid_iterator(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating executing a member function with a wrong type
+
+This exception is thrown in case of a type error; that is, a library function is
+executed on a JSON value whose type does not match the expected semantics.
+
+Exceptions have ids 3xx.
+
+name / id                     | example message | description
+----------------------------- | --------------- | -------------------------
+json.exception.type_error.301 | cannot create object from initializer list | To create an object from an initializer list, the initializer list must consist only of a list of pairs whose first element is a string. When this constraint is violated, an array is created instead.
+json.exception.type_error.302 | type must be object, but is array | During implicit or explicit value conversion, the JSON type must be compatible to the target type. For instance, a JSON string can only be converted into string types, but not into numbers or boolean types.
+json.exception.type_error.303 | incompatible ReferenceType for get_ref, actual type is object | To retrieve a reference to a value stored in a @ref basic_json object with @ref get_ref, the type of the reference must match the value type. For instance, for a JSON array, the @a ReferenceType must be @ref array_t &.
+json.exception.type_error.304 | cannot use at() with string | The @ref at() member functions can only be executed for certain JSON types.
+json.exception.type_error.305 | cannot use operator[] with string | The @ref operator[] member functions can only be executed for certain JSON types.
+json.exception.type_error.306 | cannot use value() with string | The @ref value() member functions can only be executed for certain JSON types.
+json.exception.type_error.307 | cannot use erase() with string | The @ref erase() member functions can only be executed for certain JSON types.
+json.exception.type_error.308 | cannot use push_back() with string | The @ref push_back() and @ref operator+= member functions can only be executed for certain JSON types.
+json.exception.type_error.309 | cannot use insert() with | The @ref insert() member functions can only be executed for certain JSON types.
+json.exception.type_error.310 | cannot use swap() with number | The @ref swap() member functions can only be executed for certain JSON types.
+json.exception.type_error.311 | cannot use emplace_back() with string | The @ref emplace_back() member function can only be executed for certain JSON types.
+json.exception.type_error.312 | cannot use update() with string | The @ref update() member functions can only be executed for certain JSON types.
+json.exception.type_error.313 | invalid value to unflatten | The @ref unflatten function converts an object whose keys are JSON Pointers back into an arbitrary nested JSON value. The JSON Pointers must not overlap, because then the resulting value would not be well defined.
+json.exception.type_error.314 | only objects can be unflattened | The @ref unflatten function only works for an object whose keys are JSON Pointers.
+json.exception.type_error.315 | values in object must be primitive | The @ref unflatten function only works for an object whose keys are JSON Pointers and whose values are primitive.
+json.exception.type_error.316 | invalid UTF-8 byte at index 10: 0x7E | The @ref dump function only works with UTF-8 encoded strings; that is, if you assign a `std::string` to a JSON value, make sure it is UTF-8 encoded. |
+json.exception.type_error.317 | JSON value cannot be serialized to requested format | The dynamic type of the object cannot be represented in the requested serialization format (e.g. a raw `true` or `null` JSON object cannot be serialized to BSON) |
+
+@liveexample{The following code shows how a `type_error` exception can be
+caught.,type_error}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class type_error : public exception
+{
+  public:
+    static type_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("type_error", id_) + what_arg;
+        return type_error(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating access out of the defined range
+
+This exception is thrown in case a library function is called on an input
+parameter that exceeds the expected range, for instance in case of array
+indices or nonexisting object keys.
+
+Exceptions have ids 4xx.
+
+name / id                       | example message | description
+------------------------------- | --------------- | -------------------------
+json.exception.out_of_range.401 | array index 3 is out of range | The provided array index @a i is larger than @a size-1.
+json.exception.out_of_range.402 | array index '-' (3) is out of range | The special array index `-` in a JSON Pointer never describes a valid element of the array, but the index past the end. That is, it can only be used to add elements at this position, but not to read it.
+json.exception.out_of_range.403 | key 'foo' not found | The provided key was not found in the JSON object.
+json.exception.out_of_range.404 | unresolved reference token 'foo' | A reference token in a JSON Pointer could not be resolved.
+json.exception.out_of_range.405 | JSON pointer has no parent | The JSON Patch operations 'remove' and 'add' can not be applied to the root element of the JSON value.
+json.exception.out_of_range.406 | number overflow parsing '10E1000' | A parsed number could not be stored as without changing it to NaN or INF.
+json.exception.out_of_range.407 | number overflow serializing '9223372036854775808' | UBJSON and BSON only support integer numbers up to 9223372036854775807. (until version 3.8.0) |
+json.exception.out_of_range.408 | excessive array size: 8658170730974374167 | The size (following `#`) of an UBJSON array or object exceeds the maximal capacity. |
+json.exception.out_of_range.409 | BSON key cannot contain code point U+0000 (at byte 2) | Key identifiers to be serialized to BSON cannot contain code point U+0000, since the key is stored as zero-terminated c-string |
+
+@liveexample{The following code shows how an `out_of_range` exception can be
+caught.,out_of_range}
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref other_error for exceptions indicating other library errors
+
+@since version 3.0.0
+*/
+class out_of_range : public exception
+{
+  public:
+    static out_of_range create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("out_of_range", id_) + what_arg;
+        return out_of_range(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/*!
+@brief exception indicating other library errors
+
+This exception is thrown in case of errors that cannot be classified with the
+other exception types.
+
+Exceptions have ids 5xx.
+
+name / id                      | example message | description
+------------------------------ | --------------- | -------------------------
+json.exception.other_error.501 | unsuccessful: {"op":"test","path":"/baz", "value":"bar"} | A JSON Patch operation 'test' failed. The unsuccessful operation is also printed.
+
+@sa - @ref exception for the base class of the library exceptions
+@sa - @ref parse_error for exceptions indicating a parse error
+@sa - @ref invalid_iterator for exceptions indicating errors with iterators
+@sa - @ref type_error for exceptions indicating executing a member function with
+                    a wrong type
+@sa - @ref out_of_range for exceptions indicating access out of the defined range
+
+@liveexample{The following code shows how an `other_error` exception can be
+caught.,other_error}
+
+@since version 3.0.0
+*/
+class other_error : public exception
+{
+  public:
+    static other_error create(int id_, const std::string& what_arg)
+    {
+        std::string w = exception::name("other_error", id_) + what_arg;
+        return other_error(id_, w.c_str());
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+
+namespace nlohmann
+{
+namespace detail
+{
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+// implementation of C++14 index_sequence and affiliates
+// source: https://stackoverflow.com/a/32223343
+template<std::size_t... Ints>
+struct index_sequence
+{
+    using type = index_sequence;
+    using value_type = std::size_t;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+template<class Sequence1, class Sequence2>
+struct merge_and_renumber;
+
+template<std::size_t... I1, std::size_t... I2>
+struct merge_and_renumber<index_sequence<I1...>, index_sequence<I2...>>
+        : index_sequence < I1..., (sizeof...(I1) + I2)... > {};
+
+template<std::size_t N>
+struct make_index_sequence
+    : merge_and_renumber < typename make_index_sequence < N / 2 >::type,
+      typename make_index_sequence < N - N / 2 >::type > {};
+
+template<> struct make_index_sequence<0> : index_sequence<> {};
+template<> struct make_index_sequence<1> : index_sequence<0> {};
+
+template<typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static constexpr T value{};
+};
+
+template<typename T>
+constexpr T static_const<T>::value;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+
+#include <iterator> // random_access_iterator_tag
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template<typename ...Ts> using void_t = typename make_void<Ts...>::type;
+} // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename It, typename = void>
+struct iterator_types {};
+
+template<typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template<typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template<typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template<typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+
+#include <type_traits>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+
+// https://en.cppreference.com/w/cpp/experimental/is_detected
+namespace nlohmann
+{
+namespace detail
+{
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    nonesuch(nonesuch const&&) = delete;
+    void operator=(nonesuch const&) = delete;
+    void operator=(nonesuch&&) = delete;
+};
+
+template<class Default,
+         class AlwaysVoid,
+         template<class...> class Op,
+         class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template<class Default, template<class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template<template<class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template<template<class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template<class Expected, template<class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template<class To, template<class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/json_fwd.hpp>
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+#define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+#include <cstdint> // int64_t, uint64_t
+#include <map> // map
+#include <memory> // allocator
+#include <string> // string
+#include <vector> // vector
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+/*!
+@brief default JSONSerializer template argument
+
+This serializer ignores the template arguments and uses ADL
+([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+for serialization.
+*/
+template<typename T = void, typename SFINAE = void>
+struct adl_serializer;
+
+template<template<typename U, typename V, typename... Args> class ObjectType =
+         std::map,
+         template<typename U, typename... Args> class ArrayType = std::vector,
+         class StringType = std::string, class BooleanType = bool,
+         class NumberIntegerType = std::int64_t,
+         class NumberUnsignedType = std::uint64_t,
+         class NumberFloatType = double,
+         template<typename U> class AllocatorType = std::allocator,
+         template<typename T, typename SFINAE = void> class JSONSerializer =
+         adl_serializer,
+         class BinaryType = std::vector<std::uint8_t>>
+class basic_json;
+
+/*!
+@brief JSON Pointer
+
+A JSON pointer defines a string syntax for identifying a specific value
+within a JSON document. It can be used with functions `at` and
+`operator[]`. Furthermore, JSON pointers are the base for JSON patches.
+
+@sa [RFC 6901](https://tools.ietf.org/html/rfc6901)
+
+@since version 2.0.0
+*/
+template<typename BasicJsonType>
+class json_pointer;
+
+/*!
+@brief default JSON class
+
+This type is the default specialization of the @ref basic_json class which
+uses the standard template types.
+
+@since version 1.0.0
+*/
+using json = basic_json<>;
+
+template<class Key, class T, class IgnoredLess, class Allocator>
+struct ordered_map;
+
+/*!
+@brief ordered JSON class
+
+This type preserves the insertion order of object keys.
+
+@since version 3.9.0
+*/
+using ordered_json = basic_json<nlohmann::ordered_map>;
+
+}  // namespace nlohmann
+
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+
+namespace nlohmann
+{
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+//////////////////////
+// json_ref helpers //
+//////////////////////
+
+template<typename>
+class json_ref;
+
+template<typename>
+struct is_json_ref : std::false_type {};
+
+template<typename T>
+struct is_json_ref<json_ref<T>> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template<typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template<typename T>
+using key_type_t = typename T::key_type;
+
+template<typename T>
+using value_type_t = typename T::value_type;
+
+template<typename T>
+using difference_type_t = typename T::difference_type;
+
+template<typename T>
+using pointer_t = typename T::pointer;
+
+template<typename T>
+using reference_t = typename T::reference;
+
+template<typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template<typename T>
+using iterator_t = typename T::iterator;
+
+template<typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template<typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template<typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template<typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+// trait checking if j.get<T> is valid
+// use this trait instead of std::is_constructible or std::is_convertible,
+// both rely on, or make use of implicit conversions, and thus fail when T
+// has several constructors/operator= (see https://github.com/nlohmann/json/issues/958)
+template <typename BasicJsonType, typename T>
+struct is_getable
+{
+    static constexpr bool value = is_detected<get_template_function, const BasicJsonType&, T>::value;
+};
+
+template<typename BasicJsonType, typename T>
+struct has_from_json < BasicJsonType, T,
+           enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template<typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template<typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+
+///////////////////
+// is_ functions //
+///////////////////
+
+template<typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template<typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+// source: https://stackoverflow.com/a/37193089/4116453
+
+template<typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template<typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, CompatibleObjectType>::value&&
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        std::is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value &&
+        std::is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, ConstructibleObjectType>::value&&
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (std::is_default_constructible<ConstructibleObjectType>::value &&
+         (std::is_move_assignable<ConstructibleObjectType>::value ||
+          std::is_copy_assignable<ConstructibleObjectType>::value) &&
+         (std::is_constructible<typename ConstructibleObjectType::key_type,
+          typename object_t::key_type>::value &&
+          std::is_same <
+          typename object_t::mapped_type,
+          typename ConstructibleObjectType::mapped_type >::value)) ||
+        (has_from_json<BasicJsonType,
+         typename ConstructibleObjectType::mapped_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType,
+         typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template<typename BasicJsonType, typename CompatibleStringType,
+         typename = void>
+struct is_compatible_string_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type_impl <
+    BasicJsonType, CompatibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, CompatibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_compatible_string_type
+    : is_compatible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template<typename BasicJsonType, typename ConstructibleStringType,
+         typename = void>
+struct is_constructible_string_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type_impl <
+    BasicJsonType, ConstructibleStringType,
+    enable_if_t<is_detected_exact<typename BasicJsonType::string_t::value_type,
+    value_type_t, ConstructibleStringType>::value >>
+{
+    static constexpr auto value =
+        std::is_constructible<ConstructibleStringType,
+        typename BasicJsonType::string_t>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+    : is_constructible_string_type_impl<BasicJsonType, ConstructibleStringType> {};
+
+template<typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t < is_detected<value_type_t, CompatibleArrayType>::value&&
+    is_detected<iterator_t, CompatibleArrayType>::value&&
+// This is needed because json_reverse_iterator has a ::iterator type...
+// Therefore it is detected as a CompatibleArrayType.
+// The real fix would be to have an Iterable concept.
+    !is_iterator_traits <
+    iterator_traits<CompatibleArrayType >>::value >>
+{
+    static constexpr bool value =
+        std::is_constructible<BasicJsonType,
+        typename CompatibleArrayType::value_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t < !std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value&&
+    std::is_default_constructible<ConstructibleArrayType>::value&&
+(std::is_move_assignable<ConstructibleArrayType>::value ||
+ std::is_copy_assignable<ConstructibleArrayType>::value)&&
+is_detected<value_type_t, ConstructibleArrayType>::value&&
+is_detected<iterator_t, ConstructibleArrayType>::value&&
+is_complete_type <
+detected_t<value_type_t, ConstructibleArrayType >>::value >>
+{
+    static constexpr bool value =
+        // This is needed because json_reverse_iterator has a ::iterator type,
+        // furthermore, std::back_insert_iterator (and other iterators) have a
+        // base class `iterator`... Therefore it is detected as a
+        // ConstructibleArrayType. The real fix would be to have an Iterable
+        // concept.
+        !is_iterator_traits<iterator_traits<ConstructibleArrayType>>::value &&
+
+        (std::is_same<typename ConstructibleArrayType::value_type,
+         typename BasicJsonType::array_t::value_type>::value ||
+         has_from_json<BasicJsonType,
+         typename ConstructibleArrayType::value_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType, typename ConstructibleArrayType::value_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType,
+         typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t < std::is_integral<RealIntegerType>::value&&
+    std::is_integral<CompatibleNumberIntegerType>::value&&
+    !std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        std::is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value &&
+        CompatibleLimits::is_integer &&
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template<typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+
+// https://en.cppreference.com/w/cpp/types/conjunction
+template<class...> struct conjunction : std::true_type { };
+template<class B1> struct conjunction<B1> : B1 { };
+template<class B1, class... Bn>
+struct conjunction<B1, Bn...>
+: std::conditional<bool(B1::value), conjunction<Bn...>, B1>::type {};
+
+template<typename T1, typename T2>
+struct is_constructible_tuple : std::false_type {};
+
+template<typename T1, typename... Args>
+struct is_constructible_tuple<T1, std::tuple<Args...>> : conjunction<std::is_constructible<T1, Args>...> {};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+#include <string> // string
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    binary,           ///< binary array (ordered collection of bytes)
+    discarded         ///< discarded by the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string < binary
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+- binary is represented as a b"" string in python and directly comparable to a
+  string; however, making a binary array directly comparable with a string would
+  be surprising behavior in a JSON file.
+
+@since version 1.0.0
+*/
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    static constexpr std::array<std::uint8_t, 9> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */,
+            6 /* binary */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+    return l_index < order.size() && r_index < order.size() && order[l_index] < order[r_index];
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, "type must be null, but is " + std::string(j.type_name())));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t < std::is_arithmetic<ArithmeticType>::value&&
+                         !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                         int > = 0 >
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(j.type_name())));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename ConstructibleStringType,
+    enable_if_t <
+        is_constructible_string_type<BasicJsonType, ConstructibleStringType>::value&&
+        !std::is_same<typename BasicJsonType::string_t,
+                      ConstructibleStringType>::value,
+        int > = 0 >
+void from_json(const BasicJsonType& j, ConstructibleStringType& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, "type must be string, but is " + std::string(j.type_name())));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.clear();
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    l.resize(j.size());
+    std::transform(j.begin(), j.end(), std::begin(l),
+                   [](const BasicJsonType & elem)
+    {
+        return elem.template get<T>();
+    });
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json(const BasicJsonType& j, T (&arr)[N])
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType>
+void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    ret.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(ret, end(ret)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                          priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    std::transform(
+        j.begin(), j.end(), std::inserter(ret, end(ret)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template < typename BasicJsonType, typename ConstructibleArrayType,
+           enable_if_t <
+               is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !std::is_same<ConstructibleArrayType, typename BasicJsonType::binary_t>::value&&
+               !is_basic_json<ConstructibleArrayType>::value,
+               int > = 0 >
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " +
+                                      std::string(j.type_name())));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template<typename BasicJsonType>
+void from_json(const BasicJsonType& j, typename BasicJsonType::binary_t& bin)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_binary()))
+    {
+        JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(j.type_name())));
+    }
+
+    bin = *j.template get_ptr<const typename BasicJsonType::binary_t*>();
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, "type must be object, but is " + std::string(j.type_name())));
+    }
+
+    ConstructibleObjectType ret;
+    auto inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(ret, ret.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+    obj = std::move(ret);
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t <
+               std::is_arithmetic<ArithmeticType>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+               int > = 0 >
+void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        default:
+            JSON_THROW(type_error::create(302, "type must be number, but is " + std::string(j.type_name())));
+    }
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+void from_json(const BasicJsonType& j, std::pair<A1, A2>& p)
+{
+    p = {j.at(0).template get<A1>(), j.at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void from_json_tuple_impl(const BasicJsonType& j, Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    t = std::make_tuple(j.at(Idx).template get<typename std::tuple_element<Idx, Tuple>::type>()...);
+}
+
+template<typename BasicJsonType, typename... Args>
+void from_json(const BasicJsonType& j, std::tuple<Args...>& t)
+{
+    from_json_tuple_impl(j, t, index_sequence_for<Args...> {});
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(j.type_name())));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, "type must be array, but is " + std::string(p.type_name())));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T& val) const
+    noexcept(noexcept(from_json(j, val)))
+    -> decltype(from_json(j, val), void())
+    {
+        return from_json(j, val);
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace
+{
+constexpr const auto& from_json = detail::static_const<detail::from_json_fn>::value;
+} // namespace
+} // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+
+#include <algorithm> // copy
+#include <iterator> // begin, end
+#include <string> // string
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+
+#include <cstddef> // size_t
+#include <iterator> // input_iterator_tag
+#include <string> // string, to_string
+#include <tuple> // tuple_size, get, tuple_element
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename string_type>
+void int_to_string( string_type& target, std::size_t value )
+{
+    // For ADL
+    using std::to_string;
+    target = to_string(value);
+}
+template<typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type * ;
+    using reference = value_type & ;
+    using iterator_category = std::input_iterator_tag;
+    using string_type = typename std::remove_cv< typename std::remove_reference<decltype( std::declval<IteratorType>().key() ) >::type >::type;
+
+  private:
+    /// the iterator
+    IteratorType anchor;
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable string_type array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    const string_type empty_str = "";
+
+  public:
+    explicit iteration_proxy_value(IteratorType it) noexcept : anchor(it) {}
+
+    /// dereference operator (needed for range-based for)
+    iteration_proxy_value& operator*()
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const string_type& key() const
+    {
+        JSON_ASSERT(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    int_to_string( array_index_str, array_index );
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::reference container;
+
+  public:
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(cont) {}
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container.end());
+    }
+};
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+}  // namespace detail
+}  // namespace nlohmann
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+#if defined(__clang__)
+    // Fix: https://github.com/nlohmann/json/issues/1401
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+template<typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>>
+            : public std::integral_constant<std::size_t, 2> {};
+
+template<std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >>
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+} // namespace std
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////
+// constructors //
+//////////////////
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_type = value_t::boolean;
+        j.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_type = value_t::string;
+        j.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleStringType,
+               enable_if_t < !std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_type = value_t::string;
+        j.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::binary>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::binary_t& b)
+    {
+        j.m_type = value_t::binary;
+        typename BasicJsonType::binary_t value{b};
+        j.m_value = value;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::binary_t&& b)
+    {
+        j.m_type = value_t::binary;
+        typename BasicJsonType::binary_t value{std::move(b)};
+        j.m_value = value;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_type = value_t::number_float;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_type = value_t::number_unsigned;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_type = value_t::number_integer;
+        j.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = arr;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = std::move(arr);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleArrayType,
+               enable_if_t < !std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+        j.m_type = value_t::array;
+        j.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_value.array->push_back(x);
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_type = value_t::array;
+        j.m_value = value_t::array;
+        j.m_value.array->resize(arr.size());
+        if (arr.size() > 0)
+        {
+            std::copy(std::begin(arr), std::end(arr), j.m_value.array->begin());
+        }
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = obj;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_type = value_t::object;
+        j.m_value = std::move(obj);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleObjectType,
+               enable_if_t < !std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_type = value_t::object;
+        j.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template < typename BasicJsonType, typename CompatibleArrayType,
+           enable_if_t < is_compatible_array_type<BasicJsonType,
+                         CompatibleArrayType>::value&&
+                         !is_compatible_object_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !std::is_same<typename BasicJsonType::binary_t, CompatibleArrayType>::value&&
+                         !is_basic_json<CompatibleArrayType>::value,
+                         int > = 0 >
+void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, const typename BasicJsonType::binary_t& bin)
+{
+    external_constructor<value_t::binary>::construct(j, bin);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template < typename BasicJsonType, typename CompatibleObjectType,
+           enable_if_t < is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value&& !is_basic_json<CompatibleObjectType>::value, int > = 0 >
+void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t < !std::is_constructible<typename BasicJsonType::string_t,
+                  const T(&)[N]>::value,
+                  int > = 0 >
+void to_json(BasicJsonType& j, const T(&arr)[N])
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template < typename BasicJsonType, typename T1, typename T2, enable_if_t < std::is_constructible<BasicJsonType, T1>::value&& std::is_constructible<BasicJsonType, T2>::value, int > = 0 >
+void to_json(BasicJsonType& j, const std::pair<T1, T2>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename T, enable_if_t<is_constructible_tuple<BasicJsonType, T>::value, int > = 0>
+void to_json(BasicJsonType& j, const T& t)
+{
+    to_json_tuple_impl(j, t, make_index_sequence<std::tuple_size<T>::value> {});
+}
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+/// namespace to hold default `to_json` function
+namespace
+{
+constexpr const auto& to_json = detail::static_const<detail::to_json_fn>::value;
+} // namespace
+} // namespace nlohmann
+
+
+namespace nlohmann
+{
+
+template<typename, typename>
+struct adl_serializer
+{
+    /*!
+    @brief convert a JSON value to any value type
+
+    This function is usually called by the `get()` function of the
+    @ref basic_json class (either explicit or via conversion operators).
+
+    @param[in] j        JSON value to read from
+    @param[in,out] val  value to write to
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto from_json(BasicJsonType&& j, ValueType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /*!
+    @brief convert any value type to a JSON value
+
+    This function is usually called by the constructors of the @ref basic_json
+    class.
+
+    @param[in,out] j  JSON value to write to
+    @param[in] val    value to read from
+    */
+    template<typename BasicJsonType, typename ValueType>
+    static auto to_json(BasicJsonType& j, ValueType&& val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<ValueType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<ValueType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<ValueType>(val));
+    }
+};
+
+}  // namespace nlohmann
+
+// #include <nlohmann/byte_container_with_subtype.hpp>
+
+
+#include <cstdint> // uint8_t
+#include <tuple> // tie
+#include <utility> // move
+
+namespace nlohmann
+{
+
+/*!
+@brief an internal type for a backed binary type
+
+This type extends the template parameter @a BinaryType provided to `basic_json`
+with a subtype used by BSON and MessagePack. This type exists so that the user
+does not have to specify a type themselves with a specific naming scheme in
+order to override the binary type.
+
+@tparam BinaryType container to store bytes (`std::vector<std::uint8_t>` by
+                   default)
+
+@since version 3.8.0
+*/
+template<typename BinaryType>
+class byte_container_with_subtype : public BinaryType
+{
+  public:
+    /// the type of the underlying container
+    using container_type = BinaryType;
+
+    byte_container_with_subtype() noexcept(noexcept(container_type()))
+        : container_type()
+    {}
+
+    byte_container_with_subtype(const container_type& b) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+    {}
+
+    byte_container_with_subtype(container_type&& b) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+    {}
+
+    byte_container_with_subtype(const container_type& b, std::uint8_t subtype) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+        , m_subtype(subtype)
+        , m_has_subtype(true)
+    {}
+
+    byte_container_with_subtype(container_type&& b, std::uint8_t subtype) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+        , m_subtype(subtype)
+        , m_has_subtype(true)
+    {}
+
+    bool operator==(const byte_container_with_subtype& rhs) const
+    {
+        return std::tie(static_cast<const BinaryType&>(*this), m_subtype, m_has_subtype) ==
+               std::tie(static_cast<const BinaryType&>(rhs), rhs.m_subtype, rhs.m_has_subtype);
+    }
+
+    bool operator!=(const byte_container_with_subtype& rhs) const
+    {
+        return !(rhs == *this);
+    }
+
+    /*!
+    @brief sets the binary subtype
+
+    Sets the binary subtype of the value, also flags a binary JSON value as
+    having a subtype, which has implications for serialization.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    void set_subtype(std::uint8_t subtype) noexcept
+    {
+        m_subtype = subtype;
+        m_has_subtype = true;
+    }
+
+    /*!
+    @brief return the binary subtype
+
+    Returns the numerical subtype of the value if it has a subtype. If it does
+    not have a subtype, this function will return size_t(-1) as a sentinel
+    value.
+
+    @return the numerical subtype of the binary value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    constexpr std::uint8_t subtype() const noexcept
+    {
+        return m_subtype;
+    }
+
+    /*!
+    @brief return whether the value has a subtype
+
+    @return whether the value has a subtype
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref clear_subtype() -- clears the binary subtype
+
+    @since version 3.8.0
+    */
+    constexpr bool has_subtype() const noexcept
+    {
+        return m_has_subtype;
+    }
+
+    /*!
+    @brief clears the binary subtype
+
+    Clears the binary subtype and flags the value as not having a subtype, which
+    has implications for serialization; for instance MessagePack will prefer the
+    bin family over the ext family.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @sa @ref subtype() -- return the binary subtype
+    @sa @ref set_subtype() -- sets the binary subtype
+    @sa @ref has_subtype() -- returns whether or not the binary value has a
+    subtype
+
+    @since version 3.8.0
+    */
+    void clear_subtype() noexcept
+    {
+        m_subtype = 0;
+        m_has_subtype = false;
+    }
+
+  private:
+    std::uint8_t m_subtype = 0;
+    bool m_has_subtype = false;
+};
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/hash.hpp>
+
+
+#include <cstddef> // size_t, uint8_t
+#include <functional> // hash
+
+namespace nlohmann
+{
+namespace detail
+{
+
+// boost::hash_combine
+inline std::size_t combine(std::size_t seed, std::size_t h) noexcept
+{
+    seed ^= h + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+    return seed;
+}
+
+/*!
+@brief hash a JSON value
+
+The hash function tries to rely on std::hash where possible. Furthermore, the
+type of the JSON value is taken into account to have different hash values for
+null, 0, 0U, and false, etc.
+
+@tparam BasicJsonType basic_json specialization
+@param j JSON value to hash
+@return hash value of j
+*/
+template<typename BasicJsonType>
+std::size_t hash(const BasicJsonType& j)
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+    const auto type = static_cast<std::size_t>(j.type());
+    switch (j.type())
+    {
+        case BasicJsonType::value_t::null:
+        case BasicJsonType::value_t::discarded:
+        {
+            return combine(type, 0);
+        }
+
+        case BasicJsonType::value_t::object:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j.items())
+            {
+                const auto h = std::hash<string_t> {}(element.key());
+                seed = combine(seed, h);
+                seed = combine(seed, hash(element.value()));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::array:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j)
+            {
+                seed = combine(seed, hash(element));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::string:
+        {
+            const auto h = std::hash<string_t> {}(j.template get_ref<const string_t&>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::boolean:
+        {
+            const auto h = std::hash<bool> {}(j.template get<bool>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_integer:
+        {
+            const auto h = std::hash<number_integer_t> {}(j.template get<number_integer_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::number_unsigned:
+        {
+            const auto h = std::hash<number_unsigned_t> {}(j.template get<number_unsigned_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::number_float:
+        {
+            const auto h = std::hash<number_float_t> {}(j.template get<number_float_t>());
+            return combine(type, h);
+        }
+
+        case nlohmann::detail::value_t::binary:
+        {
+            auto seed = combine(type, j.get_binary().size());
+            const auto h = std::hash<bool> {}(j.get_binary().has_subtype());
+            seed = combine(seed, h);
+            seed = combine(seed, j.get_binary().subtype());
+            for (const auto byte : j.get_binary())
+            {
+                seed = combine(seed, std::hash<std::uint8_t> {}(byte));
+            }
+            return seed;
+        }
+
+        default: // LCOV_EXCL_LINE
+            JSON_ASSERT(false); // LCOV_EXCL_LINE
+    }
+}
+
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdio> //FILE *
+#include <cstring> // strlen
+#include <istream> // istream
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson };
+
+////////////////////
+// input adapters //
+////////////////////
+
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter
+{
+  public:
+    using char_type = char;
+
+    JSON_HEDLEY_NON_NULL(2)
+    explicit file_input_adapter(std::FILE* f) noexcept
+        : m_file(f)
+    {}
+
+    // make class move-only
+    file_input_adapter(const file_input_adapter&) = delete;
+    file_input_adapter(file_input_adapter&&) = default;
+    file_input_adapter& operator=(const file_input_adapter&) = delete;
+    file_input_adapter& operator=(file_input_adapter&&) = delete;
+
+    std::char_traits<char>::int_type get_character() noexcept
+    {
+        return std::fgetc(m_file);
+    }
+
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter
+{
+  public:
+    using char_type = char;
+
+    ~input_stream_adapter()
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        if (is != nullptr)
+        {
+            is->clear(is->rdstate() & std::ios::eofbit);
+        }
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(&i), sb(i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&& rhs) = delete;
+
+    input_stream_adapter(input_stream_adapter&& rhs) noexcept : is(rhs.is), sb(rhs.sb)
+    {
+        rhs.is = nullptr;
+        rhs.sb = nullptr;
+    }
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, eg. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character()
+    {
+        auto res = sb->sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (JSON_HEDLEY_UNLIKELY(res == EOF))
+        {
+            is->clear(is->rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream* is = nullptr;
+    std::streambuf* sb = nullptr;
+};
+
+// General-purpose iterator-based adapter. It might not be as fast as
+// theoretically possible for some containers, but it is extremely versatile.
+template<typename IteratorType>
+class iterator_input_adapter
+{
+  public:
+    using char_type = typename std::iterator_traits<IteratorType>::value_type;
+
+    iterator_input_adapter(IteratorType first, IteratorType last)
+        : current(std::move(first)), end(std::move(last)) {}
+
+    typename std::char_traits<char_type>::int_type get_character()
+    {
+        if (JSON_HEDLEY_LIKELY(current != end))
+        {
+            auto result = std::char_traits<char_type>::to_int_type(*current);
+            std::advance(current, 1);
+            return result;
+        }
+        else
+        {
+            return std::char_traits<char_type>::eof();
+        }
+    }
+
+  private:
+    IteratorType current;
+    IteratorType end;
+
+    template<typename BaseInputAdapter, size_t T>
+    friend struct wide_string_input_helper;
+
+    bool empty() const
+    {
+        return current == end;
+    }
+
+};
+
+
+template<typename BaseInputAdapter, size_t T>
+struct wide_string_input_helper;
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 4>
+{
+    // UTF-32
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u) & 0x1Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u) & 0x0Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | ((static_cast<unsigned int>(wc) >> 18u) & 0x07u));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 12u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 2>
+{
+    // UTF-16
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc || wc >= 0xE000)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (JSON_HEDLEY_UNLIKELY(!input.empty()))
+                {
+                    const auto wc2 = static_cast<unsigned int>(input.get_character());
+                    const auto charcode = 0x10000u + (((static_cast<unsigned int>(wc) & 0x3FFu) << 10u) | (wc2 & 0x3FFu));
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | (charcode >> 18u));
+                    utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 12u) & 0x3Fu));
+                    utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 6u) & 0x3Fu));
+                    utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (charcode & 0x3Fu));
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+// Wraps another input apdater to convert wide character types into individual bytes.
+template<typename BaseInputAdapter, typename WideCharType>
+class wide_string_input_adapter
+{
+  public:
+    using char_type = char;
+
+    wide_string_input_adapter(BaseInputAdapter base)
+        : base_adapter(base) {}
+
+    typename std::char_traits<char>::int_type get_character() noexcept
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(WideCharType)>();
+
+            JSON_ASSERT(utf8_bytes_filled > 0);
+            JSON_ASSERT(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        JSON_ASSERT(utf8_bytes_filled > 0);
+        JSON_ASSERT(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    BaseInputAdapter base_adapter;
+
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<BaseInputAdapter, T>::fill_buffer(base_adapter, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+
+template<typename IteratorType, typename Enable = void>
+struct iterator_input_adapter_factory
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using adapter_type = iterator_input_adapter<iterator_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(std::move(first), std::move(last));
+    }
+};
+
+template<typename T>
+struct is_iterator_of_multibyte
+{
+    using value_type = typename std::iterator_traits<T>::value_type;
+    enum
+    {
+        value = sizeof(value_type) > 1
+    };
+};
+
+template<typename IteratorType>
+struct iterator_input_adapter_factory<IteratorType, enable_if_t<is_iterator_of_multibyte<IteratorType>::value>>
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using base_adapter_type = iterator_input_adapter<iterator_type>;
+    using adapter_type = wide_string_input_adapter<base_adapter_type, char_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(base_adapter_type(std::move(first), std::move(last)));
+    }
+};
+
+// General purpose iterator-based input
+template<typename IteratorType>
+typename iterator_input_adapter_factory<IteratorType>::adapter_type input_adapter(IteratorType first, IteratorType last)
+{
+    using factory_type = iterator_input_adapter_factory<IteratorType>;
+    return factory_type::create(first, last);
+}
+
+// Convenience shorthand from container to iterator
+template<typename ContainerType>
+auto input_adapter(const ContainerType& container) -> decltype(input_adapter(begin(container), end(container)))
+{
+    // Enable ADL
+    using std::begin;
+    using std::end;
+
+    return input_adapter(begin(container), end(container));
+}
+
+// Special cases with fast paths
+inline file_input_adapter input_adapter(std::FILE* file)
+{
+    return file_input_adapter(file);
+}
+
+inline input_stream_adapter input_adapter(std::istream& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+inline input_stream_adapter input_adapter(std::istream&& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+using contiguous_bytes_input_adapter = decltype(input_adapter(std::declval<const char*>(), std::declval<const char*>()));
+
+// Null-delimited strings, and the like.
+template < typename CharT,
+           typename std::enable_if <
+               std::is_pointer<CharT>::value&&
+               !std::is_array<CharT>::value&&
+               std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+               sizeof(typename std::remove_pointer<CharT>::type) == 1,
+               int >::type = 0 >
+contiguous_bytes_input_adapter input_adapter(CharT b)
+{
+    auto length = std::strlen(reinterpret_cast<const char*>(b));
+    const auto* ptr = reinterpret_cast<const char*>(b);
+    return input_adapter(ptr, ptr + length);
+}
+
+template<typename T, std::size_t N>
+auto input_adapter(T (&array)[N]) -> decltype(input_adapter(array, array + N))
+{
+    return input_adapter(array, array + N);
+}
+
+// This class only handles inputs of input_buffer_adapter type.
+// It's required so that expressions like {ptr, len} can be implicitely casted
+// to the correct adapter.
+class span_input_adapter
+{
+  public:
+    template < typename CharT,
+               typename std::enable_if <
+                   std::is_pointer<CharT>::value&&
+                   std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+                   sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                   int >::type = 0 >
+    span_input_adapter(CharT b, std::size_t l)
+        : ia(reinterpret_cast<const char*>(b), reinterpret_cast<const char*>(b) + l) {}
+
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    span_input_adapter(IteratorType first, IteratorType last)
+        : ia(input_adapter(first, last)) {}
+
+    contiguous_bytes_input_adapter&& get()
+    {
+        return std::move(ia);
+    }
+
+  private:
+    contiguous_bytes_input_adapter ia;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+
+#include <cstddef>
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief an floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief a binary string was read
+    @param[in] val  binary value
+    @return whether parsing should proceed
+    @note It is safe to move the passed binary.
+    */
+    virtual bool binary(binary_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    virtual ~json_sax() = default;
+};
+
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @param[in, out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    // make class move-only
+    json_sax_dom_parser(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser(json_sax_dom_parser&&) = default;
+    json_sax_dom_parser& operator=(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser& operator=(json_sax_dom_parser&&) = default;
+    ~json_sax_dom_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408,
+                                            "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        ref_stack.pop_back();
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_value.array->back());
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_object());
+        JSON_ASSERT(object_element);
+        *object_element = BasicJsonType(std::forward<Value>(v));
+        return object_element;
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    // make class move-only
+    json_sax_dom_callback_parser(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser(json_sax_dom_callback_parser&&) = default;
+    json_sax_dom_callback_parser& operator=(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser& operator=(json_sax_dom_callback_parser&&) = default;
+    ~json_sax_dom_callback_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, "excessive object size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep && ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back() && !callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+        {
+            // discard object
+            *ref_stack.back() = discarded;
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (!ref_stack.empty() && ref_stack.back() && ref_stack.back()->is_structured())
+        {
+            // remove discarded value
+            for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+            {
+                if (it->is_discarded())
+                {
+                    ref_stack.back()->erase(it);
+                    break;
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != std::size_t(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, "excessive array size: " + std::to_string(len)));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (!keep)
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (!keep && !ref_stack.empty() && ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->pop_back();
+        }
+
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        JSON_ASSERT(!keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (!keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback || callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (!keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, &root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (!ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        // array
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_value.array->push_back(std::move(value));
+            return {true, &(ref_stack.back()->m_value.array->back())};
+        }
+
+        // object
+        JSON_ASSERT(ref_stack.back()->is_object());
+        // check if we should store an element for the current key
+        JSON_ASSERT(!key_keep_stack.empty());
+        const bool store_element = key_keep_stack.back();
+        key_keep_stack.pop_back();
+
+        if (!store_element)
+        {
+            return {false, nullptr};
+        }
+
+        JSON_ASSERT(object_element);
+        *object_element = std::move(value);
+        return {true, object_element};
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack {};
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool binary(binary_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t /*unused*/ = std::size_t(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+}  // namespace detail
+
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+
+#include <array> // array
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdio> // snprintf
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////
+// lexer //
+///////////
+
+template<typename BasicJsonType>
+class lexer_base
+{
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    JSON_HEDLEY_RETURNS_NON_NULL
+    JSON_HEDLEY_CONST
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case token_type::value_unsigned:
+            case token_type::value_integer:
+            case token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+};
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class lexer : public lexer_base<BasicJsonType>
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    using token_type = typename lexer_base<BasicJsonType>::token_type;
+
+    explicit lexer(InputAdapterType&& adapter, bool ignore_comments_ = false)
+        : ia(std::move(adapter))
+        , ignore_comments(ignore_comments_)
+        , decimal_point_char(static_cast<char_int_type>(get_decimal_point()))
+    {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = default;
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = default;
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    JSON_HEDLEY_PURE
+    static char get_decimal_point() noexcept
+    {
+        const auto* loc = localeconv();
+        JSON_ASSERT(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        JSON_ASSERT(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12u, 8u, 4u, 0u };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' && current <= '9')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x30u) << factor);
+            }
+            else if (current >= 'A' && current <= 'F')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x37u) << factor);
+            }
+            else if (current >= 'a' && current <= 'f')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x57u) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        JSON_ASSERT(0x0000 <= codepoint && codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<char_int_type> ranges)
+    {
+        JSON_ASSERT(ranges.size() == 2 || ranges.size() == 4 || ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_HEDLEY_LIKELY(*range <= current && current <= *(++range)))
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 7159. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        JSON_ASSERT(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case std::char_traits<char_type>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_HEDLEY_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 && codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_HEDLEY_LIKELY(get() == '\\' && get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_HEDLEY_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_HEDLEY_LIKELY(0xDC00 <= codepoint2 && codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint = static_cast<int>(
+                                                        // high surrogate occupies the most significant 22 bits
+                                                        (static_cast<unsigned int>(codepoint1) << 10u)
+                                                        // low surrogate occupies the least significant 15 bits
+                                                        + static_cast<unsigned int>(codepoint2)
+                                                        // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                                        // in the result so we have to subtract with:
+                                                        // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                                        - 0x35FDC00u);
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_HEDLEY_UNLIKELY(0xDC00 <= codepoint1 && codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            JSON_ASSERT(0x00 <= codepoint && codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(static_cast<char_int_type>(codepoint));
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xC0u | (static_cast<unsigned int>(codepoint) >> 6u)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xE0u | (static_cast<unsigned int>(codepoint) >> 12u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xF0u | (static_cast<unsigned int>(codepoint) >> 18u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 12u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    /*!
+     * @brief scan a comment
+     * @return whether comment could be scanned successfully
+     */
+    bool scan_comment()
+    {
+        switch (get())
+        {
+            // single-line comments skip input until a newline or EOF is read
+            case '/':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case '\n':
+                        case '\r':
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                            return true;
+
+                        default:
+                            break;
+                    }
+                }
+            }
+
+            // multi-line comments skip input until */ is read
+            case '*':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case std::char_traits<char_type>::eof():
+                        case '\0':
+                        {
+                            error_message = "invalid comment; missing closing '*/'";
+                            return false;
+                        }
+
+                        case '*':
+                        {
+                            switch (get())
+                            {
+                                case '/':
+                                    return true;
+
+                                default:
+                                {
+                                    unget();
+                                    continue;
+                                }
+                            }
+                        }
+
+                        default:
+                            continue;
+                    }
+                }
+            }
+
+            // unexpected character after reading '/'
+            default:
+            {
+                error_message = "invalid comment; expecting '/' or '*' after '/'";
+                return false;
+            }
+        }
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 7159.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 7159. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | decimal2 | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // all other characters are rejected outside scan_number()
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr;
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    JSON_HEDLEY_NON_NULL(2)
+    token_type scan_literal(const char_type* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        JSON_ASSERT(std::char_traits<char_type>::to_char_type(current) == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(std::char_traits<char_type>::to_char_type(get()) != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `std::char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia.get_character();
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            token_string.push_back(std::char_traits<char_type>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != std::char_traits<char_type>::eof()))
+        {
+            JSON_ASSERT(!token_string.empty());
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(char_int_type c)
+    {
+        token_buffer.push_back(static_cast<typename string_t::value_type>(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if (static_cast<unsigned char>(c) <= '\x1F')
+            {
+                // escape control characters
+                std::array<char, 9> cs{{}};
+                (std::snprintf)(cs.data(), cs.size(), "<U+%.4X>", static_cast<unsigned char>(c));
+                result += cs.data();
+            }
+            else
+            {
+                // add character as is
+                result.push_back(static_cast<std::string::value_type>(c));
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    JSON_HEDLEY_RETURNS_NON_NULL
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB && get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    void skip_whitespace()
+    {
+        do
+        {
+            get();
+        }
+        while (current == ' ' || current == '\t' || current == '\n' || current == '\r');
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 && !skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        skip_whitespace();
+
+        // ignore comments
+        while (ignore_comments && current == '/')
+        {
+            if (!scan_comment())
+            {
+                return token_type::parse_error;
+            }
+
+            // skip following whitespace
+            skip_whitespace();
+        }
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+            {
+                std::array<char_type, 4> true_literal = {{'t', 'r', 'u', 'e'}};
+                return scan_literal(true_literal.data(), true_literal.size(), token_type::literal_true);
+            }
+            case 'f':
+            {
+                std::array<char_type, 5> false_literal = {{'f', 'a', 'l', 's', 'e'}};
+                return scan_literal(false_literal.data(), false_literal.size(), token_type::literal_false);
+            }
+            case 'n':
+            {
+                std::array<char_type, 4> null_literal = {{'n', 'u', 'l', 'l'}};
+                return scan_literal(null_literal.data(), null_literal.size(), token_type::literal_null);
+            }
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case std::char_traits<char_type>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// whether comments should be ignored (true) or signaled as errors (false)
+    const bool ignore_comments = false;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position {};
+
+    /// raw input token string (for error messages)
+    std::vector<char_type> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char_int_type decimal_point_char = '.';
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+
+#include <cstdint> // size_t
+#include <utility> // declval
+#include <string> // string
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template<typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template<typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template<typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template<typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template<typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template<typename T, typename Binary>
+using binary_function_t =
+    decltype(std::declval<T&>().binary(std::declval<Binary&>()));
+
+template<typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template<typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template<typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template<typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template<typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template<typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX, number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX, number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t, string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value,
+        "Missing/invalid function: bool binary(binary_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/// how to treat CBOR tags
+enum class cbor_tag_handler_t
+{
+    error,  ///< throw a parse_error exception in case of a tag
+    ignore   ///< ignore tags
+};
+
+/*!
+@brief determine system byte order
+
+@return true if and only if system's byte order is little endian
+
+@note from https://stackoverflow.com/a/1001328/266378
+*/
+static inline bool little_endianess(int num = 1) noexcept
+{
+    return *reinterpret_cast<char*>(&num) == 1;
+}
+
+
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename InputAdapterType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using json_sax_t = SAX;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename std::char_traits<char_type>::int_type;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(InputAdapterType&& adapter) : ia(std::move(adapter))
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+    }
+
+    // make class move-only
+    binary_reader(const binary_reader&) = delete;
+    binary_reader(binary_reader&&) = default;
+    binary_reader& operator=(const binary_reader&) = delete;
+    binary_reader& operator=(binary_reader&&) = default;
+    ~binary_reader() = default;
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+    @param[in] tag_handler  how to treat CBOR tags
+
+    @return
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true,
+                   const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal(true, tag_handler);
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+                result = parse_ubjson_internal();
+                break;
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+        // strict mode: next byte must be EOF
+        if (result && strict)
+        {
+            if (format == input_format_t::ubjson)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(current != std::char_traits<char_type>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(),
+                                        parse_error::create(110, chars_read, exception_message(format, "expected end of input; last byte: 0x" + get_token_string(), "value")));
+            }
+        }
+
+        return result;
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<typename string_t::value_type>(current);
+        }
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in, out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "string length must be at least 1, is " + std::to_string(len), "string")));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) && get() != std::char_traits<char_type>::eof();
+    }
+
+    /*!
+    @brief Parses a byte array input of length @a len from the BSON input.
+    @param[in] len  The length of the byte array to be read.
+    @param[in, out] result  A reference to the binary variable where the read
+                            array is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 0
+    @return `true` if the byte array was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_binary(const NumberType len, binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 0))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::bson, "byte array length cannot be negative, is " + std::to_string(len), "binary")));
+        }
+
+        // All BSON binary values have a subtype
+        std::uint8_t subtype{};
+        get_number<std::uint8_t>(input_format_t::bson, subtype);
+        result.set_subtype(subtype);
+
+        return get_binary(input_format_t::bson, len, result);
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const char_int_type element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number{};
+                return get_number<double, true>(input_format_t::bson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len{};
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_string(len, value) && sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x05: // binary
+            {
+                std::int32_t len{};
+                binary_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_binary(len, value) && sax->binary(value);
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value{};
+                return get_number<std::int32_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value{};
+                return get_number<std::int64_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                std::array<char, 3> cr{{}};
+                (std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(element_type));
+                return sax->parse_error(element_type_parse_position, std::string(cr.data()), parse_error::create(114, element_type_parse_position, "Unsupported BSON record type 0x" + std::string(cr.data())));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+
+        while (auto element_type = get())
+        {
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_HEDLEY_UNLIKELY(!get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (!is_array && !sax->key(key))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true) or whether the last read character should
+                         be considered instead (false)
+    @param[in] tag_handler how CBOR tags should be treated
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char,
+                             const cbor_tag_handler_t tag_handler)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<std::int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            case 0x5F: // Binary data (indefinite length)
+            {
+                binary_t b;
+                return get_cbor_binary(b) && sax->binary(b);
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) && sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(std::size_t(-1), tag_handler);
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(std::size_t(-1), tag_handler);
+
+            case 0xC6: // tagged item
+            case 0xC7:
+            case 0xC8:
+            case 0xC9:
+            case 0xCA:
+            case 0xCB:
+            case 0xCC:
+            case 0xCD:
+            case 0xCE:
+            case 0xCF:
+            case 0xD0:
+            case 0xD1:
+            case 0xD2:
+            case 0xD3:
+            case 0xD4:
+            case 0xD8: // tagged item (1 bytes follow)
+            case 0xD9: // tagged item (2 bytes follow)
+            case 0xDA: // tagged item (4 bytes follow)
+            case 0xDB: // tagged item (8 bytes follow)
+            {
+                switch (tag_handler)
+                {
+                    case cbor_tag_handler_t::error:
+                    {
+                        auto last_token = get_token_string();
+                        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+                    }
+
+                    case cbor_tag_handler_t::ignore:
+                    {
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t len{};
+                                get_number(input_format_t::cbor, len);
+                                break;
+                            }
+                            default:
+                                break;
+                        }
+                        return parse_cbor_internal(true, tag_handler);
+                    }
+
+                    default:            // LCOV_EXCL_LINE
+                        JSON_ASSERT(false);  // LCOV_EXCL_LINE
+                }
+            }
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte1 << 8u) + byte2);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::cbor, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (!get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into the byte array.
+    Additionally, CBOR's byte arrays with indefinite lengths are supported.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_cbor_binary(binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "binary")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            {
+                return get_binary(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5F: // Binary data (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    binary_t chunk;
+                    if (!get_cbor_binary(chunk))
+                    {
+                        return false;
+                    }
+                    result.insert(result.end(), chunk.begin(), chunk.end());
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::cbor, "expected length specification (0x40-0x5B) or indefinite binary array type (0x5F); last byte: 0x" + last_token, "binary")));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or std::size_t(-1) for an
+                    array of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len,
+                        const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(false, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or std::size_t(-1) for an
+                    object of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len,
+                         const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (len != std::size_t(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                {
+                    return false;
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case std::char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) && sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xC4: // bin 8
+            case 0xC5: // bin 16
+            case 0xC6: // bin 32
+            case 0xC7: // ext 8
+            case 0xC8: // ext 16
+            case 0xC9: // ext 32
+            case 0xD4: // fixext 1
+            case 0xD5: // fixext 2
+            case 0xD6: // fixext 4
+            case 0xD7: // fixext 8
+            case 0xD8: // fixext 16
+            {
+                binary_t b;
+                return get_msgpack_binary(b) && sax->binary(b);
+            }
+
+            case 0xCA: // float 32
+            {
+                float number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xDC: // array 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<std::int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::msgpack, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::msgpack, "expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x" + last_token, "string")));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into a byte array.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_msgpack_binary(binary_t& result)
+    {
+        // helper function to set the subtype
+        auto assign_and_return_true = [&result](std::int8_t subtype)
+        {
+            result.set_subtype(static_cast<std::uint8_t>(subtype));
+            return true;
+        };
+
+        switch (current)
+        {
+            case 0xC4: // bin 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC5: // bin 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC6: // bin 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC7: // ext 8
+            {
+                std::uint8_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC8: // ext 16
+            {
+                std::uint16_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC9: // ext 32
+            {
+                std::uint32_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD4: // fixext 1
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 1, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD5: // fixext 2
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 2, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD6: // fixext 4
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 4, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD7: // fixext 8
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 8, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD8: // fixext 16
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 16, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            default:           // LCOV_EXCL_LINE
+                return false;  // LCOV_EXCL_LINE
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!get_msgpack_string(key) || !sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO(niels): may we ignore N here?
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'i':
+            {
+                std::int8_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'I':
+            {
+                std::int16_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'l':
+            {
+                std::int32_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            case 'L':
+            {
+                std::int64_t len{};
+                return get_number(input_format_t::ubjson, len) && get_string(input_format_t::ubjson, len, result);
+            }
+
+            default:
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token, "string")));
+        }
+    }
+
+    /*!
+    @param[out] result  determined size
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result)
+    {
+        switch (get_ignore_noop())
+        {
+            case 'U':
+            {
+                std::uint8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format_t::ubjson, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token, "size")));
+            }
+        }
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, char_int_type>& result)
+    {
+        result.first = string_t::npos; // size
+        result.second = 0; // type
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_HEDLEY_UNLIKELY(current != '#'))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "expected '#' after type information; last byte: 0x" + last_token, "size")));
+            }
+
+            return get_ubjson_size_value(result.first);
+        }
+
+        if (current == '#')
+        {
+            return get_ubjson_size_value(result.first);
+        }
+
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const char_int_type prefix)
+    {
+        switch (prefix)
+        {
+            case std::char_traits<char_type>::eof():  // EOF
+                return unexpect_eof(input_format_t::ubjson, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_integer(number);
+            }
+
+            case 'd':
+            {
+                float number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number{};
+                return get_number(input_format_t::ubjson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'H':
+            {
+                return get_ubjson_high_precision_number();
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "char")))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format_t::ubjson, "byte after 'C' must be in range 0x00..0x7F; last byte: 0x" + last_token, "char")));
+                }
+                string_t s(1, static_cast<typename string_t::value_type>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) && sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format_t::ubjson, "invalid byte: 0x" + last_token, "value")));
+            }
+        }
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        string_t key;
+        if (size_and_type.first != string_t::npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key, false) || !sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    // Note, no reader for UBJSON binary types is implemented because they do
+    // not exist
+
+    bool get_ubjson_high_precision_number()
+    {
+        // get size of following number string
+        std::size_t size{};
+        auto res = get_ubjson_size_value(size);
+        if (JSON_HEDLEY_UNLIKELY(!res))
+        {
+            return res;
+        }
+
+        // get number string
+        std::vector<char> number_vector;
+        for (std::size_t i = 0; i < size; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::ubjson, "number")))
+            {
+                return false;
+            }
+            number_vector.push_back(static_cast<char>(current));
+        }
+
+        // parse number string
+        auto number_ia = detail::input_adapter(std::forward<decltype(number_vector)>(number_vector));
+        auto number_lexer = detail::lexer<BasicJsonType, decltype(number_ia)>(std::move(number_ia), false);
+        const auto result_number = number_lexer.scan();
+        const auto number_string = number_lexer.get_token_string();
+        const auto result_remainder = number_lexer.scan();
+
+        using token_type = typename detail::lexer_base<BasicJsonType>::token_type;
+
+        if (JSON_HEDLEY_UNLIKELY(result_remainder != token_type::end_of_input))
+        {
+            return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read, exception_message(input_format_t::ubjson, "invalid number text: " + number_lexer.get_token_string(), "high-precision number")));
+        }
+
+        switch (result_number)
+        {
+            case token_type::value_integer:
+                return sax->number_integer(number_lexer.get_number_integer());
+            case token_type::value_unsigned:
+                return sax->number_unsigned(number_lexer.get_number_unsigned());
+            case token_type::value_float:
+                return sax->number_float(number_lexer.get_number_float(), std::move(number_string));
+            default:
+                return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read, exception_message(input_format_t::ubjson, "invalid number text: " + number_lexer.get_token_string(), "high-precision number")));
+        }
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `std::char_traits<char_type>::eof()` in that case.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++chars_read;
+        return current = ia.get_character();
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    char_int_type get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianess, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<std::uint8_t, sizeof(NumberType)> vec;
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian != InputIsLittleEndian)
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<std::uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<std::uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "string")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<typename string_t::value_type>(current));
+        };
+        return success;
+    }
+
+    /*!
+    @brief create a byte array by reading bytes from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of bytes to read
+    @param[out] result byte array created by reading @a len bytes
+
+    @return whether byte array creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of memory.
+    */
+    template<typename NumberType>
+    bool get_binary(const input_format_t format,
+                    const NumberType len,
+                    binary_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "binary")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<std::uint8_t>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_HEDLEY_UNLIKELY(current == std::char_traits<char_type>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context)));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        std::array<char, 3> cr{{}};
+        (std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(current));
+        return std::string{cr.data()};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further context information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+
+        return error_msg + " " + context + ": " + detail;
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// the current character
+    char_int_type current = std::char_traits<char_type>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/input/parser.hpp>
+
+
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+enum class parse_event_t : uint8_t
+{
+    /// the parser read `{` and started to process a JSON object
+    object_start,
+    /// the parser read `}` and finished processing a JSON object
+    object_end,
+    /// the parser read `[` and started to process a JSON array
+    array_start,
+    /// the parser read `]` and finished processing a JSON array
+    array_end,
+    /// the parser read a key of a value in an object
+    key,
+    /// the parser finished reading a JSON value
+    value
+};
+
+template<typename BasicJsonType>
+using parser_callback_t =
+    std::function<bool(int depth, parse_event_t event, BasicJsonType& parsed)>;
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive descent parser.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType, InputAdapterType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    /// a parser reading from an input adapter
+    explicit parser(InputAdapterType&& adapter,
+                    const parser_callback_t<BasicJsonType> cb = nullptr,
+                    const bool allow_exceptions_ = true,
+                    const bool skip_comments = false)
+        : callback(cb)
+        , m_lexer(std::move(adapter), skip_comments)
+        , allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+            result.assert_invariant();
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value")));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result && strict && (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(),
+                                            exception_message(token_type::end_of_input, "value")));
+        }
+
+        return result;
+    }
+
+  private:
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (!skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_HEDLEY_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::value_string, "object key")));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            exception_message(token_type::name_separator, "object separator")));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(std::size_t(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_HEDLEY_UNLIKELY(!std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, "number overflow parsing '" + m_lexer.get_token_string() + "'"));
+                        }
+
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_float(res, m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        break;
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::uninitialized, "value")));
+                    }
+
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::literal_or_value, "value")));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+
+            if (states.back())  // array
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse a new value
+                    get_token();
+                    continue;
+                }
+
+                // closing ]
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_array))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this array. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(),
+                                                exception_message(token_type::end_array, "array")));
+            }
+            else  // object
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse key
+                    if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::value_string))
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::value_string, "object key")));
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                    {
+                        return false;
+                    }
+
+                    // parse separator (:)
+                    if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(),
+                                                        exception_message(token_type::name_separator, "object separator")));
+                    }
+
+                    // parse values
+                    get_token();
+                    continue;
+                }
+
+                // closing }
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_object))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this object. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(),
+                                                exception_message(token_type::end_object, "object")));
+            }
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return last_token = m_lexer.scan();
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (!context.empty())
+        {
+            error_msg += "while parsing " + context + " ";
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += std::string(m_lexer.get_error_message()) + "; last read: '" +
+                         m_lexer.get_token_string() + "'";
+        }
+        else
+        {
+            error_msg += "unexpected " + std::string(lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += "; expected " + std::string(lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t<BasicJsonType> callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+namespace nlohmann
+{
+namespace detail
+{
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator++(int) noexcept
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t const operator--(int) noexcept
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iter_impl.hpp>
+
+
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl
+{
+    /// allow basic_json to access private members
+    friend iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+
+  public:
+
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    /// default constructor
+    iter_impl() = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief const copy constructor
+    @param[in] other const iterator to copy from
+    @note This copy constructor had to be defined explicitly to circumvent a bug
+          occurring on msvc v19.0 compiler (VS 2015) debug build. For more
+          information refer to: https://github.com/nlohmann/json/issues/1608
+    */
+    iter_impl(const iter_impl<const BasicJsonType>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<const BasicJsonType>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  private:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_value.array->end();
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator++(int)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl const operator--(int)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator==(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator!=(const iter_impl& other) const
+    {
+        return !operator==(other);
+    }
+
+    /*!
+    @brief  comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers"));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators"));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief  comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return !other.operator < (*this);
+    }
+
+    /*!
+    @brief  comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return !operator<=(other);
+    }
+
+    /*!
+    @brief  comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return !operator<(other);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief  add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief  subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief  return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators"));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief  access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators"));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value"));
+            }
+        }
+    }
+
+    /*!
+    @brief  return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        if (JSON_HEDLEY_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators"));
+    }
+
+    /*!
+    @brief  return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  private:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it {};
+};
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+// #include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+namespace nlohmann
+{
+namespace detail
+{
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator const operator++(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator const operator--(int)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/json_pointer.hpp>
+
+
+#include <algorithm> // all_of
+#include <cctype> // isdigit
+#include <limits> // max
+#include <numeric> // accumulate
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+template<typename BasicJsonType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+  public:
+    /*!
+    @brief create JSON pointer
+
+    Create a JSON pointer according to the syntax described in
+    [Section 3 of RFC6901](https://tools.ietf.org/html/rfc6901#section-3).
+
+    @param[in] s  string representing the JSON pointer; if omitted, the empty
+                  string is assumed which references the whole JSON value
+
+    @throw parse_error.107 if the given JSON pointer @a s is nonempty and does
+                           not begin with a slash (`/`); see example below
+
+    @throw parse_error.108 if a tilde (`~`) in the given JSON pointer @a s is
+    not followed by `0` (representing `~`) or `1` (representing `/`); see
+    example below
+
+    @liveexample{The example shows the construction several valid JSON pointers
+    as well as the exceptional behavior.,json_pointer}
+
+    @since version 2.0.0
+    */
+    explicit json_pointer(const std::string& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /*!
+    @brief return a string representation of the JSON pointer
+
+    @invariant For each JSON pointer `ptr`, it holds:
+    @code {.cpp}
+    ptr == json_pointer(ptr.to_string());
+    @endcode
+
+    @return a string representation of the JSON pointer
+
+    @liveexample{The example shows the result of `to_string`.,json_pointer__to_string}
+
+    @since version 2.0.0
+    */
+    std::string to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               std::string{},
+                               [](const std::string & a, const std::string & b)
+        {
+            return a + "/" + escape(b);
+        });
+    }
+
+    /// @copydoc to_string()
+    operator std::string() const
+    {
+        return to_string();
+    }
+
+    /*!
+    @brief append another JSON pointer at the end of this JSON pointer
+
+    @param[in] ptr  JSON pointer to append
+    @return JSON pointer with @a ptr appended
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::string) to append a reference token
+    @sa @ref operator/=(std::size_t) to append an array index
+    @sa @ref operator/(const json_pointer&, const json_pointer&) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(const json_pointer& ptr)
+    {
+        reference_tokens.insert(reference_tokens.end(),
+                                ptr.reference_tokens.begin(),
+                                ptr.reference_tokens.end());
+        return *this;
+    }
+
+    /*!
+    @brief append an unescaped reference token at the end of this JSON pointer
+
+    @param[in] token  reference token to append
+    @return JSON pointer with @a token appended without escaping @a token
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Amortized constant.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+    @sa @ref operator/=(std::size_t) to append an array index
+    @sa @ref operator/(const json_pointer&, std::size_t) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(std::string token)
+    {
+        push_back(std::move(token));
+        return *this;
+    }
+
+    /*!
+    @brief append an array index at the end of this JSON pointer
+
+    @param[in] array_idx  array index to append
+    @return JSON pointer with @a array_idx appended
+
+    @liveexample{The example shows the usage of `operator/=`.,json_pointer__operator_add}
+
+    @complexity Amortized constant.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+    @sa @ref operator/=(std::string) to append a reference token
+    @sa @ref operator/(const json_pointer&, std::string) for a binary operator
+
+    @since version 3.6.0
+    */
+    json_pointer& operator/=(std::size_t array_idx)
+    {
+        return *this /= std::to_string(array_idx);
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the right JSON pointer at the end of the left JSON pointer
+
+    @param[in] lhs  JSON pointer
+    @param[in] rhs  JSON pointer
+    @return a new JSON pointer with @a rhs appended to @a lhs
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a lhs and @a rhs.
+
+    @sa @ref operator/=(const json_pointer&) to append a JSON pointer
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& lhs,
+                                  const json_pointer& rhs)
+    {
+        return json_pointer(lhs) /= rhs;
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the unescaped token at the end of the JSON pointer
+
+    @param[in] ptr  JSON pointer
+    @param[in] token  reference token
+    @return a new JSON pointer with unescaped @a token appended to @a ptr
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::string) to append a reference token
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& ptr, std::string token)
+    {
+        return json_pointer(ptr) /= std::move(token);
+    }
+
+    /*!
+    @brief create a new JSON pointer by appending the array-index-token at the end of the JSON pointer
+
+    @param[in] ptr  JSON pointer
+    @param[in] array_idx  array index
+    @return a new JSON pointer with @a array_idx appended to @a ptr
+
+    @liveexample{The example shows the usage of `operator/`.,json_pointer__operator_add_binary}
+
+    @complexity Linear in the length of @a ptr.
+
+    @sa @ref operator/=(std::size_t) to append an array index
+
+    @since version 3.6.0
+    */
+    friend json_pointer operator/(const json_pointer& ptr, std::size_t array_idx)
+    {
+        return json_pointer(ptr) /= array_idx;
+    }
+
+    /*!
+    @brief returns the parent of this JSON pointer
+
+    @return parent of this JSON pointer; in case this JSON pointer is the root,
+            the root itself is returned
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @liveexample{The example shows the result of `parent_pointer` for different
+    JSON Pointers.,json_pointer__parent_pointer}
+
+    @since version 3.6.0
+    */
+    json_pointer parent_pointer() const
+    {
+        if (empty())
+        {
+            return *this;
+        }
+
+        json_pointer res = *this;
+        res.pop_back();
+        return res;
+    }
+
+    /*!
+    @brief remove last reference token
+
+    @pre not `empty()`
+
+    @liveexample{The example shows the usage of `pop_back`.,json_pointer__pop_back}
+
+    @complexity Constant.
+
+    @throw out_of_range.405 if JSON pointer has no parent
+
+    @since version 3.6.0
+    */
+    void pop_back()
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        reference_tokens.pop_back();
+    }
+
+    /*!
+    @brief return last reference token
+
+    @pre not `empty()`
+    @return last reference token
+
+    @liveexample{The example shows the usage of `back`.,json_pointer__back}
+
+    @complexity Constant.
+
+    @throw out_of_range.405 if JSON pointer has no parent
+
+    @since version 3.6.0
+    */
+    const std::string& back() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        return reference_tokens.back();
+    }
+
+    /*!
+    @brief append an unescaped token at the end of the reference pointer
+
+    @param[in] token  token to add
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows the result of `push_back` for different
+    JSON Pointers.,json_pointer__push_back}
+
+    @since version 3.6.0
+    */
+    void push_back(const std::string& token)
+    {
+        reference_tokens.push_back(token);
+    }
+
+    /// @copydoc push_back(const std::string&)
+    void push_back(std::string&& token)
+    {
+        reference_tokens.push_back(std::move(token));
+    }
+
+    /*!
+    @brief return whether pointer points to the root document
+
+    @return true iff the JSON pointer points to the root document
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example shows the result of `empty` for different JSON
+    Pointers.,json_pointer__empty}
+
+    @since version 3.6.0
+    */
+    bool empty() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+  private:
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw parse_error.106  if an array index begins with '0'
+    @throw parse_error.109  if an array index begins not with a digit
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    @throw out_of_range.410 if an array index exceeds size_type
+    */
+    static typename BasicJsonType::size_type array_index(const std::string& s)
+    {
+        using size_type = typename BasicJsonType::size_type;
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && s[0] == '0'))
+        {
+            JSON_THROW(detail::parse_error::create(106, 0,
+                                                   "array index '" + s +
+                                                   "' must not begin with '0'"));
+        }
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && !(s[0] >= '1' && s[0] <= '9')))
+        {
+            JSON_THROW(detail::parse_error::create(109, 0, "array index '" + s + "' is not a number"));
+        }
+
+        std::size_t processed_chars = 0;
+        unsigned long long res = 0;
+        JSON_TRY
+        {
+            res = std::stoull(s, &processed_chars);
+        }
+        JSON_CATCH(std::out_of_range&)
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        // check if the string was completely read
+        if (JSON_HEDLEY_UNLIKELY(processed_chars != s.size()))
+        {
+            JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + s + "'"));
+        }
+
+        // only triggered on special platforms (like 32bit), see also
+        // https://github.com/nlohmann/json/pull/2203
+        if (res >= static_cast<unsigned long long>((std::numeric_limits<size_type>::max)()))
+        {
+            JSON_THROW(detail::out_of_range::create(410, "array index " + s + " exceeds size_type")); // LCOV_EXCL_LINE
+        }
+
+        return static_cast<size_type>(res);
+    }
+
+    json_pointer top() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent"));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        auto result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->type())
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    result = &result->operator[](array_index(reference_token));
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten"));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->is_null())
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const unsigned char x)
+                {
+                    return std::isdigit(x);
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums || reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        ptr = &ptr->operator[](array_index(reference_token));
+                    }
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // use unchecked array access
+                    ptr = &ptr->operator[](array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402,
+                                                                "array index '-' (" + std::to_string(ptr->m_value.array->size()) +
+                                                                ") is out of range"));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index(reference_token));
+                    break;
+                }
+
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, "unresolved reference token '" + reference_token + "'"));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    */
+    bool contains(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    if (!ptr->contains(reference_token))
+                    {
+                        // we did not find the key in the object
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() == 1 && !("0" <= reference_token && reference_token <= "9")))
+                    {
+                        // invalid char
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() > 1))
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!('1' <= reference_token[0] && reference_token[0] <= '9')))
+                        {
+                            // first char should be between '1' and '9'
+                            return false;
+                        }
+                        for (std::size_t i = 1; i < reference_token.size(); i++)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!('0' <= reference_token[i] && reference_token[i] <= '9')))
+                            {
+                                // other char should be between '0' and '9'
+                                return false;
+                            }
+                        }
+                    }
+
+                    const auto idx = array_index(reference_token);
+                    if (idx >= ptr->size())
+                    {
+                        // index out of range
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](idx);
+                    break;
+                }
+
+                default:
+                {
+                    // we do not expect primitive values if there is still a
+                    // reference token to process
+                    return false;
+                }
+            }
+        }
+
+        // no reference token left means we found a primitive value
+        return true;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<std::string> split(const std::string& reference_string)
+    {
+        std::vector<std::string> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_HEDLEY_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1,
+                                                   "JSON pointer must be empty or begin with '/' - was: '" +
+                                                   reference_string + "'"));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == std::string::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == std::string::npos)
+            start = (slash == std::string::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != std::string::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                JSON_ASSERT(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_HEDLEY_UNLIKELY(pos == reference_token.size() - 1 ||
+                                         (reference_token[pos + 1] != '0' &&
+                                          reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'"));
+                }
+            }
+
+            // finally, store the reference token
+            unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief replace all occurrences of a substring by another string
+
+    @param[in,out] s  the string to manipulate; changed so that all
+                   occurrences of @a f are replaced with @a t
+    @param[in]     f  the substring to replace with @a t
+    @param[in]     t  the string to replace @a f
+
+    @pre The search string @a f must not be empty. **This precondition is
+    enforced with an assertion.**
+
+    @since version 2.0.0
+    */
+    static void replace_substring(std::string& s, const std::string& f,
+                                  const std::string& t)
+    {
+        JSON_ASSERT(!f.empty());
+        for (auto pos = s.find(f);                // find first occurrence of f
+                pos != std::string::npos;         // make sure f was found
+                s.replace(pos, f.size(), t),      // replace with t, and
+                pos = s.find(f, pos + t.size()))  // find next occurrence of f
+        {}
+    }
+
+    /// escape "~" to "~0" and "/" to "~1"
+    static std::string escape(std::string s)
+    {
+        replace_substring(s, "~", "~0");
+        replace_substring(s, "/", "~1");
+        return s;
+    }
+
+    /// unescape "~1" to tilde and "~0" to slash (order is important!)
+    static void unescape(std::string& s)
+    {
+        replace_substring(s, "~1", "/");
+        replace_substring(s, "~0", "~");
+    }
+
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    static void flatten(const std::string& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.type())
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_value.array->size(); ++i)
+                    {
+                        flatten(reference_string + "/" + std::to_string(i),
+                                value.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_value.object)
+                    {
+                        flatten(reference_string + "/" + escape(element.first), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened"));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_value.object)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive"));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief compares two JSON pointers for equality
+
+    @param[in] lhs  JSON pointer to compare
+    @param[in] rhs  JSON pointer to compare
+    @return whether @a lhs is equal to @a rhs
+
+    @complexity Linear in the length of the JSON pointer
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+    */
+    friend bool operator==(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return lhs.reference_tokens == rhs.reference_tokens;
+    }
+
+    /*!
+    @brief compares two JSON pointers for inequality
+
+    @param[in] lhs  JSON pointer to compare
+    @param[in] rhs  JSON pointer to compare
+    @return whether @a lhs is not equal @a rhs
+
+    @complexity Linear in the length of the JSON pointer
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+    */
+    friend bool operator!=(json_pointer const& lhs,
+                           json_pointer const& rhs) noexcept
+    {
+        return !(lhs == rhs);
+    }
+
+    /// the reference tokens
+    std::vector<std::string> reference_tokens;
+};
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/json_ref.hpp>
+
+
+#include <initializer_list>
+#include <utility>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value))
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(const_cast<value_type*>(&value))
+        , is_rvalue(false)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init)
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...)
+        , value_ref(&owned_value)
+        , is_rvalue(true)
+    {}
+
+    // class should be movable only
+    json_ref(json_ref&&) = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (is_rvalue)
+        {
+            return std::move(*value_ref);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return *static_cast<value_type const*>(value_ref);
+    }
+
+    value_type const* operator->() const
+    {
+        return static_cast<value_type const*>(value_ref);
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type* value_ref = nullptr;
+    const bool is_rvalue = true;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+#include <string> // string
+#include <cmath> // isnan, isinf
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <ios> // streamsize
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <ostream> // basic_ostream
+#include <string> // basic_string
+#include <vector> // vector
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        std::copy(s, s + length, std::back_inserter(v));
+    }
+
+  private:
+    std::vector<CharType>& v;
+};
+
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    output_adapter(std::vector<CharType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType>>(vec)) {}
+
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(adapter)
+    {
+        JSON_ASSERT(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_value.object);
+                break;
+            }
+
+            default:
+            {
+                JSON_THROW(type_error::create(317, "to serialize to BSON, top-level type must be object, but is " + std::string(j.type_name())));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_value.number_integer;
+                    if (j.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<std::uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<std::uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<std::uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<std::uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<std::uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<std::uint16_t>(j.m_value.number_unsigned));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<std::uint32_t>(j.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<std::uint64_t>(j.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                if (std::isnan(j.m_value.number_float))
+                {
+                    // NaN is 0xf97e00 in CBOR
+                    oa->write_character(to_char_type(0xF9));
+                    oa->write_character(to_char_type(0x7E));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else if (std::isinf(j.m_value.number_float))
+                {
+                    // Infinity is 0xf97c00, -Infinity is 0xf9fc00
+                    oa->write_character(to_char_type(0xf9));
+                    oa->write_character(j.m_value.number_float > 0 ? to_char_type(0x7C) : to_char_type(0xFC));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else
+                {
+                    write_compact_float(j.m_value.number_float, detail::input_format_t::cbor);
+                }
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (j.m_value.binary->has_subtype())
+                {
+                    write_number(static_cast<std::uint8_t>(0xd8));
+                    write_number(j.m_value.binary->subtype());
+                }
+
+                // step 1: write control byte and the binary array size
+                const auto N = j.m_value.binary->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x40 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x58));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x59));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<std::int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int8_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<std::int8_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int16_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<std::int16_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int32_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<std::int32_t>(j.m_value.number_integer));
+                    }
+                    else if (j.m_value.number_integer >= (std::numeric_limits<std::int64_t>::min)() &&
+                             j.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<std::int64_t>(j.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<std::uint8_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<std::uint16_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<std::uint32_t>(j.m_value.number_integer));
+                }
+                else if (j.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<std::uint64_t>(j.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_compact_float(j.m_value.number_float, detail::input_format_t::msgpack);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<std::uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<std::uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                // step 0: determine if the binary type has a set subtype to
+                // determine whether or not to use the ext or fixext types
+                const bool use_ext = j.m_value.binary->has_subtype();
+
+                // step 1: write control byte and the byte string length
+                const auto N = j.m_value.binary->size();
+                if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    std::uint8_t output_type{};
+                    bool fixed = true;
+                    if (use_ext)
+                    {
+                        switch (N)
+                        {
+                            case 1:
+                                output_type = 0xD4; // fixext 1
+                                break;
+                            case 2:
+                                output_type = 0xD5; // fixext 2
+                                break;
+                            case 4:
+                                output_type = 0xD6; // fixext 4
+                                break;
+                            case 8:
+                                output_type = 0xD7; // fixext 8
+                                break;
+                            case 16:
+                                output_type = 0xD8; // fixext 16
+                                break;
+                            default:
+                                output_type = 0xC7; // ext 8
+                                fixed = false;
+                                break;
+                        }
+
+                    }
+                    else
+                    {
+                        output_type = 0xC4; // bin 8
+                        fixed = false;
+                    }
+
+                    oa->write_character(to_char_type(output_type));
+                    if (!fixed)
+                    {
+                        write_number(static_cast<std::uint8_t>(N));
+                    }
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    std::uint8_t output_type = use_ext
+                                               ? 0xC8 // ext 16
+                                               : 0xC5; // bin 16
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    std::uint8_t output_type = use_ext
+                                               ? 0xC9 // ext 32
+                                               : 0xC6; // bin 32
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 1.5: if this is an ext type, write the subtype
+                if (use_ext)
+                {
+                    write_number(static_cast<std::int8_t>(j.m_value.binary->subtype()));
+                }
+
+                // step 2: write the byte string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<std::uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_integer, add_prefix);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_unsigned, add_prefix);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_value.number_float, add_prefix);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_value.string->size(), true);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_value.string->c_str()),
+                    j.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_value.array->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.array->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                if (use_type && !j.m_value.binary->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    oa->write_character(to_char_type('$'));
+                    oa->write_character('U');
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.binary->size(), true);
+                }
+
+                if (use_type)
+                {
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(j.m_value.binary->data()),
+                        j.m_value.binary->size());
+                }
+                else
+                {
+                    for (size_t i = 0; i < j.m_value.binary->size(); ++i)
+                    {
+                        oa->write_character(to_char_type('U'));
+                        oa->write_character(j.m_value.binary->data()[i]);
+                    }
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_value.object->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front());
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v) == first_prefix;
+                    });
+
+                    if (same_prefix)
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_value.object->size(), true);
+                }
+
+                for (const auto& el : *j.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_HEDLEY_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409,
+                                            "BSON key cannot contain code point U+0000 (at byte " + std::to_string(it) + ")"));
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double, true>(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size() + 1ul));
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        return (std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)()
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const std::uint64_t value)
+    {
+        if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t, true>(static_cast<std::int32_t>(value));
+        }
+        else if (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t, true>(static_cast<std::int64_t>(value));
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, "integer number " + std::to_string(value) + " cannot be represented by BSON as it does not fit int64"));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t array_index = 0ul;
+
+        const std::size_t embedded_document_size = std::accumulate(std::begin(value), std::end(value), std::size_t(0), [&array_index](std::size_t result, const typename BasicJsonType::array_t::value_type & el)
+        {
+            return result + calc_bson_element_size(std::to_string(array_index++), el);
+        });
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @return The size of the BSON-encoded binary array @a value
+    */
+    static std::size_t calc_bson_binary_size(const typename BasicJsonType::binary_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_array_size(value)));
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and binary value @a value
+    */
+    void write_bson_binary(const string_t& name,
+                           const binary_t& value)
+    {
+        write_bson_entry_header(name, 0x05);
+
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(value.size()));
+        write_number(value.has_subtype() ? value.subtype() : std::uint8_t(0x00));
+
+        oa->write_characters(reinterpret_cast<const CharType*>(value.data()), value.size());
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_value.array);
+
+            case value_t::binary:
+                return header_size + calc_bson_binary_size(*j.m_value.binary);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            default:
+                JSON_ASSERT(false);
+                return 0ul;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    @return The size of the BSON entry
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_value.array);
+
+            case value_t::binary:
+                return write_bson_binary(name, *j.m_value.binary);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j.m_value.number_unsigned);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            default:
+                JSON_ASSERT(false);
+                return;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        std::size_t document_size = std::accumulate(value.begin(), value.end(), std::size_t(0),
+                                    [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t, true>(static_cast<std::int32_t>(calc_bson_object_size(value)));
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if (n <= (std::numeric_limits<std::uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n));
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n));
+        }
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template < typename NumberType, typename std::enable_if <
+                   std::is_signed<NumberType>::value&&
+                   !std::is_floating_point<NumberType>::value, int >::type = 0 >
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix)
+    {
+        if ((std::numeric_limits<std::int8_t>::min)() <= n && n <= (std::numeric_limits<std::int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::int8_t>(n));
+        }
+        else if (static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n));
+        }
+        else if ((std::numeric_limits<std::int16_t>::min)() <= n && n <= (std::numeric_limits<std::int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n));
+        }
+        else if ((std::numeric_limits<std::int32_t>::min)() <= n && n <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n));
+        }
+        else if ((std::numeric_limits<std::int64_t>::min)() <= n && n <= (std::numeric_limits<std::int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n));
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+    */
+    CharType ubjson_prefix(const BasicJsonType& j) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<std::int8_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<std::uint8_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<std::int16_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if ((std::numeric_limits<std::int32_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                {
+                    return 'l';
+                }
+                if ((std::numeric_limits<std::int64_t>::min)() <= j.m_value.number_integer && j.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+                {
+                    return 'i';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint8_t>::max)()))
+                {
+                    return 'U';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+                {
+                    return 'I';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+                {
+                    return 'l';
+                }
+                if (j.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array: // fallthrough
+            case value_t::binary:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @tparam NumberType the type of the number
+    @tparam OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+
+    @note This function needs to respect the system's endianess, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+    */
+    template<typename NumberType, bool OutputIsLittleEndian = false>
+    void write_number(const NumberType n)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec;
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian != OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+    void write_compact_float(const number_float_t n, detail::input_format_t format)
+    {
+        if (static_cast<double>(n) >= static_cast<double>(std::numeric_limits<float>::lowest()) &&
+                static_cast<double>(n) <= static_cast<double>((std::numeric_limits<float>::max)()) &&
+                static_cast<double>(static_cast<float>(n)) == static_cast<double>(n))
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(static_cast<float>(n))
+                                : get_msgpack_float_prefix(static_cast<float>(n)));
+            write_number(static_cast<float>(n));
+        }
+        else
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(n)
+                                : get_msgpack_float_prefix(n));
+            write_number(n);
+        }
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_trivial<CharType>::value, "CharType must be trivial");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value &&
+                   std::is_signed<char>::value &&
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianess
+    const bool is_little_endian = little_endianess();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/output/serializer.hpp>
+
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string, char_traits
+#include <type_traits> // is_same
+#include <utility> // move
+
+// #include <nlohmann/detail/conversions/to_chars.hpp>
+
+
+#include <array> // array
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+#include <limits> // numeric_limits
+#include <type_traits> // conditional
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template<typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    std::uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(std::uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        JSON_ASSERT(x.e == y.e);
+        JSON_ASSERT(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const std::uint64_t u_lo = x.f & 0xFFFFFFFFu;
+        const std::uint64_t u_hi = x.f >> 32u;
+        const std::uint64_t v_lo = y.f & 0xFFFFFFFFu;
+        const std::uint64_t v_hi = y.f >> 32u;
+
+        const std::uint64_t p0 = u_lo * v_lo;
+        const std::uint64_t p1 = u_lo * v_hi;
+        const std::uint64_t p2 = u_hi * v_lo;
+        const std::uint64_t p3 = u_hi * v_hi;
+
+        const std::uint64_t p0_hi = p0 >> 32u;
+        const std::uint64_t p1_lo = p1 & 0xFFFFFFFFu;
+        const std::uint64_t p1_hi = p1 >> 32u;
+        const std::uint64_t p2_lo = p2 & 0xFFFFFFFFu;
+        const std::uint64_t p2_hi = p2 >> 32u;
+
+        std::uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += std::uint64_t{1} << (64u - 32u - 1u); // round, ties up
+
+        const std::uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32u);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        JSON_ASSERT(x.f != 0);
+
+        while ((x.f >> 63u) == 0)
+        {
+            x.f <<= 1u;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        JSON_ASSERT(delta >= 0);
+        JSON_ASSERT(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template<typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr std::uint64_t kHiddenBit = std::uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional<kPrecision == 24, std::uint32_t, std::uint64_t >::type;
+
+    const std::uint64_t bits = reinterpret_bits<bits_type>(value);
+    const std::uint64_t E = bits >> (kPrecision - 1);
+    const std::uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = E == 0;
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = F == 0 && E > 1;
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    std::uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exact power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr std::array<cached_power, 79> kCachedPowers =
+    {
+        {
+            { 0xAB70FE17C79AC6CA, -1060, -300 },
+            { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+            { 0xBE5691EF416BD60C, -1007, -284 },
+            { 0x8DD01FAD907FFC3C,  -980, -276 },
+            { 0xD3515C2831559A83,  -954, -268 },
+            { 0x9D71AC8FADA6C9B5,  -927, -260 },
+            { 0xEA9C227723EE8BCB,  -901, -252 },
+            { 0xAECC49914078536D,  -874, -244 },
+            { 0x823C12795DB6CE57,  -847, -236 },
+            { 0xC21094364DFB5637,  -821, -228 },
+            { 0x9096EA6F3848984F,  -794, -220 },
+            { 0xD77485CB25823AC7,  -768, -212 },
+            { 0xA086CFCD97BF97F4,  -741, -204 },
+            { 0xEF340A98172AACE5,  -715, -196 },
+            { 0xB23867FB2A35B28E,  -688, -188 },
+            { 0x84C8D4DFD2C63F3B,  -661, -180 },
+            { 0xC5DD44271AD3CDBA,  -635, -172 },
+            { 0x936B9FCEBB25C996,  -608, -164 },
+            { 0xDBAC6C247D62A584,  -582, -156 },
+            { 0xA3AB66580D5FDAF6,  -555, -148 },
+            { 0xF3E2F893DEC3F126,  -529, -140 },
+            { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+            { 0x87625F056C7C4A8B,  -475, -124 },
+            { 0xC9BCFF6034C13053,  -449, -116 },
+            { 0x964E858C91BA2655,  -422, -108 },
+            { 0xDFF9772470297EBD,  -396, -100 },
+            { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+            { 0xF8A95FCF88747D94,  -343,  -84 },
+            { 0xB94470938FA89BCF,  -316,  -76 },
+            { 0x8A08F0F8BF0F156B,  -289,  -68 },
+            { 0xCDB02555653131B6,  -263,  -60 },
+            { 0x993FE2C6D07B7FAC,  -236,  -52 },
+            { 0xE45C10C42A2B3B06,  -210,  -44 },
+            { 0xAA242499697392D3,  -183,  -36 },
+            { 0xFD87B5F28300CA0E,  -157,  -28 },
+            { 0xBCE5086492111AEB,  -130,  -20 },
+            { 0x8CBCCC096F5088CC,  -103,  -12 },
+            { 0xD1B71758E219652C,   -77,   -4 },
+            { 0x9C40000000000000,   -50,    4 },
+            { 0xE8D4A51000000000,   -24,   12 },
+            { 0xAD78EBC5AC620000,     3,   20 },
+            { 0x813F3978F8940984,    30,   28 },
+            { 0xC097CE7BC90715B3,    56,   36 },
+            { 0x8F7E32CE7BEA5C70,    83,   44 },
+            { 0xD5D238A4ABE98068,   109,   52 },
+            { 0x9F4F2726179A2245,   136,   60 },
+            { 0xED63A231D4C4FB27,   162,   68 },
+            { 0xB0DE65388CC8ADA8,   189,   76 },
+            { 0x83C7088E1AAB65DB,   216,   84 },
+            { 0xC45D1DF942711D9A,   242,   92 },
+            { 0x924D692CA61BE758,   269,  100 },
+            { 0xDA01EE641A708DEA,   295,  108 },
+            { 0xA26DA3999AEF774A,   322,  116 },
+            { 0xF209787BB47D6B85,   348,  124 },
+            { 0xB454E4A179DD1877,   375,  132 },
+            { 0x865B86925B9BC5C2,   402,  140 },
+            { 0xC83553C5C8965D3D,   428,  148 },
+            { 0x952AB45CFA97A0B3,   455,  156 },
+            { 0xDE469FBD99A05FE3,   481,  164 },
+            { 0xA59BC234DB398C25,   508,  172 },
+            { 0xF6C69A72A3989F5C,   534,  180 },
+            { 0xB7DCBF5354E9BECE,   561,  188 },
+            { 0x88FCF317F22241E2,   588,  196 },
+            { 0xCC20CE9BD35C78A5,   614,  204 },
+            { 0x98165AF37B2153DF,   641,  212 },
+            { 0xE2A0B5DC971F303A,   667,  220 },
+            { 0xA8D9D1535CE3B396,   694,  228 },
+            { 0xFB9B7CD9A4A7443C,   720,  236 },
+            { 0xBB764C4CA7A44410,   747,  244 },
+            { 0x8BAB8EEFB6409C1A,   774,  252 },
+            { 0xD01FEF10A657842C,   800,  260 },
+            { 0x9B10A4E5E9913129,   827,  268 },
+            { 0xE7109BFBA19C0C9D,   853,  276 },
+            { 0xAC2820D9623BF429,   880,  284 },
+            { 0x80444B5E7AA7CF85,   907,  292 },
+            { 0xBF21E44003ACDD2D,   933,  300 },
+            { 0x8E679C2F5E44FF8F,   960,  308 },
+            { 0xD433179D9C8CB841,   986,  316 },
+            { 0x9E19DB92B4E31BA9,  1013,  324 },
+        }
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    JSON_ASSERT(e >= -1500);
+    JSON_ASSERT(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    JSON_ASSERT(index >= 0);
+    JSON_ASSERT(static_cast<std::size_t>(index) < kCachedPowers.size());
+
+    const cached_power cached = kCachedPowers[static_cast<std::size_t>(index)];
+    JSON_ASSERT(kAlpha <= cached.e + e + 64);
+    JSON_ASSERT(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const std::uint32_t n, std::uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    else if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    else if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    else if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    else if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    else if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    else if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    else if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    else if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+    else
+    {
+        pow10 = 1;
+        return 1;
+    }
+}
+
+inline void grisu2_round(char* buf, int len, std::uint64_t dist, std::uint64_t delta,
+                         std::uint64_t rest, std::uint64_t ten_k)
+{
+    JSON_ASSERT(len >= 1);
+    JSON_ASSERT(dist <= delta);
+    JSON_ASSERT(rest <= delta);
+    JSON_ASSERT(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            && delta - rest >= ten_k
+            && (rest + ten_k < dist || dist - rest > rest + ten_k - dist))
+    {
+        JSON_ASSERT(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    JSON_ASSERT(M_plus.e >= kAlpha);
+    JSON_ASSERT(M_plus.e <= kGamma);
+
+    std::uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    std::uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(std::uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<std::uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    std::uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    JSON_ASSERT(p1 > 0);
+
+    std::uint32_t pow10;
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const std::uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const std::uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const std::uint64_t rest = (std::uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const std::uint64_t ten_n = std::uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    JSON_ASSERT(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        JSON_ASSERT(p2 <= (std::numeric_limits<std::uint64_t>::max)() / 10);
+        p2 *= 10;
+        const std::uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const std::uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const std::uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    JSON_ASSERT(m_plus.e == m_minus.e);
+    JSON_ASSERT(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1)
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes float's to double's, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* append_exponent(char* buf, int e)
+{
+    JSON_ASSERT(e > -1000);
+    JSON_ASSERT(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<std::uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    JSON_ASSERT(min_exp < 0);
+    JSON_ASSERT(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n && n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n) - static_cast<size_t>(k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (static_cast<size_t>(n) + 2);
+    }
+
+    if (0 < n && n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        JSON_ASSERT(k > n);
+
+        std::memmove(buf + (static_cast<size_t>(n) + 1), buf + n, static_cast<size_t>(k) - static_cast<size_t>(n));
+        buf[n] = '.';
+        return buf + (static_cast<size_t>(k) + 1U);
+    }
+
+    if (min_exp < n && n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + static_cast<size_t>(-n)), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2U + static_cast<size_t>(-n) + static_cast<size_t>(k));
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k) - 1);
+        buf[1] = '.';
+        buf += 1 + static_cast<size_t>(k);
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+} // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1, 2)
+JSON_HEDLEY_RETURNS_NON_NULL
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    JSON_ASSERT(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    JSON_ASSERT(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    JSON_ASSERT(last - first >= kMaxExp + 2);
+    JSON_ASSERT(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+} // namespace detail
+} // namespace nlohmann
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+namespace nlohmann
+{
+namespace detail
+{
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using binary_char_t = typename BasicJsonType::binary_t::value_type;
+    static constexpr std::uint8_t UTF8_ACCEPT = 0;
+    static constexpr std::uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->thousands_sep)))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->decimal_point)))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+    - binary values are serialized as objects containing the subtype and the
+      byte array
+
+    @param[in] val               value to serialize
+    @param[in] pretty_print      whether the output shall be pretty-printed
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] indent_step       the indent level
+    @param[in] current_indent    the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val,
+              const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_value.array->cbegin();
+                            i != val.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_value.array->empty());
+                    dump(val.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::binary:
+            {
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"bytes\": [", 10);
+
+                    if (!val.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_value.binary->cbegin();
+                                i != val.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_characters(", ", 2);
+                        }
+                        dump_integer(val.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\n", 3);
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"subtype\": ", 11);
+                    if (val.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_value.binary->subtype());
+                    }
+                    else
+                    {
+                        o->write_characters("null", 4);
+                    }
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_characters("{\"bytes\":[", 10);
+
+                    if (!val.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_value.binary->cbegin();
+                                i != val.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_character(',');
+                        }
+                        dump_integer(val.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\"subtype\":", 12);
+                    if (val.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_value.binary->subtype());
+                        o->write_character('}');
+                    }
+                    else
+                    {
+                        o->write_characters("null}", 5);
+                    }
+                }
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+    }
+
+  private:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        std::uint32_t codepoint;
+        std::uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) || (ensure_ascii && (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                    static_cast<std::uint16_t>(codepoint));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    (std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                    static_cast<std::uint16_t>(0xD7C0u + (codepoint >> 10u)),
+                                                    static_cast<std::uint16_t>(0xDC00u + (codepoint & 0x3FFu)));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            std::string sn(3, '\0');
+                            (std::snprintf)(&sn[0], sn.size(), "%.2X", byte);
+                            JSON_THROW(type_error::create(316, "invalid UTF-8 byte at index " + std::to_string(i) + ": 0x" + sn));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+
+                                // write buffer and reset index; there must be 13 bytes
+                                // left, as this is the maximal number of bytes to be
+                                // written ("\uxxxx\uxxxx\0") for one code point
+                                if (string_buffer.size() - bytes < 13)
+                                {
+                                    o->write_characters(string_buffer.data(), bytes);
+                                    bytes = 0;
+                                }
+
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+
+                        default:            // LCOV_EXCL_LINE
+                            JSON_ASSERT(false);  // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (!ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_HEDLEY_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    std::string sn(3, '\0');
+                    (std::snprintf)(&sn[0], sn.size(), "%.2X", static_cast<std::uint8_t>(s.back()));
+                    JSON_THROW(type_error::create(316, "incomplete UTF-8 string; last byte: 0x" + sn));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false);  // LCOV_EXCL_LINE
+            }
+        }
+    }
+
+    /*!
+    @brief count digits
+
+    Count the number of decimal (base 10) digits for an input unsigned integer.
+
+    @param[in] x  unsigned integer number to count its digits
+    @return    number of decimal digits
+    */
+    inline unsigned int count_digits(number_unsigned_t x) noexcept
+    {
+        unsigned int n_digits = 1;
+        for (;;)
+        {
+            if (x < 10)
+            {
+                return n_digits;
+            }
+            if (x < 100)
+            {
+                return n_digits + 1;
+            }
+            if (x < 1000)
+            {
+                return n_digits + 2;
+            }
+            if (x < 10000)
+            {
+                return n_digits + 3;
+            }
+            x = x / 10000u;
+            n_digits += 4;
+        }
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template < typename NumberType, detail::enable_if_t <
+                   std::is_same<NumberType, number_unsigned_t>::value ||
+                   std::is_same<NumberType, number_integer_t>::value ||
+                   std::is_same<NumberType, binary_char_t>::value,
+                   int > = 0 >
+    void dump_integer(NumberType x)
+    {
+        static constexpr std::array<std::array<char, 2>, 100> digits_to_99
+        {
+            {
+                {{'0', '0'}}, {{'0', '1'}}, {{'0', '2'}}, {{'0', '3'}}, {{'0', '4'}}, {{'0', '5'}}, {{'0', '6'}}, {{'0', '7'}}, {{'0', '8'}}, {{'0', '9'}},
+                {{'1', '0'}}, {{'1', '1'}}, {{'1', '2'}}, {{'1', '3'}}, {{'1', '4'}}, {{'1', '5'}}, {{'1', '6'}}, {{'1', '7'}}, {{'1', '8'}}, {{'1', '9'}},
+                {{'2', '0'}}, {{'2', '1'}}, {{'2', '2'}}, {{'2', '3'}}, {{'2', '4'}}, {{'2', '5'}}, {{'2', '6'}}, {{'2', '7'}}, {{'2', '8'}}, {{'2', '9'}},
+                {{'3', '0'}}, {{'3', '1'}}, {{'3', '2'}}, {{'3', '3'}}, {{'3', '4'}}, {{'3', '5'}}, {{'3', '6'}}, {{'3', '7'}}, {{'3', '8'}}, {{'3', '9'}},
+                {{'4', '0'}}, {{'4', '1'}}, {{'4', '2'}}, {{'4', '3'}}, {{'4', '4'}}, {{'4', '5'}}, {{'4', '6'}}, {{'4', '7'}}, {{'4', '8'}}, {{'4', '9'}},
+                {{'5', '0'}}, {{'5', '1'}}, {{'5', '2'}}, {{'5', '3'}}, {{'5', '4'}}, {{'5', '5'}}, {{'5', '6'}}, {{'5', '7'}}, {{'5', '8'}}, {{'5', '9'}},
+                {{'6', '0'}}, {{'6', '1'}}, {{'6', '2'}}, {{'6', '3'}}, {{'6', '4'}}, {{'6', '5'}}, {{'6', '6'}}, {{'6', '7'}}, {{'6', '8'}}, {{'6', '9'}},
+                {{'7', '0'}}, {{'7', '1'}}, {{'7', '2'}}, {{'7', '3'}}, {{'7', '4'}}, {{'7', '5'}}, {{'7', '6'}}, {{'7', '7'}}, {{'7', '8'}}, {{'7', '9'}},
+                {{'8', '0'}}, {{'8', '1'}}, {{'8', '2'}}, {{'8', '3'}}, {{'8', '4'}}, {{'8', '5'}}, {{'8', '6'}}, {{'8', '7'}}, {{'8', '8'}}, {{'8', '9'}},
+                {{'9', '0'}}, {{'9', '1'}}, {{'9', '2'}}, {{'9', '3'}}, {{'9', '4'}}, {{'9', '5'}}, {{'9', '6'}}, {{'9', '7'}}, {{'9', '8'}}, {{'9', '9'}},
+            }
+        };
+
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        // use a pointer to fill the buffer
+        auto buffer_ptr = number_buffer.begin();
+
+        const bool is_negative = std::is_same<NumberType, number_integer_t>::value && !(x >= 0); // see issue #755
+        number_unsigned_t abs_value;
+
+        unsigned int n_chars;
+
+        if (is_negative)
+        {
+            *buffer_ptr = '-';
+            abs_value = remove_sign(static_cast<number_integer_t>(x));
+
+            // account one more byte for the minus sign
+            n_chars = 1 + count_digits(abs_value);
+        }
+        else
+        {
+            abs_value = static_cast<number_unsigned_t>(x);
+            n_chars = count_digits(abs_value);
+        }
+
+        // spare 1 byte for '\0'
+        JSON_ASSERT(n_chars < number_buffer.size() - 1);
+
+        // jump to the end to generate the string from backward
+        // so we later avoid reversing the result
+        buffer_ptr += n_chars;
+
+        // Fast int2ascii implementation inspired by "Fastware" talk by Andrei Alexandrescu
+        // See: https://www.youtube.com/watch?v=o4-CwDo2zpg
+        while (abs_value >= 100)
+        {
+            const auto digits_index = static_cast<unsigned>((abs_value % 100));
+            abs_value /= 100;
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+
+        if (abs_value >= 10)
+        {
+            const auto digits_index = static_cast<unsigned>(abs_value);
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+        else
+        {
+            *(--buffer_ptr) = static_cast<char>('0' + abs_value);
+        }
+
+        o->write_characters(number_buffer.data(), n_chars);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (!std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 24 && std::numeric_limits<number_float_t>::max_exponent == 128) ||
+              (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 53 && std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        char* begin = number_buffer.data();
+        char* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        JSON_ASSERT(len > 0);
+        // check if buffer was large enough
+        JSON_ASSERT(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            const auto end = std::remove(number_buffer.begin(),
+                                         number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            JSON_ASSERT((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' && decimal_point != '.')
+        {
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return c == '.' || c == 'e';
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static std::uint8_t decode(std::uint8_t& state, std::uint32_t& codep, const std::uint8_t byte) noexcept
+    {
+        static const std::array<std::uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        const std::uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6u)
+                : (0xFFu >> type) & (byte);
+
+        std::size_t index = 256u + static_cast<size_t>(state) * 16u + static_cast<size_t>(type);
+        JSON_ASSERT(index < 400);
+        state = utf8d[index];
+        return state;
+    }
+
+    /*
+     * Overload to make the compiler happy while it is instantiating
+     * dump_integer for number_unsigned_t.
+     * Must never be called.
+     */
+    number_unsigned_t remove_sign(number_unsigned_t x)
+    {
+        JSON_ASSERT(false); // LCOV_EXCL_LINE
+        return x; // LCOV_EXCL_LINE
+    }
+
+    /*
+     * Helper function for dump_integer
+     *
+     * This function takes a negative signed integer and returns its absolute
+     * value as unsigned integer. The plus/minus shuffling is necessary as we can
+     * not directly remove the sign of an arbitrary signed integer as the
+     * absolute values of INT_MIN and INT_MAX are usually not the same. See
+     * #1708 for details.
+     */
+    inline number_unsigned_t remove_sign(number_integer_t x) noexcept
+    {
+        JSON_ASSERT(x < 0 && x < (std::numeric_limits<number_integer_t>::max)());
+        return static_cast<number_unsigned_t>(-(x + 1)) + 1;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+}  // namespace detail
+}  // namespace nlohmann
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/json_fwd.hpp>
+
+// #include <nlohmann/ordered_map.hpp>
+
+
+#include <functional> // less
+#include <memory> // allocator
+#include <utility> // pair
+#include <vector> // vector
+
+namespace nlohmann
+{
+
+/// ordered_map: a minimal map-like container that preserves insertion order
+/// for use within nlohmann::basic_json<ordered_map>
+template <class Key, class T, class IgnoredLess = std::less<Key>,
+          class Allocator = std::allocator<std::pair<const Key, T>>>
+                  struct ordered_map : std::vector<std::pair<const Key, T>, Allocator>
+{
+    using key_type = Key;
+    using mapped_type = T;
+    using Container = std::vector<std::pair<const Key, T>, Allocator>;
+    using typename Container::iterator;
+    using typename Container::const_iterator;
+    using typename Container::size_type;
+    using typename Container::value_type;
+
+    // Explicit constructors instead of `using Container::Container`
+    // otherwise older compilers choke on it (GCC <= 5.5, xcode <= 9.4)
+    ordered_map(const Allocator& alloc = Allocator()) : Container{alloc} {}
+    template <class It>
+    ordered_map(It first, It last, const Allocator& alloc = Allocator())
+        : Container{first, last, alloc} {}
+    ordered_map(std::initializer_list<T> init, const Allocator& alloc = Allocator() )
+        : Container{init, alloc} {}
+
+    std::pair<iterator, bool> emplace(const key_type& key, T&& t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(key, t);
+        return {--this->end(), true};
+    }
+
+    T& operator[](const Key& key)
+    {
+        return emplace(key, T{}).first->second;
+    }
+
+    const T& operator[](const Key& key) const
+    {
+        return at(key);
+    }
+
+    T& at(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it->second;
+            }
+        }
+
+        throw std::out_of_range("key not found");
+    }
+
+    const T& at(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it->second;
+            }
+        }
+
+        throw std::out_of_range("key not found");
+    }
+
+    size_type erase(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator erase(iterator pos)
+    {
+        auto it = pos;
+
+        // Since we cannot move const Keys, re-construct them in place
+        for (auto next = it; ++next != this->end(); ++it)
+        {
+            it->~value_type(); // Destroy but keep allocation
+            new (&*it) value_type{std::move(*next)};
+        }
+        Container::pop_back();
+        return pos;
+    }
+
+    size_type count(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator find(const Key& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    const_iterator find(const Key& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == key)
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    std::pair<iterator, bool> insert( value_type&& value )
+    {
+        return emplace(value.first, std::move(value.second));
+    }
+
+    std::pair<iterator, bool> insert( const value_type& value )
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (it->first == value.first)
+            {
+                return {it, false};
+            }
+        }
+        Container::push_back(value);
+        return {--this->end(), true};
+    }
+};
+
+}  // namespace nlohmann
+
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+namespace nlohmann
+{
+
+/*!
+@brief a class to store JSON values
+
+@tparam ObjectType type for JSON objects (`std::map` by default; will be used
+in @ref object_t)
+@tparam ArrayType type for JSON arrays (`std::vector` by default; will be used
+in @ref array_t)
+@tparam StringType type for JSON strings and object keys (`std::string` by
+default; will be used in @ref string_t)
+@tparam BooleanType type for JSON booleans (`bool` by default; will be used
+in @ref boolean_t)
+@tparam NumberIntegerType type for JSON integer numbers (`int64_t` by
+default; will be used in @ref number_integer_t)
+@tparam NumberUnsignedType type for JSON unsigned integer numbers (@c
+`uint64_t` by default; will be used in @ref number_unsigned_t)
+@tparam NumberFloatType type for JSON floating-point numbers (`double` by
+default; will be used in @ref number_float_t)
+@tparam BinaryType type for packed binary data for compatibility with binary
+serialization formats (`std::vector<std::uint8_t>` by default; will be used in
+@ref binary_t)
+@tparam AllocatorType type of the allocator to use (`std::allocator` by
+default)
+@tparam JSONSerializer the serializer to resolve internal calls to `to_json()`
+and `from_json()` (@ref adl_serializer by default)
+
+@requirement The class satisfies the following concept requirements:
+- Basic
+ - [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible):
+   JSON values can be default constructed. The result will be a JSON null
+   value.
+ - [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible):
+   A JSON value can be constructed from an rvalue argument.
+ - [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible):
+   A JSON value can be copy-constructed from an lvalue expression.
+ - [MoveAssignable](https://en.cppreference.com/w/cpp/named_req/MoveAssignable):
+   A JSON value van be assigned from an rvalue argument.
+ - [CopyAssignable](https://en.cppreference.com/w/cpp/named_req/CopyAssignable):
+   A JSON value can be copy-assigned from an lvalue expression.
+ - [Destructible](https://en.cppreference.com/w/cpp/named_req/Destructible):
+   JSON values can be destructed.
+- Layout
+ - [StandardLayoutType](https://en.cppreference.com/w/cpp/named_req/StandardLayoutType):
+   JSON values have
+   [standard layout](https://en.cppreference.com/w/cpp/language/data_members#Standard_layout):
+   All non-static data members are private and standard layout types, the
+   class has no virtual functions or (virtual) base classes.
+- Library-wide
+ - [EqualityComparable](https://en.cppreference.com/w/cpp/named_req/EqualityComparable):
+   JSON values can be compared with `==`, see @ref
+   operator==(const_reference,const_reference).
+ - [LessThanComparable](https://en.cppreference.com/w/cpp/named_req/LessThanComparable):
+   JSON values can be compared with `<`, see @ref
+   operator<(const_reference,const_reference).
+ - [Swappable](https://en.cppreference.com/w/cpp/named_req/Swappable):
+   Any JSON lvalue or rvalue of can be swapped with any lvalue or rvalue of
+   other compatible types, using unqualified function call @ref swap().
+ - [NullablePointer](https://en.cppreference.com/w/cpp/named_req/NullablePointer):
+   JSON values can be compared against `std::nullptr_t` objects which are used
+   to model the `null` value.
+- Container
+ - [Container](https://en.cppreference.com/w/cpp/named_req/Container):
+   JSON values can be used like STL containers and provide iterator access.
+ - [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer);
+   JSON values can be used like STL containers and provide reverse iterator
+   access.
+
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@internal
+@note ObjectType trick from https://stackoverflow.com/a/9860911
+@endinternal
+
+@see [RFC 7159: The JavaScript Object Notation (JSON) Data Interchange
+Format](http://rfc7159.net/rfc7159)
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+    friend ::nlohmann::json_pointer<basic_json>;
+
+    template<typename BasicJsonType, typename InputType>
+    friend class ::nlohmann::detail::parser;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename InputType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer_base<basic_json>;
+
+    template<typename InputAdapterType>
+    static ::nlohmann::detail::parser<basic_json, InputAdapterType> parser(
+        InputAdapterType adapter,
+        detail::parser_callback_t<basic_json>cb = nullptr,
+        const bool allow_exceptions = true,
+        const bool ignore_comments = false
+                                 )
+    {
+        return ::nlohmann::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
+                std::move(cb), allow_exceptions, ignore_comments);
+    }
+
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    template<typename InputType>
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json, InputType>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<basic_json>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// how to treat CBOR tags
+    using cbor_tag_handler_t = detail::cbor_tag_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    /// @copydoc detail::exception
+    using exception = detail::exception;
+    /// @copydoc detail::parse_error
+    using parse_error = detail::parse_error;
+    /// @copydoc detail::invalid_iterator
+    using invalid_iterator = detail::invalid_iterator;
+    /// @copydoc detail::type_error
+    using type_error = detail::type_error;
+    /// @copydoc detail::out_of_range
+    using out_of_range = detail::out_of_range;
+    /// @copydoc detail::other_error
+    using other_error = detail::other_error;
+
+    /// @}
+
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+
+    /*!
+    @brief returns the allocator associated with the container
+    */
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /*!
+    @brief returns version information on the library
+
+    This function returns a JSON object with information about the library,
+    including the version number and information on the platform and compiler.
+
+    @return JSON object holding version information
+    key         | description
+    ----------- | ---------------
+    `compiler`  | Information on the used compiler. It is an object with the following keys: `c++` (the used C++ standard), `family` (the compiler family; possible values are `clang`, `icc`, `gcc`, `ilecpp`, `msvc`, `pgcpp`, `sunpro`, and `unknown`), and `version` (the compiler version).
+    `copyright` | The copyright line for the library as string.
+    `name`      | The name of the library as string.
+    `platform`  | The used platform as string. Possible values are `win32`, `linux`, `apple`, `unix`, and `unknown`.
+    `url`       | The URL of the project as string.
+    `version`   | The version of the library. It is an object with the following keys: `major`, `minor`, and `patch` as defined by [Semantic Versioning](http://semver.org), and `string` (the version string).
+
+    @liveexample{The following code shows an example output of the `meta()`
+    function.,meta}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @complexity Constant.
+
+    @since 2.1.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2020 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            std::to_string(NLOHMANN_JSON_VERSION_MAJOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_MINOR) + "." +
+            std::to_string(NLOHMANN_JSON_VERSION_PATCH);
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", std::to_string(__GNUC__) + "." + std::to_string(__GNUC_MINOR__) + "." + std::to_string(__GNUC_PATCHLEVEL__)}};
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+#ifdef __cplusplus
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+#if defined(JSON_HAS_CPP_14)
+    // Use transparent comparator if possible, combined with perfect forwarding
+    // on find() and count() calls prevents unnecessary string construction.
+    using object_comparator_t = std::less<>;
+#else
+    using object_comparator_t = std::less<StringType>;
+#endif
+
+    /*!
+    @brief a type for an object
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON objects as follows:
+    > An object is an unordered collection of zero or more name/value pairs,
+    > where a name is a string and a value is a string, number, boolean, null,
+    > object, or array.
+
+    To store objects in C++, a type is defined by the template parameters
+    described below.
+
+    @tparam ObjectType  the container to store objects (e.g., `std::map` or
+    `std::unordered_map`)
+    @tparam StringType the type of the keys or names (e.g., `std::string`).
+    The comparison function `std::less<StringType>` is used to order elements
+    inside the container.
+    @tparam AllocatorType the allocator to use for objects (e.g.,
+    `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ObjectType (`std::map`), @a StringType
+    (`std::string`), and @a AllocatorType (`std::allocator`), the default
+    value for @a object_t is:
+
+    @code {.cpp}
+    std::map<
+      std::string, // key_type
+      basic_json, // value_type
+      std::less<std::string>, // key_compare
+      std::allocator<std::pair<const std::string, basic_json>> // allocator_type
+    >
+    @endcode
+
+    #### Behavior
+
+    The choice of @a object_t influences the behavior of the JSON class. With
+    the default type, objects have the following behavior:
+
+    - When all names are unique, objects will be interoperable in the sense
+      that all software implementations receiving that object will agree on
+      the name-value mappings.
+    - When the names within an object are not unique, it is unspecified which
+      one of the values for a given key will be chosen. For instance,
+      `{"key": 2, "key": 1}` could be equal to either `{"key": 1}` or
+      `{"key": 2}`.
+    - Internally, name/value pairs are stored in lexicographical order of the
+      names. Objects will also be serialized (see @ref dump) in this order.
+      For instance, `{"b": 1, "a": 2}` and `{"a": 2, "b": 1}` will be stored
+      and serialized as `{"a": 2, "b": 1}`.
+    - When comparing objects, the order of the name/value pairs is irrelevant.
+      This makes objects interoperable in the sense that they will not be
+      affected by these differences. For instance, `{"b": 1, "a": 2}` and
+      `{"a": 2, "b": 1}` will be treated as equal.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the object's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON object.
+
+    #### Storage
+
+    Objects are stored as pointers in a @ref basic_json type. That is, for any
+    access to object values, a pointer of type `object_t*` must be
+    dereferenced.
+
+    @sa @ref array_t -- type for an array value
+
+    @since version 1.0.0
+
+    @note The order name/value pairs are added to the object is *not*
+    preserved by the library. Therefore, iterating an object may return
+    name/value pairs in a different order than they were originally stored. In
+    fact, keys will be traversed in alphabetical order as `std::map` with
+    `std::less` is used by default. Please note this behavior conforms to [RFC
+    7159](http://rfc7159.net/rfc7159), because any order implements the
+    specified "unordered" nature of JSON objects.
+    */
+    using object_t = ObjectType<StringType,
+          basic_json,
+          object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /*!
+    @brief a type for an array
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON arrays as follows:
+    > An array is an ordered sequence of zero or more values.
+
+    To store objects in C++, a type is defined by the template parameters
+    explained below.
+
+    @tparam ArrayType  container type to store arrays (e.g., `std::vector` or
+    `std::list`)
+    @tparam AllocatorType allocator to use for arrays (e.g., `std::allocator`)
+
+    #### Default type
+
+    With the default values for @a ArrayType (`std::vector`) and @a
+    AllocatorType (`std::allocator`), the default value for @a array_t is:
+
+    @code {.cpp}
+    std::vector<
+      basic_json, // value_type
+      std::allocator<basic_json> // allocator_type
+    >
+    @endcode
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the maximum depth of nesting.
+
+    In this class, the array's limit of nesting is not explicitly constrained.
+    However, a maximum depth of nesting may be introduced by the compiler or
+    runtime environment. A theoretical limit can be queried by calling the
+    @ref max_size function of a JSON array.
+
+    #### Storage
+
+    Arrays are stored as pointers in a @ref basic_json type. That is, for any
+    access to array values, a pointer of type `array_t*` must be dereferenced.
+
+    @sa @ref object_t -- type for an object value
+
+    @since version 1.0.0
+    */
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /*!
+    @brief a type for a string
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes JSON strings as follows:
+    > A string is a sequence of zero or more Unicode characters.
+
+    To store objects in C++, a type is defined by the template parameter
+    described below. Unicode values are split by the JSON class into
+    byte-sized characters during deserialization.
+
+    @tparam StringType  the container to store strings (e.g., `std::string`).
+    Note this container is used for keys/names in objects, see @ref object_t.
+
+    #### Default type
+
+    With the default values for @a StringType (`std::string`), the default
+    value for @a string_t is:
+
+    @code {.cpp}
+    std::string
+    @endcode
+
+    #### Encoding
+
+    Strings are stored in UTF-8 encoding. Therefore, functions like
+    `std::string::size()` or `std::string::length()` return the number of
+    bytes in the string rather than the number of characters or glyphs.
+
+    #### String comparison
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > Software implementations are typically required to test names of object
+    > members for equality. Implementations that transform the textual
+    > representation into sequences of Unicode code units and then perform the
+    > comparison numerically, code unit by code unit, are interoperable in the
+    > sense that implementations will agree in all cases on equality or
+    > inequality of two strings. For example, implementations that compare
+    > strings with escaped characters unconverted may incorrectly find that
+    > `"a\\b"` and `"a\u005Cb"` are not equal.
+
+    This implementation is interoperable as it does compare strings code unit
+    by code unit.
+
+    #### Storage
+
+    String values are stored as pointers in a @ref basic_json type. That is,
+    for any access to string values, a pointer of type `string_t*` must be
+    dereferenced.
+
+    @since version 1.0.0
+    */
+    using string_t = StringType;
+
+    /*!
+    @brief a type for a boolean
+
+    [RFC 7159](http://rfc7159.net/rfc7159) implicitly describes a boolean as a
+    type which differentiates the two literals `true` and `false`.
+
+    To store objects in C++, a type is defined by the template parameter @a
+    BooleanType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a BooleanType (`bool`), the default value for
+    @a boolean_t is:
+
+    @code {.cpp}
+    bool
+    @endcode
+
+    #### Storage
+
+    Boolean values are stored directly inside a @ref basic_json type.
+
+    @since version 1.0.0
+    */
+    using boolean_t = BooleanType;
+
+    /*!
+    @brief a type for a number (integer)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store integer numbers in C++, a type is defined by the template
+    parameter @a NumberIntegerType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberIntegerType (`int64_t`), the default
+    value for @a number_integer_t is:
+
+    @code {.cpp}
+    int64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `9223372036854775807` (INT64_MAX) and the minimal integer number
+    that can be stored is `-9223372036854775808` (INT64_MIN). Integer numbers
+    that are out of range will yield over/underflow when used in a
+    constructor. During deserialization, too large or small integer numbers
+    will be automatically be stored as @ref number_unsigned_t or @ref
+    number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange of the exactly supported range [INT64_MIN,
+    INT64_MAX], this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_integer_t = NumberIntegerType;
+
+    /*!
+    @brief a type for a number (unsigned)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store unsigned integer numbers in C++, a type is defined by the
+    template parameter @a NumberUnsignedType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberUnsignedType (`uint64_t`), the
+    default value for @a number_unsigned_t is:
+
+    @code {.cpp}
+    uint64_t
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in integer literals lead to an interpretation as octal
+      number. Internally, the value will be stored as decimal number. For
+      instance, the C++ integer literal `010` will be serialized to `8`.
+      During deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) specifies:
+    > An implementation may set limits on the range and precision of numbers.
+
+    When the default type is used, the maximal integer number that can be
+    stored is `18446744073709551615` (UINT64_MAX) and the minimal integer
+    number that can be stored is `0`. Integer numbers that are out of range
+    will yield over/underflow when used in a constructor. During
+    deserialization, too large or small integer numbers will be automatically
+    be stored as @ref number_integer_t or @ref number_float_t.
+
+    [RFC 7159](http://rfc7159.net/rfc7159) further states:
+    > Note that when such software is used, numbers that are integers and are
+    > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense
+    > that implementations will agree exactly on their numeric values.
+
+    As this range is a subrange (when considered in conjunction with the
+    number_integer_t type) of the exactly supported range [0, UINT64_MAX],
+    this class's integer type is interoperable.
+
+    #### Storage
+
+    Integer number values are stored directly inside a @ref basic_json type.
+
+    @sa @ref number_float_t -- type for number values (floating-point)
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @since version 2.0.0
+    */
+    using number_unsigned_t = NumberUnsignedType;
+
+    /*!
+    @brief a type for a number (floating-point)
+
+    [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows:
+    > The representation of numbers is similar to that used in most
+    > programming languages. A number is represented in base 10 using decimal
+    > digits. It contains an integer component that may be prefixed with an
+    > optional minus sign, which may be followed by a fraction part and/or an
+    > exponent part. Leading zeros are not allowed. (...) Numeric values that
+    > cannot be represented in the grammar below (such as Infinity and NaN)
+    > are not permitted.
+
+    This description includes both integer and floating-point numbers.
+    However, C++ allows more precise storage if it is known whether the number
+    is a signed integer, an unsigned integer or a floating-point number.
+    Therefore, three different types, @ref number_integer_t, @ref
+    number_unsigned_t and @ref number_float_t are used.
+
+    To store floating-point numbers in C++, a type is defined by the template
+    parameter @a NumberFloatType which chooses the type to use.
+
+    #### Default type
+
+    With the default values for @a NumberFloatType (`double`), the default
+    value for @a number_float_t is:
+
+    @code {.cpp}
+    double
+    @endcode
+
+    #### Default behavior
+
+    - The restrictions about leading zeros is not enforced in C++. Instead,
+      leading zeros in floating-point literals will be ignored. Internally,
+      the value will be stored as decimal number. For instance, the C++
+      floating-point literal `01.2` will be serialized to `1.2`. During
+      deserialization, leading zeros yield an error.
+    - Not-a-number (NaN) values will be serialized to `null`.
+
+    #### Limits
+
+    [RFC 7159](http://rfc7159.net/rfc7159) states:
+    > This specification allows implementations to set limits on the range and
+    > precision of numbers accepted. Since software that implements IEEE
+    > 754-2008 binary64 (double precision) numbers is generally available and
+    > widely used, good interoperability can be achieved by implementations
+    > that expect no more precision or range than these provide, in the sense
+    > that implementations will approximate JSON numbers within the expected
+    > precision.
+
+    This implementation does exactly follow this approach, as it uses double
+    precision floating-point numbers. Note values smaller than
+    `-1.79769313486232e+308` and values greater than `1.79769313486232e+308`
+    will be stored as NaN internally and be serialized to `null`.
+
+    #### Storage
+
+    Floating-point number values are stored directly inside a @ref basic_json
+    type.
+
+    @sa @ref number_integer_t -- type for number values (integer)
+
+    @sa @ref number_unsigned_t -- type for number values (unsigned integer)
+
+    @since version 1.0.0
+    */
+    using number_float_t = NumberFloatType;
+
+    /*!
+    @brief a type for a packed binary type
+
+    This type is a type designed to carry binary data that appears in various
+    serialized formats, such as CBOR's Major Type 2, MessagePack's bin, and
+    BSON's generic binary subtype. This type is NOT a part of standard JSON and
+    exists solely for compatibility with these binary types. As such, it is
+    simply defined as an ordered sequence of zero or more byte values.
+
+    Additionally, as an implementation detail, the subtype of the binary data is
+    carried around as a `std::uint8_t`, which is compatible with both of the
+    binary data formats that use binary subtyping, (though the specific
+    numbering is incompatible with each other, and it is up to the user to
+    translate between them).
+
+    [CBOR's RFC 7049](https://tools.ietf.org/html/rfc7049) describes this type
+    as:
+    > Major type 2: a byte string. The string's length in bytes is represented
+    > following the rules for positive integers (major type 0).
+
+    [MessagePack's documentation on the bin type
+    family](https://github.com/msgpack/msgpack/blob/master/spec.md#bin-format-family)
+    describes this type as:
+    > Bin format family stores an byte array in 2, 3, or 5 bytes of extra bytes
+    > in addition to the size of the byte array.
+
+    [BSON's specifications](http://bsonspec.org/spec.html) describe several
+    binary types; however, this type is intended to represent the generic binary
+    type which has the description:
+    > Generic binary subtype - This is the most commonly used binary subtype and
+    > should be the 'default' for drivers and tools.
+
+    None of these impose any limitations on the internal representation other
+    than the basic unit of storage be some type of array whose parts are
+    decomposable into bytes.
+
+    The default representation of this binary format is a
+    `std::vector<std::uint8_t>`, which is a very common way to represent a byte
+    array in modern C++.
+
+    #### Default type
+
+    The default values for @a BinaryType is `std::vector<std::uint8_t>`
+
+    #### Storage
+
+    Binary Arrays are stored as pointers in a @ref basic_json type. That is,
+    for any access to array values, a pointer of the type `binary_t*` must be
+    dereferenced.
+
+    #### Notes on subtypes
+
+    - CBOR
+       - Binary values are represented as byte strings. No subtypes are
+         supported and will be ignored when CBOR is written.
+    - MessagePack
+       - If a subtype is given and the binary array contains exactly 1, 2, 4, 8,
+         or 16 elements, the fixext family (fixext1, fixext2, fixext4, fixext8)
+         is used. For other sizes, the ext family (ext8, ext16, ext32) is used.
+         The subtype is then added as singed 8-bit integer.
+       - If no subtype is given, the bin family (bin8, bin16, bin32) is used.
+    - BSON
+       - If a subtype is given, it is used and added as unsigned 8-bit integer.
+       - If no subtype is given, the generic binary subtype 0x00 is used.
+
+    @sa @ref binary -- create a binary array
+
+    @since version 3.8.0
+    */
+    using binary_t = nlohmann::byte_container_with_subtype<BinaryType>;
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * object)
+        {
+            AllocatorTraits::deallocate(alloc, object, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> object(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, object.get(), std::forward<Args>(args)...);
+        JSON_ASSERT(object != nullptr);
+        return object.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    binary    | binary          | pointer to @ref binary_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// binary (stored with pointer to save storage)
+        binary_t* binary;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    binary = create<binary_t>();
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = boolean_t(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = number_integer_t(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = number_unsigned_t(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = number_float_t(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_HEDLEY_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.9.1")); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value)
+        {
+            string = create<string_t>(value);
+        }
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value)
+        {
+            string = create<string_t>(std::move(value));
+        }
+
+        /// constructor for objects
+        json_value(const object_t& value)
+        {
+            object = create<object_t>(value);
+        }
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value)
+        {
+            object = create<object_t>(std::move(value));
+        }
+
+        /// constructor for arrays
+        json_value(const array_t& value)
+        {
+            array = create<array_t>(value);
+        }
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value)
+        {
+            array = create<array_t>(std::move(value));
+        }
+
+        /// constructor for binary arrays
+        json_value(const typename binary_t::container_type& value)
+        {
+            binary = create<binary_t>(value);
+        }
+
+        /// constructor for rvalue binary arrays
+        json_value(typename binary_t::container_type&& value)
+        {
+            binary = create<binary_t>(std::move(value));
+        }
+
+        /// constructor for binary arrays (internal type)
+        json_value(const binary_t& value)
+        {
+            binary = create<binary_t>(value);
+        }
+
+        /// constructor for rvalue binary arrays (internal type)
+        json_value(binary_t&& value)
+        {
+            binary = create<binary_t>(std::move(value));
+        }
+
+        void destroy(value_t t) noexcept
+        {
+            // flatten the current json_value to a heap-allocated stack
+            std::vector<basic_json> stack;
+
+            // move the top-level items to stack
+            if (t == value_t::array)
+            {
+                stack.reserve(array->size());
+                std::move(array->begin(), array->end(), std::back_inserter(stack));
+            }
+            else if (t == value_t::object)
+            {
+                stack.reserve(object->size());
+                for (auto&& it : *object)
+                {
+                    stack.push_back(std::move(it.second));
+                }
+            }
+
+            while (!stack.empty())
+            {
+                // move the last item to local variable to be processed
+                basic_json current_item(std::move(stack.back()));
+                stack.pop_back();
+
+                // if current_item is array/object, move
+                // its children to the stack to be processed later
+                if (current_item.is_array())
+                {
+                    std::move(current_item.m_value.array->begin(), current_item.m_value.array->end(),
+                              std::back_inserter(stack));
+
+                    current_item.m_value.array->clear();
+                }
+                else if (current_item.is_object())
+                {
+                    for (auto&& it : *current_item.m_value.object)
+                    {
+                        stack.push_back(std::move(it.second));
+                    }
+
+                    current_item.m_value.object->clear();
+                }
+
+                // it's now safe that current_item get destructed
+                // since it doesn't have any children
+            }
+
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, binary, 1);
+                    break;
+                }
+
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+    */
+    void assert_invariant() const noexcept
+    {
+        JSON_ASSERT(m_type != value_t::object || m_value.object != nullptr);
+        JSON_ASSERT(m_type != value_t::array || m_value.array != nullptr);
+        JSON_ASSERT(m_type != value_t::string || m_value.string != nullptr);
+        JSON_ASSERT(m_type != value_t::binary || m_value.binary != nullptr);
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /*!
+    @brief parser event types
+
+    The parser callback distinguishes the following events:
+    - `object_start`: the parser read `{` and started to process a JSON object
+    - `key`: the parser read a key of a value in an object
+    - `object_end`: the parser read `}` and finished processing a JSON object
+    - `array_start`: the parser read `[` and started to process a JSON array
+    - `array_end`: the parser read `]` and finished processing a JSON array
+    - `value`: the parser finished reading a JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    @sa @ref parser_callback_t for more information and examples
+    */
+    using parse_event_t = detail::parse_event_t;
+
+    /*!
+    @brief per-element parser callback type
+
+    With a parser callback function, the result of parsing a JSON text can be
+    influenced. When passed to @ref parse, it is called on certain events
+    (passed as @ref parse_event_t via parameter @a event) with a set recursion
+    depth @a depth and context JSON value @a parsed. The return value of the
+    callback function is a boolean indicating whether the element that emitted
+    the callback shall be kept or not.
+
+    We distinguish six scenarios (determined by the event type) in which the
+    callback function can be called. The following table describes the values
+    of the parameters @a depth, @a event, and @a parsed.
+
+    parameter @a event | description | parameter @a depth | parameter @a parsed
+    ------------------ | ----------- | ------------------ | -------------------
+    parse_event_t::object_start | the parser read `{` and started to process a JSON object | depth of the parent of the JSON object | a JSON value with type discarded
+    parse_event_t::key | the parser read a key of a value in an object | depth of the currently parsed JSON object | a JSON string containing the key
+    parse_event_t::object_end | the parser read `}` and finished processing a JSON object | depth of the parent of the JSON object | the parsed JSON object
+    parse_event_t::array_start | the parser read `[` and started to process a JSON array | depth of the parent of the JSON array | a JSON value with type discarded
+    parse_event_t::array_end | the parser read `]` and finished processing a JSON array | depth of the parent of the JSON array | the parsed JSON array
+    parse_event_t::value | the parser finished reading a JSON value | depth of the value | the parsed JSON value
+
+    @image html callback_events.png "Example when certain parse events are triggered"
+
+    Discarding a value (i.e., returning `false`) has different effects
+    depending on the context in which function was called:
+
+    - Discarded values in structured types are skipped. That is, the parser
+      will behave as if the discarded value was never read.
+    - In case a value outside a structured type is skipped, it is replaced
+      with `null`. This case happens if the top-level element is skipped.
+
+    @param[in] depth  the depth of the recursion during parsing
+
+    @param[in] event  an event of type parse_event_t indicating the context in
+    the callback function has been called
+
+    @param[in,out] parsed  the current intermediate parse result; note that
+    writing to this value has no effect for parse_event_t::key events
+
+    @return Whether the JSON value which called the function during parsing
+    should be kept (`true`) or not (`false`). In the latter case, it is either
+    skipped completely or replaced by an empty discarded object.
+
+    @sa @ref parse for examples
+
+    @since version 1.0.0
+    */
+    using parser_callback_t = detail::parser_callback_t<basic_json>;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /*!
+    @brief create an empty value with a given type
+
+    Create an empty JSON value with a given type. The value will be default
+    initialized with an empty value which depends on the type:
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    object      | `{}`
+    array       | `[]`
+    binary      | empty array
+
+    @param[in] v  the type of the value to create
+
+    @complexity Constant.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows the constructor for different @ref
+    value_t values,basic_json__value_t}
+
+    @sa @ref clear() -- restores the postcondition of this constructor
+
+    @since version 1.0.0
+    */
+    basic_json(const value_t v)
+        : m_type(v), m_value(v)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a null object
+
+    Create a `null` JSON value. It either takes a null pointer as parameter
+    (explicitly creating `null`) or no parameter (implicitly creating `null`).
+    The passed null pointer itself is not read -- it is only used to choose
+    the right constructor.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @liveexample{The following code shows the constructor with and without a
+    null pointer parameter.,basic_json__nullptr_t}
+
+    @since version 1.0.0
+    */
+    basic_json(std::nullptr_t = nullptr) noexcept
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value
+
+    This is a "catch all" constructor for all compatible JSON types; that is,
+    types for which a `to_json()` method exists. The constructor forwards the
+    parameter @a val to that method (to `json_serializer<U>::to_json` method
+    with `U = uncvref_t<CompatibleType>`, to be exact).
+
+    Template type @a CompatibleType includes, but is not limited to, the
+    following types:
+    - **arrays**: @ref array_t and all kinds of compatible containers such as
+      `std::vector`, `std::deque`, `std::list`, `std::forward_list`,
+      `std::array`, `std::valarray`, `std::set`, `std::unordered_set`,
+      `std::multiset`, and `std::unordered_multiset` with a `value_type` from
+      which a @ref basic_json value can be constructed.
+    - **objects**: @ref object_t and all kinds of compatible associative
+      containers such as `std::map`, `std::unordered_map`, `std::multimap`,
+      and `std::unordered_multimap` with a `key_type` compatible to
+      @ref string_t and a `value_type` from which a @ref basic_json value can
+      be constructed.
+    - **strings**: @ref string_t, string literals, and all compatible string
+      containers can be used.
+    - **numbers**: @ref number_integer_t, @ref number_unsigned_t,
+      @ref number_float_t, and all convertible number types such as `int`,
+      `size_t`, `int64_t`, `float` or `double` can be used.
+    - **boolean**: @ref boolean_t / `bool` can be used.
+    - **binary**: @ref binary_t / `std::vector<uint8_t>` may be used,
+      unfortunately because string literals cannot be distinguished from binary
+      character arrays by the C++ type system, all types compatible with `const
+      char*` will be directed to the string constructor instead.  This is both
+      for backwards compatibility, and due to the fact that a binary type is not
+      a standard JSON type.
+
+    See the examples below.
+
+    @tparam CompatibleType a type such that:
+    - @a CompatibleType is not derived from `std::istream`,
+    - @a CompatibleType is not @ref basic_json (to avoid hijacking copy/move
+         constructors),
+    - @a CompatibleType is not a different @ref basic_json type (i.e. with different template arguments)
+    - @a CompatibleType is not a @ref basic_json nested type (e.g.,
+         @ref json_pointer, @ref iterator, etc ...)
+    - @ref @ref json_serializer<U> has a
+         `to_json(basic_json_t&, CompatibleType&&)` method
+
+    @tparam U = `uncvref_t<CompatibleType>`
+
+    @param[in] val the value to be forwarded to the respective constructor
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @liveexample{The following code shows the constructor with several
+    compatible types.,basic_json__CompatibleType}
+
+    @since version 2.1.0
+    */
+    template < typename CompatibleType,
+               typename U = detail::uncvref_t<CompatibleType>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<U>::value && detail::is_compatible_type<basic_json_t, U>::value, int > = 0 >
+    basic_json(CompatibleType && val) noexcept(noexcept(
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a JSON value from an existing one
+
+    This is a constructor for existing @ref basic_json types.
+    It does not hijack copy/move constructors, since the parameter has different
+    template arguments than the current ones.
+
+    The constructor tries to convert the internal @ref m_value of the parameter.
+
+    @tparam BasicJsonType a type such that:
+    - @a BasicJsonType is a @ref basic_json type.
+    - @a BasicJsonType has different template arguments than @ref basic_json_t.
+
+    @param[in] val the @ref basic_json value to be converted.
+
+    @complexity Usually linear in the size of the passed @a val, also
+                depending on the implementation of the called `to_json()`
+                method.
+
+    @exceptionsafety Depends on the called constructor. For types directly
+    supported by the library (i.e., all types for which no `to_json()` function
+    was provided), strong guarantee holds: if an exception is thrown, there are
+    no changes to any JSON value.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value&& !std::is_same<basic_json, BasicJsonType>::value, int > = 0 >
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+        using other_binary_t = typename BasicJsonType::binary_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::binary:
+                JSONSerializer<other_binary_t>::to_json(*this, val.template get_ref<const other_binary_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_type = value_t::discarded;
+                break;
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false);  // LCOV_EXCL_LINE
+        }
+        assert_invariant();
+    }
+
+    /*!
+    @brief create a container (array or object) from an initializer list
+
+    Creates a JSON value of type array or object from the passed initializer
+    list @a init. In case @a type_deduction is `true` (default), the type of
+    the JSON value to be created is deducted from the initializer list @a init
+    according to the following rules:
+
+    1. If the list is empty, an empty JSON object value `{}` is created.
+    2. If the list consists of pairs whose first element is a string, a JSON
+       object value is created where the first elements of the pairs are
+       treated as keys and the second elements are as values.
+    3. In all other cases, an array is created.
+
+    The rules aim to create the best fit between a C++ initializer list and
+    JSON values. The rationale is as follows:
+
+    1. The empty initializer list is written as `{}` which is exactly an empty
+       JSON object.
+    2. C++ has no way of describing mapped types other than to list a list of
+       pairs. As JSON requires that keys must be of type string, rule 2 is the
+       weakest constraint one can pose on initializer lists to interpret them
+       as an object.
+    3. In all other cases, the initializer list could not be interpreted as
+       JSON object type, so interpreting it as JSON array type is safe.
+
+    With the rules described above, the following JSON values cannot be
+    expressed by an initializer list:
+
+    - the empty array (`[]`): use @ref array(initializer_list_t)
+      with an empty initializer list in this case
+    - arrays whose elements satisfy rule 2: use @ref
+      array(initializer_list_t) with the same initializer list
+      in this case
+
+    @note When used without parentheses around an empty initializer list, @ref
+    basic_json() is called instead of this function, yielding the JSON null
+    value.
+
+    @param[in] init  initializer list with JSON values
+
+    @param[in] type_deduction internal parameter; when set to `true`, the type
+    of the JSON value is deducted from the initializer list @a init; when set
+    to `false`, the type provided via @a manual_type is forced. This mode is
+    used by the functions @ref array(initializer_list_t) and
+    @ref object(initializer_list_t).
+
+    @param[in] manual_type internal parameter; when @a type_deduction is set
+    to `false`, the created JSON value will use the provided type (only @ref
+    value_t::array and @ref value_t::object are valid); when @a type_deduction
+    is set to `true`, this parameter has no effect
+
+    @throw type_error.301 if @a type_deduction is `false`, @a manual_type is
+    `value_t::object`, but @a init contains an element which is not a pair
+    whose first element is a string. In this case, the constructor could not
+    create an object. If @a type_deduction would have be `true`, an array
+    would have been created. See @ref object(initializer_list_t)
+    for an example.
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows how JSON values are created from
+    initializer lists.,basic_json__list_init_t}
+
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            return element_ref->is_array() && element_ref->size() == 2 && (*element_ref)[0].is_string();
+        });
+
+        // adjust type if type deduction is not wanted
+        if (!type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_HEDLEY_UNLIKELY(manual_type == value_t::object && !is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list"));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_type = value_t::object;
+            m_value = value_t::object;
+
+            std::for_each(init.begin(), init.end(), [this](const detail::json_ref<basic_json>& element_ref)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_value.object->emplace(
+                    std::move(*((*element.m_value.array)[0].m_value.string)),
+                    std::move((*element.m_value.array)[1]));
+            });
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_type = value_t::array;
+            m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief explicitly create a binary array (without subtype)
+
+    Creates a JSON binary array value from a given binary container. Binary
+    values are part of various binary formats, such as CBOR, MessagePack, and
+    BSON. This constructor is used to create a value for serialization to those
+    formats.
+
+    @note Note, this function exists because of the difficulty in correctly
+    specifying the correct template overload in the standard value ctor, as both
+    JSON arrays and JSON binary arrays are backed with some form of a
+    `std::vector`. Because JSON binary arrays are a non-standard extension it
+    was decided that it would be best to prevent automatic initialization of a
+    binary array type, for backwards compatibility and so it does not happen on
+    accident.
+
+    @param[in] init container containing bytes to use as binary type
+
+    @return JSON binary array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @since version 3.8.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = init;
+        return res;
+    }
+
+    /*!
+    @brief explicitly create a binary array (with subtype)
+
+    Creates a JSON binary array value from a given binary container. Binary
+    values are part of various binary formats, such as CBOR, MessagePack, and
+    BSON. This constructor is used to create a value for serialization to those
+    formats.
+
+    @note Note, this function exists because of the difficulty in correctly
+    specifying the correct template overload in the standard value ctor, as both
+    JSON arrays and JSON binary arrays are backed with some form of a
+    `std::vector`. Because JSON binary arrays are a non-standard extension it
+    was decided that it would be best to prevent automatic initialization of a
+    binary array type, for backwards compatibility and so it does not happen on
+    accident.
+
+    @param[in] init container containing bytes to use as binary type
+    @param[in] subtype subtype to use in MessagePack and BSON
+
+    @return JSON binary array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @since version 3.8.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init, std::uint8_t subtype)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = binary_t(init, subtype);
+        return res;
+    }
+
+    /// @copydoc binary(const typename binary_t::container_type&)
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = std::move(init);
+        return res;
+    }
+
+    /// @copydoc binary(const typename binary_t::container_type&, std::uint8_t)
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init, std::uint8_t subtype)
+    {
+        auto res = basic_json();
+        res.m_type = value_t::binary;
+        res.m_value = binary_t(std::move(init), subtype);
+        return res;
+    }
+
+    /*!
+    @brief explicitly create an array from an initializer list
+
+    Creates a JSON array value from a given initializer list. That is, given a
+    list of values `a, b, c`, creates the JSON value `[a, b, c]`. If the
+    initializer list is empty, the empty array `[]` is created.
+
+    @note This function is only needed to express two edge cases that cannot
+    be realized with the initializer list constructor (@ref
+    basic_json(initializer_list_t, bool, value_t)). These cases
+    are:
+    1. creating an array whose elements are all pairs whose first element is a
+    string -- in this case, the initializer list constructor would create an
+    object, taking the first elements as keys
+    2. creating an empty array -- passing the empty initializer list to the
+    initializer list constructor yields an empty object
+
+    @param[in] init  initializer list with JSON values to create an array from
+    (optional)
+
+    @return JSON array value
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `array`
+    function.,array}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref object(initializer_list_t) -- create a JSON object
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /*!
+    @brief explicitly create an object from an initializer list
+
+    Creates a JSON object value from a given initializer list. The initializer
+    lists elements must be pairs, and their first elements must be strings. If
+    the initializer list is empty, the empty object `{}` is created.
+
+    @note This function is only added for symmetry reasons. In contrast to the
+    related function @ref array(initializer_list_t), there are
+    no cases which can only be expressed by this function. That is, any
+    initializer list @a init can also be passed to the initializer list
+    constructor @ref basic_json(initializer_list_t, bool, value_t).
+
+    @param[in] init  initializer list to create an object from (optional)
+
+    @return JSON object value
+
+    @throw type_error.301 if @a init is not a list of pairs whose first
+    elements are strings. In this case, no object can be created. When such a
+    value is passed to @ref basic_json(initializer_list_t, bool, value_t),
+    an array would have been created from the passed initializer list @a init.
+    See example below.
+
+    @complexity Linear in the size of @a init.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows an example for the `object`
+    function.,object}
+
+    @sa @ref basic_json(initializer_list_t, bool, value_t) --
+    create a JSON value from an initializer list
+    @sa @ref array(initializer_list_t) -- create a JSON array
+    value from an initializer list
+
+    @since version 1.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /*!
+    @brief construct an array with count copies of given value
+
+    Constructs a JSON array value by creating @a cnt copies of a passed value.
+    In case @a cnt is `0`, an empty array is created.
+
+    @param[in] cnt  the number of JSON copies of @a val to create
+    @param[in] val  the JSON value to copy
+
+    @post `std::distance(begin(),end()) == cnt` holds.
+
+    @complexity Linear in @a cnt.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The following code shows examples for the @ref
+    basic_json(size_type\, const basic_json&)
+    constructor.,basic_json__size_type_basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(size_type cnt, const basic_json& val)
+        : m_type(value_t::array)
+    {
+        m_value.array = create<array_t>(cnt, val);
+        assert_invariant();
+    }
+
+    /*!
+    @brief construct a JSON container given an iterator range
+
+    Constructs the JSON value with the contents of the range `[first, last)`.
+    The semantics depends on the different types a JSON value can have:
+    - In case of a null type, invalid_iterator.206 is thrown.
+    - In case of other primitive types (number, boolean, or string), @a first
+      must be `begin()` and @a last must be `end()`. In this case, the value is
+      copied. Otherwise, invalid_iterator.204 is thrown.
+    - In case of structured types (array, object), the constructor behaves as
+      similar versions for `std::vector` or `std::map`; that is, a JSON array
+      or object is constructed from the values in the range.
+
+    @tparam InputIT an input iterator type (@ref iterator or @ref
+    const_iterator)
+
+    @param[in] first begin of the range to copy from (included)
+    @param[in] last end of the range to copy from (excluded)
+
+    @pre Iterators @a first and @a last must be initialized. **This
+         precondition is enforced with an assertion (see warning).** If
+         assertions are switched off, a violation of this precondition yields
+         undefined behavior.
+
+    @pre Range `[first, last)` is valid. Usually, this precondition cannot be
+         checked efficiently. Only certain edge cases are detected; see the
+         description of the exceptions below. A violation of this precondition
+         yields undefined behavior.
+
+    @warning A precondition is enforced with a runtime assertion that will
+             result in calling `std::abort` if this precondition is not met.
+             Assertions can be disabled by defining `NDEBUG` at compile time.
+             See https://en.cppreference.com/w/cpp/error/assert for more
+             information.
+
+    @throw invalid_iterator.201 if iterators @a first and @a last are not
+    compatible (i.e., do not belong to the same JSON value). In this case,
+    the range `[first, last)` is undefined.
+    @throw invalid_iterator.204 if iterators @a first and @a last belong to a
+    primitive type (number, boolean, or string), but @a first does not point
+    to the first element any more. In this case, the range `[first, last)` is
+    undefined. See example code below.
+    @throw invalid_iterator.206 if iterators @a first and @a last belong to a
+    null value. In this case, the range `[first, last)` is undefined.
+
+    @complexity Linear in distance between @a first and @a last.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @liveexample{The example below shows several ways to create JSON values by
+    specifying a subrange with iterators.,basic_json__InputIt_InputIt}
+
+    @since version 1.0.0
+    */
+    template < class InputIT, typename std::enable_if <
+                   std::is_same<InputIT, typename basic_json_t::iterator>::value ||
+                   std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int >::type = 0 >
+    basic_json(InputIT first, InputIT last)
+    {
+        JSON_ASSERT(first.m_object != nullptr);
+        JSON_ASSERT(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible"));
+        }
+
+        // copy type from first iterator
+        m_type = first.m_object->m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!first.m_it.primitive_iterator.is_begin()
+                                         || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = first.m_object->m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = first.m_object->m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = first.m_object->m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = first.m_object->m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *first.m_object->m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object = create<object_t>(first.m_it.object_iterator,
+                                                  last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value = *first.m_object->m_value.binary;
+                break;
+            }
+
+            default:
+                JSON_THROW(invalid_iterator::create(206, "cannot construct with iterators from " +
+                                                    std::string(first.m_object->type_name())));
+        }
+
+        assert_invariant();
+    }
+
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    template<typename JsonRef,
+             detail::enable_if_t<detail::conjunction<detail::is_json_ref<JsonRef>,
+                                 std::is_same<typename JsonRef::value_type, basic_json>>::value, int> = 0 >
+    basic_json(const JsonRef& ref) : basic_json(ref.moved_or_copied()) {}
+
+    /*!
+    @brief copy constructor
+
+    Creates a copy of a given JSON value.
+
+    @param[in] other  the JSON value to copy
+
+    @post `*this == other`
+
+    @complexity Linear in the size of @a other.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes to any JSON value.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - As postcondition, it holds: `other == basic_json(other)`.
+
+    @liveexample{The following code shows an example for the copy
+    constructor.,basic_json__basic_json}
+
+    @since version 1.0.0
+    */
+    basic_json(const basic_json& other)
+        : m_type(other.m_type)
+    {
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_type)
+        {
+            case value_t::object:
+            {
+                m_value = *other.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value = *other.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value = *other.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value = other.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_value = other.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value = other.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value = other.m_value.number_float;
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value = *other.m_value.binary;
+                break;
+            }
+
+            default:
+                break;
+        }
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief move constructor
+
+    Move constructor. Constructs a JSON value with the contents of the given
+    value @a other using move semantics. It "steals" the resources from @a
+    other and leaves it as JSON null value.
+
+    @param[in,out] other  value to move to this object
+
+    @post `*this` has the same value as @a other before the call.
+    @post @a other is a JSON null value.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this constructor never throws
+    exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [MoveConstructible](https://en.cppreference.com/w/cpp/named_req/MoveConstructible)
+    requirements.
+
+    @liveexample{The code below shows the move constructor explicitly called
+    via std::move.,basic_json__moveconstructor}
+
+    @since version 1.0.0
+    */
+    basic_json(basic_json&& other) noexcept
+        : m_type(std::move(other.m_type)),
+          m_value(std::move(other.m_value))
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        // invalidate payload
+        other.m_type = value_t::null;
+        other.m_value = {};
+
+        assert_invariant();
+    }
+
+    /*!
+    @brief copy assignment
+
+    Copy assignment operator. Copies a JSON value via the "copy and swap"
+    strategy: It is expressed in terms of the copy constructor, destructor,
+    and the `swap()` member function.
+
+    @param[in] other  value to copy from
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+
+    @liveexample{The code below shows and example for the copy assignment. It
+    creates a copy of value `a` which is then swapped with `b`. Finally\, the
+    copy of `a` (which is the null value after the swap) is
+    destroyed.,basic_json__copyassignment}
+
+    @since version 1.0.0
+    */
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_type, other.m_type);
+        swap(m_value, other.m_value);
+
+        assert_invariant();
+        return *this;
+    }
+
+    /*!
+    @brief destructor
+
+    Destroys the JSON value and frees all allocated memory.
+
+    @complexity Linear.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is linear.
+    - All stored elements are destroyed and all memory is freed.
+
+    @since version 1.0.0
+    */
+    ~basic_json() noexcept
+    {
+        assert_invariant();
+        m_value.destroy(m_type);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /*!
+    @brief serialization
+
+    Serialization function for JSON values. The function tries to mimic
+    Python's `json.dumps()` function, and currently supports its @a indent
+    and @a ensure_ascii parameters.
+
+    @param[in] indent If indent is nonnegative, then array elements and object
+    members will be pretty-printed with that indent level. An indent level of
+    `0` will only insert newlines. `-1` (the default) selects the most compact
+    representation.
+    @param[in] indent_char The character to use for indentation if @a indent is
+    greater than `0`. The default is ` ` (space).
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] error_handler  how to react on decoding errors; there are three
+    possible values: `strict` (throws and exception in case a decoding error
+    occurs; default), `replace` (replace invalid UTF-8 sequences with U+FFFD),
+    and `ignore` (ignore invalid UTF-8 sequences during serialization; all
+    bytes are copied to the output unchanged).
+
+    @return string containing the serialization of the JSON value
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded and @a error_handler is set to strict
+
+    @note Binary values are serialized as object containing two keys:
+      - "bytes": an array of bytes as integers
+      - "subtype": the subtype as integer or "null" if the binary has no subtype
+
+    @complexity Linear.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @liveexample{The following example shows the effect of different @a indent\,
+    @a indent_char\, and @a ensure_ascii parameters to the result of the
+    serialization.,dump}
+
+    @see https://docs.python.org/2/library/json.html#json.dump
+
+    @since version 1.0.0; indentation character @a indent_char, option
+           @a ensure_ascii and exceptions added in version 3.0.0; error
+           handlers added in version 3.4.0; serialization of binary values added
+           in version 3.8.0.
+    */
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief return the type of the JSON value (explicit)
+
+    Return the type of the JSON value as a value from the @ref value_t
+    enumeration.
+
+    @return the type of the JSON value
+            Value type                | return value
+            ------------------------- | -------------------------
+            null                      | value_t::null
+            boolean                   | value_t::boolean
+            string                    | value_t::string
+            number (integer)          | value_t::number_integer
+            number (unsigned integer) | value_t::number_unsigned
+            number (floating-point)   | value_t::number_float
+            object                    | value_t::object
+            array                     | value_t::array
+            binary                    | value_t::binary
+            discarded                 | value_t::discarded
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `type()` for all JSON
+    types.,type}
+
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr value_t type() const noexcept
+    {
+        return m_type;
+    }
+
+    /*!
+    @brief return whether type is primitive
+
+    This function returns true if and only if the JSON type is primitive
+    (string, number, boolean, or null).
+
+    @return `true` if type is primitive (string, number, boolean, or null),
+    `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_primitive()` for all JSON
+    types.,is_primitive}
+
+    @sa @ref is_structured() -- returns whether JSON value is structured
+    @sa @ref is_null() -- returns whether JSON value is `null`
+    @sa @ref is_string() -- returns whether JSON value is a string
+    @sa @ref is_boolean() -- returns whether JSON value is a boolean
+    @sa @ref is_number() -- returns whether JSON value is a number
+    @sa @ref is_binary() -- returns whether JSON value is a binary array
+
+    @since version 1.0.0
+    */
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() || is_string() || is_boolean() || is_number() || is_binary();
+    }
+
+    /*!
+    @brief return whether type is structured
+
+    This function returns true if and only if the JSON type is structured
+    (array or object).
+
+    @return `true` if type is structured (array or object), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_structured()` for all JSON
+    types.,is_structured}
+
+    @sa @ref is_primitive() -- returns whether value is primitive
+    @sa @ref is_array() -- returns whether value is an array
+    @sa @ref is_object() -- returns whether value is an object
+
+    @since version 1.0.0
+    */
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() || is_object();
+    }
+
+    /*!
+    @brief return whether value is null
+
+    This function returns true if and only if the JSON value is null.
+
+    @return `true` if type is null, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_null()` for all JSON
+    types.,is_null}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_null() const noexcept
+    {
+        return m_type == value_t::null;
+    }
+
+    /*!
+    @brief return whether value is a boolean
+
+    This function returns true if and only if the JSON value is a boolean.
+
+    @return `true` if type is boolean, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_boolean()` for all JSON
+    types.,is_boolean}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_boolean() const noexcept
+    {
+        return m_type == value_t::boolean;
+    }
+
+    /*!
+    @brief return whether value is a number
+
+    This function returns true if and only if the JSON value is a number. This
+    includes both integer (signed and unsigned) and floating-point values.
+
+    @return `true` if type is number (regardless whether integer, unsigned
+    integer or floating-type), `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number()` for all JSON
+    types.,is_number}
+
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() || is_number_float();
+    }
+
+    /*!
+    @brief return whether value is an integer number
+
+    This function returns true if and only if the JSON value is a signed or
+    unsigned integer number. This excludes floating-point values.
+
+    @return `true` if type is an integer or unsigned integer number, `false`
+    otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_integer()` for all
+    JSON types.,is_number_integer}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_integer() const noexcept
+    {
+        return m_type == value_t::number_integer || m_type == value_t::number_unsigned;
+    }
+
+    /*!
+    @brief return whether value is an unsigned integer number
+
+    This function returns true if and only if the JSON value is an unsigned
+    integer number. This excludes floating-point and signed integer values.
+
+    @return `true` if type is an unsigned integer number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_unsigned()` for all
+    JSON types.,is_number_unsigned}
+
+    @sa @ref is_number() -- check if value is a number
+    @sa @ref is_number_integer() -- check if value is an integer or unsigned
+    integer number
+    @sa @ref is_number_float() -- check if value is a floating-point number
+
+    @since version 2.0.0
+    */
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return m_type == value_t::number_unsigned;
+    }
+
+    /*!
+    @brief return whether value is a floating-point number
+
+    This function returns true if and only if the JSON value is a
+    floating-point number. This excludes signed and unsigned integer values.
+
+    @return `true` if type is a floating-point number, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_number_float()` for all
+    JSON types.,is_number_float}
+
+    @sa @ref is_number() -- check if value is number
+    @sa @ref is_number_integer() -- check if value is an integer number
+    @sa @ref is_number_unsigned() -- check if value is an unsigned integer
+    number
+
+    @since version 1.0.0
+    */
+    constexpr bool is_number_float() const noexcept
+    {
+        return m_type == value_t::number_float;
+    }
+
+    /*!
+    @brief return whether value is an object
+
+    This function returns true if and only if the JSON value is an object.
+
+    @return `true` if type is object, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_object()` for all JSON
+    types.,is_object}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_object() const noexcept
+    {
+        return m_type == value_t::object;
+    }
+
+    /*!
+    @brief return whether value is an array
+
+    This function returns true if and only if the JSON value is an array.
+
+    @return `true` if type is array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_array()` for all JSON
+    types.,is_array}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_array() const noexcept
+    {
+        return m_type == value_t::array;
+    }
+
+    /*!
+    @brief return whether value is a string
+
+    This function returns true if and only if the JSON value is a string.
+
+    @return `true` if type is string, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_string()` for all JSON
+    types.,is_string}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_string() const noexcept
+    {
+        return m_type == value_t::string;
+    }
+
+    /*!
+    @brief return whether value is a binary array
+
+    This function returns true if and only if the JSON value is a binary array.
+
+    @return `true` if type is binary array, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_binary()` for all JSON
+    types.,is_binary}
+
+    @since version 3.8.0
+    */
+    constexpr bool is_binary() const noexcept
+    {
+        return m_type == value_t::binary;
+    }
+
+    /*!
+    @brief return whether value is discarded
+
+    This function returns true if and only if the JSON value was discarded
+    during parsing with a callback function (see @ref parser_callback_t).
+
+    @note This function will always be `false` for JSON values after parsing.
+    That is, discarded values can only occur during parsing, but will be
+    removed when inside a structured value or replaced by null in other cases.
+
+    @return `true` if type is discarded, `false` otherwise.
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies `is_discarded()` for all JSON
+    types.,is_discarded}
+
+    @since version 1.0.0
+    */
+    constexpr bool is_discarded() const noexcept
+    {
+        return m_type == value_t::discarded;
+    }
+
+    /*!
+    @brief return the type of the JSON value (implicit)
+
+    Implicitly return the type of the JSON value as a value from the @ref
+    value_t enumeration.
+
+    @return the type of the JSON value
+
+    @complexity Constant.
+
+    @exceptionsafety No-throw guarantee: this member function never throws
+    exceptions.
+
+    @liveexample{The following code exemplifies the @ref value_t operator for
+    all JSON types.,operator__value_t}
+
+    @sa @ref type() -- return the type of the JSON value (explicit)
+    @sa @ref type_name() -- return the type as string
+
+    @since version 1.0.0
+    */
+    constexpr operator value_t() const noexcept
+    {
+        return m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_HEDLEY_LIKELY(is_boolean()))
+        {
+            return m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, "type must be boolean, but is " + std::string(type_name())));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    binary_t* get_impl_ptr(binary_t* /*unused*/) noexcept
+    {
+        return is_binary() ? m_value.binary : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    constexpr const binary_t* get_impl_ptr(const binary_t* /*unused*/) const noexcept
+    {
+        return is_binary() ? m_value.binary : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_HEDLEY_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, "incompatible ReferenceType for get_ref, actual type is " + std::string(obj.type_name())));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType, detail::enable_if_t<
+                 std::is_same<typename std::remove_const<BasicJsonType>::type, basic_json_t>::value,
+                 int> = 0>
+    basic_json get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @tparam BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType, detail::enable_if_t <
+                   !std::is_same<BasicJsonType, basic_json>::value&&
+                   detail::is_basic_json<BasicJsonType>::value, int > = 0 >
+    BasicJsonType get() const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value &&
+                   detail::has_from_json<basic_json_t, ValueType>::value &&
+                   !detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        static_assert(std::is_default_constructible<ValueType>::value,
+                      "types must be DefaultConstructible when used with get()");
+
+        ValueType ret;
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueTypeCV>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>,
+               detail::enable_if_t < !std::is_same<basic_json_t, ValueType>::value &&
+                                     detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                                     int > = 0 >
+    ValueType get() const noexcept(noexcept(
+                                       JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>())))
+    {
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return JSONSerializer<ValueType>::from_json(*this);
+    }
+
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value.
+    The value is filled into the input parameter by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType v;
+    JSONSerializer<ValueType>::from_json(*this, v);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+
+    @tparam ValueType the input parameter type.
+
+    @return the input parameter, allowing chaining calls.
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get_to}
+
+    @since version 3.3.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+    // specialization to allow to call get_to with a basic_json value
+    // see https://github.com/nlohmann/json/issues/2175
+    template<typename ValueType,
+             detail::enable_if_t <
+                 detail::is_basic_json<ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const
+    {
+        v = *this;
+        return v;
+    }
+
+    template <
+        typename T, std::size_t N,
+        typename Array = T (&)[N],
+        detail::enable_if_t <
+            detail::has_from_json<basic_json_t, Array>::value, int > = 0 >
+    Array get_to(T (&v)[N]) const
+    noexcept(noexcept(JSONSerializer<Array>::from_json(
+                          std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<Array>::from_json(*this, v);
+        return v;
+    }
+
+
+    /*!
+    @brief get a pointer value (implicit)
+
+    Implicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning Writing data to the pointee of the result yields an undefined
+    state.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t. Enforced by a static
+    assertion.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get_ptr}
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (implicit)
+    @copydoc get_ptr()
+    */
+    template < typename PointerType, typename std::enable_if <
+                   std::is_pointer<PointerType>::value&&
+                   std::is_const<typename std::remove_pointer<PointerType>::type>::value, int >::type = 0 >
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    constexpr auto get() const noexcept -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+
+    Implicit reference access to the internally stored JSON value. No copies
+    are made.
+
+    @warning Writing data to the referee of the result yields an undefined
+    state.
+
+    @tparam ReferenceType reference type; must be a reference to @ref array_t,
+    @ref object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, or
+    @ref number_float_t. Enforced by static assertion.
+
+    @return reference to the internally stored JSON value if the requested
+    reference type @a ReferenceType fits to the JSON value; throws
+    type_error.303 otherwise
+
+    @throw type_error.303 in case passed type @a ReferenceType is incompatible
+    with the stored JSON value; see example below
+
+    @complexity Constant.
+
+    @liveexample{The example shows several calls to `get_ref()`.,get_ref}
+
+    @since version 1.1.0
+    */
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a reference value (implicit)
+    @copydoc get_ref()
+    */
+    template < typename ReferenceType, typename std::enable_if <
+                   std::is_reference<ReferenceType>::value&&
+                   std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int >::type = 0 >
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   !std::is_pointer<ValueType>::value&&
+                   !std::is_same<ValueType, detail::json_ref<basic_json>>::value&&
+                   !std::is_same<ValueType, typename string_t::value_type>::value&&
+                   !detail::is_basic_json<ValueType>::value
+                   && !std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>::value
+#if defined(JSON_HAS_CPP_17) && (defined(__GNUC__) || (defined(_MSC_VER) && _MSC_VER >= 1910 && _MSC_VER <= 1914))
+                   && !std::is_same<ValueType, typename std::string_view>::value
+#endif
+                   && detail::is_detected<detail::get_template_function, const basic_json_t&, ValueType>::value
+                   , int >::type = 0 >
+    JSON_EXPLICIT operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /*!
+    @return reference to the binary value
+
+    @throw type_error.302 if the value is not binary
+
+    @sa @ref is_binary() to check if the value is binary
+
+    @since version 3.8.0
+    */
+    binary_t& get_binary()
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(type_name())));
+        }
+
+        return *get_ptr<binary_t*>();
+    }
+
+    /// @copydoc get_binary()
+    const binary_t& get_binary() const
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, "type must be binary, but is " + std::string(type_name())));
+        }
+
+        return *get_ptr<const binary_t*>();
+    }
+
+    /// @}
+
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a reference to the element at specified location @a idx, with
+    bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__size_type}
+    */
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element with bounds checking
+
+    Returns a const reference to the element at specified location @a idx,
+    with bounds checking.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.304 if the JSON value is not an array; in this case,
+    calling `at` with an index makes no sense. See example below.
+    @throw out_of_range.401 if the index @a idx is out of range of the array;
+    that is, `idx >= size()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how array elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__size_type_const}
+    */
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a reference to the element at with specified key @a key, with
+    bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read and
+    written using `at()`. It also demonstrates the different exceptions that
+    can be thrown.,at__object_t_key_type}
+    */
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified object element with bounds checking
+
+    Returns a const reference to the element at with specified key @a key,
+    with bounds checking.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @throw type_error.304 if the JSON value is not an object; in this case,
+    calling `at` with a key makes no sense. See example below.
+    @throw out_of_range.403 if the key @a key is is not stored in the object;
+    that is, `find(key) == end()`. See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Logarithmic in the size of the container.
+
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+
+    @liveexample{The example below shows how object elements can be read using
+    `at()`. It also demonstrates the different exceptions that can be thrown.,
+    at__object_t_key_type_const}
+    */
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_TRY
+            {
+                return m_value.object->at(key);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(403, "key '" + key + "' not found"));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, "cannot use at() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a reference to the element at specified location @a idx.
+
+    @note If @a idx is beyond the range of the array (i.e., `idx >= size()`),
+    then the array is silently filled up with `null` values to make `idx` a
+    valid reference to the last stored element.
+
+    @param[in] idx  index of the element to access
+
+    @return reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array or null; in that
+    cases, using the [] operator with an index makes no sense.
+
+    @complexity Constant if @a idx is in the range of the array. Otherwise
+    linear in `idx - size()`.
+
+    @liveexample{The example below shows how array elements can be read and
+    written using `[]` operator. Note the addition of `null`
+    values.,operatorarray__size_type}
+
+    @since version 1.0.0
+    */
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_value.array->size())
+            {
+                m_value.array->insert(m_value.array->end(),
+                                      idx - m_value.array->size() + 1,
+                                      basic_json());
+            }
+
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified array element
+
+    Returns a const reference to the element at specified location @a idx.
+
+    @param[in] idx  index of the element to access
+
+    @return const reference to the element at index @a idx
+
+    @throw type_error.305 if the JSON value is not an array; in that case,
+    using the [] operator with an index makes no sense.
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how array elements can be read using
+    the `[]` operator.,operatorarray__size_type_const}
+
+    @since version 1.0.0
+    */
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            return m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a numeric argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    reference operator[](const typename object_t::key_type& key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.0.0
+    */
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_ASSERT(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element
+
+    Returns a reference to the element at with specified key @a key.
+
+    @note If @a key is not found in the object, then it is silently added to
+    the object and filled with a `null` value to make `key` a valid reference.
+    In case the value was `null` before, it is converted to an object.
+
+    @param[in] key  key of the element to access
+
+    @return reference to the element at key @a key
+
+    @throw type_error.305 if the JSON value is not an object or null; in that
+    cases, using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read and
+    written using the `[]` operator.,operatorarray__key_type}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    JSON_HEDLEY_NON_NULL(2)
+    reference operator[](T* key)
+    {
+        // implicitly convert null to object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->operator[](key);
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief read-only access specified object element
+
+    Returns a const reference to the element at with specified key @a key. No
+    bounds checking is performed.
+
+    @warning If the element with key @a key does not exist, the behavior is
+    undefined.
+
+    @param[in] key  key of the element to access
+
+    @return const reference to the element at key @a key
+
+    @pre The element with key @a key must exist. **This precondition is
+         enforced with an assertion.**
+
+    @throw type_error.305 if the JSON value is not an object; in that case,
+    using the [] operator with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be read using
+    the `[]` operator.,operatorarray__key_type_const}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref value() for access by value with a default value
+
+    @since version 1.1.0
+    */
+    template<typename T>
+    JSON_HEDLEY_NON_NULL(2)
+    const_reference operator[](T* key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            JSON_ASSERT(m_value.object->find(key) != m_value.object->end());
+            return m_value.object->find(key)->second;
+        }
+
+        JSON_THROW(type_error::create(305, "cannot use operator[] with a string argument with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief access specified object element with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(key);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const typename object_t::key_type&), this function
+    does not throw if the given key @a key was not found.
+
+    @note Unlike @ref operator[](const typename object_t::key_type& key), this
+    function does not implicitly add an element to the position defined by @a
+    key. This function is furthermore also applicable to const objects.
+
+    @param[in] key  key of the element to access
+    @param[in] default_value  the value to return if @a key is not found
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.302 if @a default_value does not match the type of the
+    value at @a key
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value}
+
+    @sa @ref at(const typename object_t::key_type&) for access by reference
+    with range checking
+    @sa @ref operator[](const typename object_t::key_type&) for unchecked
+    access by reference
+
+    @since version 1.0.0
+    */
+    // using std::is_convertible in a std::enable_if will fail when using explicit conversions
+    template < class ValueType, typename std::enable_if <
+                   detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, ValueType>::value, int >::type = 0 >
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const typename object_t::key_type&, const ValueType&) const
+    */
+    string_t value(const typename object_t::key_type& key, const char* default_value) const
+    {
+        return value(key, string_t(default_value));
+    }
+
+    /*!
+    @brief access specified object element via JSON Pointer with default value
+
+    Returns either a copy of an object's element at the specified key @a key
+    or a given default value if no element with key @a key exists.
+
+    The function is basically equivalent to executing
+    @code {.cpp}
+    try {
+        return at(ptr);
+    } catch(out_of_range) {
+        return default_value;
+    }
+    @endcode
+
+    @note Unlike @ref at(const json_pointer&), this function does not throw
+    if the given key @a key was not found.
+
+    @param[in] ptr  a JSON pointer to the element to access
+    @param[in] default_value  the value to return if @a ptr found no value
+
+    @tparam ValueType type compatible to JSON values, for instance `int` for
+    JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for
+    JSON arrays. Note the type of the expected value at @a key and the default
+    value @a default_value must be compatible.
+
+    @return copy of the element at key @a key or @a default_value if @a key
+    is not found
+
+    @throw type_error.302 if @a default_value does not match the type of the
+    value at @a ptr
+    @throw type_error.306 if the JSON value is not an object; in that case,
+    using `value()` with a key makes no sense.
+
+    @complexity Logarithmic in the size of the container.
+
+    @liveexample{The example below shows how object elements can be queried
+    with a default value.,basic_json__value_ptr}
+
+    @sa @ref operator[](const json_pointer&) for unchecked access by reference
+
+    @since version 2.0.2
+    */
+    template<class ValueType, typename std::enable_if<
+                 detail::is_getable<basic_json_t, ValueType>::value, int>::type = 0>
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ValueType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, "cannot use value() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief overload for a default value of type const char*
+    @copydoc basic_json::value(const json_pointer&, ValueType) const
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    string_t value(const json_pointer& ptr, const char* default_value) const
+    {
+        return value(ptr, string_t(default_value));
+    }
+
+    /*!
+    @brief access the first element
+
+    Returns a reference to the first element in the container. For a JSON
+    container `c`, the expression `c.front()` is equivalent to `*c.begin()`.
+
+    @return In case of a structured type (array or object), a reference to the
+    first element is returned. In case of number, string, boolean, or binary
+    values, a reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on `null` value
+
+    @liveexample{The following code shows an example for `front()`.,front}
+
+    @sa @ref back() -- access the last element
+
+    @since version 1.0.0
+    */
+    reference front()
+    {
+        return *begin();
+    }
+
+    /*!
+    @copydoc basic_json::front()
+    */
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /*!
+    @brief access the last element
+
+    Returns a reference to the last element in the container. For a JSON
+    container `c`, the expression `c.back()` is equivalent to
+    @code {.cpp}
+    auto tmp = c.end();
+    --tmp;
+    return *tmp;
+    @endcode
+
+    @return In case of a structured type (array or object), a reference to the
+    last element is returned. In case of number, string, boolean, or binary
+    values, a reference to the value is returned.
+
+    @complexity Constant.
+
+    @pre The JSON value must not be `null` (would throw `std::out_of_range`)
+    or an empty array or object (undefined behavior, **guarded by
+    assertions**).
+    @post The JSON value remains unchanged.
+
+    @throw invalid_iterator.214 when called on a `null` value. See example
+    below.
+
+    @liveexample{The following code shows an example for `back()`.,back}
+
+    @sa @ref front() -- access the first element
+
+    @since version 1.0.0
+    */
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @copydoc basic_json::back()
+    */
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /*!
+    @brief remove element given an iterator
+
+    Removes the element specified by iterator @a pos. The iterator @a pos must
+    be valid and dereferenceable. Thus the `end()` iterator (which is valid,
+    but is not dereferenceable) cannot be used as a value for @a pos.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] pos iterator to the element to remove
+    @return Iterator following the last removed element. If the iterator @a
+    pos refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.202 if called on an iterator which does not belong
+    to the current JSON value; example: `"iterator does not fit current
+    value"`
+    @throw invalid_iterator.205 if called on a primitive type with invalid
+    iterator (i.e., any iterator which is not `begin()`); example: `"iterator
+    out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: amortized constant
+    - arrays: linear in distance between @a pos and the end of the container
+    - strings and binary: linear in the length of the member
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType}
+
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template < class IteratorType, typename std::enable_if <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int >::type
+               = 0 >
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.binary, 1);
+                    m_value.binary = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove elements given an iterator range
+
+    Removes the element specified by the range `[first; last)`. The iterator
+    @a first does not need to be dereferenceable if `first == last`: erasing
+    an empty range is a no-op.
+
+    If called on a primitive type other than `null`, the resulting JSON value
+    will be `null`.
+
+    @param[in] first iterator to the beginning of the range to remove
+    @param[in] last iterator past the end of the range to remove
+    @return Iterator following the last removed element. If the iterator @a
+    second refers to the last element, the `end()` iterator is returned.
+
+    @tparam IteratorType an @ref iterator or @ref const_iterator
+
+    @post Invalidates iterators and references at or after the point of the
+    erase, including the `end()` iterator.
+
+    @throw type_error.307 if called on a `null` value; example: `"cannot use
+    erase() with null"`
+    @throw invalid_iterator.203 if called on iterators which does not belong
+    to the current JSON value; example: `"iterators do not fit current value"`
+    @throw invalid_iterator.204 if called on a primitive type with invalid
+    iterators (i.e., if `first != begin()` and `last != end()`); example:
+    `"iterators out of range"`
+
+    @complexity The complexity depends on the type:
+    - objects: `log(size()) + std::distance(first, last)`
+    - arrays: linear in the distance between @a first and @a last, plus linear
+      in the distance between @a last and end of the container
+    - strings and binary: linear in the length of the member
+    - other types: constant
+
+    @liveexample{The example shows the result of `erase()` for different JSON
+    types.,erase__IteratorType_IteratorType}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    template < class IteratorType, typename std::enable_if <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int >::type
+               = 0 >
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != first.m_object || this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value"));
+        }
+
+        IteratorType result = end();
+
+        switch (m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_LIKELY(!first.m_it.primitive_iterator.is_begin()
+                                       || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range"));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.string, 1);
+                    m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_value.binary, 1);
+                    m_value.binary = nullptr;
+                }
+
+                m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            default:
+                JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief remove element from a JSON object given a key
+
+    Removes elements from a JSON object with the key value @a key.
+
+    @param[in] key value of the elements to remove
+
+    @return Number of elements removed. If @a ObjectType is the default
+    `std::map` type, the return value will always be `0` (@a key was not
+    found) or `1` (@a key was found).
+
+    @post References and iterators to the erased elements are invalidated.
+    Other references and iterators are not affected.
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+
+    @complexity `log(size()) + count(key)`
+
+    @liveexample{The example shows the effect of `erase()`.,erase__key_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const size_type) -- removes the element from an array at
+    the given index
+
+    @since version 1.0.0
+    */
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            return m_value.object->erase(key);
+        }
+
+        JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief remove element from a JSON array given an index
+
+    Removes element from a JSON array at the index @a idx.
+
+    @param[in] idx index of the element to remove
+
+    @throw type_error.307 when called on a type other than JSON object;
+    example: `"cannot use erase() with null"`
+    @throw out_of_range.401 when `idx >= size()`; example: `"array index 17
+    is out of range"`
+
+    @complexity Linear in distance between @a idx and the end of the container.
+
+    @liveexample{The example shows the effect of `erase()`.,erase__size_type}
+
+    @sa @ref erase(IteratorType) -- removes the element at a given position
+    @sa @ref erase(IteratorType, IteratorType) -- removes the elements in
+    the given range
+    @sa @ref erase(const typename object_t::key_type&) -- removes the element
+    from an object at the given key
+
+    @since version 1.0.0
+    */
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            if (JSON_HEDLEY_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+            }
+
+            m_value.array->erase(m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, "cannot use erase() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /*!
+    @brief find an element in a JSON object
+
+    Finds an element in a JSON object with key equivalent to @a key. If the
+    element is not found or the JSON value is not an object, end() is
+    returned.
+
+    @note This method always returns @ref end() when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value of the element to search for.
+
+    @return Iterator to an element with key equivalent to @a key. If no such
+    element is found or the JSON value is not an object, past-the-end (see
+    @ref end()) iterator is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `find()` is used.,find__key_type}
+
+    @sa @ref contains(KeyT&&) const -- checks whether a key exists
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    iterator find(KeyT&& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief find an element in a JSON object
+    @copydoc find(KeyT&&)
+    */
+    template<typename KeyT>
+    const_iterator find(KeyT&& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_value.object->find(std::forward<KeyT>(key));
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief returns the number of occurrences of a key in a JSON object
+
+    Returns the number of elements with key @a key. If ObjectType is the
+    default `std::map` type, the return value will always be `0` (@a key was
+    not found) or `1` (@a key was found).
+
+    @note This method always returns `0` when executed on a JSON type that is
+          not an object.
+
+    @param[in] key key value of the element to count
+
+    @return Number of elements with key @a key. If the JSON value is not an
+    object, the return value will be `0`.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The example shows how `count()` is used.,count}
+
+    @since version 1.0.0
+    */
+    template<typename KeyT>
+    size_type count(KeyT&& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_value.object->count(std::forward<KeyT>(key)) : 0;
+    }
+
+    /*!
+    @brief check the existence of an element in a JSON object
+
+    Check whether an element exists in a JSON object with key equivalent to
+    @a key. If the element is not found or the JSON value is not an object,
+    false is returned.
+
+    @note This method always returns false when executed on a JSON type
+          that is not an object.
+
+    @param[in] key key value to check its existence.
+
+    @return true if an element with specified @a key exists. If no such
+    element with such key is found or the JSON value is not an object,
+    false is returned.
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The following code shows an example for `contains()`.,contains}
+
+    @sa @ref find(KeyT&&) -- returns an iterator to an object element
+    @sa @ref contains(const json_pointer&) const -- checks the existence for a JSON pointer
+
+    @since version 3.6.0
+    */
+    template < typename KeyT, typename std::enable_if <
+                   !std::is_same<typename std::decay<KeyT>::type, json_pointer>::value, int >::type = 0 >
+    bool contains(KeyT && key) const
+    {
+        return is_object() && m_value.object->find(std::forward<KeyT>(key)) != m_value.object->end();
+    }
+
+    /*!
+    @brief check the existence of an element in a JSON object given a JSON pointer
+
+    Check whether the given JSON pointer @a ptr can be resolved in the current
+    JSON value.
+
+    @note This method can be executed on any JSON value type.
+
+    @param[in] ptr JSON pointer to check its existence.
+
+    @return true if the JSON pointer can be resolved to a stored value, false
+    otherwise.
+
+    @post If `j.contains(ptr)` returns true, it is safe to call `j[ptr]`.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+
+    @complexity Logarithmic in the size of the JSON object.
+
+    @liveexample{The following code shows an example for `contains()`.,contains_json_pointer}
+
+    @sa @ref contains(KeyT &&) const -- checks the existence of a key
+
+    @since version 3.7.0
+    */
+    bool contains(const json_pointer& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    /// @}
+
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /*!
+    @brief returns an iterator to the first element
+
+    Returns an iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `begin()`.,begin}
+
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cbegin()
+    */
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /*!
+    @brief returns a const iterator to the first element
+
+    Returns a const iterator to the first element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator to the first element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).begin()`.
+
+    @liveexample{The following code shows an example for `cbegin()`.,cbegin}
+
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref cend() -- returns a const iterator to the end
+
+    @since version 1.0.0
+    */
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to one past the last element
+
+    Returns an iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+
+    @liveexample{The following code shows an example for `end()`.,end}
+
+    @sa @ref cend() -- returns a const iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @copydoc basic_json::cend()
+    */
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /*!
+    @brief returns a const iterator to one past the last element
+
+    Returns a const iterator to one past the last element.
+
+    @image html range-begin-end.svg "Illustration from cppreference.com"
+
+    @return const iterator one past the last element
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).end()`.
+
+    @liveexample{The following code shows an example for `cend()`.,cend}
+
+    @sa @ref end() -- returns an iterator to the end
+    @sa @ref begin() -- returns an iterator to the beginning
+    @sa @ref cbegin() -- returns a const iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-beginning
+
+    Returns an iterator to the reverse-beginning; that is, the last element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(end())`.
+
+    @liveexample{The following code shows an example for `rbegin()`.,rbegin}
+
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /*!
+    @copydoc basic_json::crbegin()
+    */
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /*!
+    @brief returns an iterator to the reverse-end
+
+    Returns an iterator to the reverse-end; that is, one before the first
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `reverse_iterator(begin())`.
+
+    @liveexample{The following code shows an example for `rend()`.,rend}
+
+    @sa @ref crend() -- returns a const reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /*!
+    @copydoc basic_json::crend()
+    */
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /*!
+    @brief returns a const reverse iterator to the last element
+
+    Returns a const iterator to the reverse-beginning; that is, the last
+    element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rbegin()`.
+
+    @liveexample{The following code shows an example for `crbegin()`.,crbegin}
+
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref crend() -- returns a const reverse iterator to the end
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /*!
+    @brief returns a const reverse iterator to one before the first
+
+    Returns a const reverse iterator to the reverse-end; that is, one before
+    the first element.
+
+    @image html range-rbegin-rend.svg "Illustration from cppreference.com"
+
+    @complexity Constant.
+
+    @requirement This function helps `basic_json` satisfying the
+    [ReversibleContainer](https://en.cppreference.com/w/cpp/named_req/ReversibleContainer)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `const_cast<const basic_json&>(*this).rend()`.
+
+    @liveexample{The following code shows an example for `crend()`.,crend}
+
+    @sa @ref rend() -- returns a reverse iterator to the end
+    @sa @ref rbegin() -- returns a reverse iterator to the beginning
+    @sa @ref crbegin() -- returns a const reverse iterator to the beginning
+
+    @since version 1.0.0
+    */
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /*!
+    @brief wrapper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without iterator_wrapper:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without iterator proxy:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with iterator proxy:
+
+    @code{cpp}
+    for (auto it : json::iterator_wrapper(j_object))
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example).
+
+    @param[in] ref  reference to a JSON value
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the wrapper is used,iterator_wrapper}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @note The name of this function is not yet final and may change in the
+    future.
+
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use @ref items() instead;
+                that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @copydoc iterator_wrapper(reference)
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /*!
+    @brief helper to access iterator member functions in range-based for
+
+    This function allows to access @ref iterator::key() and @ref
+    iterator::value() during range-based for loops. In these loops, a
+    reference to the JSON values is returned, so there is no access to the
+    underlying iterator.
+
+    For loop without `items()` function:
+
+    @code{cpp}
+    for (auto it = j_object.begin(); it != j_object.end(); ++it)
+    {
+        std::cout << "key: " << it.key() << ", value:" << it.value() << '\n';
+    }
+    @endcode
+
+    Range-based for loop without `items()` function:
+
+    @code{cpp}
+    for (auto it : j_object)
+    {
+        // "it" is of type json::reference and has no key() member
+        std::cout << "value: " << it << '\n';
+    }
+    @endcode
+
+    Range-based for loop with `items()` function:
+
+    @code{cpp}
+    for (auto& el : j_object.items())
+    {
+        std::cout << "key: " << el.key() << ", value:" << el.value() << '\n';
+    }
+    @endcode
+
+    The `items()` function also allows to use
+    [structured bindings](https://en.cppreference.com/w/cpp/language/structured_binding)
+    (C++17):
+
+    @code{cpp}
+    for (auto& [key, val] : j_object.items())
+    {
+        std::cout << "key: " << key << ", value:" << val << '\n';
+    }
+    @endcode
+
+    @note When iterating over an array, `key()` will return the index of the
+          element as string (see example). For primitive types (e.g., numbers),
+          `key()` returns an empty string.
+
+    @warning Using `items()` on temporary objects is dangerous. Make sure the
+             object's lifetime exeeds the iteration. See
+             <https://github.com/nlohmann/json/issues/2040> for more
+             information.
+
+    @return iteration proxy object wrapping @a ref with an interface to use in
+            range-based for loops
+
+    @liveexample{The following code shows how the function is used.,items}
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 3.1.0, structured bindings support since 3.5.0.
+    */
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /*!
+    @copydoc items()
+    */
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /*!
+    @brief checks whether the container is empty.
+
+    Checks if a JSON value has no elements (i.e. whether its @ref size is `0`).
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `true`
+            boolean     | `false`
+            string      | `false`
+            number      | `false`
+            binary      | `false`
+            object      | result of function `object_t::empty()`
+            array       | result of function `array_t::empty()`
+
+    @liveexample{The following code uses `empty()` to check if a JSON
+    object contains any elements.,empty}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `empty()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return whether a string stored as JSON value
+    is empty - it returns whether the JSON container itself is empty which is
+    false in the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `begin() == end()`.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    bool empty() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_value.object->empty();
+            }
+
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the number of elements
+
+    Returns the number of elements in a JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0`
+            boolean     | `1`
+            string      | `1`
+            number      | `1`
+            binary      | `1`
+            object      | result of function object_t::size()
+            array       | result of function array_t::size()
+
+    @liveexample{The following code calls `size()` on the different value
+    types.,size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their size() functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @note This function does not return the length of a string stored as JSON
+    value - it returns the number of elements in the JSON value which is 1 in
+    the case of a string.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of `std::distance(begin(), end())`.
+
+    @sa @ref empty() -- checks whether the container is empty
+    @sa @ref max_size() -- returns the maximal number of elements
+
+    @since version 1.0.0
+    */
+    size_type size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_value.object->size();
+            }
+
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /*!
+    @brief returns the maximum possible number of elements
+
+    Returns the maximum number of elements a JSON value is able to hold due to
+    system or library implementation limitations, i.e. `std::distance(begin(),
+    end())` for the JSON value.
+
+    @return The return value depends on the different types and is
+            defined as follows:
+            Value type  | return value
+            ----------- | -------------
+            null        | `0` (same as `size()`)
+            boolean     | `1` (same as `size()`)
+            string      | `1` (same as `size()`)
+            number      | `1` (same as `size()`)
+            binary      | `1` (same as `size()`)
+            object      | result of function `object_t::max_size()`
+            array       | result of function `array_t::max_size()`
+
+    @liveexample{The following code calls `max_size()` on the different value
+    types. Note the output is implementation specific.,max_size}
+
+    @complexity Constant, as long as @ref array_t and @ref object_t satisfy
+    the Container concept; that is, their `max_size()` functions have constant
+    complexity.
+
+    @iterators No changes.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @requirement This function helps `basic_json` satisfying the
+    [Container](https://en.cppreference.com/w/cpp/named_req/Container)
+    requirements:
+    - The complexity is constant.
+    - Has the semantics of returning `b.size()` where `b` is the largest
+      possible JSON value.
+
+    @sa @ref size() -- returns the number of elements
+
+    @since version 1.0.0
+    */
+    size_type max_size() const noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_value.object->max_size();
+            }
+
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /*!
+    @brief clears the contents
+
+    Clears the content of a JSON value and resets it to the default value as
+    if @ref basic_json(value_t) would have been called with the current value
+    type from @ref type():
+
+    Value type  | initial value
+    ----------- | -------------
+    null        | `null`
+    boolean     | `false`
+    string      | `""`
+    number      | `0`
+    binary      | An empty byte vector
+    object      | `{}`
+    array       | `[]`
+
+    @post Has the same effect as calling
+    @code {.cpp}
+    *this = basic_json(type());
+    @endcode
+
+    @liveexample{The example below shows the effect of `clear()` to different
+    JSON types.,clear}
+
+    @complexity Linear in the size of the JSON value.
+
+    @iterators All iterators, pointers and references related to this container
+               are invalidated.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @sa @ref basic_json(value_t) -- constructor that creates an object with the
+        same value than calling `clear()`
+
+    @since version 1.0.0
+    */
+    void clear() noexcept
+    {
+        switch (m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_value.string->clear();
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_value.binary->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_value.object->clear();
+                break;
+            }
+
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Appends the given element @a val to the end of the JSON value. If the
+    function is called on a JSON null value, an empty array is created before
+    appending @a val.
+
+    @param[in] val the value to add to the JSON array
+
+    @throw type_error.308 when called on a type other than JSON array or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON array. Note how the `null` value was silently
+    converted to a JSON array.,push_back}
+
+    @since version 1.0.0
+    */
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        m_value.array->push_back(std::move(val));
+        // if val is moved from, basic_json move constructor marks it null so we do not call the destructor
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.array->push_back(val);
+    }
+
+    /*!
+    @brief add an object to an array
+    @copydoc push_back(basic_json&&)
+    */
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    Inserts the given element @a val to the JSON object. If the function is
+    called on a JSON null value, an empty object is created before inserting
+    @a val.
+
+    @param[in] val the value to add to the JSON object
+
+    @throw type_error.308 when called on a type other than JSON object or
+    null; example: `"cannot use push_back() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `push_back()` and `+=` can be used to
+    add elements to a JSON object. Note how the `null` value was silently
+    converted to a JSON object.,push_back__object_t__value}
+
+    @since version 1.0.0
+    */
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(308, "cannot use push_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array
+        m_value.object->insert(val);
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(const typename object_t::value_type&)
+    */
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an object
+
+    This function allows to use `push_back` with an initializer list. In case
+
+    1. the current value is an object,
+    2. the initializer list @a init contains only two elements, and
+    3. the first element of @a init is a string,
+
+    @a init is converted into an object element and added using
+    @ref push_back(const typename object_t::value_type&). Otherwise, @a init
+    is converted to a JSON value and added using @ref push_back(basic_json&&).
+
+    @param[in] init  an initializer list
+
+    @complexity Linear in the size of the initializer list @a init.
+
+    @note This function is required to resolve an ambiguous overload error,
+          because pairs like `{"key", "value"}` can be both interpreted as
+          `object_t::value_type` or `std::initializer_list<basic_json>`, see
+          https://github.com/nlohmann/json/issues/235 for more information.
+
+    @liveexample{The example shows how initializer lists are treated as
+    objects when possible.,push_back__initializer_list}
+    */
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() && init.size() == 2 && (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /*!
+    @brief add an object to an object
+    @copydoc push_back(initializer_list_t)
+    */
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /*!
+    @brief add an object to an array
+
+    Creates a JSON value from the passed parameters @a args to the end of the
+    JSON value. If the function is called on a JSON null value, an empty array
+    is created before appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return reference to the inserted element
+
+    @throw type_error.311 when called on a type other than JSON array or
+    null; example: `"cannot use emplace_back() with number"`
+
+    @complexity Amortized constant.
+
+    @liveexample{The example shows how `push_back()` can be used to add
+    elements to a JSON array. Note how the `null` value was silently converted
+    to a JSON array.,emplace_back}
+
+    @since version 2.0.8, returns reference since 3.7.0
+    */
+    template<class... Args>
+    reference emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace_back() with " + std::string(type_name())));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_type = value_t::array;
+            m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+#ifdef JSON_HAS_CPP_17
+        return m_value.array->emplace_back(std::forward<Args>(args)...);
+#else
+        m_value.array->emplace_back(std::forward<Args>(args)...);
+        return m_value.array->back();
+#endif
+    }
+
+    /*!
+    @brief add an object to an object if key does not exist
+
+    Inserts a new element into a JSON object constructed in-place with the
+    given @a args if there is no element with the key in the container. If the
+    function is called on a JSON null value, an empty object is created before
+    appending the value created from @a args.
+
+    @param[in] args arguments to forward to a constructor of @ref basic_json
+    @tparam Args compatible types to create a @ref basic_json object
+
+    @return a pair consisting of an iterator to the inserted element, or the
+            already-existing element if no insertion happened, and a bool
+            denoting whether the insertion took place.
+
+    @throw type_error.311 when called on a type other than JSON object or
+    null; example: `"cannot use emplace() with number"`
+
+    @complexity Logarithmic in the size of the container, O(log(`size()`)).
+
+    @liveexample{The example shows how `emplace()` can be used to add elements
+    to a JSON object. Note how the `null` value was silently converted to a
+    JSON object. Further note how no value is added if there was already one
+    value stored with the same key.,emplace}
+
+    @since version 2.0.8
+    */
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(311, "cannot use emplace() with " + std::string(type_name())));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_value.object->emplace(std::forward<Args>(args)...);
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        JSON_ASSERT(m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_value.array->begin(), pos.m_it.array_iterator);
+        m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        return result;
+    }
+
+    /*!
+    @brief inserts element
+
+    Inserts element @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] val element to insert
+    @return iterator pointing to the inserted @a val.
+
+    @throw type_error.309 if called on JSON values other than arrays;
+    example: `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Constant plus linear in the distance between @a pos and end of
+    the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts element
+    @copydoc insert(const_iterator, const basic_json&)
+    */
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts @a cnt copies of @a val before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] cnt number of copies of @a val to insert
+    @param[in] val element to insert
+    @return iterator pointing to the first element inserted, or @a pos if
+    `cnt==0`
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @complexity Linear in @a cnt plus linear in the distance between @a pos
+    and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__count}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)` before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+    @throw invalid_iterator.211 if @a first or @a last are iterators into
+    container for which insert is called; example: `"passed iterators may not
+    belong to container"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `first==last`
+
+    @complexity Linear in `std::distance(first, last)` plus linear in the
+    distance between @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from initializer list @a ilist before iterator @a pos.
+
+    @param[in] pos iterator before which the content will be inserted; may be
+    the end() iterator
+    @param[in] ilist initializer list to insert the values from
+
+    @throw type_error.309 if called on JSON values other than arrays; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if @a pos is not an iterator of *this;
+    example: `"iterator does not fit current value"`
+
+    @return iterator pointing to the first element inserted, or @a pos if
+    `ilist` is empty
+
+    @complexity Linear in `ilist.size()` plus linear in the distance between
+    @a pos and end of the container.
+
+    @liveexample{The example shows how `insert()` is used.,insert__ilist}
+
+    @since version 1.0.0
+    */
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value"));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /*!
+    @brief inserts elements
+
+    Inserts elements from range `[first, last)`.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.309 if called on JSON values other than objects; example:
+    `"cannot use insert() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity Logarithmic: `O(N*log(size() + N))`, where `N` is the number
+    of elements to insert.
+
+    @liveexample{The example shows how `insert()` is used.,insert__range_object}
+
+    @since version 3.0.0
+    */
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(309, "cannot use insert() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from JSON object @a j and overwrites existing keys.
+
+    @param[in] j  JSON object to read values from
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_reference j)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+        if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(j.type_name())));
+        }
+
+        for (auto it = j.cbegin(); it != j.cend(); ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief updates a JSON object from another object, overwriting existing keys
+
+    Inserts all values from from range `[first, last)` and overwrites existing
+    keys.
+
+    @param[in] first begin of the range of elements to insert
+    @param[in] last end of the range of elements to insert
+
+    @throw type_error.312 if called on JSON values other than objects; example:
+    `"cannot use update() with string"`
+    @throw invalid_iterator.202 if iterator @a first or @a last does does not
+    point to an object; example: `"iterators first and last must point to
+    objects"`
+    @throw invalid_iterator.210 if @a first and @a last do not belong to the
+    same JSON value; example: `"iterators do not fit"`
+
+    @complexity O(N*log(size() + N)), where N is the number of elements to
+                insert.
+
+    @liveexample{The example shows how `update()` is used__range.,update}
+
+    @sa https://docs.python.org/3.6/library/stdtypes.html#dict.update
+
+    @since version 3.0.0
+    */
+    void update(const_iterator first, const_iterator last)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_type = value_t::object;
+            m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, "cannot use update() with " + std::string(type_name())));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit"));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()
+                                 || !last.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects"));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            m_value.object->operator[](it.key()) = it.value();
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_type, other.m_type);
+        std::swap(m_value, other.m_value);
+        assert_invariant();
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of the JSON value from @a left with those of @a right. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated. implemented as a friend function callable via ADL.
+
+    @param[in,out] left JSON value to exchange the contents with
+    @param[in,out] right JSON value to exchange the contents with
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how JSON values can be swapped with
+    `swap()`.,swap__reference}
+
+    @since version 1.0.0
+    */
+    friend void swap(reference left, reference right) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        left.swap(right);
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON array with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other array to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an array; example: `"cannot
+    use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how arrays can be swapped with
+    `swap()`.,swap__array_t}
+
+    @since version 1.0.0
+    */
+    void swap(array_t& other)
+    {
+        // swap only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            std::swap(*(m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON object with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other object to exchange the contents with
+
+    @throw type_error.310 when JSON value is not an object; example:
+    `"cannot use swap() with string"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how objects can be swapped with
+    `swap()`.,swap__object_t}
+
+    @since version 1.0.0
+    */
+    void swap(object_t& other)
+    {
+        // swap only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            std::swap(*(m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other string to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__string_t}
+
+    @since version 1.0.0
+    */
+    void swap(string_t& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_string()))
+        {
+            std::swap(*(m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /*!
+    @brief exchanges the values
+
+    Exchanges the contents of a JSON string with those of @a other. Does not
+    invoke any move, copy, or swap operations on individual elements. All
+    iterators and references remain valid. The past-the-end iterator is
+    invalidated.
+
+    @param[in,out] other binary to exchange the contents with
+
+    @throw type_error.310 when JSON value is not a string; example: `"cannot
+    use swap() with boolean"`
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how strings can be swapped with
+    `swap()`.,swap__binary_t}
+
+    @since version 3.8.0
+    */
+    void swap(binary_t& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            std::swap(*(m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @copydoc swap(binary_t)
+    void swap(typename binary_t::container_type& other)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            std::swap(*(m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, "cannot use swap() with " + std::string(type_name())));
+        }
+    }
+
+    /// @}
+
+  public:
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    /*!
+    @brief comparison: equal
+
+    Compares two JSON values for equality according to the following rules:
+    - Two JSON values are equal if (1) they are from the same type and (2)
+      their stored values are the same according to their respective
+      `operator==`.
+    - Integer and floating-point numbers are automatically converted before
+      comparison. Note that two NaN values are always treated as unequal.
+    - Two JSON null values are equal.
+
+    @note Floating-point inside JSON values numbers are compared with
+    `json::number_float_t::operator==` which is `double::operator==` by
+    default. To compare floating-point while respecting an epsilon, an alternative
+    [comparison function](https://github.com/mariokonrad/marnav/blob/master/include/marnav/math/floatingpoint.hpp#L34-#L39)
+    could be used, for instance
+    @code {.cpp}
+    template<typename T, typename = typename std::enable_if<std::is_floating_point<T>::value, T>::type>
+    inline bool is_same(T a, T b, T epsilon = std::numeric_limits<T>::epsilon()) noexcept
+    {
+        return std::abs(a - b) <= epsilon;
+    }
+    @endcode
+    Or you can self-defined operator equal function like this:
+    @code {.cpp}
+    bool my_equal(const_reference lhs, const_reference rhs) {
+    const auto lhs_type lhs.type();
+    const auto rhs_type rhs.type();
+    if (lhs_type == rhs_type) {
+        switch(lhs_type)
+            // self_defined case
+            case value_t::number_float:
+                return std::abs(lhs - rhs) <= std::numeric_limits<float>::epsilon();
+            // other cases remain the same with the original
+            ...
+    }
+    ...
+    }
+    @endcode
+
+    @note NaN values never compare equal to themselves or to other NaN values.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are equal
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Linear.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__equal}
+
+    @since version 1.0.0
+    */
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    return *lhs.m_value.array == *rhs.m_value.array;
+
+                case value_t::object:
+                    return *lhs.m_value.object == *rhs.m_value.object;
+
+                case value_t::null:
+                    return true;
+
+                case value_t::string:
+                    return *lhs.m_value.string == *rhs.m_value.string;
+
+                case value_t::boolean:
+                    return lhs.m_value.boolean == rhs.m_value.boolean;
+
+                case value_t::number_integer:
+                    return lhs.m_value.number_integer == rhs.m_value.number_integer;
+
+                case value_t::number_unsigned:
+                    return lhs.m_value.number_unsigned == rhs.m_value.number_unsigned;
+
+                case value_t::number_float:
+                    return lhs.m_value.number_float == rhs.m_value.number_float;
+
+                case value_t::binary:
+                    return *lhs.m_value.binary == *rhs.m_value.binary;
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) == rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float == static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) == rhs.m_value.number_integer;
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer == static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+
+        return false;
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs == basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: equal
+    @copydoc operator==(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) == rhs;
+    }
+
+    /*!
+    @brief comparison: not equal
+
+    Compares two JSON values for inequality by calculating `not (lhs == rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether the values @a lhs and @a rhs are not equal
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__notequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs == rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs != basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: not equal
+    @copydoc operator!=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) != rhs;
+    }
+
+    /*!
+    @brief comparison: less than
+
+    Compares whether one JSON value @a lhs is less than another JSON value @a
+    rhs according to the following rules:
+    - If @a lhs and @a rhs have the same type, the values are compared using
+      the default `<` operator.
+    - Integer and floating-point numbers are automatically converted before
+      comparison
+    - In case @a lhs and @a rhs have different types, the values are ignored
+      and the order of the types is considered, see
+      @ref operator<(const value_t, const value_t).
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__less}
+
+    @since version 1.0.0
+    */
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        const auto lhs_type = lhs.type();
+        const auto rhs_type = rhs.type();
+
+        if (lhs_type == rhs_type)
+        {
+            switch (lhs_type)
+            {
+                case value_t::array:
+                    // note parentheses are necessary, see
+                    // https://github.com/nlohmann/json/issues/1530
+                    return (*lhs.m_value.array) < (*rhs.m_value.array);
+
+                case value_t::object:
+                    return (*lhs.m_value.object) < (*rhs.m_value.object);
+
+                case value_t::null:
+                    return false;
+
+                case value_t::string:
+                    return (*lhs.m_value.string) < (*rhs.m_value.string);
+
+                case value_t::boolean:
+                    return (lhs.m_value.boolean) < (rhs.m_value.boolean);
+
+                case value_t::number_integer:
+                    return (lhs.m_value.number_integer) < (rhs.m_value.number_integer);
+
+                case value_t::number_unsigned:
+                    return (lhs.m_value.number_unsigned) < (rhs.m_value.number_unsigned);
+
+                case value_t::number_float:
+                    return (lhs.m_value.number_float) < (rhs.m_value.number_float);
+
+                case value_t::binary:
+                    return (*lhs.m_value.binary) < (*rhs.m_value.binary);
+
+                default:
+                    return false;
+            }
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_integer) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_integer);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)
+        {
+            return static_cast<number_float_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_float;
+        }
+        else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_float < static_cast<number_float_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)
+        {
+            return lhs.m_value.number_integer < static_cast<number_integer_t>(rhs.m_value.number_unsigned);
+        }
+        else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)
+        {
+            return static_cast<number_integer_t>(lhs.m_value.number_unsigned) < rhs.m_value.number_integer;
+        }
+
+        // We only reach this line if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        return operator<(lhs_type, rhs_type);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs < basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: less than
+    @copydoc operator<(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) < rhs;
+    }
+
+    /*!
+    @brief comparison: less than or equal
+
+    Compares whether one JSON value @a lhs is less than or equal to another
+    JSON value by calculating `not (rhs < lhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is less than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greater}
+
+    @since version 1.0.0
+    */
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(rhs < lhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs <= basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @copydoc operator<=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) <= rhs;
+    }
+
+    /*!
+    @brief comparison: greater than
+
+    Compares whether one JSON value @a lhs is greater than another
+    JSON value by calculating `not (lhs <= rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__lessequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs <= rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs > basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @copydoc operator>(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) > rhs;
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+
+    Compares whether one JSON value @a lhs is greater than or equal to another
+    JSON value by calculating `not (lhs < rhs)`.
+
+    @param[in] lhs  first JSON value to consider
+    @param[in] rhs  second JSON value to consider
+    @return whether @a lhs is greater than or equal to @a rhs
+
+    @complexity Linear.
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @liveexample{The example demonstrates comparing several JSON
+    types.,operator__greaterequal}
+
+    @since version 1.0.0
+    */
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        return !(lhs < rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, const ScalarType rhs) noexcept
+    {
+        return lhs >= basic_json(rhs);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @copydoc operator>=(const_reference, const_reference)
+    */
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) >= rhs;
+    }
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+
+    /*!
+    @brief serialize to stream
+
+    Serialize the given JSON value @a j to the output stream @a o. The JSON
+    value will be serialized using the @ref dump member function.
+
+    - The indentation of the output can be controlled with the member variable
+      `width` of the output stream @a o. For instance, using the manipulator
+      `std::setw(4)` on @a o sets the indentation level to `4` and the
+      serialization result is the same as calling `dump(4)`.
+
+    - The indentation character can be controlled with the member variable
+      `fill` of the output stream @a o. For instance, the manipulator
+      `std::setfill('\\t')` sets indentation to use a tab character rather than
+      the default space character.
+
+    @param[in,out] o  stream to serialize to
+    @param[in] j  JSON value to serialize
+
+    @return the stream @a o
+
+    @throw type_error.316 if a string stored inside the JSON value is not
+                          UTF-8 encoded
+
+    @complexity Linear.
+
+    @liveexample{The example below shows the serialization with different
+    parameters to `width` to adjust the indentation level.,operator_serialize}
+
+    @since version 1.0.0; indentation character added in version 3.0.0
+    */
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = o.width() > 0;
+        const auto indentation = pretty_print ? o.width() : 0;
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /*!
+    @brief serialize to stream
+    @deprecated This stream operator is deprecated and will be removed in
+                future 4.0.0 of the library. Please use
+                @ref operator<<(std::ostream&, const basic_json&)
+                instead; that is, replace calls like `j >> o;` with `o << j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator<<(std::ostream&, const basic_json&))
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+
+    /// @}
+
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /*!
+    @brief deserialize from a compatible input
+
+    @tparam InputType A compatible input, for instance
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i  input to read from
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the parser callback function
+    @a cb or reading from the input @a i has a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from an array.,parse__array__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__string__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function with
+    and without callback function.,parse__istream__parser_callback_t}
+
+    @liveexample{The example below demonstrates the `parse()` function reading
+    from a contiguous container.,parse__contiguouscontainer__parser_callback_t}
+
+    @since version 2.0.3 (contiguous containers); version 3.9.0 allowed to
+    ignore comments.
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(InputType&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::forward<InputType>(i)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /*!
+    @brief deserialize from a pair of character iterators
+
+    The value_type of the iterator must be a integral type with size of 1, 2 or
+    4 bytes, which will be interpreted respectively as UTF-8, UTF-16 and UTF-32.
+
+    @param[in] first iterator to start of character range
+    @param[in] last  iterator to end of character range
+    @param[in] cb  a parser callback function of type @ref parser_callback_t
+    which is used to control the deserialization by filtering unwanted values
+    (optional)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(IteratorType first,
+                            IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::move(first), std::move(last)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, parse(ptr, ptr + len))
+    static basic_json parse(detail::span_input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(i.get(), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /*!
+    @brief check if the input is valid JSON
+
+    Unlike the @ref parse(InputType&&, const parser_callback_t,const bool)
+    function, this function neither throws an exception in case of invalid JSON
+    input (i.e., a parse error) nor creates diagnostic information.
+
+    @tparam InputType A compatible input, for instance
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i input to read from
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default)
+
+    @return Whether the input read from @a i is valid JSON.
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `accept()` function reading
+    from a string.,accept__string}
+    */
+    template<typename InputType>
+    static bool accept(InputType&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::forward<InputType>(i)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    template<typename IteratorType>
+    static bool accept(IteratorType first, IteratorType last,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::move(first), std::move(last)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, accept(ptr, ptr + len))
+    static bool accept(detail::span_input_adapter&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(i.get(), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /*!
+    @brief generate SAX events
+
+    The SAX event lister must follow the interface of @ref json_sax.
+
+    This function reads from a compatible input. Examples are:
+    - an std::istream object
+    - a FILE pointer
+    - a C-style array of characters
+    - a pointer to a null-terminated string of single byte characters
+    - an object obj for which begin(obj) and end(obj) produces a valid pair of
+      iterators.
+
+    @param[in] i  input to read from
+    @param[in,out] sax  SAX event listener
+    @param[in] format  the format to parse (JSON, CBOR, MessagePack, or UBJSON)
+    @param[in] strict  whether the input has to be consumed completely
+    @param[in] ignore_comments  whether comments should be ignored and treated
+    like whitespace (true) or yield a parse error (true); (optional, false by
+    default); only applies to the JSON file format.
+
+    @return return value of the last processed SAX event
+
+    @throw parse_error.101 if a parse error occurs; example: `""unexpected end
+    of input; expected string literal""`
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser. The complexity can be higher if the SAX consumer @a sax has
+    a super-linear complexity.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below demonstrates the `sax_parse()` function
+    reading from string and processing the events with a user-defined SAX
+    event consumer.,sax_parse}
+
+    @since version 3.2.0
+    */
+    template <typename InputType, typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(InputType&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    template<class IteratorType, class SAX>
+    JSON_HEDLEY_NON_NULL(3)
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    template <typename SAX>
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, sax_parse(ptr, ptr + len, ...))
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(detail::span_input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = i.get();
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia)).sax_parse(format, sax, strict);
+    }
+
+    /*!
+    @brief deserialize from stream
+    @deprecated This stream operator is deprecated and will be removed in
+                version 4.0.0 of the library. Please use
+                @ref operator>>(std::istream&, basic_json&)
+                instead; that is, replace calls like `j << i;` with `i >> j;`.
+    @since version 1.0.0; deprecated since version 3.0.0
+    */
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator>>(std::istream&, basic_json&))
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /*!
+    @brief deserialize from stream
+
+    Deserializes an input stream to a JSON value.
+
+    @param[in,out] i  input stream to read a serialized JSON value from
+    @param[in,out] j  JSON value to write the deserialized input to
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+
+    @complexity Linear in the length of the input. The parser is a predictive
+    LL(1) parser.
+
+    @note A UTF-8 byte order mark is silently ignored.
+
+    @liveexample{The example below shows how a JSON value is constructed by
+    reading a serialization from a stream.,operator_deserialize}
+
+    @sa parse(std::istream&, const parser_callback_t) for a variant with a
+    parser callback function to filter values while parsing
+
+    @since version 1.0.0
+    */
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /*!
+    @brief return the type as string
+
+    Returns the type name as string to be used in error messages - usually to
+    indicate that a function was called on a wrong JSON type.
+
+    @return a string representation of a the @a m_type member:
+            Value type  | return value
+            ----------- | -------------
+            null        | `"null"`
+            boolean     | `"boolean"`
+            string      | `"string"`
+            number      | `"number"` (for all number types)
+            object      | `"object"`
+            array       | `"array"`
+            binary      | `"binary"`
+            discarded   | `"discarded"`
+
+    @exceptionsafety No-throw guarantee: this function never throws exceptions.
+
+    @complexity Constant.
+
+    @liveexample{The following code exemplifies `type_name()` for all JSON
+    types.,type_name}
+
+    @sa @ref type() -- return the type of the JSON value
+    @sa @ref operator value_t() -- return the type of the JSON value (implicit)
+
+    @since version 1.0.0, public since 2.1.0, `const char*` and `noexcept`
+    since 3.0.0
+    */
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* type_name() const noexcept
+    {
+        {
+            switch (m_type)
+            {
+                case value_t::null:
+                    return "null";
+                case value_t::object:
+                    return "object";
+                case value_t::array:
+                    return "array";
+                case value_t::string:
+                    return "string";
+                case value_t::boolean:
+                    return "boolean";
+                case value_t::binary:
+                    return "binary";
+                case value_t::discarded:
+                    return "discarded";
+                default:
+                    return "number";
+            }
+        }
+    }
+
+
+  private:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    /// the type of the current element
+    value_t m_type = value_t::null;
+
+    /// the value of the current element
+    json_value m_value = {};
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /*!
+    @brief create a CBOR serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the CBOR (Concise
+    Binary Object Representation) serialization format. CBOR is a binary
+    serialization format which aims to be more compact than JSON itself, yet
+    more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    CBOR types according to the CBOR specification (RFC 7049):
+
+    JSON value type | value/range                                | CBOR type                          | first byte
+    --------------- | ------------------------------------------ | ---------------------------------- | ---------------
+    null            | `null`                                     | Null                               | 0xF6
+    boolean         | `true`                                     | True                               | 0xF5
+    boolean         | `false`                                    | False                              | 0xF4
+    number_integer  | -9223372036854775808..-2147483649          | Negative integer (8 bytes follow)  | 0x3B
+    number_integer  | -2147483648..-32769                        | Negative integer (4 bytes follow)  | 0x3A
+    number_integer  | -32768..-129                               | Negative integer (2 bytes follow)  | 0x39
+    number_integer  | -128..-25                                  | Negative integer (1 byte follow)   | 0x38
+    number_integer  | -24..-1                                    | Negative integer                   | 0x20..0x37
+    number_integer  | 0..23                                      | Integer                            | 0x00..0x17
+    number_integer  | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_integer  | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_integer  | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_integer  | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_unsigned | 0..23                                      | Integer                            | 0x00..0x17
+    number_unsigned | 24..255                                    | Unsigned integer (1 byte follow)   | 0x18
+    number_unsigned | 256..65535                                 | Unsigned integer (2 bytes follow)  | 0x19
+    number_unsigned | 65536..4294967295                          | Unsigned integer (4 bytes follow)  | 0x1A
+    number_unsigned | 4294967296..18446744073709551615           | Unsigned integer (8 bytes follow)  | 0x1B
+    number_float    | *any value representable by a float*       | Single-Precision Float             | 0xFA
+    number_float    | *any value NOT representable by a float*   | Double-Precision Float             | 0xFB
+    string          | *length*: 0..23                            | UTF-8 string                       | 0x60..0x77
+    string          | *length*: 23..255                          | UTF-8 string (1 byte follow)       | 0x78
+    string          | *length*: 256..65535                       | UTF-8 string (2 bytes follow)      | 0x79
+    string          | *length*: 65536..4294967295                | UTF-8 string (4 bytes follow)      | 0x7A
+    string          | *length*: 4294967296..18446744073709551615 | UTF-8 string (8 bytes follow)      | 0x7B
+    array           | *size*: 0..23                              | array                              | 0x80..0x97
+    array           | *size*: 23..255                            | array (1 byte follow)              | 0x98
+    array           | *size*: 256..65535                         | array (2 bytes follow)             | 0x99
+    array           | *size*: 65536..4294967295                  | array (4 bytes follow)             | 0x9A
+    array           | *size*: 4294967296..18446744073709551615   | array (8 bytes follow)             | 0x9B
+    object          | *size*: 0..23                              | map                                | 0xA0..0xB7
+    object          | *size*: 23..255                            | map (1 byte follow)                | 0xB8
+    object          | *size*: 256..65535                         | map (2 bytes follow)               | 0xB9
+    object          | *size*: 65536..4294967295                  | map (4 bytes follow)               | 0xBA
+    object          | *size*: 4294967296..18446744073709551615   | map (8 bytes follow)               | 0xBB
+    binary          | *size*: 0..23                              | byte string                        | 0x40..0x57
+    binary          | *size*: 23..255                            | byte string (1 byte follow)        | 0x58
+    binary          | *size*: 256..65535                         | byte string (2 bytes follow)       | 0x59
+    binary          | *size*: 65536..4294967295                  | byte string (4 bytes follow)       | 0x5A
+    binary          | *size*: 4294967296..18446744073709551615   | byte string (8 bytes follow)       | 0x5B
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a CBOR value.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The following CBOR types are not used in the conversion:
+          - UTF-8 strings terminated by "break" (0x7F)
+          - arrays terminated by "break" (0x9F)
+          - maps terminated by "break" (0xBF)
+          - byte strings terminated by "break" (0x5F)
+          - date/time (0xC0..0xC1)
+          - bignum (0xC2..0xC3)
+          - decimal fraction (0xC4)
+          - bigfloat (0xC5)
+          - expected conversions (0xD5..0xD7)
+          - simple values (0xE0..0xF3, 0xF8)
+          - undefined (0xF7)
+          - half-precision floats (0xF9)
+          - break (0xFF)
+
+    @param[in] j  JSON value to serialize
+    @return CBOR serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in CBOR format.,to_cbor}
+
+    @sa http://cbor.io
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        analogous deserialization
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9; compact representation of floating-point numbers
+           since version 3.8.0
+    */
+    static std::vector<uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_cbor(j);
+    }
+
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /*!
+    @brief create a MessagePack serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the MessagePack
+    serialization format. MessagePack is a binary serialization format which
+    aims to be more compact than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    MessagePack types according to the MessagePack specification:
+
+    JSON value type | value/range                       | MessagePack type | first byte
+    --------------- | --------------------------------- | ---------------- | ----------
+    null            | `null`                            | nil              | 0xC0
+    boolean         | `true`                            | true             | 0xC3
+    boolean         | `false`                           | false            | 0xC2
+    number_integer  | -9223372036854775808..-2147483649 | int64            | 0xD3
+    number_integer  | -2147483648..-32769               | int32            | 0xD2
+    number_integer  | -32768..-129                      | int16            | 0xD1
+    number_integer  | -128..-33                         | int8             | 0xD0
+    number_integer  | -32..-1                           | negative fixint  | 0xE0..0xFF
+    number_integer  | 0..127                            | positive fixint  | 0x00..0x7F
+    number_integer  | 128..255                          | uint 8           | 0xCC
+    number_integer  | 256..65535                        | uint 16          | 0xCD
+    number_integer  | 65536..4294967295                 | uint 32          | 0xCE
+    number_integer  | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_unsigned | 0..127                            | positive fixint  | 0x00..0x7F
+    number_unsigned | 128..255                          | uint 8           | 0xCC
+    number_unsigned | 256..65535                        | uint 16          | 0xCD
+    number_unsigned | 65536..4294967295                 | uint 32          | 0xCE
+    number_unsigned | 4294967296..18446744073709551615  | uint 64          | 0xCF
+    number_float    | *any value representable by a float*     | float 32 | 0xCA
+    number_float    | *any value NOT representable by a float* | float 64 | 0xCB
+    string          | *length*: 0..31                   | fixstr           | 0xA0..0xBF
+    string          | *length*: 32..255                 | str 8            | 0xD9
+    string          | *length*: 256..65535              | str 16           | 0xDA
+    string          | *length*: 65536..4294967295       | str 32           | 0xDB
+    array           | *size*: 0..15                     | fixarray         | 0x90..0x9F
+    array           | *size*: 16..65535                 | array 16         | 0xDC
+    array           | *size*: 65536..4294967295         | array 32         | 0xDD
+    object          | *size*: 0..15                     | fix map          | 0x80..0x8F
+    object          | *size*: 16..65535                 | map 16           | 0xDE
+    object          | *size*: 65536..4294967295         | map 32           | 0xDF
+    binary          | *size*: 0..255                    | bin 8            | 0xC4
+    binary          | *size*: 256..65535                | bin 16           | 0xC5
+    binary          | *size*: 65536..4294967295         | bin 32           | 0xC6
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a MessagePack value.
+
+    @note The following values can **not** be converted to a MessagePack value:
+          - strings with more than 4294967295 bytes
+          - byte strings with more than 4294967295 bytes
+          - arrays with more than 4294967295 elements
+          - objects with more than 4294967295 elements
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @param[in] j  JSON value to serialize
+    @return MessagePack serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in MessagePack format.,to_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref from_msgpack for the analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+
+    @since version 2.0.9
+    */
+    static std::vector<uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_msgpack(j);
+    }
+
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /*!
+    @brief create a UBJSON serialization of a given JSON value
+
+    Serializes a given JSON value @a j to a byte vector using the UBJSON
+    (Universal Binary JSON) serialization format. UBJSON aims to be more compact
+    than JSON itself, yet more efficient to parse.
+
+    The library uses the following mapping from JSON values types to
+    UBJSON types according to the UBJSON specification:
+
+    JSON value type | value/range                       | UBJSON type | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | `Z`
+    boolean         | `true`                            | true        | `T`
+    boolean         | `false`                           | false       | `F`
+    number_integer  | -9223372036854775808..-2147483649 | int64       | `L`
+    number_integer  | -2147483648..-32769               | int32       | `l`
+    number_integer  | -32768..-129                      | int16       | `I`
+    number_integer  | -128..127                         | int8        | `i`
+    number_integer  | 128..255                          | uint8       | `U`
+    number_integer  | 256..32767                        | int16       | `I`
+    number_integer  | 32768..2147483647                 | int32       | `l`
+    number_integer  | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 0..127                            | int8        | `i`
+    number_unsigned | 128..255                          | uint8       | `U`
+    number_unsigned | 256..32767                        | int16       | `I`
+    number_unsigned | 32768..2147483647                 | int32       | `l`
+    number_unsigned | 2147483648..9223372036854775807   | int64       | `L`
+    number_unsigned | 2147483649..18446744073709551615  | high-precision | `H`
+    number_float    | *any value*                       | float64     | `D`
+    string          | *with shortest length indicator*  | string      | `S`
+    array           | *see notes on optimized format*   | array       | `[`
+    object          | *see notes on optimized format*   | map         | `{`
+
+    @note The mapping is **complete** in the sense that any JSON value type
+          can be converted to a UBJSON value.
+
+    @note The following values can **not** be converted to a UBJSON value:
+          - strings with more than 9223372036854775807 bytes (theoretical)
+
+    @note The following markers are not used in the conversion:
+          - `Z`: no-op values are not created.
+          - `C`: single-byte strings are serialized with `S` markers.
+
+    @note Any UBJSON output created @ref to_ubjson can be successfully parsed
+          by @ref from_ubjson.
+
+    @note If NaN or Infinity are stored inside a JSON number, they are
+          serialized properly. This behavior differs from the @ref dump()
+          function which serializes NaN or Infinity to `null`.
+
+    @note The optimized formats for containers are supported: Parameter
+          @a use_size adds size information to the beginning of a container and
+          removes the closing marker. Parameter @a use_type further checks
+          whether all elements of a container have the same type and adds the
+          type marker to the beginning of the container. The @a use_type
+          parameter must only be used together with @a use_size = true. Note
+          that @a use_size = true alone may result in larger representations -
+          the benefit of this parameter is that the receiving side is
+          immediately informed on the number of elements of the container.
+
+    @note If the JSON data contains the binary type, the value stored is a list
+          of integers, as suggested by the UBJSON documentation.  In particular,
+          this means that serialization and the deserialization of a JSON
+          containing binary values into UBJSON and back will result in a
+          different JSON object.
+
+    @param[in] j  JSON value to serialize
+    @param[in] use_size  whether to add size annotations to container types
+    @param[in] use_type  whether to add type annotations to container types
+                         (must be combined with @a use_size = true)
+    @return UBJSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in UBJSON format.,to_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        analogous deserialization
+    @sa @ref to_cbor(const basic_json& for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+
+    @since version 3.1.0
+    */
+    static std::vector<uint8_t> to_ubjson(const basic_json& j,
+                                          const bool use_size = false,
+                                          const bool use_type = false)
+    {
+        std::vector<uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and returns a vector
+           containing the corresponding BSON-representation.
+
+    BSON (Binary JSON) is a binary format in which zero or more ordered key/value pairs are
+    stored as a single entity (a so-called document).
+
+    The library uses the following mapping from JSON values types to BSON types:
+
+    JSON value type | value/range                       | BSON type   | marker
+    --------------- | --------------------------------- | ----------- | ------
+    null            | `null`                            | null        | 0x0A
+    boolean         | `true`, `false`                   | boolean     | 0x08
+    number_integer  | -9223372036854775808..-2147483649 | int64       | 0x12
+    number_integer  | -2147483648..2147483647           | int32       | 0x10
+    number_integer  | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 0..2147483647                     | int32       | 0x10
+    number_unsigned | 2147483648..9223372036854775807   | int64       | 0x12
+    number_unsigned | 9223372036854775808..18446744073709551615| --   | --
+    number_float    | *any value*                       | double      | 0x01
+    string          | *any value*                       | string      | 0x02
+    array           | *any value*                       | document    | 0x04
+    object          | *any value*                       | document    | 0x03
+    binary          | *any value*                       | binary      | 0x05
+
+    @warning The mapping is **incomplete**, since only JSON-objects (and things
+    contained therein) can be serialized to BSON.
+    Also, integers larger than 9223372036854775807 cannot be serialized to BSON,
+    and the keys may not contain U+0000, since they are serialized a
+    zero-terminated c-strings.
+
+    @throw out_of_range.407  if `j.is_number_unsigned() && j.get<std::uint64_t>() > 9223372036854775807`
+    @throw out_of_range.409  if a key in `j` contains a NULL (U+0000)
+    @throw type_error.317    if `!j.is_object()`
+
+    @pre The input `j` is required to be an object: `j.is_object() == true`.
+
+    @note Any BSON output created via @ref to_bson can be successfully parsed
+          by @ref from_bson.
+
+    @param[in] j  JSON value to serialize
+    @return BSON serialization as byte vector
+
+    @complexity Linear in the size of the JSON value @a j.
+
+    @liveexample{The example shows the serialization of a JSON value to a byte
+    vector in BSON format.,to_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref from_bson(detail::input_adapter&&, const bool strict) for the
+        analogous deserialization
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             related UBJSON format
+    @sa @ref to_cbor(const basic_json&) for the related CBOR format
+    @sa @ref to_msgpack(const basic_json&) for the related MessagePack format
+    */
+    static std::vector<uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /*!
+    @brief Serializes the given JSON object `j` to BSON and forwards the
+           corresponding BSON-representation to the given output_adapter `o`.
+    @param j The JSON object to convert to BSON.
+    @param o The output adapter that receives the binary BSON representation.
+    @pre The input `j` shall be an object: `j.is_object() == true`
+    @sa @ref to_bson(const basic_json&)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<uint8_t> o)
+    {
+        binary_writer<uint8_t>(o).write_bson(j);
+    }
+
+    /*!
+    @copydoc to_bson(const basic_json&, detail::output_adapter<uint8_t>)
+    */
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in CBOR format
+
+    Deserializes a given input @a i to a JSON value using the CBOR (Concise
+    Binary Object Representation) serialization format.
+
+    The library maps CBOR types to JSON value types as follows:
+
+    CBOR type              | JSON value type | first byte
+    ---------------------- | --------------- | ----------
+    Integer                | number_unsigned | 0x00..0x17
+    Unsigned integer       | number_unsigned | 0x18
+    Unsigned integer       | number_unsigned | 0x19
+    Unsigned integer       | number_unsigned | 0x1A
+    Unsigned integer       | number_unsigned | 0x1B
+    Negative integer       | number_integer  | 0x20..0x37
+    Negative integer       | number_integer  | 0x38
+    Negative integer       | number_integer  | 0x39
+    Negative integer       | number_integer  | 0x3A
+    Negative integer       | number_integer  | 0x3B
+    Byte string            | binary          | 0x40..0x57
+    Byte string            | binary          | 0x58
+    Byte string            | binary          | 0x59
+    Byte string            | binary          | 0x5A
+    Byte string            | binary          | 0x5B
+    UTF-8 string           | string          | 0x60..0x77
+    UTF-8 string           | string          | 0x78
+    UTF-8 string           | string          | 0x79
+    UTF-8 string           | string          | 0x7A
+    UTF-8 string           | string          | 0x7B
+    UTF-8 string           | string          | 0x7F
+    array                  | array           | 0x80..0x97
+    array                  | array           | 0x98
+    array                  | array           | 0x99
+    array                  | array           | 0x9A
+    array                  | array           | 0x9B
+    array                  | array           | 0x9F
+    map                    | object          | 0xA0..0xB7
+    map                    | object          | 0xB8
+    map                    | object          | 0xB9
+    map                    | object          | 0xBA
+    map                    | object          | 0xBB
+    map                    | object          | 0xBF
+    False                  | `false`         | 0xF4
+    True                   | `true`          | 0xF5
+    Null                   | `null`          | 0xF6
+    Half-Precision Float   | number_float    | 0xF9
+    Single-Precision Float | number_float    | 0xFA
+    Double-Precision Float | number_float    | 0xFB
+
+    @warning The mapping is **incomplete** in the sense that not all CBOR
+             types can be converted to a JSON value. The following CBOR types
+             are not supported and will yield parse errors (parse_error.112):
+             - date/time (0xC0..0xC1)
+             - bignum (0xC2..0xC3)
+             - decimal fraction (0xC4)
+             - bigfloat (0xC5)
+             - expected conversions (0xD5..0xD7)
+             - simple values (0xE0..0xF3, 0xF8)
+             - undefined (0xF7)
+
+    @warning CBOR allows map keys of any type, whereas JSON only allows
+             strings as keys in object values. Therefore, CBOR maps with keys
+             other than UTF-8 strings are rejected (parse_error.113).
+
+    @note Any CBOR output created @ref to_cbor can be successfully parsed by
+          @ref from_cbor.
+
+    @param[in] i  an input in CBOR format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+    @param[in] tag_handler how to treat CBOR tags (optional, error by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from CBOR were
+    used in the given input @a v or if the input is not valid CBOR
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in CBOR
+    format to a JSON value.,from_cbor}
+
+    @sa http://cbor.io
+    @sa @ref to_cbor(const basic_json&) for the analogous serialization
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for the
+        related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0; added @a tag_handler parameter since 3.9.0.
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        return from_cbor(ptr, ptr + len, strict, allow_exceptions, tag_handler);
+    }
+
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @brief create a JSON value from an input in MessagePack format
+
+    Deserializes a given input @a i to a JSON value using the MessagePack
+    serialization format.
+
+    The library maps MessagePack types to JSON value types as follows:
+
+    MessagePack type | JSON value type | first byte
+    ---------------- | --------------- | ----------
+    positive fixint  | number_unsigned | 0x00..0x7F
+    fixmap           | object          | 0x80..0x8F
+    fixarray         | array           | 0x90..0x9F
+    fixstr           | string          | 0xA0..0xBF
+    nil              | `null`          | 0xC0
+    false            | `false`         | 0xC2
+    true             | `true`          | 0xC3
+    float 32         | number_float    | 0xCA
+    float 64         | number_float    | 0xCB
+    uint 8           | number_unsigned | 0xCC
+    uint 16          | number_unsigned | 0xCD
+    uint 32          | number_unsigned | 0xCE
+    uint 64          | number_unsigned | 0xCF
+    int 8            | number_integer  | 0xD0
+    int 16           | number_integer  | 0xD1
+    int 32           | number_integer  | 0xD2
+    int 64           | number_integer  | 0xD3
+    str 8            | string          | 0xD9
+    str 16           | string          | 0xDA
+    str 32           | string          | 0xDB
+    array 16         | array           | 0xDC
+    array 32         | array           | 0xDD
+    map 16           | object          | 0xDE
+    map 32           | object          | 0xDF
+    bin 8            | binary          | 0xC4
+    bin 16           | binary          | 0xC5
+    bin 32           | binary          | 0xC6
+    ext 8            | binary          | 0xC7
+    ext 16           | binary          | 0xC8
+    ext 32           | binary          | 0xC9
+    fixext 1         | binary          | 0xD4
+    fixext 2         | binary          | 0xD5
+    fixext 4         | binary          | 0xD6
+    fixext 8         | binary          | 0xD7
+    fixext 16        | binary          | 0xD8
+    negative fixint  | number_integer  | 0xE0-0xFF
+
+    @note Any MessagePack output created @ref to_msgpack can be successfully
+          parsed by @ref from_msgpack.
+
+    @param[in] i  an input in MessagePack format convertible to an input
+                  adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if unsupported features from MessagePack were
+    used in the given input @a i or if the input is not valid MessagePack
+    @throw parse_error.113 if a string was expected as map key, but not found
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    MessagePack format to a JSON value.,from_msgpack}
+
+    @sa http://msgpack.org
+    @sa @ref to_msgpack(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for
+        the related UBJSON format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 2.0.9; parameter @a start_index since 2.1.1; changed to
+           consume input adapters, removed start_index parameter, and added
+           @a strict parameter since 3.0.0; added @a allow_exceptions parameter
+           since 3.2.0
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(InputType&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_msgpack(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(IteratorType first, IteratorType last,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(const T* ptr, std::size_t len,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        return from_msgpack(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(detail::span_input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    /*!
+    @brief create a JSON value from an input in UBJSON format
+
+    Deserializes a given input @a i to a JSON value using the UBJSON (Universal
+    Binary JSON) serialization format.
+
+    The library maps UBJSON types to JSON value types as follows:
+
+    UBJSON type | JSON value type                         | marker
+    ----------- | --------------------------------------- | ------
+    no-op       | *no value, next value is read*          | `N`
+    null        | `null`                                  | `Z`
+    false       | `false`                                 | `F`
+    true        | `true`                                  | `T`
+    float32     | number_float                            | `d`
+    float64     | number_float                            | `D`
+    uint8       | number_unsigned                         | `U`
+    int8        | number_integer                          | `i`
+    int16       | number_integer                          | `I`
+    int32       | number_integer                          | `l`
+    int64       | number_integer                          | `L`
+    high-precision number | number_integer, number_unsigned, or number_float - depends on number string | 'H'
+    string      | string                                  | `S`
+    char        | string                                  | `C`
+    array       | array (optimized values are supported)  | `[`
+    object      | object (optimized values are supported) | `{`
+
+    @note The mapping is **complete** in the sense that any UBJSON value can
+          be converted to a JSON value.
+
+    @param[in] i  an input in UBJSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.110 if the given input ends prematurely or the end of
+    file was not reached when @a strict was set to true
+    @throw parse_error.112 if a parse error occurs
+    @throw parse_error.113 if a string could not be parsed successfully
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    UBJSON format to a JSON value.,from_ubjson}
+
+    @sa http://ubjson.org
+    @sa @ref to_ubjson(const basic_json&, const bool, const bool) for the
+             analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_bson(detail::input_adapter&&, const bool, const bool) for
+        the related BSON format
+
+    @since version 3.1.0; added @a allow_exceptions parameter since 3.2.0
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_ubjson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(const T* ptr, std::size_t len,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        return from_ubjson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(detail::span_input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+
+    /*!
+    @brief Create a JSON value from an input in BSON format
+
+    Deserializes a given input @a i to a JSON value using the BSON (Binary JSON)
+    serialization format.
+
+    The library maps BSON record types to JSON value types as follows:
+
+    BSON type       | BSON marker byte | JSON value type
+    --------------- | ---------------- | ---------------------------
+    double          | 0x01             | number_float
+    string          | 0x02             | string
+    document        | 0x03             | object
+    array           | 0x04             | array
+    binary          | 0x05             | still unsupported
+    undefined       | 0x06             | still unsupported
+    ObjectId        | 0x07             | still unsupported
+    boolean         | 0x08             | boolean
+    UTC Date-Time   | 0x09             | still unsupported
+    null            | 0x0A             | null
+    Regular Expr.   | 0x0B             | still unsupported
+    DB Pointer      | 0x0C             | still unsupported
+    JavaScript Code | 0x0D             | still unsupported
+    Symbol          | 0x0E             | still unsupported
+    JavaScript Code | 0x0F             | still unsupported
+    int32           | 0x10             | number_integer
+    Timestamp       | 0x11             | still unsupported
+    128-bit decimal float | 0x13       | still unsupported
+    Max Key         | 0x7F             | still unsupported
+    Min Key         | 0xFF             | still unsupported
+
+    @warning The mapping is **incomplete**. The unsupported mappings
+             are indicated in the table above.
+
+    @param[in] i  an input in BSON format convertible to an input adapter
+    @param[in] strict  whether to expect the input to be consumed until EOF
+                       (true by default)
+    @param[in] allow_exceptions  whether to throw exceptions in case of a
+    parse error (optional, true by default)
+
+    @return deserialized JSON value; in case of a parse error and
+            @a allow_exceptions set to `false`, the return value will be
+            value_t::discarded.
+
+    @throw parse_error.114 if an unsupported BSON record type is encountered
+
+    @complexity Linear in the size of the input @a i.
+
+    @liveexample{The example shows the deserialization of a byte vector in
+    BSON format to a JSON value.,from_bson}
+
+    @sa http://bsonspec.org/spec.html
+    @sa @ref to_bson(const basic_json&) for the analogous serialization
+    @sa @ref from_cbor(detail::input_adapter&&, const bool, const bool, const cbor_tag_handler_t) for the
+        related CBOR format
+    @sa @ref from_msgpack(detail::input_adapter&&, const bool, const bool) for
+        the related MessagePack format
+    @sa @ref from_ubjson(detail::input_adapter&&, const bool, const bool) for the
+        related UBJSON format
+    */
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /*!
+    @copydoc from_bson(detail::input_adapter&&, const bool, const bool)
+    */
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        return from_bson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        const bool res = binary_reader<decltype(ia)>(std::move(ia)).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. Similar to @ref operator[](const typename
+    object_t::key_type&), `null` values are created in arrays and objects if
+    necessary.
+
+    In particular:
+    - If the JSON pointer points to an object key that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned.
+    - If the JSON pointer points to an array index that does not exist, it
+      is created an filled with a `null` value before a reference to it
+      is returned. All indices between the current maximum and the given
+      index are also filled with `null`.
+    - The special value `-` is treated as a synonym for the index past the
+      end.
+
+    @param[in] ptr  a JSON pointer
+
+    @return reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer}
+
+    @since version 2.0.0
+    */
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Uses a JSON pointer to retrieve a reference to the respective JSON value.
+    No bound checking is performed. The function does not change the JSON
+    value; no `null` values are created. In particular, the special value
+    `-` yields an exception.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return const reference to the element pointed to by @a ptr
+
+    @complexity Constant.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+
+    @liveexample{The behavior is shown in the example.,operatorjson_pointer_const}
+
+    @since version 2.0.0
+    */
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a reference to the element at with specified JSON pointer @a ptr,
+    with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer}
+    */
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief access specified element via JSON Pointer
+
+    Returns a const reference to the element at with specified JSON pointer @a
+    ptr, with bounds checking.
+
+    @param[in] ptr  JSON pointer to the desired element
+
+    @return reference to the element pointed to by @a ptr
+
+    @throw parse_error.106 if an array index in the passed JSON pointer @a ptr
+    begins with '0'. See example below.
+
+    @throw parse_error.109 if an array index in the passed JSON pointer @a ptr
+    is not a number. See example below.
+
+    @throw out_of_range.401 if an array index in the passed JSON pointer @a ptr
+    is out of range. See example below.
+
+    @throw out_of_range.402 if the array index '-' is used in the passed JSON
+    pointer @a ptr. As `at` provides checked access (and no elements are
+    implicitly inserted), the index '-' is always invalid. See example below.
+
+    @throw out_of_range.403 if the JSON pointer describes a key of an object
+    which cannot be found. See example below.
+
+    @throw out_of_range.404 if the JSON pointer @a ptr can not be resolved.
+    See example below.
+
+    @exceptionsafety Strong guarantee: if an exception is thrown, there are no
+    changes in the JSON value.
+
+    @complexity Constant.
+
+    @since version 2.0.0
+
+    @liveexample{The behavior is shown in the example.,at_json_pointer_const}
+    */
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /*!
+    @brief return flattened JSON value
+
+    The function creates a JSON object whose keys are JSON pointers (see [RFC
+    6901](https://tools.ietf.org/html/rfc6901)) and whose values are all
+    primitive. The original JSON value can be restored using the @ref
+    unflatten() function.
+
+    @return an object that maps JSON pointers to primitive values
+
+    @note Empty objects and arrays are flattened to `null` and will not be
+          reconstructed correctly by the @ref unflatten() function.
+
+    @complexity Linear in the size the JSON value.
+
+    @liveexample{The following code shows how a JSON object is flattened to an
+    object whose keys consist of JSON pointers.,flatten}
+
+    @sa @ref unflatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /*!
+    @brief unflatten a previously flattened JSON value
+
+    The function restores the arbitrary nesting of a JSON value that has been
+    flattened before using the @ref flatten() function. The JSON value must
+    meet certain constraints:
+    1. The value must be an object.
+    2. The keys must be JSON pointers (see
+       [RFC 6901](https://tools.ietf.org/html/rfc6901))
+    3. The mapped values must be primitive JSON types.
+
+    @return the original JSON from a flattened version
+
+    @note Empty objects and arrays are flattened by @ref flatten() to `null`
+          values and can not unflattened to their original type. Apart from
+          this example, for a JSON value `j`, the following is always true:
+          `j == j.flatten().unflatten()`.
+
+    @complexity Linear in the size the JSON value.
+
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+
+    @liveexample{The following code shows how a flattened JSON object is
+    unflattened into the original nested JSON object.,unflatten}
+
+    @sa @ref flatten() for the reverse function
+
+    @since version 2.0.0
+    */
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON patch
+
+    [JSON Patch](http://jsonpatch.com) defines a JSON document structure for
+    expressing a sequence of operations to apply to a JSON) document. With
+    this function, a JSON Patch is applied to the current JSON value by
+    executing all operations from the patch.
+
+    @param[in] json_patch  JSON patch document
+    @return patched document
+
+    @note The application of a patch is atomic: Either all operations succeed
+          and the patched document is returned or an exception is thrown. In
+          any case, the original value is not changed: the patch is applied
+          to a copy of the value.
+
+    @throw parse_error.104 if the JSON patch does not consist of an array of
+    objects
+
+    @throw parse_error.105 if the JSON patch is malformed (e.g., mandatory
+    attributes are missing); example: `"operation add must have member path"`
+
+    @throw out_of_range.401 if an array index is out of range.
+
+    @throw out_of_range.403 if a JSON pointer inside the patch could not be
+    resolved successfully in the current JSON value; example: `"key baz not
+    found"`
+
+    @throw out_of_range.405 if JSON pointer has no parent ("add", "remove",
+    "move")
+
+    @throw other_error.501 if "test" operation was unsuccessful
+
+    @complexity Linear in the size of the JSON value and the length of the
+    JSON patch. As usually only a fraction of the JSON value is affected by
+    the patch, the complexity can usually be neglected.
+
+    @liveexample{The following code shows how a JSON patch is applied to a
+    value.,patch}
+
+    @sa @ref diff -- create a JSON patch by comparing two JSON values
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+    @sa [RFC 6901 (JSON Pointer)](https://tools.ietf.org/html/rfc6901)
+
+    @since version 2.0.0
+    */
+    basic_json patch(const basic_json& json_patch) const
+    {
+        // make a working copy to apply the patch to
+        basic_json result = *this;
+
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.empty())
+            {
+                result = val;
+                return;
+            }
+
+            // make sure the top element of the pointer exists
+            json_pointer top_pointer = ptr.top();
+            if (top_pointer != ptr)
+            {
+                result.at(top_pointer);
+            }
+
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result[ptr];
+
+            switch (parent.m_type)
+            {
+                case value_t::null:
+                case value_t::object:
+                {
+                    // use operator[] to add value
+                    parent[last_path] = val;
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    if (last_path == "-")
+                    {
+                        // special case: append to back
+                        parent.push_back(val);
+                    }
+                    else
+                    {
+                        const auto idx = json_pointer::array_index(last_path);
+                        if (JSON_HEDLEY_UNLIKELY(idx > parent.size()))
+                        {
+                            // avoid undefined behavior
+                            JSON_THROW(out_of_range::create(401, "array index " + std::to_string(idx) + " is out of range"));
+                        }
+
+                        // default case: insert add offset
+                        parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                    }
+                    break;
+                }
+
+                // if there exists a parent it cannot be primitive
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false);  // LCOV_EXCL_LINE
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [&result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_HEDLEY_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, "key '" + last_path + "' not found"));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(json_pointer::array_index(last_path));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_HEDLEY_UNLIKELY(!json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : "operation '" + op + "'";
+
+                // check if desired value is present
+                if (JSON_HEDLEY_UNLIKELY(it == val.m_value.object->end()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have member '" + member + "'"));
+                }
+
+                // check if result is of type string
+                if (JSON_HEDLEY_UNLIKELY(string_type && !it->second.is_string()))
+                {
+                    JSON_THROW(parse_error::create(105, 0, error_msg + " must have string member '" + member + "'"));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_HEDLEY_UNLIKELY(!val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects"));
+            }
+
+            // collect mandatory members
+            const auto op = get_value("op", "op", true).template get<std::string>();
+            const auto path = get_value(op, "path", true).template get<std::string>();
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const auto from_path = get_value("move", "from", true).template get<std::string>();
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const auto from_path = get_value("copy", "from", true).template get<std::string>();
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_HEDLEY_UNLIKELY(!success))
+                    {
+                        JSON_THROW(other_error::create(501, "unsuccessful: " + val.dump()));
+                    }
+
+                    break;
+                }
+
+                default:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, "operation value '" + op + "' is invalid"));
+                }
+            }
+        }
+
+        return result;
+    }
+
+    /*!
+    @brief creates a diff as a JSON patch
+
+    Creates a [JSON Patch](http://jsonpatch.com) so that value @a source can
+    be changed into the value @a target by calling @ref patch function.
+
+    @invariant For two JSON values @a source and @a target, the following code
+    yields always `true`:
+    @code {.cpp}
+    source.patch(diff(source, target)) == target;
+    @endcode
+
+    @note Currently, only `remove`, `add`, and `replace` operations are
+          generated.
+
+    @param[in] source  JSON value to compare from
+    @param[in] target  JSON value to compare against
+    @param[in] path    helper value to create JSON pointers
+
+    @return a JSON patch to convert the @a source to @a target
+
+    @complexity Linear in the lengths of @a source and @a target.
+
+    @liveexample{The following code shows how a JSON patch is created as a
+    diff for two JSON values.,diff}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa @ref merge_patch -- apply a JSON Merge Patch
+
+    @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902)
+
+    @since version 2.0.0
+    */
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+            return result;
+        }
+
+        switch (source.type())
+        {
+            case value_t::array:
+            {
+                // first pass: traverse common elements
+                std::size_t i = 0;
+                while (i < source.size() && i < target.size())
+                {
+                    // recursive call to compare array values at index i
+                    auto temp_diff = diff(source[i], target[i], path + "/" + std::to_string(i));
+                    result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    ++i;
+                }
+
+                // i now reached the end of at least one array
+                // in a second pass, traverse the remaining elements
+
+                // remove my remaining elements
+                const auto end_index = static_cast<difference_type>(result.size());
+                while (i < source.size())
+                {
+                    // add operations in reverse order to avoid invalid
+                    // indices
+                    result.insert(result.begin() + end_index, object(
+                    {
+                        {"op", "remove"},
+                        {"path", path + "/" + std::to_string(i)}
+                    }));
+                    ++i;
+                }
+
+                // add other remaining elements
+                while (i < target.size())
+                {
+                    result.push_back(
+                    {
+                        {"op", "add"},
+                        {"path", path + "/-"},
+                        {"value", target[i]}
+                    });
+                    ++i;
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // first pass: traverse this object's elements
+                for (auto it = source.cbegin(); it != source.cend(); ++it)
+                {
+                    // escape the key name to be used in a JSON patch
+                    const auto key = json_pointer::escape(it.key());
+
+                    if (target.find(it.key()) != target.end())
+                    {
+                        // recursive call to compare object values at key it
+                        auto temp_diff = diff(it.value(), target[it.key()], path + "/" + key);
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    }
+                    else
+                    {
+                        // found a key that is not in o -> remove it
+                        result.push_back(object(
+                        {
+                            {"op", "remove"}, {"path", path + "/" + key}
+                        }));
+                    }
+                }
+
+                // second pass: traverse other object's elements
+                for (auto it = target.cbegin(); it != target.cend(); ++it)
+                {
+                    if (source.find(it.key()) == source.end())
+                    {
+                        // found a key that is not in this -> add it
+                        const auto key = json_pointer::escape(it.key());
+                        result.push_back(
+                        {
+                            {"op", "add"}, {"path", path + "/" + key},
+                            {"value", it.value()}
+                        });
+                    }
+                }
+
+                break;
+            }
+
+            default:
+            {
+                // both primitive type: replace value
+                result.push_back(
+                {
+                    {"op", "replace"}, {"path", path}, {"value", target}
+                });
+                break;
+            }
+        }
+
+        return result;
+    }
+
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /*!
+    @brief applies a JSON Merge Patch
+
+    The merge patch format is primarily intended for use with the HTTP PATCH
+    method as a means of describing a set of modifications to a target
+    resource's content. This function applies a merge patch to the current
+    JSON value.
+
+    The function implements the following algorithm from Section 2 of
+    [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396):
+
+    ```
+    define MergePatch(Target, Patch):
+      if Patch is an Object:
+        if Target is not an Object:
+          Target = {} // Ignore the contents and set it to an empty Object
+        for each Name/Value pair in Patch:
+          if Value is null:
+            if Name exists in Target:
+              remove the Name/Value pair from Target
+          else:
+            Target[Name] = MergePatch(Target[Name], Value)
+        return Target
+      else:
+        return Patch
+    ```
+
+    Thereby, `Target` is the current object; that is, the patch is applied to
+    the current value.
+
+    @param[in] apply_patch  the patch to apply
+
+    @complexity Linear in the lengths of @a patch.
+
+    @liveexample{The following code shows how a JSON Merge Patch is applied to
+    a JSON document.,merge_patch}
+
+    @sa @ref patch -- apply a JSON patch
+    @sa [RFC 7396 (JSON Merge Patch)](https://tools.ietf.org/html/rfc7396)
+
+    @since version 3.0.0
+    */
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (!is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+
+/*!
+@brief user-defined to_string function for JSON values
+
+This function implements a user-defined to_string  for JSON objects.
+
+@param[in] j  a JSON object
+@return a std::string object
+*/
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+std::string to_string(const NLOHMANN_BASIC_JSON_TPL& j)
+{
+    return j.dump();
+}
+} // namespace nlohmann
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+// specialization of std::swap, and std::hash
+namespace std
+{
+
+/// hash value for JSON objects
+template<>
+struct hash<nlohmann::json>
+{
+    /*!
+    @brief return a hash value for a JSON object
+
+    @since version 1.0.0
+    */
+    std::size_t operator()(const nlohmann::json& j) const
+    {
+        return nlohmann::detail::hash(j);
+    }
+};
+
+/// specialization for std::less<value_t>
+/// @note: do not remove the space after '<',
+///        see https://github.com/nlohmann/json/pull/679
+template<>
+struct less<::nlohmann::detail::value_t>
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(nlohmann::detail::value_t lhs,
+                    nlohmann::detail::value_t rhs) const noexcept
+    {
+        return nlohmann::detail::operator<(lhs, rhs);
+    }
+};
+
+// C++20 prohibit function specialization in the std namespace.
+#ifndef JSON_HAS_CPP_20
+
+/*!
+@brief exchanges the values of two JSON objects
+
+@since version 1.0.0
+*/
+template<>
+inline void swap<nlohmann::json>(nlohmann::json& j1, nlohmann::json& j2) noexcept(
+    is_nothrow_move_constructible<nlohmann::json>::value&&
+    is_nothrow_move_assignable<nlohmann::json>::value
+                              )
+{
+    j1.swap(j2);
+}
+
+#endif
+
+} // namespace std
+
+/*!
+@brief user-defined string literal for JSON values
+
+This operator implements a user-defined string literal for JSON objects. It
+can be used by adding `"_json"` to a string literal and returns a JSON object
+if no parse error occurred.
+
+@param[in] s  a string representation of a JSON object
+@param[in] n  the length of string @a s
+@return a JSON object
+
+@since version 1.0.0
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/*!
+@brief user-defined string literal for JSON pointer
+
+This operator implements a user-defined string literal for JSON Pointers. It
+can be used by adding `"_json_pointer"` to a string literal and returns a JSON pointer
+object if no parse error occurred.
+
+@param[in] s  a string representation of a JSON Pointer
+@param[in] n  the length of string @a s
+@return a JSON pointer object
+
+@since version 2.0.0
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+// #include <nlohmann/detail/macro_unscope.hpp>
+
+
+// restore GCC/clang diagnostic settings
+#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__)
+    #pragma GCC diagnostic pop
+#endif
+#if defined(__clang__)
+    #pragma GCC diagnostic pop
+#endif
+
+// clean up
+#undef JSON_ASSERT
+#undef JSON_INTERNAL_CATCH
+#undef JSON_CATCH
+#undef JSON_THROW
+#undef JSON_TRY
+#undef JSON_HAS_CPP_14
+#undef JSON_HAS_CPP_17
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+#undef JSON_EXPLICIT
+
+// #include <nlohmann/thirdparty/hedley/hedley_undef.hpp>
+#undef JSON_HEDLEY_ALWAYS_INLINE
+#undef JSON_HEDLEY_ARM_VERSION
+#undef JSON_HEDLEY_ARM_VERSION_CHECK
+#undef JSON_HEDLEY_ARRAY_PARAM
+#undef JSON_HEDLEY_ASSUME
+#undef JSON_HEDLEY_BEGIN_C_DECLS
+#undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#undef JSON_HEDLEY_CLANG_HAS_WARNING
+#undef JSON_HEDLEY_COMPCERT_VERSION
+#undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#undef JSON_HEDLEY_CONCAT
+#undef JSON_HEDLEY_CONCAT3
+#undef JSON_HEDLEY_CONCAT3_EX
+#undef JSON_HEDLEY_CONCAT_EX
+#undef JSON_HEDLEY_CONST
+#undef JSON_HEDLEY_CONSTEXPR
+#undef JSON_HEDLEY_CONST_CAST
+#undef JSON_HEDLEY_CPP_CAST
+#undef JSON_HEDLEY_CRAY_VERSION
+#undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#undef JSON_HEDLEY_C_DECL
+#undef JSON_HEDLEY_DEPRECATED
+#undef JSON_HEDLEY_DEPRECATED_FOR
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#undef JSON_HEDLEY_DIAGNOSTIC_POP
+#undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#undef JSON_HEDLEY_DMC_VERSION
+#undef JSON_HEDLEY_DMC_VERSION_CHECK
+#undef JSON_HEDLEY_EMPTY_BASES
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#undef JSON_HEDLEY_END_C_DECLS
+#undef JSON_HEDLEY_FLAGS
+#undef JSON_HEDLEY_FLAGS_CAST
+#undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#undef JSON_HEDLEY_GCC_HAS_FEATURE
+#undef JSON_HEDLEY_GCC_HAS_WARNING
+#undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#undef JSON_HEDLEY_GCC_VERSION
+#undef JSON_HEDLEY_GCC_VERSION_CHECK
+#undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#undef JSON_HEDLEY_GNUC_HAS_WARNING
+#undef JSON_HEDLEY_GNUC_VERSION
+#undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#undef JSON_HEDLEY_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_BUILTIN
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_EXTENSION
+#undef JSON_HEDLEY_HAS_FEATURE
+#undef JSON_HEDLEY_HAS_WARNING
+#undef JSON_HEDLEY_IAR_VERSION
+#undef JSON_HEDLEY_IAR_VERSION_CHECK
+#undef JSON_HEDLEY_IBM_VERSION
+#undef JSON_HEDLEY_IBM_VERSION_CHECK
+#undef JSON_HEDLEY_IMPORT
+#undef JSON_HEDLEY_INLINE
+#undef JSON_HEDLEY_INTEL_VERSION
+#undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#undef JSON_HEDLEY_IS_CONSTANT
+#undef JSON_HEDLEY_IS_CONSTEXPR_
+#undef JSON_HEDLEY_LIKELY
+#undef JSON_HEDLEY_MALLOC
+#undef JSON_HEDLEY_MESSAGE
+#undef JSON_HEDLEY_MSVC_VERSION
+#undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#undef JSON_HEDLEY_NEVER_INLINE
+#undef JSON_HEDLEY_NON_NULL
+#undef JSON_HEDLEY_NO_ESCAPE
+#undef JSON_HEDLEY_NO_RETURN
+#undef JSON_HEDLEY_NO_THROW
+#undef JSON_HEDLEY_NULL
+#undef JSON_HEDLEY_PELLES_VERSION
+#undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#undef JSON_HEDLEY_PGI_VERSION
+#undef JSON_HEDLEY_PGI_VERSION_CHECK
+#undef JSON_HEDLEY_PREDICT
+#undef JSON_HEDLEY_PRINTF_FORMAT
+#undef JSON_HEDLEY_PRIVATE
+#undef JSON_HEDLEY_PUBLIC
+#undef JSON_HEDLEY_PURE
+#undef JSON_HEDLEY_REINTERPRET_CAST
+#undef JSON_HEDLEY_REQUIRE
+#undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#undef JSON_HEDLEY_REQUIRE_MSG
+#undef JSON_HEDLEY_RESTRICT
+#undef JSON_HEDLEY_RETURNS_NON_NULL
+#undef JSON_HEDLEY_SENTINEL
+#undef JSON_HEDLEY_STATIC_ASSERT
+#undef JSON_HEDLEY_STATIC_CAST
+#undef JSON_HEDLEY_STRINGIFY
+#undef JSON_HEDLEY_STRINGIFY_EX
+#undef JSON_HEDLEY_SUNPRO_VERSION
+#undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#undef JSON_HEDLEY_TINYC_VERSION
+#undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#undef JSON_HEDLEY_TI_ARMCL_VERSION
+#undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL2000_VERSION
+#undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL430_VERSION
+#undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL6X_VERSION
+#undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL7X_VERSION
+#undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CLPRU_VERSION
+#undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#undef JSON_HEDLEY_TI_VERSION
+#undef JSON_HEDLEY_TI_VERSION_CHECK
+#undef JSON_HEDLEY_UNAVAILABLE
+#undef JSON_HEDLEY_UNLIKELY
+#undef JSON_HEDLEY_UNPREDICTABLE
+#undef JSON_HEDLEY_UNREACHABLE
+#undef JSON_HEDLEY_UNREACHABLE_RETURN
+#undef JSON_HEDLEY_VERSION
+#undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#undef JSON_HEDLEY_VERSION_ENCODE
+#undef JSON_HEDLEY_WARNING
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#undef JSON_HEDLEY_FALL_THROUGH
+
+
+
+#endif  // INCLUDE_NLOHMANN_JSON_HPP_
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/AdaptivePursuit.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
new file mode 100644
index 000000000..9b351592b
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/AdaptivePursuit.cpp
@@ -0,0 +1,133 @@
+#include "AdaptivePursuit.h"
+
+VelocityPair::VelocityPair(double l, double r) {
+    left = l;
+    right = r;
+}
+
+AdaptivePursuit::AdaptivePursuit(double fixedLookahead, double maxAccel,
+                                 double nominalDt, Path path, bool reversed,
+                                 double pathCompletionTolerance, bool gradualStop, double wheelDiameter):
+        m_lastCommand(0,0,0) {
+    m_fixedLookahead = fixedLookahead;
+    m_maxAccel = maxAccel;
+    m_path = path;
+    m_dt = nominalDt;
+    m_reversed = reversed;
+    m_pathCompletionTolerance = pathCompletionTolerance;
+    m_lastTime = 0.0;
+    m_gradualStop = gradualStop;
+    m_wheelDiameter = wheelDiameter;
+}
+
+bool AdaptivePursuit::isDone() {
+    double remainingLength = m_path.getRemainingLength();
+    return (remainingLength <= m_pathCompletionTolerance);
+}
+
+VelocityPair AdaptivePursuit::Update(Pose robotPos, double now) {
+    Position2d pos = Position2d({-robotPos.position.y(), robotPos.position.x()}, Rotation2d::fromRadians(robotPos.angle.angle()));
+    if (m_reversed){
+        pos = Position2d(pos.getTranslation(),
+                         pos.getRotation().rotateBy(Rotation2d::fromRadians(PI)));
+    }
+
+    double distanceFromPath = m_path.update(pos.getTranslation());
+	// std::cout << "Dist From Path: " << distanceFromPath << std::endl;
+    if(isDone()){
+        return VelocityPair(0, 0);
+    }
+
+	// std::cout << "Dist From Path" << distanceFromPath << std::endl;
+
+    PathSegment::Sample lookaheadPoint = m_path.getLookaheadPoint(pos.getTranslation(),
+                                                                  distanceFromPath + m_fixedLookahead);
+    std::optional<Circle> circle = joinPath(pos, lookaheadPoint.translation);
+
+
+    double speed = lookaheadPoint.speed;
+    if(m_reversed){
+        speed *= -1;
+    }
+
+    double dt = now - m_lastTime;
+    if (!m_hasRun){
+        m_lastCommand = Position2d::Delta(0,0,0);
+        dt = m_dt;
+        m_hasRun = true;
+    }
+    double accel = (speed - m_lastCommand.dx) / dt;
+    if(accel < -m_maxAccel){
+        speed = m_lastCommand.dx - m_maxAccel * dt;
+    } else if (accel > m_maxAccel){
+        speed = m_lastCommand.dx + m_maxAccel * dt;
+    }
+
+    double remainingDistance = m_path.getRemainingLength();
+    double maxAllowedSpeed = sqrt(2 * m_maxAccel * remainingDistance);
+    if (fabs(speed) > maxAllowedSpeed) {
+        speed = std::copysign(maxAllowedSpeed, speed);
+    }
+
+    // double minimumSpeed = 5.0;
+    // if (fabs(speed) < minimumSpeed) {
+    //     speed = std::copysign(minimumSpeed, speed);
+    // }
+
+    Position2d::Delta rv(0,0,0);
+    if(circle){
+        rv = Position2d::Delta(speed, 0, (((*circle).turnRight) ? -1 : 1) * fabs(speed) / (*circle).radius);
+    } else {
+        rv = Position2d::Delta(speed, 0, 0);
+    }
+    m_lastTime = now;
+    m_lastCommand = rv;
+
+    if(fabs(rv.dtheta) < kE){
+        return VelocityPair(rv.dx, rv.dx);
+    }
+    double deltaV = m_wheelDiameter * rv.dtheta / (2 * 0.15);
+    return VelocityPair(rv.dx + deltaV, rv.dx - deltaV);
+}
+
+bool AdaptivePursuit::checkEvent(std::string event) {
+    return m_path.eventPassed(event);
+}
+
+AdaptivePursuit::Circle::Circle(Trans2d cent, double rad,
+                                bool turn_right) {
+    center = cent;
+    radius = rad;
+    turnRight = turn_right;
+}
+
+std::optional<AdaptivePursuit::Circle> AdaptivePursuit::joinPath(Position2d pos,
+                                                                   Trans2d lookahead) {
+    double x1 = pos.getTranslation().getX();
+    double y1 = pos.getTranslation().getY();
+    double x2 = lookahead.getX();
+    double y2 = lookahead.getY();
+
+    Trans2d posToLookahead = pos.getTranslation().inverse().translateBy(lookahead);
+    double crossProduct = posToLookahead.getX() * pos.getRotation().getSin()
+                          - posToLookahead.getY() * pos.getRotation().getCos();
+    if(abs(crossProduct) < kE){
+        return {};
+    }
+
+    double dx = x1 - x2;
+    double dy = y1 - y2;
+    double my = ((crossProduct > 0) ? -1 : 1) * pos.getRotation().getCos();
+    double mx = ((crossProduct > 0) ? 1 : -1) * pos.getRotation().getSin();
+
+    double crossTerm = mx * dx + my * dy;
+
+    if(abs(crossTerm) < kE){
+        return {};
+    }
+
+    return Circle(
+            Trans2d((mx * (x1 * x1 - x2 * x2 - dy * dy) + 2 * my * x1 * dy) / (2 * crossTerm),
+                          (-my * (-y1 * y1 + y2 * y2 + dx * dx) + 2 * mx * y1 * dx) / (2 * crossTerm)),
+            .5 * abs((dx * dx + dy * dy) / crossTerm), (crossProduct > 0));
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/Logger.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Logger.cpp
new file mode 100644
index 000000000..e15b3dd49
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Logger.cpp
@@ -0,0 +1,38 @@
+#include "Logger.h"
+
+Logger::loggingLevel Logger::m_consoleLoggingLevel;
+
+
+void Logger::logInfo(ostringstream& message) {
+	//logInfo(message.str());
+}
+
+void Logger::logInfo(string message) {
+    if(m_consoleLoggingLevel <= INFO) {
+        cout << "INFO: " << message << "\n";
+    }
+}
+
+void Logger::logWarning(ostringstream& message) {
+//	logWarning(message.str());
+}
+
+void Logger::logWarning(string message) {
+    if(m_consoleLoggingLevel <= WARNING) {
+        cout << "WARNING: " << message << "\n";
+    }
+}
+
+void Logger::logError(ostringstream& message) {
+//	logError(message.str());
+}
+
+void Logger::logError(string message) {
+    if(m_consoleLoggingLevel <= WARNING) {
+        cout << "ERROR: " << message << "\n";
+    }
+}
+
+void Logger::setConsoleLoggingLevel(Logger::loggingLevel level) {
+    m_consoleLoggingLevel = level;
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/Path.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Path.cpp
new file mode 100644
index 000000000..e6b288aa5
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Path.cpp
@@ -0,0 +1,228 @@
+#include "Path.h"
+
+Waypoint::Waypoint(Trans2d pos, double spd, string completeEvent) {
+	position = pos;
+	speed = spd;
+	event = completeEvent;
+}
+
+Path::Path() : Path({Waypoint(Trans2d(), 0)}, false) {
+
+}
+
+Path::Path(vector<Waypoint> waypoints, bool flip) {
+	m_waypoints = waypoints;
+	for (int i = 0; i < m_waypoints.size() - 1; i++) {
+        m_segments.emplace_back(m_waypoints[i].position, m_waypoints[i+1].position,
+                                m_waypoints[i].rotation, m_waypoints[i].speed);
+	}
+
+/*	if(m_waypoints.size() > 0){
+		if(m_waypoints[0].event != ""){
+			m_events.push_back(m_waypoints[0].event);
+		}
+		m_waypoints.erase(m_waypoints.begin());
+	}*/
+}
+
+Path Path::fromFile(string fileName, bool flip) {
+    Logger::logInfo("Loading File: " + fileName);
+    string fileStarter = "/home/lvuser/Paths/";
+    ifstream inFile(fileStarter + fileName);
+    if (inFile.is_open()) {
+        string text((istreambuf_iterator<char>(inFile)), istreambuf_iterator<char>());
+        return fromText(text, flip);
+    }
+    cout << "Failed to open: " << fileName << endl;
+    return Path();
+}
+
+Path Path::fromText(string text, bool flip) {
+    vector<Waypoint> points;
+    json json;
+    try {
+        json = json::parse(text);
+    } catch (const exception& e) {
+        Logger::logError("Error parsing json path! " + string(e.what()));
+        return Path();
+    }
+
+    //Logger::logInfo("Json text contents:\n" + json.dump(4));
+    try {
+        for (auto point : json) {
+            Waypoint waypoint({point["x"].get<double>(), point["y"].get<double>()}, 100);
+            if(flip) {
+                waypoint.position = waypoint.position.flipX();
+            }
+            if(point["name"].get<string>() != "point") {
+                waypoint.event = point["name"].get<string>();
+            }
+            points.push_back(waypoint);
+        }
+    } catch (const exception& e) {
+        Logger::logError("Error reading json path! " + string(e.what()));
+        return Path();
+    }
+
+    if(!points.empty()){
+        Logger::logInfo("Path with " + to_string(points.size()) + " points was loaded successfully.");
+        return Path(points);
+    } else{
+        Logger::logError("Loaded path text was empty!");
+        return Path();
+    }
+}
+
+double Path::update(Trans2d pos) {
+	double rv = 0.0;
+	for(unsigned int i = 0; i < m_segments.size(); i++){
+//		PathSegment segment = m_segments[i];
+		PathSegment::ClosestPointReport closestPointReport = m_segments[i].getClosestPoint(pos);
+//		std::cout << "Index " << closestPointReport.index << std::endl;
+		if (closestPointReport.index >= .99){
+			m_segments.erase(m_segments.begin() + i);
+			if(m_waypoints.size() > 0){
+				if(m_waypoints[0].event != ""){
+					m_events.push_back(m_waypoints[0].event);
+				}
+				m_waypoints.erase(m_waypoints.begin());
+			}
+			return update(pos);
+		} else {
+			if(closestPointReport.index > 0.0){
+				m_segments[i].updateStart(closestPointReport.closestPoint);
+			}
+
+			rv = closestPointReport.distance;
+
+			if(m_segments.size() > i + 1){
+				PathSegment::ClosestPointReport nextClosestPointReport = m_segments[i+1].getClosestPoint(pos);
+				if(nextClosestPointReport.index > 0
+						&& nextClosestPointReport.index < .99
+						&& nextClosestPointReport.distance < rv){
+					m_segments[i+1].updateStart(nextClosestPointReport.closestPoint);
+					rv = nextClosestPointReport.distance;
+					m_segments.erase(m_segments.begin() + i);
+					if(m_waypoints.size() > 0){
+						if(m_waypoints[0].event != ""){
+							m_events.push_back(m_waypoints[0].event);
+						}
+						m_waypoints.erase(m_waypoints.begin());
+					}
+				}
+			}
+			break;
+		}
+	}
+	return rv;
+}
+
+bool Path::eventPassed(std::string event) {
+	return (find(m_events.begin(), m_events.end(), event) != m_events.end());
+}
+
+double Path::getRemainingLength() {
+	double length = 0.0;
+	for (auto i: m_segments){
+		length += i.getLength();
+	}
+	return length;
+}
+
+PathSegment::Sample Path::getLookaheadPoint(Trans2d pos, double lookahead) {
+	if(m_segments.empty()){
+		return {Trans2d(), 0};
+	}
+
+	Trans2d posInverse = pos.inverse();
+	if(posInverse.translateBy(m_segments[0].getStart()).norm() >= lookahead){
+		return {m_segments[0].getStart(), m_segments[0].getSpeed()};
+	}
+	for (auto segment : m_segments) {
+        double distance = posInverse.translateBy(segment.getEnd()).norm();
+		if(distance >= lookahead){
+			pair<bool, Trans2d> intersectionPoint =
+                    getFirstCircleSegmentIntersection(segment, pos, lookahead);
+			if(intersectionPoint.first){
+				return {intersectionPoint.second, segment.getSpeed()};
+			} else {
+				cout << "Error? Bad things happened" << endl;
+			}
+		}
+	}
+
+	PathSegment lastSegment = m_segments[m_segments.size() - 1];
+	PathSegment newLastSegment = PathSegment(lastSegment.getStart(), lastSegment.interpolate(10000),
+                                             lastSegment.getAngle(), lastSegment.getSpeed());
+	pair<bool, Trans2d> intersectionPoint = getFirstCircleSegmentIntersection(newLastSegment, pos,
+			lookahead);
+	if(intersectionPoint.first){
+		return {intersectionPoint.second, lastSegment.getSpeed()};
+	} else {
+		cout << "Error? REALLY Bad things happened" << endl;
+		return {lastSegment.getEnd(), lastSegment.getSpeed()};
+	}
+}
+
+pair<bool, Trans2d> Path::getFirstCircleSegmentIntersection(PathSegment segment, Trans2d center,
+                                                                       double radius) {
+	double x1 = segment.getStart().getX() - center.getX();
+	double y1 = segment.getStart().getY() - center.getY();
+	double x2 = segment.getEnd().getX() - center.getX();
+	double y2 = segment.getEnd().getY() - center.getY();
+	double dx = x2 - x1;
+	double dy = y2 - y1;
+	double drSquared = dx * dx + dy * dy;
+	double det = x1 * y2 - x2 * y1;
+
+	double discriminant = drSquared *radius * radius - det * det;
+	if (discriminant < 0) {
+		return {false, Trans2d()};
+	}
+
+	double sqrtDiscriminant = sqrt(discriminant);
+	Trans2d posSolution = Trans2d(
+			(det * dy + ((dy < 0) ? -1 : 1) * dx * sqrtDiscriminant) / drSquared + center.getX(),
+			(-det * dx + abs(dy) * sqrtDiscriminant) / drSquared + center.getY());
+	Trans2d negSolution = Trans2d(
+			(det * dy - ((dy < 0) ? -1 : 1) * dx * sqrtDiscriminant) / drSquared + center.getX(),
+			(-det * dx - abs(dy) * sqrtDiscriminant) / drSquared + center.getY());
+
+	double posDot = segment.dotProduct(posSolution);
+	double negDot = segment.dotProduct(negSolution);
+	if (posDot < 0 && negDot >= 0){
+		return {true, negSolution};
+	} else if (posDot >= 0 && negDot < 0){
+		return {true, posSolution};
+	} else {
+		if (abs(posDot) <= abs(negDot)){
+			return {true, posSolution};
+		} else {
+			return {true, negSolution};
+		}
+	}
+}
+
+Waypoint Path::getFirstWaypoint() {
+    return m_waypoints[0];
+}
+
+Position2d Path::getClosestPoint(Trans2d pos) {
+    Position2d closestPoint = Position2d(m_segments[0].getStart(), m_segments[0].getAngle());
+    double closestDistance = hypot(pos.getX() - closestPoint.getTranslation().getX(),
+                                   pos.getY() - closestPoint.getTranslation().getY());
+    for (unsigned int i = 1; i < m_segments.size(); i++){
+        PathSegment segment = m_segments[i];
+        double distance = hypot(pos.getX() - segment.getStart().getX(),
+                                pos.getY() - segment.getStart().getY());
+        if(distance < closestDistance) {
+            closestPoint = Position2d(segment.getStart(), segment.getAngle());
+            closestDistance = distance;
+        }
+    }
+    return closestPoint;
+}
+
+vector<Waypoint> Path::getWaypoints() {
+    return m_waypoints;
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
new file mode 100644
index 000000000..df7d31f1c
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
@@ -0,0 +1,90 @@
+#include "PathManager.h"
+
+PathManager* PathManager::m_instance = nullptr;
+
+PathManager * PathManager::GetInstance() {
+    if(!m_instance) {
+        m_instance = new PathManager;
+    }
+
+    return m_instance;
+}
+
+int PathManager::NumPaths() {
+    return m_paths.size();
+}
+
+bool PathManager::LoadPathsText(string text) {
+    json loadedJson;
+
+    try {
+        loadedJson = json::parse(text);
+    } catch (const exception& e) {
+        Logger::logError("Could not parse paths file:" + string(e.what()));
+        return false;
+    }
+
+    return LoadPaths(loadedJson);
+}
+
+bool PathManager::LoadPaths(json loadedJson) {
+    m_paths.clear();
+
+    try {
+        json pathJson;
+        for (auto path : loadedJson["paths"]) {
+            string name = path["name"];
+            vector<Waypoint> waypoints;
+            for (auto point : path["points"]) {
+                double speed = point["speed"];
+                Trans2d pos = Trans2d(-(double)point["y"], (double)point["x"]);
+                Waypoint waypoint = Waypoint(pos, speed, "");
+                waypoints.push_back(waypoint);
+            }
+            Path newPath(waypoints);
+            m_paths[name] = newPath;
+        }
+    } catch (const exception& e) {
+        Logger::logError("Error reading json path! " + string(e.what()));
+        return false;
+    }
+
+    return true;
+}
+
+bool PathManager::LoadPathsFile(string filePath) {
+    ifstream pathsFile;
+    try {
+        pathsFile.open(filePath);
+        if(!pathsFile.is_open()) {
+            Logger::logError("Could not open paths file at " + filePath);
+            return false;
+        }
+    } catch (const exception& e) {
+        Logger::logError("Could not open paths file at " + filePath + " : " + string(e.what()));
+        return false;
+    }
+
+    json loadedJson;
+    try {
+        pathsFile >> loadedJson;
+    } catch (const exception& e) {
+        Logger::logError("Could not parse paths file:" + string(e.what()));
+        pathsFile.close();
+        return false;
+    }
+
+    pathsFile.close();
+    return LoadPaths(loadedJson);
+}
+
+unordered_map<string, Path> PathManager::GetPaths() {
+    return m_paths;
+}
+
+Path PathManager::GetPath(string name) {
+    if (m_paths.find(name) == m_paths.end())
+        Logger::logError("Path with key: " + name + " not found!");
+    else
+        return m_paths[name];
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathSegment.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathSegment.cpp
new file mode 100644
index 000000000..c2f79ad31
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathSegment.cpp
@@ -0,0 +1,65 @@
+#include "PathSegment.h"
+
+PathSegment::Sample::Sample(Trans2d newTranslation, double newSpeed) {
+	translation = newTranslation;
+	speed = newSpeed;
+}
+
+PathSegment::PathSegment(Trans2d start, Trans2d end, Rotation2d angle, double speed) {
+	m_end = end;
+	m_speed = speed;
+    m_angle = angle;
+	updateStart(start);
+}
+
+void PathSegment::updateStart(Trans2d newStart) {
+	m_start = newStart;
+	m_startToEnd = m_start.inverse().translateBy(m_end);
+	m_length = m_startToEnd.norm();
+//	std::cout << "New Length: " << m_length << std::endl;
+}
+
+double PathSegment::getSpeed() {
+	return m_speed;
+}
+
+Trans2d PathSegment::getStart() {
+	return m_start;
+}
+
+Trans2d PathSegment::getEnd() {
+	return m_end;
+}
+
+double PathSegment::getLength() {
+	return m_length;
+}
+
+Trans2d PathSegment::interpolate(double index) {
+	return m_start.interpolate(m_end, index);
+}
+
+double PathSegment::dotProduct(Trans2d other) {
+	Trans2d startToOther = m_start.inverse().translateBy(other);
+	return m_startToEnd.getX() * startToOther.getX() + m_startToEnd.getY() * startToOther.getY();
+}
+
+PathSegment::ClosestPointReport PathSegment::getClosestPoint(Trans2d queryPoint) {
+	ClosestPointReport rv;
+	if (m_length > kE){
+		double dot = dotProduct(queryPoint);
+		rv.index = dot / (m_length * m_length);
+		rv.clampedIndex = min(1.0, max(0.0, rv.index));
+		rv.closestPoint = interpolate(rv.index);
+	} else {
+		rv.index = 0.0;
+		rv.clampedIndex = 0.0;
+		rv.closestPoint = Trans2d(m_start);
+	}
+	rv.distance = rv.closestPoint.inverse().translateBy(queryPoint).norm();
+	return rv;
+}
+
+Rotation2d PathSegment::getAngle() {
+    return m_angle;
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/Position2d.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Position2d.cpp
new file mode 100644
index 000000000..218c232d9
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Position2d.cpp
@@ -0,0 +1,81 @@
+#include "Position2d.h"
+
+Position2d::Delta::Delta(double x, double y, double t) {
+	dx = x;
+	dy = y;
+	dtheta = t;
+}
+
+Position2d::Position2d() {
+	m_translation = Trans2d();
+	m_rotation = Rotation2d();
+}
+
+Position2d::Position2d(Trans2d tran, Rotation2d rot) {
+	m_translation = tran;
+	m_rotation = rot;
+}
+
+Position2d::Position2d(const Position2d& other) {
+	m_translation = other.m_translation;
+	m_rotation = other.m_rotation;
+}
+
+Position2d Position2d::fromTranslation(Trans2d tran) {
+	return Position2d(tran, Rotation2d());
+}
+
+Position2d Position2d::fromRotation(Rotation2d rot) {
+	return Position2d(Trans2d(), rot);
+}
+
+Position2d Position2d::fromVelocity(Delta delta) {
+	double sinT = sin(delta.dtheta);
+	double cosT = cos(delta.dtheta);
+	double s, c;
+	if(fabs(delta.dtheta) < kE){
+		s = 1.0 - 1.0 / 6.0 * delta.dtheta * delta.dtheta;
+		c = .5 * delta.dtheta;
+	} else {
+		s = sinT / delta.dtheta;
+		c = (1.0 - cosT) / delta.dtheta;
+	}
+	return Position2d(Trans2d(delta.dx * s - delta.dy * c, delta.dx * c + delta.dy * s),
+			Rotation2d(cosT, sinT, false));
+}
+
+Trans2d Position2d::getTranslation() {
+	return m_translation;
+}
+
+void Position2d::setTranslation(Trans2d tran) {
+	m_translation = tran;
+}
+
+Rotation2d Position2d::getRotation() {
+	return m_rotation;
+}
+
+void Position2d::setRotation(Rotation2d rot) {
+	m_rotation = rot;
+}
+
+Position2d Position2d::transformBy(Position2d other) {
+	return Position2d(m_translation.translateBy(other.m_translation.rotateBy(m_rotation)),
+			m_rotation.rotateBy(other.m_rotation));
+}
+
+Position2d Position2d::inverse() {
+	Rotation2d invert = m_rotation.inverse();
+	return Position2d(m_translation.inverse().rotateBy(invert), invert);
+}
+
+Position2d Position2d::interpolate(Position2d other, double x) {
+	if (x <= 0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	return Position2d(m_translation.interpolate(other.m_translation, x),
+			m_rotation.interpolate(other.m_rotation, x));
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/Rotation2d.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Rotation2d.cpp
new file mode 100644
index 000000000..42d2ef1f6
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Rotation2d.cpp
@@ -0,0 +1,77 @@
+#include "Rotation2d.h"
+
+Rotation2d::Rotation2d() {
+	m_cos = 1;
+	m_sin = 0;
+}
+
+Rotation2d::Rotation2d(double x, double y, bool doNormalize) {
+	m_cos = x;
+	m_sin = y;
+	if(doNormalize){
+		normalize();
+	}
+}
+
+Rotation2d::Rotation2d(const Rotation2d& other) {
+	m_cos = other.m_cos;
+	m_sin = other.m_sin;
+}
+
+Rotation2d Rotation2d::fromRadians(double radians) {
+	return Rotation2d(cos(radians), sin(radians), false);
+}
+
+Rotation2d Rotation2d::fromDegrees(double degrees) {
+	return fromRadians(toRadians(degrees));
+}
+
+void Rotation2d::normalize() {
+	double mag = hypot(m_cos, m_sin);
+	if (mag > kE){
+		m_sin /= mag;
+		m_cos /= mag;
+	} else {
+		m_sin = 0;
+		m_cos = 1;
+	}
+}
+
+double Rotation2d::getCos() {
+	return m_cos;
+}
+
+double Rotation2d::getSin() {
+	return m_sin;
+}
+
+double Rotation2d::getRadians() {
+	return atan2(m_sin, m_cos);
+}
+
+double Rotation2d::getDegrees() {
+	return toDegrees(getRadians());
+}
+
+Rotation2d Rotation2d::rotateBy(Rotation2d other) {
+	return Rotation2d(m_cos * other.getCos() - m_sin * other.getSin(),
+			m_cos * other.getSin() + m_sin * other.getCos(), true);
+}
+
+Rotation2d Rotation2d::inverse() {
+	return Rotation2d(m_cos, -m_sin, false);
+}
+
+Rotation2d Rotation2d::opposite() {
+	return Rotation2d(-m_cos, -m_sin, false);
+}
+
+Rotation2d Rotation2d::interpolate(Rotation2d other, double x) {
+	if (x <= 0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	double diff = inverse().rotateBy(other).getRadians();
+	return rotateBy(fromRadians(diff * x));
+}
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp
new file mode 100644
index 000000000..86cd414a7
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp
@@ -0,0 +1,117 @@
+#include "TankOdometry.h"
+
+TankOdometry* TankOdometry::m_instance = nullptr;
+
+TankOdometry * TankOdometry::GetInstance() {
+    if(!m_instance) {
+        m_instance = new TankOdometry;
+    }
+    return m_instance;
+}
+
+void TankOdometry::Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig,
+        Pose currentPose) {
+    m_leftTicksToDist = (leftEncoderConfig.wheelDiameter * PI) / leftEncoderConfig.ticksPerWheelRevolution;
+    m_rightTicksToDist = (rightEncoderConfig.wheelDiameter * PI) / rightEncoderConfig.ticksPerWheelRevolution;
+    m_lastLeftEncoderDist = 0;
+    m_lastRightEncoderDist = 0;
+    SetCurrentPose(currentPose);
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot. Not as accurate as gyro version
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ */
+void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth) {
+    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
+    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
+
+    if(m_poseReset) {
+        m_lastLeftEncoderDist = leftDist;
+        m_lastRightEncoderDist = rightDist;
+        m_poseReset = false;
+    }
+
+    double leftDelta = leftDist - m_lastLeftEncoderDist;
+    double rightDelta = rightDist - m_lastRightEncoderDist;
+    double distanceMoved = (leftDelta + rightDelta) / 2.0;
+
+    double rotation = (rightDelta - leftDelta) / trackWidth;
+
+    Vector2d robotTranslation(0, distanceMoved);
+
+    m_robotPose.angle = m_robotPose.angle * Rotation2Dd(rotation);
+    robotTranslation = m_robotPose.angle * robotTranslation;
+    m_robotPose.position += robotTranslation;
+
+    m_lastLeftEncoderDist = leftDist;
+    m_lastRightEncoderDist = rightDist;
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
+ * @param gyroAngle The current yaw of the robot as measured by the gyro
+ */
+void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle) {
+    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
+    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
+
+    if(m_poseReset) {
+        m_lastLeftEncoderDist = leftDist;
+        m_lastRightEncoderDist = rightDist;
+        m_gyroInitialAngle = gyroAngle;
+        m_poseReset = false;
+    }
+
+    double leftDelta = leftDist - m_lastLeftEncoderDist;
+    double rightDelta = rightDist - m_lastRightEncoderDist;
+    double distanceMoved = (leftDelta + rightDelta) / 2.0;
+
+    Vector2d robotTranslation(0, distanceMoved);
+    robotTranslation = gyroAngle * robotTranslation;
+    m_robotPose.position += robotTranslation;
+    m_robotPose.angle = gyroAngle * m_gyroInitialAngle.inverse();
+
+    m_lastLeftEncoderDist = leftDist;
+    m_lastRightEncoderDist = rightDist;
+}
+
+/**
+ * Set the current pose of the robot
+ *
+ * @param currentPose Robot pose
+ */
+void TankOdometry::SetCurrentPose(Pose currentPose) {
+    m_robotPose = currentPose;
+    m_poseReset = true;
+}
+
+/**
+ * Reset the positions of the left and right encoders. This function must be called immediately after zeroing encoders.
+ *
+ * Units are in ticks
+ *
+ * @param leftEncoderTicks
+ * @param rightEncoderTicks
+ */
+void TankOdometry::ResetEncoderTicks(double leftEncoderTicks, double rightEncoderTicks) {
+    m_lastLeftEncoderDist = leftEncoderTicks * m_leftTicksToDist;
+    m_lastRightEncoderDist = rightEncoderTicks * m_rightTicksToDist;
+}
+
+Pose TankOdometry::GetPose(){
+    return m_robotPose;
+}
+
+
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/Trans2d.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Trans2d.cpp
new file mode 100644
index 000000000..e0b8fa7ca
--- /dev/null
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/Trans2d.cpp
@@ -0,0 +1,73 @@
+#include "Trans2d.h"
+
+Trans2d::Trans2d() {
+	m_x = 0;
+	m_y = 0;
+}
+
+Trans2d::Trans2d(double x, double y) {
+	m_x = x;
+	m_y = y;
+}
+
+double Trans2d::norm() {
+	return hypot(m_x, m_y);
+}
+
+double Trans2d::getX() {
+	return m_x;
+}
+
+double Trans2d::getY() {
+	return m_y;
+}
+
+void Trans2d::setX(double x) {
+	m_x = x;
+}
+
+void Trans2d::setY(double y) {
+	m_y = y;
+}
+
+Trans2d Trans2d::translateBy(Trans2d other) {
+	return Trans2d(m_x + other.getX(), m_y + other.getY());
+}
+
+Trans2d Trans2d::rotateBy(Rotation2d rotation) {
+	return Trans2d(m_x * rotation.getCos() - m_y * rotation.getSin(),
+			m_x * rotation.getSin() + m_y * rotation.getCos());
+}
+
+Trans2d Trans2d::inverse() {
+	return Trans2d(-m_x, -m_y);
+}
+
+Trans2d Trans2d::interpolate(Trans2d other, double x) {
+	if(x <=0){
+		return *this;
+	} else if (x >= 1){
+		return other;
+	}
+	return extrapolate(other, x);
+}
+
+Trans2d Trans2d::extrapolate(Trans2d other, double x) {
+	return Trans2d(x * (other.getX() - m_x) + m_x, x * (other.getY() - m_y) + m_y);
+}
+
+Trans2d Trans2d::flipX() {
+	return Trans2d(-m_x, m_y);
+}
+
+Trans2d Trans2d::flipY() {
+	return Trans2d(m_x, -m_y);
+}
+
+double Trans2d::getSin() {
+    return getY() / norm();
+}
+
+double Trans2d::getCos() {
+    return getX() / norm();
+}

From b8837cf13bfcf49f8a2fef0032a251caf3446a12 Mon Sep 17 00:00:00 2001
From: Dylan Powers <dylanpowers125@gmail.com>
Date: Wed, 10 Feb 2021 22:34:15 -0600
Subject: [PATCH 17/37] Began integration of FollowPathAction

---
 .../include/Actions/FollowPathAction.h        | 18 ++++++++++++
 .../firmware/include/DataNodes/MotorNode.h    |  2 ++
 .../include/DataNodes/TankDriveNode.h         |  8 ++++++
 .../firmware/src/Actions/FollowPathAction.cpp | 28 +++++++++++++++++++
 .../firmware/src/DataNodes/MotorNode.cpp      |  4 +++
 .../firmware/src/DataNodes/TankDriveNode.cpp  | 15 ++++++++++
 6 files changed, 75 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/Actions/FollowPathAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/FollowPathAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/FollowPathAction.h b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
new file mode 100644
index 000000000..177aa8c2b
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "Auton.h"
+#include "DataNodes/TankDrive.h"
+#include "adaptive_pursuit_controller/AdaptivePursuit.h"
+
+class FollowPathAction : AutonAction {
+private:
+    TankDriveNode* m_tank_drive;
+    AdaptivePursuit m_controller;
+public:
+    FollowPathAction(TankDriveNode* tank_drive, Path path, double maxAccel, double wheelDiameter, bool reversed = false,
+                     double fixedLookahead = 10, double pathCompletionTolerance = 0.1, bool gradualStop = true);
+
+    void actionInit();
+    actionStatus action();
+    void actionEnd();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/MotorNode.h b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
index a167fcec9..3bc103a62 100644
--- a/src/v5_hal/firmware/include/DataNodes/MotorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/MotorNode.h
@@ -38,6 +38,8 @@ class MotorNode : public Node {
 
     void moveVoltage(int voltage);
 
+    void moveVelocity(float velocity);
+
     void moveAbsolute(double position, int max_velocity);
 
     void teleopPeriodic();
diff --git a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
index 916abb53f..8da028b32 100644
--- a/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/TankDriveNode.h
@@ -16,12 +16,18 @@ class TankDriveNode : public Node {
 
     std::string m_handle_name;
 
+    const float MAX_ROBOT_SPEED = 1.1; // m/s
+
     void m_resetEncoders();
 
     void m_setLeftVoltage(int voltage);
 
     void m_setRightVoltage(int voltage);
 
+    void m_setLeftVelocity(float velocity);
+
+    void m_setRightVelocity(float velocity);
+
     void m_setLeftDistancePID(double distance, int max_velocity);
 
     void m_setRightDistancePID(double distance, int max_velocity);
@@ -35,6 +41,8 @@ class TankDriveNode : public Node {
 
     void setDriveVoltage(int left_voltage, int right_voltage);
 
+    void setDriveVelocity(float left_velocity, float right_velocity);
+
     void setDriveDistancePID(double left_distance, double right_distance, int max_velocity);
 
     void teleopPeriodic();
diff --git a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
new file mode 100644
index 000000000..bbc5728ca
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
@@ -0,0 +1,28 @@
+#include "FollowPathAction.h"
+
+
+FollowPathAction::FollowPathAction(TankDriveNode* tank_drive, Path path, double maxAccel, double wheelDiameter, bool reversed,
+                             double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
+            m_controller(fixedLookahead, maxAccel, 0.01, path, reversed, pathCompletionTolerance, gradualStop, wheelDiameter) {
+    m_tank_drive = tank_drive;
+}
+
+void FollowPathAction::actionInit() {
+
+}
+
+AutonAction::actionStatus FollowPathAction::action() {
+    auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
+
+    m_tank_drive.setDriveVelocity(command.left, command.right); 
+
+    if(m_controller.isDone()) {
+        return END;
+    } else {
+        return CONTINUE;
+    }
+}
+
+void FollowPathAction::actionEnd() {
+    m_chassis.setVelocity(0, 0);
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
index b9aba1668..28061482c 100644
--- a/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/MotorNode.cpp
@@ -51,6 +51,10 @@ void MotorNode::moveVoltage(int voltage) {
     m_motor.move_voltage(voltage);
 }
 
+void MotorNode::moveVelocity(float velocity) {
+    m_motor.move_velocity(velocity);
+}
+
 void MotorNode::moveAbsolute(double position, int max_velocity) {
     m_motor.move_absolute(position, max_velocity);
 }
diff --git a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
index ef18c96ff..b4b9fa426 100644
--- a/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/TankDriveNode.cpp
@@ -24,6 +24,16 @@ void TankDriveNode::m_setRightVoltage(int voltage) {
     m_right_rear_motor->moveVoltage(voltage);
 }
 
+void TankDriveNode::m_setLeftVelocity(float velocity) {
+    m_left_front_motor->moveVelocity(velocity);
+    m_left_rear_motor->moveVelocity(velocity);
+}
+
+void TankDriveNode::m_setRightVelocity(float velocity) {
+    m_right_front_motor->moveVelocity(velocity);
+    m_right_rear_motor->moveVelocity(velocity);
+}
+
 void TankDriveNode::m_setLeftDistancePID(double distance, int max_velocity) {
     m_left_front_motor->moveAbsolute(distance, max_velocity);
     m_left_rear_motor->moveAbsolute(distance, max_velocity);
@@ -51,6 +61,11 @@ void TankDriveNode::setDriveVoltage(int left_voltage, int right_voltage) {
     m_setRightVoltage(right_voltage);
 }
 
+void TankDriveNode::setDriveVelocity(float left_velocity, float right_velocity) { //incoming values should be in m/s so we convert to rpm here
+    m_setLeftVelocity(left_velocity / MAX_ROBOT_SPEED * 200);
+    m_setRightVelocity(right_velocity / MAX_ROBOT_SPEED * 200);
+}
+
 void TankDriveNode::setDriveDistancePID(double left_distance, double right_distance, int max_velocity) {
     m_resetEncoders();
     m_setLeftDistancePID(left_distance, max_velocity);

From 018be9b65d0c5048ae7c66190941e8686d3f6b6e Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 20:15:37 -0600
Subject: [PATCH 18/37] Added autonPeriodic for conveyorNode

---
 .../firmware/include/DataNodes/ConveyorNode.h |  4 +-
 .../firmware/src/DataNodes/ConveyorNode.cpp   | 51 ++++++++++++-------
 src/v5_hal/firmware/src/main.cpp              |  2 +-
 3 files changed, 35 insertions(+), 22 deletions(-)

diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
index f65b278cf..e7c1167d4 100644
--- a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -29,6 +29,8 @@ class ConveyorNode : public Node {
 
     bool m_enableStateMachine = false;
 
+    void m_updateConveyorHoldingState();
+
 public: 
     ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
         MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
@@ -44,8 +46,6 @@ class ConveyorNode : public Node {
 
     void setConveyorState(ConveyorState conveyorState);
 
-    void updateConveyorStateMachine();
-
     int getNumBallsStored();
 
     void initialize();
diff --git a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
index e743e922b..737c659c3 100644
--- a/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/ConveyorNode.cpp
@@ -16,6 +16,23 @@ ConveyorNode::ConveyorNode(NodeManager* node_manager, std::string handle_name, C
     m_handle_name = handle_name.insert(0, "robot/");
 }
 
+void ConveyorNode::m_updateConveyorHoldingState() {
+    if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        // Ball is waiting on top; stop spinning balls up
+        setTopConveyorVoltage(0);
+    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
+        m_bottom_conveyor_sensor->getValue() > BALL_PRESENT_THRESHOLD) {
+        // Ball isn't on top, but one is waiting in the middle with nothing behind
+        setTopConveyorVoltage(0);
+    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
+        m_bottom_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
+        // Balls are present in the bottom and middle positions
+        setTopConveyorVoltage(12000);
+    } else {
+        setTopConveyorVoltage(12000);
+    }
+}
+
 void ConveyorNode::setIntakeVoltage(int voltage) {
     m_left_intake->moveVoltage(voltage);
     m_right_intake->moveVoltage(voltage);
@@ -37,23 +54,6 @@ void ConveyorNode::setConveyorState(ConveyorState conveyorState) {
     m_current_conveyor_state = conveyorState;
 }
 
-void ConveyorNode::updateConveyorStateMachine() {
-    if (m_top_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
-        // Ball is waiting on top; stop spinning balls up
-        setTopConveyorVoltage(0);
-    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
-        m_bottom_conveyor_sensor->getValue() > BALL_PRESENT_THRESHOLD) {
-        // Ball isn't on top, but one is waiting in the middle with nothing behind
-        setTopConveyorVoltage(0);
-    } else if (m_middle_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD &&
-        m_bottom_conveyor_sensor->getValue() <= BALL_PRESENT_THRESHOLD) {
-        // Balls are present in the bottom and middle positions
-        setTopConveyorVoltage(12000);
-    } else {
-        setTopConveyorVoltage(12000);
-    }
-}
-
 int ConveyorNode::getNumBallsStored() {
     int ballsStored = 0;
 
@@ -121,14 +121,27 @@ void ConveyorNode::teleopPeriodic() {
 	setEjectionRollerVoltage(ejection_roller_voltage);
 
     if (m_enableStateMachine) {
-        updateConveyorStateMachine();
+        m_updateConveyorHoldingState();
     } else {
         setTopConveyorVoltage(top_conveyor_voltage);
     }
 }
 
 void ConveyorNode::autonPeriodic() {
-    
+    switch (m_current_conveyor_state) {
+        case STOPPED:
+            // Stop all motors
+            setTopConveyorVoltage(0);
+        break;
+        case HOLDING:
+            // Update the state machine controlling the ball storage
+            m_updateConveyorHoldingState();
+        break;
+        case SCORING:
+            // Run all motors
+            setTopConveyorVoltage(12000);
+        break;
+    }
 }
 
 ConveyorNode::~ConveyorNode() {
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index 64c193ab4..a7ccc84d1 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -135,6 +135,6 @@ void autonomous() {
  */
 void opcontrol() {
 	while (true) {
-		node_manager->execute();
+		node_manager->executeTeleop();
 	}
 }

From 9da4d7f4bc7c56f5692b655007ff1f3cbabe5452 Mon Sep 17 00:00:00 2001
From: Dylan Powers <dylanpowers125@gmail.com>
Date: Thu, 11 Feb 2021 20:43:40 -0600
Subject: [PATCH 19/37] Fixed errors in BottomConveyorAction and added
 framework for TurnToAngleAction

---
 .../include/Actions/BottomConveyorAction.h    |  8 +++---
 .../include/Actions/FollowPathAction.h        |  2 +-
 .../include/Actions/TurnToAngleAction.h       | 25 +++++++++++++++++++
 src/v5_hal/firmware/include/main.h            |  1 +
 .../src/Actions/BottomConveyorAction.cpp      |  2 +-
 .../firmware/src/Actions/FollowPathAction.cpp |  4 +--
 .../src/Actions/TurnToAngleAction.cpp         | 18 +++++++++++++
 7 files changed, 52 insertions(+), 8 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
 create mode 100644 src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp

diff --git a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
index 40e7ea6ba..fc7c79248 100644
--- a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
+++ b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
@@ -15,8 +15,8 @@ class BottomConveyorAction : public AutonAction {
     int m_eject_voltage;
 
 public:
-    BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, int voltage=12000, double time);
-    void BottomConveyorAction::actionInit();
-    AutonAction::actionStatus BottomConveyorAction::action();
-    void BottomConveyorAction::actionEnd()
+    BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, int voltage, double time);
+    void actionInit();
+    AutonAction::actionStatus action();
+    void actionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/FollowPathAction.h b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
index 177aa8c2b..6d83afad4 100644
--- a/src/v5_hal/firmware/include/Actions/FollowPathAction.h
+++ b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "Auton.h"
-#include "DataNodes/TankDrive.h"
+#include "DataNodes/TankDriveNode.h"
 #include "adaptive_pursuit_controller/AdaptivePursuit.h"
 
 class FollowPathAction : AutonAction {
diff --git a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
new file mode 100644
index 000000000..cc6ad1bf1
--- /dev/null
+++ b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include "api.h"
+#include "Auton.h"
+#include "Timer.h"
+#include "DataNodes/TankDriveNode.h"
+#include "DataNodes/InertialSensorNode.h"
+#include "Eigen/Dense.h"
+
+class TurnToAngleAction : public AutonAction {
+private:
+    TankDriveNode* m_tank_drive;
+    InertialSensorNode* m_inertial_sensor
+    Eigen::Rotation2Dd m_angle;
+
+public:
+    TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd angle);
+
+    void actionInit();
+
+    actionStatus action();
+
+    void actionEnd();
+
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/main.h b/src/v5_hal/firmware/include/main.h
index e1a0da0b0..78ce66764 100644
--- a/src/v5_hal/firmware/include/main.h
+++ b/src/v5_hal/firmware/include/main.h
@@ -55,6 +55,7 @@
 #include "Actions/DriveAction.h"
 #include "Actions/IntakeAction.h"
 #include "Actions/BottomConveyorAction.h"
+#include "Actions/FollowPathAction.h"
 
    /**
     * You should add more #includes here
diff --git a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
index e9546da73..1ca5ba9da 100644
--- a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
@@ -1,7 +1,7 @@
 #include "Actions/BottomConveyorAction.h"
 
 BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject=false, int voltage=12000, double time=0) : 
-    (m_conveyor_node(conveyor_node), m_eject(eject), m_voltage(voltage), m_time(time)) {
+    m_conveyor_node(conveyor_node), m_eject(eject), m_voltage(voltage), m_time(time) {
         
     }
 
diff --git a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
index bbc5728ca..94a05ed21 100644
--- a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
@@ -14,7 +14,7 @@ void FollowPathAction::actionInit() {
 AutonAction::actionStatus FollowPathAction::action() {
     auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
 
-    m_tank_drive.setDriveVelocity(command.left, command.right); 
+    m_tank_drive->setDriveVelocity(command.left, command.right); 
 
     if(m_controller.isDone()) {
         return END;
@@ -24,5 +24,5 @@ AutonAction::actionStatus FollowPathAction::action() {
 }
 
 void FollowPathAction::actionEnd() {
-    m_chassis.setVelocity(0, 0);
+    m_tank_drive->setDriveVelocity(0, 0);
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
new file mode 100644
index 000000000..63bb56b61
--- /dev/null
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -0,0 +1,18 @@
+#include "Action/TurnToAngleAction.h"
+
+TurnToAngleAction::TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd angle) : 
+    m_tank_drive(tank_drive), m_inertial_sensor(inertial_sensor), m_angle(angle) {
+
+}
+
+void actionInit() {
+    m_timer.Start();
+}
+
+actionStatus action() {
+
+}
+
+void actionEnd() {
+
+}
\ No newline at end of file

From 385b70aaf20a063700a195af3a7f68cbccf26a38 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 20:48:31 -0600
Subject: [PATCH 20/37] Added top conveyor node and state machine

---
 .../include/Actions/BottomConveyorAction.h    |  5 ++-
 .../include/Actions/TopConveyorAction.h       |  5 ++-
 .../firmware/include/DataNodes/ConveyorNode.h | 43 ++++++++++---------
 .../src/Actions/BottomConveyorAction.cpp      |  6 +--
 .../src/Actions/TopConveyorAction.cpp         |  8 ++--
 5 files changed, 37 insertions(+), 30 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
index fc7c79248..4bcf38f90 100644
--- a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
+++ b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
@@ -15,8 +15,11 @@ class BottomConveyorAction : public AutonAction {
     int m_eject_voltage;
 
 public:
-    BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, int voltage, double time);
+    BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, double time, int voltage=12000);
+    
     void actionInit();
+    
     AutonAction::actionStatus action();
+    
     void actionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/TopConveyorAction.h b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
index 0166e6a5d..2bd0b6d66 100644
--- a/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
+++ b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
@@ -9,12 +9,13 @@ class TopConveyorAction : public AutonAction {
 private:
     ConveyorNode* m_conveyor_node;
     Timer m_timer;
-    bool m_store_balls;
+    ConveyorNode::ConveyorState m_conveyor_state;
     int m_voltage;
     double m_time; // Time in seconds
 
 public:
-    TopConveyorAction(ConveyorNode* conveyor_node, bool store_balls, int voltage=12000, double time=0);
+    TopConveyorAction(ConveyorNode* conveyor_node, ConveyorNode::ConveyorState conveyor_state, 
+        double time=0);
 
     void actionInit();
 
diff --git a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
index e7c1167d4..bd53244e1 100644
--- a/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/ConveyorNode.h
@@ -7,31 +7,11 @@
 #include "DataNodes/ControllerNode.h"
 
 class ConveyorNode : public Node {
-private:
+public: 
     enum ConveyorState {
         STOPPED, HOLDING, SCORING
     };
-    ConveyorState m_current_conveyor_state = STOPPED;
-
-    const int BALL_PRESENT_THRESHOLD = 2700;
-
-    pros::Controller* m_controller;
-    MotorNode* m_left_intake;
-    MotorNode* m_right_intake;
-    MotorNode* m_bottom_conveyor_motor;
-    MotorNode* m_ejection_roller_motor;
-    MotorNode* m_top_conveyor_motor;
-    ADIAnalogInNode* m_bottom_conveyor_sensor;
-    ADIAnalogInNode* m_middle_conveyor_sensor;
-    ADIAnalogInNode* m_top_conveyor_sensor;
-
-    std::string m_handle_name;
 
-    bool m_enableStateMachine = false;
-
-    void m_updateConveyorHoldingState();
-
-public: 
     ConveyorNode(NodeManager* node_manager, std::string handle_name, ControllerNode* controller, MotorNode* left_intake, 
         MotorNode* right_intake, MotorNode* bottom_conveyor_motor, MotorNode* ejection_roller_motor, MotorNode* top_conveyor_motor, 
         ADIAnalogInNode* bottom_conveyor_sensor, ADIAnalogInNode* middle_conveyor_sensor, ADIAnalogInNode* top_conveyor_sensor);
@@ -55,4 +35,25 @@ class ConveyorNode : public Node {
     void autonPeriodic();
 
     ~ConveyorNode();
+
+private:
+    ConveyorState m_current_conveyor_state = STOPPED;
+
+    const int BALL_PRESENT_THRESHOLD = 2700;
+
+    pros::Controller* m_controller;
+    MotorNode* m_left_intake;
+    MotorNode* m_right_intake;
+    MotorNode* m_bottom_conveyor_motor;
+    MotorNode* m_ejection_roller_motor;
+    MotorNode* m_top_conveyor_motor;
+    ADIAnalogInNode* m_bottom_conveyor_sensor;
+    ADIAnalogInNode* m_middle_conveyor_sensor;
+    ADIAnalogInNode* m_top_conveyor_sensor;
+
+    std::string m_handle_name;
+
+    bool m_enableStateMachine = false;
+
+    void m_updateConveyorHoldingState();
 };
diff --git a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
index 1ca5ba9da..9dea217cc 100644
--- a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
@@ -1,9 +1,9 @@
 #include "Actions/BottomConveyorAction.h"
 
-BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject=false, int voltage=12000, double time=0) : 
-    m_conveyor_node(conveyor_node), m_eject(eject), m_voltage(voltage), m_time(time) {
+BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, double time, int voltage) : 
+        m_conveyor_node(conveyor_node), m_eject(eject), m_time(time), m_voltage(voltage) {
         
-    }
+}
 
 void BottomConveyorAction::actionInit() {
     m_timer.Start();
diff --git a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
index 4e6f24689..aca750882 100644
--- a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
@@ -1,7 +1,7 @@
 #include "Actions/TopConveyorAction.h"
 
-TopConveyorAction::TopConveyorAction(ConveyorNode* conveyor_node, bool store_balls, int voltage, double time) : 
-        m_conveyor_node(conveyor_node), m_store_balls(store_balls), m_voltage(voltage), m_time(time) {
+TopConveyorAction::TopConveyorAction(ConveyorNode* conveyor_node, ConveyorNode::ConveyorState conveyor_state, double time) : 
+        m_conveyor_node(conveyor_node), m_conveyor_state(conveyor_state), m_time(time) {
     
 }
 
@@ -11,12 +11,14 @@ void TopConveyorAction::actionInit() {
 
 AutonAction::actionStatus TopConveyorAction::action() {
     if (m_time <= 0) {
-        
+        m_conveyor_node->setConveyorState(m_conveyor_state);
     } else {
         // Run until elapsed time is reached
         if (m_timer.Get() < m_time) {
+            m_conveyor_node->setConveyorState(m_conveyor_state);
             return CONTINUE;
         } else {
+            m_conveyor_node->setConveyorState(ConveyorNode::STOPPED);
             return END;
         }
     }

From bac97f0267112ac894d2eb2e62d8c702b4c528a7 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 20:50:30 -0600
Subject: [PATCH 21/37] Fixed missing return value

---
 src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp | 1 +
 src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
index aca750882..b23ed6424 100644
--- a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
@@ -12,6 +12,7 @@ void TopConveyorAction::actionInit() {
 AutonAction::actionStatus TopConveyorAction::action() {
     if (m_time <= 0) {
         m_conveyor_node->setConveyorState(m_conveyor_state);
+        return END;
     } else {
         // Run until elapsed time is reached
         if (m_timer.Get() < m_time) {
diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
index 63bb56b61..54280dcee 100644
--- a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -1,4 +1,4 @@
-#include "Action/TurnToAngleAction.h"
+#include "Actions/TurnToAngleAction.h"
 
 TurnToAngleAction::TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd angle) : 
     m_tank_drive(tank_drive), m_inertial_sensor(inertial_sensor), m_angle(angle) {

From 71d675f4b0b5d23cd7a45c5ee70b424d6cfd8822 Mon Sep 17 00:00:00 2001
From: Dylan Powers <dylanpowers125@gmail.com>
Date: Thu, 11 Feb 2021 21:47:49 -0600
Subject: [PATCH 22/37] added isAtAngle to InertialSensorNode

---
 src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h | 3 +++
 src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp   | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
index c8c2a4971..7c557a677 100644
--- a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
@@ -8,6 +8,7 @@ class InertialSensorNode : public Node {
 private:
     pros::Imu m_inertial_sensor;
     std::string m_handle_name;
+    double turning_threshold = 0.1;
 
 public:
     InertialSensorNode(NodeManager* node_manager, int sensor_port, 
@@ -16,6 +17,8 @@ class InertialSensorNode : public Node {
     void initialize();
     
     double getYaw();
+
+    bool isAtAngle(double angle);
     
     void teleopPeriodic();
 
diff --git a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
index dd2da4183..bb24a052c 100644
--- a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
@@ -17,6 +17,10 @@ double InertialSensorNode::getYaw() {
     return m_inertial_sensor.get_yaw() * (M_PI/180);
 }
 
+bool InertialSensorNode::isAtAngle(double angle) {
+    return ((getYaw() - threshold < angle) && (angle < getYaw() + threshold))
+}
+
 void InertialSensorNode::teleopPeriodic() {
 
 }

From 6bc06fba757934f7a37d26856dc67dcc06ca5d50 Mon Sep 17 00:00:00 2001
From: Dylan Powers <dylanpowers125@gmail.com>
Date: Thu, 11 Feb 2021 21:53:56 -0600
Subject: [PATCH 23/37] fixed errors in InertialSensorNode's isAtAcngle method

---
 src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
index bb24a052c..8bdf3f9b0 100644
--- a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
@@ -18,7 +18,7 @@ double InertialSensorNode::getYaw() {
 }
 
 bool InertialSensorNode::isAtAngle(double angle) {
-    return ((getYaw() - threshold < angle) && (angle < getYaw() + threshold))
+    return ((getYaw() - turning_threshold < angle) && (angle < getYaw() + turining_threshold));
 }
 
 void InertialSensorNode::teleopPeriodic() {

From 52b4c5f0a517be5e9fbcfc5e6807242797e5877d Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 21:55:34 -0600
Subject: [PATCH 24/37] Fixed eigen library

---
 src/v5_hal/firmware/include/Actions/TurnToAngleAction.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
index cc6ad1bf1..7884f2a0b 100644
--- a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
+++ b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
@@ -5,7 +5,7 @@
 #include "Timer.h"
 #include "DataNodes/TankDriveNode.h"
 #include "DataNodes/InertialSensorNode.h"
-#include "Eigen/Dense.h"
+#include "eigen/Eigen/Dense"
 
 class TurnToAngleAction : public AutonAction {
 private:

From c7d47256e2d4d6c70a850cf3312b2e91ea1441ef Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Thu, 11 Feb 2021 21:57:49 -0600
Subject: [PATCH 25/37] Added turning logic to action

---
 .../include/Actions/TurnToAngleAction.h       | 10 +++---
 .../src/Actions/TurnToAngleAction.cpp         | 32 +++++++++++++++----
 .../src/DataNodes/InertialSensorNode.cpp      |  4 +--
 .../PathManager.cpp                           |  6 ++--
 4 files changed, 38 insertions(+), 14 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
index 7884f2a0b..fd56ea121 100644
--- a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
+++ b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
@@ -10,16 +10,18 @@
 class TurnToAngleAction : public AutonAction {
 private:
     TankDriveNode* m_tank_drive;
-    InertialSensorNode* m_inertial_sensor
-    Eigen::Rotation2Dd m_angle;
+    InertialSensorNode* m_inertial_sensor;
+    Eigen::Rotation2Dd m_target_angle;
+    Timer m_timer;
+    double kP = 2;
 
 public:
-    TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd angle);
+    TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, 
+        Eigen::Rotation2Dd target_angle);
 
     void actionInit();
 
     actionStatus action();
 
     void actionEnd();
-
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
index 54280dcee..fb346d435 100644
--- a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -1,18 +1,38 @@
 #include "Actions/TurnToAngleAction.h"
 
-TurnToAngleAction::TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd angle) : 
-    m_tank_drive(tank_drive), m_inertial_sensor(inertial_sensor), m_angle(angle) {
+TurnToAngleAction::TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, Eigen::Rotation2Dd target_angle) : 
+    m_tank_drive(tank_drive), m_inertial_sensor(inertial_sensor), m_target_angle(target_angle) {
 
 }
 
-void actionInit() {
+void TurnToAngleAction::actionInit() {
     m_timer.Start();
 }
 
-actionStatus action() {
+AutonAction::actionStatus TurnToAngleAction::action() {    
+    Eigen::Rotation2Dd current_angle(m_inertial_sensor->getYaw());
 
-}
+    double delta_angle = (current_angle * m_target_angle.inverse()).smallestAngle();
+
+    double turning_power = delta_angle / M_PI;
+
+    double total_turning_power = kP * turning_power;
+    
+    if (total_turning_power > 1) {
+        total_turning_power = 1;
+    } else if (total_turning_power < -1) {
+        total_turning_power = -1;
+    }
 
-void actionEnd() {
+    m_tank_drive->setDriveVoltage((int)(total_turning_power * 12000), (int)(total_turning_power * -12000));
+
+    if (!m_inertial_sensor->isAtAngle(m_target_angle.angle())) {
+        return CONTINUE;
+    } else {
+        return END;
+    }
+}
 
+void TurnToAngleAction::actionEnd() {
+    m_tank_drive->setDriveVoltage(0, 0);
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
index 8bdf3f9b0..c892e8d23 100644
--- a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
@@ -18,11 +18,11 @@ double InertialSensorNode::getYaw() {
 }
 
 bool InertialSensorNode::isAtAngle(double angle) {
-    return ((getYaw() - turning_threshold < angle) && (angle < getYaw() + turining_threshold));
+    return ((getYaw() - turning_threshold < angle) && (angle < getYaw() + turning_threshold));
 }
 
 void InertialSensorNode::teleopPeriodic() {
-
+    
 }
 
 void InertialSensorNode::autonPeriodic() {
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
index df7d31f1c..588fee752 100644
--- a/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
+++ b/src/v5_hal/firmware/src/adaptive_pursuit_controller/PathManager.cpp
@@ -83,8 +83,10 @@ unordered_map<string, Path> PathManager::GetPaths() {
 }
 
 Path PathManager::GetPath(string name) {
-    if (m_paths.find(name) == m_paths.end())
+    if (m_paths.find(name) == m_paths.end()) {
         Logger::logError("Path with key: " + name + " not found!");
-    else
+        return m_paths[m_paths.begin()->first];
+    } else {
         return m_paths[name];
+    }   
 }

From 662903fa33f4ae1772fbd4c7426684d5699d076a Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Fri, 12 Feb 2021 20:20:22 -0600
Subject: [PATCH 26/37] FIxed naming

---
 .../include/Actions/BottomConveyorAction.h       |  6 +++---
 .../firmware/include/Actions/DeployAction.h      |  6 +++---
 .../firmware/include/Actions/DriveAction.h       |  6 +++---
 .../firmware/include/Actions/FollowPathAction.h  | 10 +++++-----
 .../firmware/include/Actions/IntakeAction.h      |  6 +++---
 .../firmware/include/Actions/TurnToAngleAction.h |  6 +++---
 src/v5_hal/firmware/include/Auton.h              | 10 +++++-----
 .../src/Actions/BottomConveyorAction.cpp         |  6 +++---
 src/v5_hal/firmware/src/Auton.cpp                | 16 ++++++++--------
 9 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
index 4bcf38f90..c1f28e949 100644
--- a/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
+++ b/src/v5_hal/firmware/include/Actions/BottomConveyorAction.h
@@ -17,9 +17,9 @@ class BottomConveyorAction : public AutonAction {
 public:
     BottomConveyorAction(ConveyorNode* conveyor_node, bool eject, double time, int voltage=12000);
     
-    void actionInit();
+    void ActionInit();
     
-    AutonAction::actionStatus action();
+    AutonAction::actionStatus Action();
     
-    void actionEnd();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/DeployAction.h b/src/v5_hal/firmware/include/Actions/DeployAction.h
index 71b9b6fdc..8b2713c12 100644
--- a/src/v5_hal/firmware/include/Actions/DeployAction.h
+++ b/src/v5_hal/firmware/include/Actions/DeployAction.h
@@ -12,7 +12,7 @@ class DeployAction : public AutonAction {
 public:
     DeployAction(ConveyorNode* conveyor_node);
 
-    void actionInit();
-    actionStatus action();
-    void actionEnd();
+    void ActionInit();
+    actionStatus Action();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/DriveAction.h b/src/v5_hal/firmware/include/Actions/DriveAction.h
index ef4cc22ae..fe0b64543 100644
--- a/src/v5_hal/firmware/include/Actions/DriveAction.h
+++ b/src/v5_hal/firmware/include/Actions/DriveAction.h
@@ -16,7 +16,7 @@ class DriveAction : public AutonAction {
 public:
     DriveAction(TankDriveNode* tank_drive_node, double distance_left, double distance_right, int max_velocity);
 
-    void actionInit();
-    actionStatus action();
-    void actionEnd();
+    void ActionInit();
+    actionStatus Action();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/FollowPathAction.h b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
index 6d83afad4..38bb2d0dd 100644
--- a/src/v5_hal/firmware/include/Actions/FollowPathAction.h
+++ b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
@@ -4,15 +4,15 @@
 #include "DataNodes/TankDriveNode.h"
 #include "adaptive_pursuit_controller/AdaptivePursuit.h"
 
-class FollowPathAction : AutonAction {
+class FollowPathAction : public AutonAction {
 private:
     TankDriveNode* m_tank_drive;
     AdaptivePursuit m_controller;
 public:
-    FollowPathAction(TankDriveNode* tank_drive, Path path, double maxAccel, double wheelDiameter, bool reversed = false,
+    FollowPathAction(TankDriveNode* tank_drive, Path path, double wheelDiameter = 4.0625, bool reversed = false,
                      double fixedLookahead = 10, double pathCompletionTolerance = 0.1, bool gradualStop = true);
 
-    void actionInit();
-    actionStatus action();
-    void actionEnd();
+    void ActionInit();
+    actionStatus Action();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/IntakeAction.h b/src/v5_hal/firmware/include/Actions/IntakeAction.h
index 67e89c930..4d625fab7 100644
--- a/src/v5_hal/firmware/include/Actions/IntakeAction.h
+++ b/src/v5_hal/firmware/include/Actions/IntakeAction.h
@@ -15,9 +15,9 @@ class IntakeAction : public AutonAction {
 public:
     IntakeAction(ConveyorNode* conveyor_node, int voltage=12000, double time=0);
 
-    void actionInit();
+    void ActionInit();
 
-    actionStatus action();
+    actionStatus Action();
 
-    void actionEnd();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
index fd56ea121..ec3ff88ed 100644
--- a/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
+++ b/src/v5_hal/firmware/include/Actions/TurnToAngleAction.h
@@ -19,9 +19,9 @@ class TurnToAngleAction : public AutonAction {
     TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNode* inertial_sensor, 
         Eigen::Rotation2Dd target_angle);
 
-    void actionInit();
+    void ActionInit();
 
-    actionStatus action();
+    actionStatus Action();
 
-    void actionEnd();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/Auton.h b/src/v5_hal/firmware/include/Auton.h
index 4bc9e9bb6..8c9c17d8e 100644
--- a/src/v5_hal/firmware/include/Auton.h
+++ b/src/v5_hal/firmware/include/Auton.h
@@ -49,11 +49,11 @@ class AutonNode {
     Timer m_timer;
 };
 
-class Autonomous {
+class Auton {
 public:
-    Autonomous(string name, bool defaultAuton = false);
+    Auton(string name, bool defaultAuton = false);
 
-    inline Autonomous* GetInstance() {
+    inline Auton* GetInstance() {
         return this;
     }
 
@@ -62,11 +62,11 @@ class Autonomous {
     }
 
     string GetName();
-    void Auton();
+    void AutonPeriodic();
     void AutonInit();
     bool Complete();
     void Reset();
-    virtual ~Autonomous();
+    virtual ~Auton();
 protected:
     void AddFirstNode(AutonNode* firstNode);
     virtual void AddNodes() = 0;
diff --git a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
index 9dea217cc..4d488e4f5 100644
--- a/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/BottomConveyorAction.cpp
@@ -5,7 +5,7 @@ BottomConveyorAction::BottomConveyorAction(ConveyorNode* conveyor_node, bool eje
         
 }
 
-void BottomConveyorAction::actionInit() {
+void BottomConveyorAction::ActionInit() {
     m_timer.Start();
 
     //sets the direction of the eject roller
@@ -16,7 +16,7 @@ void BottomConveyorAction::actionInit() {
     }
 }
 
-AutonAction::actionStatus BottomConveyorAction::action() {
+AutonAction::actionStatus BottomConveyorAction::Action() {
     if (m_time <= 0) {
         m_conveyor_node->setBottomConveyorVoltage(m_voltage);
         m_conveyor_node->setEjectionRollerVoltage(m_eject_voltage);
@@ -34,6 +34,6 @@ AutonAction::actionStatus BottomConveyorAction::action() {
     }   
 }
 
-void BottomConveyorAction::actionEnd() {
+void BottomConveyorAction::ActionEnd() {
 
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Auton.cpp b/src/v5_hal/firmware/src/Auton.cpp
index 4ed946f44..31f1d4ecd 100644
--- a/src/v5_hal/firmware/src/Auton.cpp
+++ b/src/v5_hal/firmware/src/Auton.cpp
@@ -158,7 +158,7 @@ AutonNode::~AutonNode() {
  * Initialize an autonomous routine with given name, first node, and whether this autonomous should be the default
  * selected autonomous on Smart Dashboard
  */
-Autonomous::Autonomous(string name, bool defaultAuton) {
+Auton::Auton(string name, bool defaultAuton) {
     m_name = name;
     m_defaultAuton = defaultAuton;
 }
@@ -166,7 +166,7 @@ Autonomous::Autonomous(string name, bool defaultAuton) {
 /*
  * Run autonomous routine. Needs to be called each iteration.
  */
-void Autonomous::Auton() {
+void Auton::AutonPeriodic() {
     for(auto node : m_firstNode) {
         node->Act(true);
     }
@@ -175,7 +175,7 @@ void Autonomous::Auton() {
 /*
  * Initialize autonomous routine by resetting and adding all nodes.
  */
-void Autonomous::AutonInit() {
+void Auton::AutonInit() {
     Reset();
     AddNodes();
 }
@@ -183,7 +183,7 @@ void Autonomous::AutonInit() {
 /*
  * If autonomous routine is complete
  */
-bool Autonomous::Complete() {
+bool Auton::Complete() {
     for(auto node : m_firstNode) {
         if(!node->Complete()) {
             return false;
@@ -195,7 +195,7 @@ bool Autonomous::Complete() {
 /*
  * Reset all nodes in autonomous routine
  */
-void Autonomous::Reset() {
+void Auton::Reset() {
     for(auto node : m_firstNode) {
         if(node != nullptr) {
             node->Reset();
@@ -207,7 +207,7 @@ void Autonomous::Reset() {
  * Add another node to be run on start of autonomous routine
  * Nullptrs will not be added as actions, they will be ignored
  */
-void Autonomous::AddFirstNode(AutonNode* firstNode) {
+void Auton::AddFirstNode(AutonNode* firstNode) {
     if(firstNode != nullptr) {
         m_firstNode.push_back(firstNode);
     }
@@ -216,14 +216,14 @@ void Autonomous::AddFirstNode(AutonNode* firstNode) {
 /*
  * Returns human readable name of routine
  */
-string Autonomous::GetName() {
+string Auton::GetName() {
     return m_name;
 }
 
 /*
  * Automatically deletes all nodes and their actions on deletion of the autonomous routine
  */
-Autonomous::~Autonomous() {
+Auton::~Auton() {
     for (auto i = m_firstNode.begin(); i != m_firstNode.end(); i++){
         delete *i;
     }

From c9dd325f12be77e40a9d43bf6cebd73c2e36aa2e Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Fri, 12 Feb 2021 20:21:26 -0600
Subject: [PATCH 27/37] Fixed more names

---
 .../firmware/include/Actions/TopConveyorAction.h       |  6 +++---
 src/v5_hal/firmware/src/Actions/DeployAction.cpp       |  6 +++---
 src/v5_hal/firmware/src/Actions/DriveAction.cpp        |  6 +++---
 src/v5_hal/firmware/src/Actions/FollowPathAction.cpp   | 10 +++++-----
 src/v5_hal/firmware/src/Actions/IntakeAction.cpp       |  6 +++---
 src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp  |  6 +++---
 src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp  |  6 +++---
 7 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/TopConveyorAction.h b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
index 2bd0b6d66..2e63e1d66 100644
--- a/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
+++ b/src/v5_hal/firmware/include/Actions/TopConveyorAction.h
@@ -17,9 +17,9 @@ class TopConveyorAction : public AutonAction {
     TopConveyorAction(ConveyorNode* conveyor_node, ConveyorNode::ConveyorState conveyor_state, 
         double time=0);
 
-    void actionInit();
+    void ActionInit();
 
-    actionStatus action();
+    actionStatus Action();
 
-    void actionEnd();
+    void ActionEnd();
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/DeployAction.cpp b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
index ff0af1610..ac74b020c 100644
--- a/src/v5_hal/firmware/src/Actions/DeployAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DeployAction.cpp
@@ -5,11 +5,11 @@ DeployAction::DeployAction(ConveyorNode* conveyor_node) :
 
 }
 
-void DeployAction::actionInit() {
+void DeployAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus DeployAction::action() {
+AutonAction::actionStatus DeployAction::Action() {
     m_conveyor_node->setIntakeVoltage(-12000);
     m_conveyor_node->setBottomConveyorVoltage(-12000);
 
@@ -20,7 +20,7 @@ AutonAction::actionStatus DeployAction::action() {
     }
 }
 
-void DeployAction::actionEnd() {
+void DeployAction::ActionEnd() {
     m_timer.Stop();
     m_conveyor_node->setIntakeVoltage(0);
     m_conveyor_node->setBottomConveyorVoltage(0);
diff --git a/src/v5_hal/firmware/src/Actions/DriveAction.cpp b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
index 164bcc35a..85d4f5e6b 100644
--- a/src/v5_hal/firmware/src/Actions/DriveAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/DriveAction.cpp
@@ -6,11 +6,11 @@ DriveAction::DriveAction(TankDriveNode* tank_drive_node, double distance_left, d
 
 }
 
-void DriveAction::actionInit() {
+void DriveAction::ActionInit() {
     m_tank_drive_node->setDriveDistancePID(m_distance_left, m_distance_right, m_max_velocity);
 }
 
-AutonAction::actionStatus DriveAction::action() {
+AutonAction::actionStatus DriveAction::Action() {
     m_actual_left_distance = m_tank_drive_node->getLeftDistancePID();
     m_actual_right_distance = m_tank_drive_node->getRightDistancePID();
 
@@ -22,6 +22,6 @@ AutonAction::actionStatus DriveAction::action() {
     }
 }
 
-void DriveAction::actionEnd() {
+void DriveAction::ActionEnd() {
     
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
index 94a05ed21..03f3cbd75 100644
--- a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
@@ -1,17 +1,17 @@
 #include "FollowPathAction.h"
 
 
-FollowPathAction::FollowPathAction(TankDriveNode* tank_drive, Path path, double maxAccel, double wheelDiameter, bool reversed,
+FollowPathAction::FollowPathAction(TankDriveNode* tank_drive, Path path, double wheelDiameter, bool reversed,
                              double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
-            m_controller(fixedLookahead, maxAccel, 0.01, path, reversed, pathCompletionTolerance, gradualStop, wheelDiameter) {
+            m_controller(fixedLookahead, 0.1, 0.01, path, reversed, pathCompletionTolerance, gradualStop, wheelDiameter) {
     m_tank_drive = tank_drive;
 }
 
-void FollowPathAction::actionInit() {
+void FollowPathAction::ActionInit() {
 
 }
 
-AutonAction::actionStatus FollowPathAction::action() {
+AutonAction::actionStatus FollowPathAction::Action() {
     auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
 
     m_tank_drive->setDriveVelocity(command.left, command.right); 
@@ -23,6 +23,6 @@ AutonAction::actionStatus FollowPathAction::action() {
     }
 }
 
-void FollowPathAction::actionEnd() {
+void FollowPathAction::ActionEnd() {
     m_tank_drive->setDriveVelocity(0, 0);
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/IntakeAction.cpp b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
index 81171c6e5..a96169082 100644
--- a/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/IntakeAction.cpp
@@ -5,11 +5,11 @@ IntakeAction::IntakeAction(ConveyorNode* conveyor_node, int voltage, double time
     
 }
 
-void IntakeAction::actionInit() {
+void IntakeAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus IntakeAction::action() {
+AutonAction::actionStatus IntakeAction::Action() {
     if (m_time <= 0) {
         m_conveyor_node->setIntakeVoltage(m_voltage);
         return END;
@@ -25,6 +25,6 @@ AutonAction::actionStatus IntakeAction::action() {
     }
 }
 
-void IntakeAction::actionEnd() {
+void IntakeAction::ActionEnd() {
 
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
index b23ed6424..ac8ba283a 100644
--- a/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TopConveyorAction.cpp
@@ -5,11 +5,11 @@ TopConveyorAction::TopConveyorAction(ConveyorNode* conveyor_node, ConveyorNode::
     
 }
 
-void TopConveyorAction::actionInit() {
+void TopConveyorAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus TopConveyorAction::action() {
+AutonAction::actionStatus TopConveyorAction::Action() {
     if (m_time <= 0) {
         m_conveyor_node->setConveyorState(m_conveyor_state);
         return END;
@@ -25,6 +25,6 @@ AutonAction::actionStatus TopConveyorAction::action() {
     }
 }
 
-void TopConveyorAction::actionEnd() {
+void TopConveyorAction::ActionEnd() {
 
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
index fb346d435..0ba687c78 100644
--- a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -5,11 +5,11 @@ TurnToAngleAction::TurnToAngleAction(TankDriveNode* tank_drive, InertialSensorNo
 
 }
 
-void TurnToAngleAction::actionInit() {
+void TurnToAngleAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus TurnToAngleAction::action() {    
+AutonAction::actionStatus TurnToAngleAction::Action() {    
     Eigen::Rotation2Dd current_angle(m_inertial_sensor->getYaw());
 
     double delta_angle = (current_angle * m_target_angle.inverse()).smallestAngle();
@@ -33,6 +33,6 @@ AutonAction::actionStatus TurnToAngleAction::action() {
     }
 }
 
-void TurnToAngleAction::actionEnd() {
+void TurnToAngleAction::ActionEnd() {
     m_tank_drive->setDriveVoltage(0, 0);
 }
\ No newline at end of file

From c419ceb106fbcf48c042713e3dcc41edb284bb02 Mon Sep 17 00:00:00 2001
From: Andrew Kempen <akemperfi@gmail.com>
Date: Fri, 12 Feb 2021 20:21:58 -0600
Subject: [PATCH 28/37] Wrote programming skills auton file

---
 .../firmware/include/ProgrammingSkillsAuton.h      | 13 +++++++++++++
 src/v5_hal/firmware/include/main.h                 |  1 +
 src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp | 12 ++++++++++++
 src/v5_hal/firmware/src/main.cpp                   | 14 +++++++++++---
 4 files changed, 37 insertions(+), 3 deletions(-)
 create mode 100644 src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
 create mode 100644 src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp

diff --git a/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h b/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
new file mode 100644
index 000000000..e20c8fcb9
--- /dev/null
+++ b/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
@@ -0,0 +1,13 @@
+#include "Auton.h"
+#include "adaptive_pursuit_controller/PathManager.h"
+#include "DataNodes/TankDriveNode.h"
+#include "Actions/FollowPathAction.h"
+
+class ProgrammingSkillsAuton : public Auton {
+public:
+    ProgrammingSkillsAuton(TankDriveNode * tankDriveNode);
+    void AddNodes();
+private:
+    TankDriveNode * m_tankDriveNode;
+    AutonNode * testNode;
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/main.h b/src/v5_hal/firmware/include/main.h
index 78ce66764..141a2e5ec 100644
--- a/src/v5_hal/firmware/include/main.h
+++ b/src/v5_hal/firmware/include/main.h
@@ -56,6 +56,7 @@
 #include "Actions/IntakeAction.h"
 #include "Actions/BottomConveyorAction.h"
 #include "Actions/FollowPathAction.h"
+#include "ProgrammingSkillsAuton.h"
 
    /**
     * You should add more #includes here
diff --git a/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp b/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp
new file mode 100644
index 000000000..ad93a6756
--- /dev/null
+++ b/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp
@@ -0,0 +1,12 @@
+#include "ProgrammingSkillsAuton.h"
+
+ProgrammingSkillsAuton::ProgrammingSkillsAuton(TankDriveNode * tankDriveNode) : Auton("Programming Skills"), 
+    m_tankDriveNode(tankDriveNode) {
+    
+
+}
+
+void ProgrammingSkillsAuton::AddNodes() {
+    testNode = new AutonNode(10, new FollowPathAction(m_tankDriveNode, PathManager::GetInstance()->GetPath("TestPath")));
+    Auton::AddFirstNode(testNode);
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index a7ccc84d1..ebcdaab7c 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -1,6 +1,7 @@
 #include "main.h"
 #include "NodeManager.h"
 #include "eigen/Eigen/Dense"
+#include "adaptive_pursuit_controller/PathManager.h"
 
 NodeManager* node_manager = new NodeManager(pros::millis);
 
@@ -34,6 +35,8 @@ BatteryNode* battery;
 CompetitionStatusNode* competition_status;
 
 ProsTimeNode* pros_time;
+Auton * programming_skills_auton;
+
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -77,9 +80,13 @@ void initialize() {
 	conveyor_node = new ConveyorNode(node_manager, "conveyor", primary_controller, left_intake,
 		right_intake, bottom_rollers, ejection_roller, top_rollers, bottom_conveyor_sensor, middle_conveyor_sensor,
 		top_conveyor_sensor);
+     
+    programming_skills_auton = new ProgrammingSkillsAuton(tank_drive_node);
 
 	// Call the node manager to initialize all of the nodes above
 	node_manager->initialize();
+
+	PathManager::GetInstance()->LoadPathsFile("/usd/path.json");
 }
 
 /**
@@ -98,7 +105,9 @@ void disabled() {}
  * This task will exit when the robot is enabled and autonomous or opcontrol
  * starts.
  */
-void competition_initialize() {}
+void competition_initialize() {
+	programming_skills_auton->AutonInit();
+}
 
 /**
  * Runs the user autonomous code. This function will be started in its own task
@@ -112,8 +121,7 @@ void competition_initialize() {}
  * from where it left off.
  */
 void autonomous() {
-
-	
+	programming_skills_auton->AutonPeriodic();
 }
 
 /**

From bf81475c29f4a808ed360489dfdb0084b4c4cad9 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 5 Feb 2021 02:11:39 -0600
Subject: [PATCH 29/37] Added structure to odometry ROS package

---
 src/odometry/CMakeLists.txt              | 202 +++++++++++++++++++++++
 src/odometry/include/odometry/Odometry.h |   0
 src/odometry/package.xml                 |  59 +++++++
 src/odometry/src/odometry/Odometry.cpp   |   2 +
 4 files changed, 263 insertions(+)
 create mode 100644 src/odometry/CMakeLists.txt
 create mode 100644 src/odometry/include/odometry/Odometry.h
 create mode 100644 src/odometry/package.xml
 create mode 100644 src/odometry/src/odometry/Odometry.cpp

diff --git a/src/odometry/CMakeLists.txt b/src/odometry/CMakeLists.txt
new file mode 100644
index 000000000..73a4f43e7
--- /dev/null
+++ b/src/odometry/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(odometry)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES odometry
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/odometry.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/odometry_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_odometry.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/src/odometry/include/odometry/Odometry.h b/src/odometry/include/odometry/Odometry.h
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/odometry/package.xml b/src/odometry/package.xml
new file mode 100644
index 000000000..2254758f3
--- /dev/null
+++ b/src/odometry/package.xml
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>odometry</name>
+  <version>0.0.0</version>
+  <description>The odometry package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nathan@todo.todo">nathan</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/odometry</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/src/odometry/src/odometry/Odometry.cpp b/src/odometry/src/odometry/Odometry.cpp
new file mode 100644
index 000000000..cb231cb42
--- /dev/null
+++ b/src/odometry/src/odometry/Odometry.cpp
@@ -0,0 +1,2 @@
+#include "odometry/twoEncoderOdometry.hpp"
+#include "odometry/Odometry.h"
\ No newline at end of file

From 74d5dbbed1ade9c2d7927a6bc8bda239d2257284 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 5 Feb 2021 17:54:38 -0600
Subject: [PATCH 30/37] Added class for tank odometry

---
 src/odometry/src/odometry/TankOdometry.cpp | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 src/odometry/src/odometry/TankOdometry.cpp

diff --git a/src/odometry/src/odometry/TankOdometry.cpp b/src/odometry/src/odometry/TankOdometry.cpp
new file mode 100644
index 000000000..e69de29bb

From 1c9bd2fc61b6f26188e49cdb9ad8e58f24d1edb6 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Sat, 6 Feb 2021 02:11:02 -0600
Subject: [PATCH 31/37] Added Odometry classes for tank drive, and follower
 wheels

---
 src/odometry/CMakeLists.txt                   | 12 ++-
 src/odometry/cmake/FindEigen3.cmake           | 96 +++++++++++++++++++
 .../include/odometry/FollowerOdometry.h       | 12 +++
 src/odometry/include/odometry/Math/Math.h     | 49 ++++++++++
 src/odometry/include/odometry/Math/Pose.h     | 22 +++++
 src/odometry/include/odometry/Odometry.h      | 39 ++++++++
 src/odometry/include/odometry/TankOdometry.h  | 14 +++
 .../src/odometry/FollowerOdometry.cpp         | 50 ++++++++++
 src/odometry/src/odometry/Odometry.cpp        | 28 +++++-
 src/odometry/src/odometry/TankOdometry.cpp    | 76 +++++++++++++++
 .../include/DataNodes/DriverControlNode.h     |  4 +
 .../src/DataNodes/DriverControlNode.cpp       | 62 ++++++++----
 12 files changed, 438 insertions(+), 26 deletions(-)
 create mode 100644 src/odometry/cmake/FindEigen3.cmake
 create mode 100644 src/odometry/include/odometry/FollowerOdometry.h
 create mode 100644 src/odometry/include/odometry/Math/Math.h
 create mode 100644 src/odometry/include/odometry/Math/Pose.h
 create mode 100644 src/odometry/include/odometry/TankOdometry.h
 create mode 100644 src/odometry/src/odometry/FollowerOdometry.cpp

diff --git a/src/odometry/CMakeLists.txt b/src/odometry/CMakeLists.txt
index 73a4f43e7..6bd9a696a 100644
--- a/src/odometry/CMakeLists.txt
+++ b/src/odometry/CMakeLists.txt
@@ -104,6 +104,8 @@ catkin_package(
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIR})
 
 ###########
 ## Build ##
@@ -112,14 +114,16 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-# include
+  include
 # ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/odometry.cpp
-# )
+add_library(${PROJECT_NAME}
+  src/${PROJECT_NAME}/Odometry.cpp
+  src/${PROJECT_NAME}/TankOdometry.cpp
+  src/${PROJECT_NAME}/FollowerOdometry.cpp
+)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
diff --git a/src/odometry/cmake/FindEigen3.cmake b/src/odometry/cmake/FindEigen3.cmake
new file mode 100644
index 000000000..b9dec75bd
--- /dev/null
+++ b/src/odometry/cmake/FindEigen3.cmake
@@ -0,0 +1,96 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# This module reads hints about search locations from 
+# the following enviroment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+  
+  # search first if an Eigen3Config.cmake is available in the system,
+  # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
+  # the script will work as usual
+  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
+
+  if(NOT EIGEN3_INCLUDE_DIR)
+    find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+        HINTS
+        ENV EIGEN3_ROOT 
+        ENV EIGEN3_ROOT_DIR
+        PATHS
+        ${CMAKE_INSTALL_PREFIX}/include
+        ${KDE4_INCLUDE_DIR}
+        PATH_SUFFIXES eigen3 eigen
+      )
+  endif(NOT EIGEN3_INCLUDE_DIR)
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
\ No newline at end of file
diff --git a/src/odometry/include/odometry/FollowerOdometry.h b/src/odometry/include/odometry/FollowerOdometry.h
new file mode 100644
index 000000000..10eefe32e
--- /dev/null
+++ b/src/odometry/include/odometry/FollowerOdometry.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "odometry/Odometry.h"
+
+class FollowerOdometry : public Odometry {
+public:
+    FollowerOdometry(EncoderConfig x_encoder_config, EncoderConfig y_encoder_config, Pose current_pose=Pose());
+    
+    void Update(double x_encoder_raw_ticks, double y_encoder_raw_ticks, Rotation2Dd gyro_angle);
+
+    ~FollowerOdometry();
+};
\ No newline at end of file
diff --git a/src/odometry/include/odometry/Math/Math.h b/src/odometry/include/odometry/Math/Math.h
new file mode 100644
index 000000000..f9cbfcd08
--- /dev/null
+++ b/src/odometry/include/odometry/Math/Math.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+
+#ifndef PI
+#define PI 3.141592653589793
+#endif
+
+#define kEpsilon .000000001
+#define kE .000000001
+
+using namespace std;
+
+inline double toRadians(double degrees) {
+    return degrees * (PI / 180.0);
+}
+
+inline double toDegrees(double degrees) {
+    return degrees * (180.0 / PI);
+}
+
+inline double arctan(double x, double y) {
+    double result = toDegrees(atan2(y, x));
+    if(x >= 0 && y >= 0) {
+        return 90 - result;
+    } else if(x >= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x <= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x < 0 && y >= 0) {
+        return 450 - result;
+    }
+    return -1;
+}
+
+inline double pathogram(double x, double y){
+    return sqrt(x*x + y*y);
+}
+
+inline double clamp(double value, double minimum, double maximum) {
+    if(value < minimum) {
+        return minimum;
+    } else if(value > maximum) {
+        return maximum;
+    } else {
+        return value;
+    }
+}
\ No newline at end of file
diff --git a/src/odometry/include/odometry/Math/Pose.h b/src/odometry/include/odometry/Math/Pose.h
new file mode 100644
index 000000000..836903567
--- /dev/null
+++ b/src/odometry/include/odometry/Math/Pose.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Eigen/Dense>
+
+using namespace Eigen;
+
+struct Pose {
+    Vector2d position;
+    Rotation2Dd angle;
+
+    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
+        position = positionIn;
+        angle = angleIn;
+    }
+
+    Pose() {
+        position = Vector2d(0, 0);
+        angle = Rotation2Dd(0);
+    }
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
\ No newline at end of file
diff --git a/src/odometry/include/odometry/Odometry.h b/src/odometry/include/odometry/Odometry.h
index e69de29bb..7418f5e6c 100644
--- a/src/odometry/include/odometry/Odometry.h
+++ b/src/odometry/include/odometry/Odometry.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "Math/Pose.h"
+#include "Math/Math.h"
+
+class Odometry {
+protected:
+    Rotation2Dd m_gyro_initial_angle;
+
+    Pose m_robot_pose = Pose(Vector2d(0, 0), Rotation2Dd());
+
+    bool m_pose_reset = true;
+
+    double m_encoder_1_ticks_to_dist;
+    double m_encoder_2_ticks_to_dist;
+
+    double m_last_encoder_1_dist;
+    double m_last_encoder_2_dist;
+
+public:
+    struct EncoderConfig {
+            double initial_ticks;
+            double ticks_per_wheel_revolution;
+            double wheel_diameter;
+    };
+
+    Odometry(EncoderConfig encoder_1_config, EncoderConfig encoder_2_config, Pose current_pose=Pose());
+
+    void ResetEncoderTicks(double encoder_1_ticks=0, double encoder_2_ticks=0);
+
+    Pose GetPose();
+
+    void SetCurrentPose(Pose current_pose);
+
+    virtual void Update(double encoder_1_raw_ticks, double encoder_2_raw_ticks, double track_width) {};
+    virtual void Update(double encoder_1_raw_ticks, double encoder_2_raw_ticks, Rotation2Dd gyro_angle) = 0;
+
+    ~Odometry();
+};
\ No newline at end of file
diff --git a/src/odometry/include/odometry/TankOdometry.h b/src/odometry/include/odometry/TankOdometry.h
new file mode 100644
index 000000000..54f3a1cc4
--- /dev/null
+++ b/src/odometry/include/odometry/TankOdometry.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include "odometry/Odometry.h"
+
+class TankOdometry : public Odometry {
+public:
+    TankOdometry(EncoderConfig left_encoder_config, EncoderConfig right_encoder_config, Pose current_pose=Pose());
+
+    void Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, double track_width);
+    
+    void Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, Rotation2Dd gyro_angle);
+
+    ~TankOdometry();
+};
\ No newline at end of file
diff --git a/src/odometry/src/odometry/FollowerOdometry.cpp b/src/odometry/src/odometry/FollowerOdometry.cpp
new file mode 100644
index 000000000..a3e92aed8
--- /dev/null
+++ b/src/odometry/src/odometry/FollowerOdometry.cpp
@@ -0,0 +1,50 @@
+#include "odometry/FollowerOdometry.h"
+
+FollowerOdometry::FollowerOdometry(EncoderConfig xEncoderConfig, EncoderConfig yEncoderConfig, 
+    Pose currentPose): Odometry(xEncoderConfig, yEncoderConfig, currentPose) {
+
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param x_encoder_raw_ticks The distance in ticks measured by the X encoder since when the tracker was last run
+ * @param y_encoder_raw_ticks The distance in ticks measured by the Y encoder since when the tracker was last run
+ * @param gyro_angle The current yaw of the robot as measured by the gyro
+ */
+void FollowerOdometry::Update(double x_encoder_raw_ticks, double y_encoder_raw_ticks, Rotation2Dd gyro_angle) {
+    // Convert the current position in ticks to a position in distance units
+    double x_dist = x_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double y_dist = y_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    // Reset the current position of the robot
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = x_dist;
+        Odometry::m_last_encoder_2_dist = y_dist;
+        Odometry::m_gyro_initial_angle = gyro_angle;
+        Odometry::m_pose_reset = false;
+    }
+
+    // Calculate the change in position since the last check
+    double x_delta = x_dist - Odometry::m_last_encoder_1_dist;
+    double y_delta = y_dist - Odometry::m_last_encoder_2_dist;
+
+    // Convert the x and y deltas into a translation vector
+    Vector2d robot_translation(x_delta, y_delta);
+
+    // Rotate the translation vector by the current angle rotation matrix
+    robot_translation = gyro_angle * robot_translation;
+
+    // Add the current translation onto the robot position vector
+    Odometry::m_robot_pose.position += robot_translation;
+
+    // Update the current angle of the robot position
+    Odometry::m_robot_pose.angle = gyro_angle * Odometry::m_gyro_initial_angle.inverse();
+
+    // Update the previous values of the encoders for the next iteration
+    Odometry::m_last_encoder_1_dist = x_dist;
+    Odometry::m_last_encoder_2_dist = y_dist;
+}
\ No newline at end of file
diff --git a/src/odometry/src/odometry/Odometry.cpp b/src/odometry/src/odometry/Odometry.cpp
index cb231cb42..eb5308976 100644
--- a/src/odometry/src/odometry/Odometry.cpp
+++ b/src/odometry/src/odometry/Odometry.cpp
@@ -1,2 +1,26 @@
-#include "odometry/twoEncoderOdometry.hpp"
-#include "odometry/Odometry.h"
\ No newline at end of file
+#include "odometry/Odometry.h"
+
+Odometry::Odometry(EncoderConfig encoder_1_config, EncoderConfig encoder_2_config, Pose current_pose): 
+        m_encoder_1_ticks_to_dist((encoder_1_config.wheel_diameter * PI) / 
+            encoder_1_config.ticks_per_wheel_revolution),
+        m_encoder_2_ticks_to_dist((encoder_2_config.wheel_diameter * PI) / 
+            encoder_2_config.ticks_per_wheel_revolution),
+        m_last_encoder_1_dist(0),
+        m_last_encoder_2_dist(0) {
+    SetCurrentPose(current_pose);
+}
+
+void Odometry::ResetEncoderTicks(double encoder_1_ticks, double encoder_2_ticks) {
+    m_last_encoder_1_dist = encoder_1_ticks * m_encoder_1_ticks_to_dist;
+    m_last_encoder_2_dist = encoder_2_ticks * m_encoder_2_ticks_to_dist;
+}
+
+Pose Odometry::GetPose(){
+    return m_robot_pose;
+}
+
+void Odometry::SetCurrentPose(Pose current_pose) {
+    m_robot_pose = current_pose;
+    m_pose_reset = true;
+}
+
diff --git a/src/odometry/src/odometry/TankOdometry.cpp b/src/odometry/src/odometry/TankOdometry.cpp
index e69de29bb..db43fd588 100644
--- a/src/odometry/src/odometry/TankOdometry.cpp
+++ b/src/odometry/src/odometry/TankOdometry.cpp
@@ -0,0 +1,76 @@
+#include "odometry/TankOdometry.h"
+
+TankOdometry::TankOdometry(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig, 
+    Pose currentPose): Odometry(leftEncoderConfig, rightEncoderConfig, currentPose) {
+
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot. Not as accurate as gyro version
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param left_encoder_raw_ticks The distance in ticks measured by the left encoder since when the tracker was last run
+ * @param right_encoder_raw_ticks The distance in ticks measured by the right encoder since when the tracker was last run
+ * @param track_width The distance between the two sides/tracks of the drivetrain
+ */
+void TankOdometry::Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, double track_width) {
+    double left_dist = left_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double right_dist = right_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = left_dist;
+        Odometry::m_last_encoder_2_dist = right_dist;
+        Odometry::m_pose_reset = false;
+    }
+
+    double left_delta = left_dist - Odometry::m_last_encoder_1_dist;
+    double right_delta = right_dist - Odometry:: m_last_encoder_2_dist;
+    double distance_moved = (left_delta + right_delta) / 2.0;
+
+    double rotation = (right_delta - left_delta) / track_width;
+
+    Vector2d robot_translation(0, distance_moved);
+
+    Odometry::m_robot_pose.angle = Odometry::m_robot_pose.angle * Rotation2Dd(rotation);
+    robot_translation = Odometry::m_robot_pose.angle * robot_translation;
+    Odometry::m_robot_pose.position += robot_translation;
+
+    Odometry::m_last_encoder_1_dist = left_dist;
+    Odometry::m_last_encoder_2_dist = right_dist;
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param left_encoder_raw_ticks The distance in ticks measured by the left encoder since when the tracker was last run
+ * @param right_encoder_raw_ticks The distance in ticks measured by the right encoder since when the tracker was last run
+ * @param gyro_angle The current yaw of the robot as measured by the gyro
+ */
+void TankOdometry::Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, Rotation2Dd gyro_angle) {
+    double left_dist = left_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double right_dist = right_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = left_dist;
+        Odometry::m_last_encoder_2_dist = right_dist;
+        Odometry::m_gyro_initial_angle = gyro_angle;
+        Odometry::m_pose_reset = false;
+    }
+
+    double left_delta = left_dist - Odometry::m_last_encoder_1_dist;
+    double right_delta = right_dist - Odometry::m_last_encoder_2_dist;
+    double distance_moved = (left_delta + right_delta) / 2.0;
+
+    Vector2d robot_translation(0, distance_moved);
+    robot_translation = gyro_angle * robot_translation;
+    Odometry::m_robot_pose.position += robot_translation;
+    Odometry::m_robot_pose.angle = gyro_angle * Odometry::m_gyro_initial_angle.inverse();
+
+    Odometry::m_last_encoder_1_dist = left_dist;
+    Odometry::m_last_encoder_2_dist = right_dist;
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h b/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
index 3b3d7c40e..c788bfd8e 100644
--- a/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/DriverControlNode.h
@@ -61,6 +61,10 @@ class DriverControlNode : public Node {
 
     void m_spinMainRollersVoltage(int voltage);
 
+    void m_spinBottomRollersVoltage(int voltage);
+
+    void m_spinTopRollersVoltage(int voltage);
+
     void m_spinEjectionRollerVoltage(int voltage);
 
 public:
diff --git a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
index 2c6fda802..df437eb36 100644
--- a/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/DriverControlNode.cpp
@@ -55,6 +55,15 @@ void DriverControlNode::m_spinMainRollersVoltage(int voltage) {
     top_rollers->moveVoltage(voltage);
 }
 
+
+void DriverControlNode::m_spinTopRollersVoltage(int voltage) {
+    top_rollers->moveVoltage(voltage);
+}
+
+void DriverControlNode::m_spinBottomRollersVoltage(int voltage) {
+    bottom_rollers->moveVoltage(voltage);
+}
+
 /**
  * Spins the ejection roller (from a single motor) at the specified voltage
  * Parameters:
@@ -66,27 +75,40 @@ void DriverControlNode::m_spinEjectionRollerVoltage(int voltage) {
 
 void DriverControlNode::teleopPeriodic() {
     // printf("Inertial Sensor Yaw: %f\n", inertial_sensor->getYaw());
-    double sensor_yaw = inertial_sensor->getYaw();
-    robot_angle = Eigen::Rotation2Dd(-sensor_yaw);
+    // double sensor_yaw = inertial_sensor->getYaw();
+    // robot_angle = Eigen::Rotation2Dd(-sensor_yaw);
     
-    controller_target_velocity(0) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_X) / 127.0) * max_velocity;
-    controller_target_velocity(1) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127.0) * max_velocity;
-    rotation_velocity = -(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X) / 127.0) * max_rotation_velocity;
-
-    field_target_velocity = robot_angle.inverse() * controller_target_velocity;
-
-    swerveController.assignActualAngle(left_swerve_pot->getValue(), right_swerve_pot->getValue(), rear_swerve_pot->getValue());
-
-    MotorPowers left_motor_powers = swerveController.calculateLeftModule(field_target_velocity, rotation_velocity);
-    MotorPowers right_motor_powers = swerveController.calculateRightModule(field_target_velocity, rotation_velocity);
-    MotorPowers rear_motor_powers = swerveController.calculateRearModule(field_target_velocity, rotation_velocity);
-
-    left_swerve_1->move(left_motor_powers.left_motor_power);
-    left_swerve_2->move(left_motor_powers.right_motor_power);
-    right_swerve_1->move(right_motor_powers.left_motor_power);
-    right_swerve_2->move(right_motor_powers.right_motor_power);
-    rear_swerve_1->move(rear_motor_powers.left_motor_power);
-    rear_swerve_2->move(rear_motor_powers.right_motor_power);
+    // controller_target_velocity(0) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_X) / 127.0) * max_velocity;
+    // controller_target_velocity(1) = (controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y) / 127.0) * max_velocity;
+    // rotation_velocity = -(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X) / 127.0) * max_rotation_velocity;
+
+    // field_target_velocity = robot_angle.inverse() * controller_target_velocity;
+
+    // // printf("Field Target Velocity: %f\n", field_target_velocity);
+
+    // swerveController.assignActualAngle(left_swerve_pot->getValue(), right_swerve_pot->getValue(), rear_swerve_pot->getValue());
+
+    // MotorPowers left_motor_powers = swerveController.calculateLeftModule(field_target_velocity, rotation_velocity);
+    // MotorPowers right_motor_powers = swerveController.calculateRightModule(field_target_velocity, rotation_velocity);
+    // MotorPowers rear_motor_powers = swerveController.calculateRearModule(field_target_velocity, rotation_velocity);
+
+    // Temporary - Left Front
+    left_swerve_1->move(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+    // Temporary - Left Rear
+    left_swerve_2->move(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y));
+    // Temporary - Right Front
+    right_swerve_1->move(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y));
+    // Temporary - Right Rear 
+    right_swerve_2->move(controller_primary->get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y));
+    // rear_swerve_1->move(rear_motor_powers.left_motor_power);
+    // rear_swerve_2->move(rear_motor_powers.right_motor_power);
+
+    // printf("Left Motor 1 Power: %d\n", left_motor_powers.left_motor_power);
+    // printf("Left Motor 2 Power: %d\n", left_motor_powers.right_motor_power);
+    // printf("Right Motor 1 Power: %d\n", right_motor_powers.left_motor_power);
+    // printf("Right Motor 2 Power: %d\n", right_motor_powers.right_motor_power);
+    // printf("Rear Motor 1 Power: %d\n", rear_motor_powers.left_motor_power);
+    // printf("Rear Motor 2 Power: %d\n", rear_motor_powers.right_motor_power);
 }
 
 void DriverControlNode::autonPeriodic() {

From 5fb2941bfe65243ce45c4c0c2fbc64a9984e6eee Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 18:56:31 -0600
Subject: [PATCH 32/37] Moved odometry class into v5_hal

---
 .../firmware/include/DataNodes/OdometryNode.h | 19 +++++
 src/v5_hal/firmware/include/math/Math.h       | 49 ++++++++++++
 src/v5_hal/firmware/include/math/Pose.h       | 22 ++++++
 .../include/odometry/FollowerOdometry.h       | 12 +++
 .../firmware/include/odometry/Odometry.h      | 39 ++++++++++
 .../firmware/include/odometry/TankOdometry.h  | 14 ++++
 .../firmware/src/DataNodes/OdometryNode.cpp   |  0
 .../src/odometry/FollowerOdometry.cpp         | 50 ++++++++++++
 src/v5_hal/firmware/src/odometry/Odometry.cpp | 26 +++++++
 .../firmware/src/odometry/TankOdometry.cpp    | 76 +++++++++++++++++++
 10 files changed, 307 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/DataNodes/OdometryNode.h
 create mode 100644 src/v5_hal/firmware/include/math/Math.h
 create mode 100644 src/v5_hal/firmware/include/math/Pose.h
 create mode 100644 src/v5_hal/firmware/include/odometry/FollowerOdometry.h
 create mode 100644 src/v5_hal/firmware/include/odometry/Odometry.h
 create mode 100644 src/v5_hal/firmware/include/odometry/TankOdometry.h
 create mode 100644 src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp
 create mode 100644 src/v5_hal/firmware/src/odometry/FollowerOdometry.cpp
 create mode 100644 src/v5_hal/firmware/src/odometry/Odometry.cpp
 create mode 100644 src/v5_hal/firmware/src/odometry/TankOdometry.cpp

diff --git a/src/v5_hal/firmware/include/DataNodes/OdometryNode.h b/src/v5_hal/firmware/include/DataNodes/OdometryNode.h
new file mode 100644
index 000000000..3e767a1e8
--- /dev/null
+++ b/src/v5_hal/firmware/include/DataNodes/OdometryNode.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include "NodeManager.h"
+#include "api.h"
+#include "ros_lib/ros.h"
+
+class OdometryNode : public Node {
+private:    
+    std::string m_handle_name;
+
+public:
+    OdometryNode(NodeManager* node_manager, std::string handle_name);
+
+    void initialize();
+
+    void periodic();
+
+    ~OdometryNode();
+};
diff --git a/src/v5_hal/firmware/include/math/Math.h b/src/v5_hal/firmware/include/math/Math.h
new file mode 100644
index 000000000..f9cbfcd08
--- /dev/null
+++ b/src/v5_hal/firmware/include/math/Math.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+
+#ifndef PI
+#define PI 3.141592653589793
+#endif
+
+#define kEpsilon .000000001
+#define kE .000000001
+
+using namespace std;
+
+inline double toRadians(double degrees) {
+    return degrees * (PI / 180.0);
+}
+
+inline double toDegrees(double degrees) {
+    return degrees * (180.0 / PI);
+}
+
+inline double arctan(double x, double y) {
+    double result = toDegrees(atan2(y, x));
+    if(x >= 0 && y >= 0) {
+        return 90 - result;
+    } else if(x >= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x <= 0 && y < 0) {
+        return 90 + -1 * result;
+    } else if(x < 0 && y >= 0) {
+        return 450 - result;
+    }
+    return -1;
+}
+
+inline double pathogram(double x, double y){
+    return sqrt(x*x + y*y);
+}
+
+inline double clamp(double value, double minimum, double maximum) {
+    if(value < minimum) {
+        return minimum;
+    } else if(value > maximum) {
+        return maximum;
+    } else {
+        return value;
+    }
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/math/Pose.h b/src/v5_hal/firmware/include/math/Pose.h
new file mode 100644
index 000000000..836903567
--- /dev/null
+++ b/src/v5_hal/firmware/include/math/Pose.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <Eigen/Dense>
+
+using namespace Eigen;
+
+struct Pose {
+    Vector2d position;
+    Rotation2Dd angle;
+
+    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
+        position = positionIn;
+        angle = angleIn;
+    }
+
+    Pose() {
+        position = Vector2d(0, 0);
+        angle = Rotation2Dd(0);
+    }
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/odometry/FollowerOdometry.h b/src/v5_hal/firmware/include/odometry/FollowerOdometry.h
new file mode 100644
index 000000000..10eefe32e
--- /dev/null
+++ b/src/v5_hal/firmware/include/odometry/FollowerOdometry.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include "odometry/Odometry.h"
+
+class FollowerOdometry : public Odometry {
+public:
+    FollowerOdometry(EncoderConfig x_encoder_config, EncoderConfig y_encoder_config, Pose current_pose=Pose());
+    
+    void Update(double x_encoder_raw_ticks, double y_encoder_raw_ticks, Rotation2Dd gyro_angle);
+
+    ~FollowerOdometry();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/odometry/Odometry.h b/src/v5_hal/firmware/include/odometry/Odometry.h
new file mode 100644
index 000000000..a7f35b465
--- /dev/null
+++ b/src/v5_hal/firmware/include/odometry/Odometry.h
@@ -0,0 +1,39 @@
+#pragma once
+
+#include "math/Pose.h"
+#include "math/Math.h"
+
+class Odometry {
+protected:
+    Rotation2Dd m_gyro_initial_angle;
+
+    Pose m_robot_pose = Pose(Vector2d(0, 0), Rotation2Dd());
+
+    bool m_pose_reset = true;
+
+    double m_encoder_1_ticks_to_dist;
+    double m_encoder_2_ticks_to_dist;
+
+    double m_last_encoder_1_dist;
+    double m_last_encoder_2_dist;
+
+public:
+    struct EncoderConfig {
+            double initial_ticks;
+            double ticks_per_wheel_revolution;
+            double wheel_diameter;
+    };
+
+    Odometry(EncoderConfig encoder_1_config, EncoderConfig encoder_2_config, Pose current_pose=Pose());
+
+    void ResetEncoderTicks(double encoder_1_ticks=0, double encoder_2_ticks=0);
+
+    Pose GetPose();
+
+    void SetCurrentPose(Pose current_pose);
+
+    virtual void Update(double encoder_1_raw_ticks, double encoder_2_raw_ticks, double track_width) {};
+    virtual void Update(double encoder_1_raw_ticks, double encoder_2_raw_ticks, Rotation2Dd gyro_angle) = 0;
+
+    ~Odometry();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/odometry/TankOdometry.h b/src/v5_hal/firmware/include/odometry/TankOdometry.h
new file mode 100644
index 000000000..54f3a1cc4
--- /dev/null
+++ b/src/v5_hal/firmware/include/odometry/TankOdometry.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include "odometry/Odometry.h"
+
+class TankOdometry : public Odometry {
+public:
+    TankOdometry(EncoderConfig left_encoder_config, EncoderConfig right_encoder_config, Pose current_pose=Pose());
+
+    void Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, double track_width);
+    
+    void Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, Rotation2Dd gyro_angle);
+
+    ~TankOdometry();
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp b/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/v5_hal/firmware/src/odometry/FollowerOdometry.cpp b/src/v5_hal/firmware/src/odometry/FollowerOdometry.cpp
new file mode 100644
index 000000000..a3e92aed8
--- /dev/null
+++ b/src/v5_hal/firmware/src/odometry/FollowerOdometry.cpp
@@ -0,0 +1,50 @@
+#include "odometry/FollowerOdometry.h"
+
+FollowerOdometry::FollowerOdometry(EncoderConfig xEncoderConfig, EncoderConfig yEncoderConfig, 
+    Pose currentPose): Odometry(xEncoderConfig, yEncoderConfig, currentPose) {
+
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param x_encoder_raw_ticks The distance in ticks measured by the X encoder since when the tracker was last run
+ * @param y_encoder_raw_ticks The distance in ticks measured by the Y encoder since when the tracker was last run
+ * @param gyro_angle The current yaw of the robot as measured by the gyro
+ */
+void FollowerOdometry::Update(double x_encoder_raw_ticks, double y_encoder_raw_ticks, Rotation2Dd gyro_angle) {
+    // Convert the current position in ticks to a position in distance units
+    double x_dist = x_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double y_dist = y_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    // Reset the current position of the robot
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = x_dist;
+        Odometry::m_last_encoder_2_dist = y_dist;
+        Odometry::m_gyro_initial_angle = gyro_angle;
+        Odometry::m_pose_reset = false;
+    }
+
+    // Calculate the change in position since the last check
+    double x_delta = x_dist - Odometry::m_last_encoder_1_dist;
+    double y_delta = y_dist - Odometry::m_last_encoder_2_dist;
+
+    // Convert the x and y deltas into a translation vector
+    Vector2d robot_translation(x_delta, y_delta);
+
+    // Rotate the translation vector by the current angle rotation matrix
+    robot_translation = gyro_angle * robot_translation;
+
+    // Add the current translation onto the robot position vector
+    Odometry::m_robot_pose.position += robot_translation;
+
+    // Update the current angle of the robot position
+    Odometry::m_robot_pose.angle = gyro_angle * Odometry::m_gyro_initial_angle.inverse();
+
+    // Update the previous values of the encoders for the next iteration
+    Odometry::m_last_encoder_1_dist = x_dist;
+    Odometry::m_last_encoder_2_dist = y_dist;
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/odometry/Odometry.cpp b/src/v5_hal/firmware/src/odometry/Odometry.cpp
new file mode 100644
index 000000000..eb5308976
--- /dev/null
+++ b/src/v5_hal/firmware/src/odometry/Odometry.cpp
@@ -0,0 +1,26 @@
+#include "odometry/Odometry.h"
+
+Odometry::Odometry(EncoderConfig encoder_1_config, EncoderConfig encoder_2_config, Pose current_pose): 
+        m_encoder_1_ticks_to_dist((encoder_1_config.wheel_diameter * PI) / 
+            encoder_1_config.ticks_per_wheel_revolution),
+        m_encoder_2_ticks_to_dist((encoder_2_config.wheel_diameter * PI) / 
+            encoder_2_config.ticks_per_wheel_revolution),
+        m_last_encoder_1_dist(0),
+        m_last_encoder_2_dist(0) {
+    SetCurrentPose(current_pose);
+}
+
+void Odometry::ResetEncoderTicks(double encoder_1_ticks, double encoder_2_ticks) {
+    m_last_encoder_1_dist = encoder_1_ticks * m_encoder_1_ticks_to_dist;
+    m_last_encoder_2_dist = encoder_2_ticks * m_encoder_2_ticks_to_dist;
+}
+
+Pose Odometry::GetPose(){
+    return m_robot_pose;
+}
+
+void Odometry::SetCurrentPose(Pose current_pose) {
+    m_robot_pose = current_pose;
+    m_pose_reset = true;
+}
+
diff --git a/src/v5_hal/firmware/src/odometry/TankOdometry.cpp b/src/v5_hal/firmware/src/odometry/TankOdometry.cpp
new file mode 100644
index 000000000..db43fd588
--- /dev/null
+++ b/src/v5_hal/firmware/src/odometry/TankOdometry.cpp
@@ -0,0 +1,76 @@
+#include "odometry/TankOdometry.h"
+
+TankOdometry::TankOdometry(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig, 
+    Pose currentPose): Odometry(leftEncoderConfig, rightEncoderConfig, currentPose) {
+
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot. Not as accurate as gyro version
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param left_encoder_raw_ticks The distance in ticks measured by the left encoder since when the tracker was last run
+ * @param right_encoder_raw_ticks The distance in ticks measured by the right encoder since when the tracker was last run
+ * @param track_width The distance between the two sides/tracks of the drivetrain
+ */
+void TankOdometry::Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, double track_width) {
+    double left_dist = left_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double right_dist = right_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = left_dist;
+        Odometry::m_last_encoder_2_dist = right_dist;
+        Odometry::m_pose_reset = false;
+    }
+
+    double left_delta = left_dist - Odometry::m_last_encoder_1_dist;
+    double right_delta = right_dist - Odometry:: m_last_encoder_2_dist;
+    double distance_moved = (left_delta + right_delta) / 2.0;
+
+    double rotation = (right_delta - left_delta) / track_width;
+
+    Vector2d robot_translation(0, distance_moved);
+
+    Odometry::m_robot_pose.angle = Odometry::m_robot_pose.angle * Rotation2Dd(rotation);
+    robot_translation = Odometry::m_robot_pose.angle * robot_translation;
+    Odometry::m_robot_pose.position += robot_translation;
+
+    Odometry::m_last_encoder_1_dist = left_dist;
+    Odometry::m_last_encoder_2_dist = right_dist;
+}
+
+/**
+ * This function is used to update the internal calculated position of the robot
+ *
+ * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
+ * at a rate of 50 Hz or greater.
+ *
+ * @param left_encoder_raw_ticks The distance in ticks measured by the left encoder since when the tracker was last run
+ * @param right_encoder_raw_ticks The distance in ticks measured by the right encoder since when the tracker was last run
+ * @param gyro_angle The current yaw of the robot as measured by the gyro
+ */
+void TankOdometry::Update(double left_encoder_raw_ticks, double right_encoder_raw_ticks, Rotation2Dd gyro_angle) {
+    double left_dist = left_encoder_raw_ticks * Odometry::m_encoder_1_ticks_to_dist;
+    double right_dist = right_encoder_raw_ticks * Odometry::m_encoder_2_ticks_to_dist;
+
+    if (m_pose_reset) {
+        Odometry::m_last_encoder_1_dist = left_dist;
+        Odometry::m_last_encoder_2_dist = right_dist;
+        Odometry::m_gyro_initial_angle = gyro_angle;
+        Odometry::m_pose_reset = false;
+    }
+
+    double left_delta = left_dist - Odometry::m_last_encoder_1_dist;
+    double right_delta = right_dist - Odometry::m_last_encoder_2_dist;
+    double distance_moved = (left_delta + right_delta) / 2.0;
+
+    Vector2d robot_translation(0, distance_moved);
+    robot_translation = gyro_angle * robot_translation;
+    Odometry::m_robot_pose.position += robot_translation;
+    Odometry::m_robot_pose.angle = gyro_angle * Odometry::m_gyro_initial_angle.inverse();
+
+    Odometry::m_last_encoder_1_dist = left_dist;
+    Odometry::m_last_encoder_2_dist = right_dist;
+}
\ No newline at end of file

From cc7b08f71e39cca9a13ad9ea8d38e17ff84c9122 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 20:52:23 -0600
Subject: [PATCH 33/37] Updated inertial sensor to be non-blocking and support
 ROS sensors, and update references to RPY instead of roll

---
 .vscode/settings.json                         |   4 +-
 .../include/DataNodes/InertialSensorNode.h    |  37 ++++--
 .../firmware/include/DataNodes/OdometryNode.h |  39 +++++-
 src/v5_hal/firmware/include/math/Pose.h       |   2 +-
 .../firmware/include/odometry/Odometry.h      |   2 +-
 .../src/Actions/TurnToAngleAction.cpp         |   4 +-
 .../src/DataNodes/InertialSensorNode.cpp      |  65 ++++++++--
 .../firmware/src/DataNodes/OdometryNode.cpp   |  46 +++++++
 .../TankOdometry.cpp                          | 117 ------------------
 src/v5_hal/firmware/src/main.cpp              |  10 ++
 10 files changed, 179 insertions(+), 147 deletions(-)
 delete mode 100644 src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 810172c76..607193e95 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -81,7 +81,9 @@
         "valarray": "cpp",
         "variant": "cpp",
         "*.ipp": "cpp",
-        "core": "cpp"
+        "core": "cpp",
+        "forward_list": "cpp",
+        "dense": "cpp"
     },
     "C_Cpp.clang_format_fallbackStyle": "Google"
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
index 7c557a677..bbffe753e 100644
--- a/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/InertialSensorNode.h
@@ -3,20 +3,29 @@
 #include "NodeManager.h"
 #include "api.h"
 #include "ros_lib/ros.h"
+#include "ros_lib/v5_hal/RollPitchYaw.h"
 
 class InertialSensorNode : public Node {
-private:
-    pros::Imu m_inertial_sensor;
-    std::string m_handle_name;
-    double turning_threshold = 0.1;
-
 public:
-    InertialSensorNode(NodeManager* node_manager, int sensor_port, 
-        std::string handle_name);
+    enum SensorConfig {
+        V5, ROS
+    };
+
+    struct RPY {
+        double roll;
+        double pitch;
+        double yaw;
+    };
+
+    InertialSensorNode(NodeManager* node_manager, std::string handle_name, 
+        int sensor_port);
+
+    InertialSensorNode(NodeManager* node_manager, std::string handle_name, 
+        std::string subscribe_handle);
     
     void initialize();
     
-    double getYaw();
+    RPY getRPY();
 
     bool isAtAngle(double angle);
     
@@ -25,4 +34,16 @@ class InertialSensorNode : public Node {
     void autonPeriodic();
     
     ~InertialSensorNode();
+
+private:
+    pros::Imu* m_inertial_sensor = nullptr;
+    std::string m_handle_name;
+    std::string m_sub_inertial_sensor_name;
+    double turning_threshold = 0.1;
+    SensorConfig m_config;
+    RPY m_rpy = {0, 0, 0};
+
+    ros::Subscriber<v5_hal::RollPitchYaw, InertialSensorNode>* m_inertial_sensor_sub = nullptr;
+
+    void m_handleSensorMsg(const v5_hal::RollPitchYaw& msg);
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/DataNodes/OdometryNode.h b/src/v5_hal/firmware/include/DataNodes/OdometryNode.h
index 3e767a1e8..cd3e04819 100644
--- a/src/v5_hal/firmware/include/DataNodes/OdometryNode.h
+++ b/src/v5_hal/firmware/include/DataNodes/OdometryNode.h
@@ -3,17 +3,44 @@
 #include "NodeManager.h"
 #include "api.h"
 #include "ros_lib/ros.h"
+#include "DataNodes/TankDriveNode.h"
+#include "DataNodes/ADIEncoderNode.h"
+#include "DataNodes/InertialSensorNode.h"
+#include "odometry/Odometry.h"
+#include "odometry/FollowerOdometry.h"
+#include "odometry/TankOdometry.h"
 
-class OdometryNode : public Node {
-private:    
-    std::string m_handle_name;
-
+class OdometryNode : public Node { 
 public:
-    OdometryNode(NodeManager* node_manager, std::string handle_name);
+    enum OdomConfig {
+        FOLLOWER, TANK
+    };
+
+    OdometryNode(NodeManager* node_manager, std::string handle_name, TankDriveNode* chassis, 
+        ADIEncoderNode* odom_encoder_1, ADIEncoderNode* odom_encoder_2, InertialSensorNode* inertial_sensor,
+        OdomConfig odom_config);
 
     void initialize();
 
-    void periodic();
+    Pose getCurrentPose();
+
+    void teleopPeriodic();
+
+    void autonPeriodic();
 
     ~OdometryNode();
+
+private:    
+    std::string m_handle_name;
+
+    OdomConfig m_odom_config;
+
+    TankDriveNode* m_chassis;
+    ADIEncoderNode* m_odom_encoder_1;
+    ADIEncoderNode* m_odom_encoder_2;
+    InertialSensorNode* m_inertial_sensor;
+
+    Odometry* m_odom;
+
+    Odometry* m_getOdomClass(OdomConfig odom_config);
 };
diff --git a/src/v5_hal/firmware/include/math/Pose.h b/src/v5_hal/firmware/include/math/Pose.h
index 836903567..a8b74ff0b 100644
--- a/src/v5_hal/firmware/include/math/Pose.h
+++ b/src/v5_hal/firmware/include/math/Pose.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <Eigen/Dense>
+#include "eigen/Eigen/Dense"
 
 using namespace Eigen;
 
diff --git a/src/v5_hal/firmware/include/odometry/Odometry.h b/src/v5_hal/firmware/include/odometry/Odometry.h
index a7f35b465..22a27f545 100644
--- a/src/v5_hal/firmware/include/odometry/Odometry.h
+++ b/src/v5_hal/firmware/include/odometry/Odometry.h
@@ -21,7 +21,7 @@ class Odometry {
     struct EncoderConfig {
             double initial_ticks;
             double ticks_per_wheel_revolution;
-            double wheel_diameter;
+            double wheel_diameter; // inches
     };
 
     Odometry(EncoderConfig encoder_1_config, EncoderConfig encoder_2_config, Pose current_pose=Pose());
diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
index 0ba687c78..7280139c0 100644
--- a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -9,8 +9,8 @@ void TurnToAngleAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus TurnToAngleAction::Action() {    
-    Eigen::Rotation2Dd current_angle(m_inertial_sensor->getYaw());
+AutonAction::actionStatus TurnToAngleAction::action() {    
+    Eigen::Rotation2Dd current_angle(m_inertial_sensor->getRPY().yaw);
 
     double delta_angle = (current_angle * m_target_angle.inverse()).smallestAngle();
 
diff --git a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
index c892e8d23..4bcb66d3a 100644
--- a/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/InertialSensorNode.cpp
@@ -1,34 +1,77 @@
 #include "DataNodes/InertialSensorNode.h"
 
 InertialSensorNode::InertialSensorNode(NodeManager* node_manager, 
-    int sensor_port, std::string handle_name) : Node(node_manager, 20), 
-    m_inertial_sensor(sensor_port) {
+        std::string handle_name, int sensor_port) : Node(node_manager, 20) {
     m_handle_name = handle_name.insert(0, "sensor/");
+    m_config = V5;
+
+    m_inertial_sensor = new pros::Imu(sensor_port);
+}
+
+InertialSensorNode::InertialSensorNode(NodeManager* node_manager, std::string handle_name, 
+        std::string subscribe_handle) : Node(node_manager, 20), 
+        m_sub_inertial_sensor_name(subscribe_handle) {
+    m_handle_name = handle_name.insert(0, "sensor/");
+    m_config = ROS;
+
+    m_inertial_sensor_sub = new ros::Subscriber<v5_hal::RollPitchYaw, InertialSensorNode>
+        (m_sub_inertial_sensor_name.c_str(), &InertialSensorNode::m_handleSensorMsg, this);
+}
+
+void InertialSensorNode::m_handleSensorMsg(const v5_hal::RollPitchYaw& msg) {
+    m_rpy.roll = msg.roll;
+    m_rpy.pitch = msg.pitch;
+    m_rpy.yaw = msg.yaw;
 }
 
 void InertialSensorNode::initialize() {
-    m_inertial_sensor.reset();
-    while(m_inertial_sensor.is_calibrating()){
-        pros::delay(10);
+    switch (m_config) {
+        case V5:
+            m_inertial_sensor->reset();
+            break;
+        case ROS:
+            Node::m_handle->subscribe(*m_inertial_sensor_sub);
+            break;
+        default:
+            Node::m_handle->logerror("Error initializing inertial sensor");
     }
 }
 
-double InertialSensorNode::getYaw() {
-    return m_inertial_sensor.get_yaw() * (M_PI/180);
+InertialSensorNode::RPY InertialSensorNode::getRPY() {
+    return m_rpy;
 }
 
 bool InertialSensorNode::isAtAngle(double angle) {
-    return ((getYaw() - turning_threshold < angle) && (angle < getYaw() + turning_threshold));
+    return ((m_rpy.yaw - turning_threshold < angle) && (angle < m_rpy.yaw + turning_threshold));
 }
 
 void InertialSensorNode::teleopPeriodic() {
-    
+    switch (m_config) {
+        case V5:
+            if (!m_inertial_sensor->is_calibrating()) {
+                m_rpy.roll = m_inertial_sensor->get_roll();
+                m_rpy.pitch = m_inertial_sensor->get_pitch();
+                m_rpy.yaw = m_inertial_sensor->get_yaw();
+            }
+    }
 }
 
 void InertialSensorNode::autonPeriodic() {
-
+    switch (m_config) {
+        case V5:
+            if (!m_inertial_sensor->is_calibrating()) {
+                m_rpy.roll = m_inertial_sensor->get_roll();
+                m_rpy.pitch = m_inertial_sensor->get_pitch();
+                m_rpy.yaw = m_inertial_sensor->get_yaw();
+            }
+    }
 }
 
 InertialSensorNode::~InertialSensorNode () {
-
+    switch (m_config) {
+        case V5:
+            delete m_inertial_sensor;
+        case ROS:
+            delete m_inertial_sensor_sub;
+    }
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp b/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp
index e69de29bb..8fbcdc504 100644
--- a/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp
+++ b/src/v5_hal/firmware/src/DataNodes/OdometryNode.cpp
@@ -0,0 +1,46 @@
+#include "DataNodes/OdometryNode.h"
+
+OdometryNode::OdometryNode(NodeManager* node_manager, std::string handle_name, TankDriveNode* chassis, 
+        ADIEncoderNode* odom_encoder_1, ADIEncoderNode* odom_encoder_2, InertialSensorNode* inertial_sensor, 
+        OdomConfig odom_config) : Node(node_manager, 10), m_handle_name(handle_name), m_chassis(chassis),
+        m_odom_encoder_1(odom_encoder_1), m_odom_encoder_2(odom_encoder_2), m_odom_config(odom_config) {
+    m_odom = m_getOdomClass(odom_config);
+}
+
+Odometry* OdometryNode::m_getOdomClass(OdomConfig config) {
+    Odometry::EncoderConfig adi_encoder_config = {0., 360., 2.8};
+
+    switch (config) {
+        case FOLLOWER:
+            return new FollowerOdometry(adi_encoder_config, adi_encoder_config);
+        case TANK:
+            return new TankOdometry(adi_encoder_config, adi_encoder_config);
+        default:
+            Node::m_handle->logerror("Error creating odometry instance in OdometryNode.cpp");
+            return new FollowerOdometry(adi_encoder_config, adi_encoder_config);
+    }
+}
+
+void OdometryNode::initialize() {
+
+}
+
+Pose OdometryNode::getCurrentPose() {
+    return m_odom->GetPose();
+}
+
+void OdometryNode::teleopPeriodic() {
+    Rotation2Dd current_angle(m_inertial_sensor->getRPY().yaw);
+
+    m_odom->Update(m_odom_encoder_1->getValue(), m_odom_encoder_2->getValue(), current_angle);
+}
+
+void OdometryNode::autonPeriodic() {
+    Rotation2Dd current_angle(m_inertial_sensor->getRPY().yaw);
+
+    m_odom->Update(m_odom_encoder_1->getValue(), m_odom_encoder_2->getValue(), current_angle);
+}
+
+OdometryNode::~OdometryNode() {
+    delete m_odom;
+}
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp b/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp
deleted file mode 100644
index 86cd414a7..000000000
--- a/src/v5_hal/firmware/src/adaptive_pursuit_controller/TankOdometry.cpp
+++ /dev/null
@@ -1,117 +0,0 @@
-#include "TankOdometry.h"
-
-TankOdometry* TankOdometry::m_instance = nullptr;
-
-TankOdometry * TankOdometry::GetInstance() {
-    if(!m_instance) {
-        m_instance = new TankOdometry;
-    }
-    return m_instance;
-}
-
-void TankOdometry::Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig,
-        Pose currentPose) {
-    m_leftTicksToDist = (leftEncoderConfig.wheelDiameter * PI) / leftEncoderConfig.ticksPerWheelRevolution;
-    m_rightTicksToDist = (rightEncoderConfig.wheelDiameter * PI) / rightEncoderConfig.ticksPerWheelRevolution;
-    m_lastLeftEncoderDist = 0;
-    m_lastRightEncoderDist = 0;
-    SetCurrentPose(currentPose);
-}
-
-/**
- * This function is used to update the internal calculated position of the robot. Not as accurate as gyro version
- *
- * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
- * at a rate of 50 Hz or greater.
- *
- * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
- * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
- */
-void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth) {
-    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
-    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
-
-    if(m_poseReset) {
-        m_lastLeftEncoderDist = leftDist;
-        m_lastRightEncoderDist = rightDist;
-        m_poseReset = false;
-    }
-
-    double leftDelta = leftDist - m_lastLeftEncoderDist;
-    double rightDelta = rightDist - m_lastRightEncoderDist;
-    double distanceMoved = (leftDelta + rightDelta) / 2.0;
-
-    double rotation = (rightDelta - leftDelta) / trackWidth;
-
-    Vector2d robotTranslation(0, distanceMoved);
-
-    m_robotPose.angle = m_robotPose.angle * Rotation2Dd(rotation);
-    robotTranslation = m_robotPose.angle * robotTranslation;
-    m_robotPose.position += robotTranslation;
-
-    m_lastLeftEncoderDist = leftDist;
-    m_lastRightEncoderDist = rightDist;
-}
-
-/**
- * This function is used to update the internal calculated position of the robot
- *
- * To maximize accuracy in robot position estimation, this function should be called as frequently as possible, ideally
- * at a rate of 50 Hz or greater.
- *
- * @param leftEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
- * @param rightEncoderRawTicks The distance in inches measured by the left encoder since when the tracker was last initialized
- * @param gyroAngle The current yaw of the robot as measured by the gyro
- */
-void TankOdometry::Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle) {
-    double leftDist = leftEncoderRawTicks * m_leftTicksToDist;
-    double rightDist = rightEncoderRawTicks * m_rightTicksToDist;
-
-    if(m_poseReset) {
-        m_lastLeftEncoderDist = leftDist;
-        m_lastRightEncoderDist = rightDist;
-        m_gyroInitialAngle = gyroAngle;
-        m_poseReset = false;
-    }
-
-    double leftDelta = leftDist - m_lastLeftEncoderDist;
-    double rightDelta = rightDist - m_lastRightEncoderDist;
-    double distanceMoved = (leftDelta + rightDelta) / 2.0;
-
-    Vector2d robotTranslation(0, distanceMoved);
-    robotTranslation = gyroAngle * robotTranslation;
-    m_robotPose.position += robotTranslation;
-    m_robotPose.angle = gyroAngle * m_gyroInitialAngle.inverse();
-
-    m_lastLeftEncoderDist = leftDist;
-    m_lastRightEncoderDist = rightDist;
-}
-
-/**
- * Set the current pose of the robot
- *
- * @param currentPose Robot pose
- */
-void TankOdometry::SetCurrentPose(Pose currentPose) {
-    m_robotPose = currentPose;
-    m_poseReset = true;
-}
-
-/**
- * Reset the positions of the left and right encoders. This function must be called immediately after zeroing encoders.
- *
- * Units are in ticks
- *
- * @param leftEncoderTicks
- * @param rightEncoderTicks
- */
-void TankOdometry::ResetEncoderTicks(double leftEncoderTicks, double rightEncoderTicks) {
-    m_lastLeftEncoderDist = leftEncoderTicks * m_leftTicksToDist;
-    m_lastRightEncoderDist = rightEncoderTicks * m_rightTicksToDist;
-}
-
-Pose TankOdometry::GetPose(){
-    return m_robotPose;
-}
-
-
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index ebcdaab7c..f7f0daab1 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -24,6 +24,11 @@ ADIAnalogInNode* bottom_conveyor_sensor;
 ADIAnalogInNode* middle_conveyor_sensor;
 ADIAnalogInNode* top_conveyor_sensor;
 
+ADIEncoderNode* x_odom_encoder;
+ADIEncoderNode* y_odom_encoder;
+
+InertialSensorNode* inertial_sensor;
+
 TankDriveNode* tank_drive_node;
 ConveyorNode* conveyor_node;
 
@@ -74,6 +79,11 @@ void initialize() {
 	middle_conveyor_sensor = new ADIAnalogInNode(node_manager, 2, "middleConveyorSensor");
 	top_conveyor_sensor = new ADIAnalogInNode(node_manager, 3, "topConveyorSensor");
 
+	x_odom_encoder = new ADIEncoderNode(node_manager, 4, 5, "xOdomEncoder");
+	y_odom_encoder = new ADIEncoderNode(node_manager, 6, 7, "yOdomEncoder");
+
+	inertial_sensor = new InertialSensorNode(node_manager, "inertialSensor", 14);
+
 	tank_drive_node = new TankDriveNode(node_manager, "drivetrain", primary_controller, 
 		left_front_drive, left_rear_drive, right_front_drive, right_rear_drive);
 

From 68be63ccfcfd371e9689ed8748e96b6ecdefc35b Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 20:55:27 -0600
Subject: [PATCH 34/37] Renamed action method to match header

---
 src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
index 7280139c0..d9fae8760 100644
--- a/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/TurnToAngleAction.cpp
@@ -9,7 +9,7 @@ void TurnToAngleAction::ActionInit() {
     m_timer.Start();
 }
 
-AutonAction::actionStatus TurnToAngleAction::action() {    
+AutonAction::actionStatus TurnToAngleAction::Action() {    
     Eigen::Rotation2Dd current_angle(m_inertial_sensor->getRPY().yaw);
 
     double delta_angle = (current_angle * m_target_angle.inverse()).smallestAngle();

From 6f0a82f1fda4955445c798cc4cd9640d3e1f229b Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 21:08:15 -0600
Subject: [PATCH 35/37] Added pointer to odometry class

---
 src/v5_hal/firmware/include/Actions/FollowPathAction.h | 8 ++++++--
 src/v5_hal/firmware/src/Actions/FollowPathAction.cpp   | 9 ++++-----
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/v5_hal/firmware/include/Actions/FollowPathAction.h b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
index 38bb2d0dd..b120a30c2 100644
--- a/src/v5_hal/firmware/include/Actions/FollowPathAction.h
+++ b/src/v5_hal/firmware/include/Actions/FollowPathAction.h
@@ -2,15 +2,19 @@
 
 #include "Auton.h"
 #include "DataNodes/TankDriveNode.h"
+#include "DataNodes/OdometryNode.h"
 #include "adaptive_pursuit_controller/AdaptivePursuit.h"
 
 class FollowPathAction : public AutonAction {
 private:
     TankDriveNode* m_tank_drive;
+    OdometryNode* m_odom_node;
+
     AdaptivePursuit m_controller;
+
 public:
-    FollowPathAction(TankDriveNode* tank_drive, Path path, double wheelDiameter = 4.0625, bool reversed = false,
-                     double fixedLookahead = 10, double pathCompletionTolerance = 0.1, bool gradualStop = true);
+    FollowPathAction(TankDriveNode* tank_drive, OdometryNode* odom_node, Path path, double wheelDiameter = 4.0625, 
+        bool reversed = false, double fixedLookahead = 10, double pathCompletionTolerance = 0.1, bool gradualStop = true);
 
     void ActionInit();
     actionStatus Action();
diff --git a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
index 03f3cbd75..cb78f7b05 100644
--- a/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
+++ b/src/v5_hal/firmware/src/Actions/FollowPathAction.cpp
@@ -1,9 +1,8 @@
 #include "FollowPathAction.h"
 
-
-FollowPathAction::FollowPathAction(TankDriveNode* tank_drive, Path path, double wheelDiameter, bool reversed,
-                             double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
-            m_controller(fixedLookahead, 0.1, 0.01, path, reversed, pathCompletionTolerance, gradualStop, wheelDiameter) {
+FollowPathAction::FollowPathAction(TankDriveNode* tank_drive, OdometryNode* odom_node, Path path, double wheelDiameter, bool reversed,
+        double fixedLookahead, double pathCompletionTolerance, bool gradualStop) :
+        m_odom_node(odom_node), m_controller(fixedLookahead, 0.1, 0.01, path, reversed, pathCompletionTolerance, gradualStop, wheelDiameter) {
     m_tank_drive = tank_drive;
 }
 
@@ -12,7 +11,7 @@ void FollowPathAction::ActionInit() {
 }
 
 AutonAction::actionStatus FollowPathAction::Action() {
-    auto command = m_controller.Update(TankOdometry::GetInstance()->GetPose(), pros::millis() / 1000.0);
+    auto command = m_controller.Update(m_odom_node->getCurrentPose(), pros::millis() / 1000.0);
 
     m_tank_drive->setDriveVelocity(command.left, command.right); 
 

From a2eb95df1129aed035e0e8fa3331173c7b584fe0 Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 21:17:10 -0600
Subject: [PATCH 36/37] Fixed build issues with duplicate classes

---
 .../firmware/include/ProgrammingSkillsAuton.h | 10 ++--
 .../AdaptivePursuit.h                         |  2 +-
 .../adaptive_pursuit_controller/Math/Math.h   | 50 -------------------
 .../adaptive_pursuit_controller/Math/Pose.h   | 22 --------
 .../adaptive_pursuit_controller/Rotation2d.h  |  2 +-
 .../TankOdometry.h                            | 50 -------------------
 .../firmware/src/ProgrammingSkillsAuton.cpp   |  6 +--
 src/v5_hal/firmware/src/main.cpp              |  8 ++-
 src/v5_hal/firmware/src/odometry/Odometry.cpp |  4 ++
 9 files changed, 22 insertions(+), 132 deletions(-)
 delete mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
 delete mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
 delete mode 100644 src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h

diff --git a/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h b/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
index e20c8fcb9..dd3aa5548 100644
--- a/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
+++ b/src/v5_hal/firmware/include/ProgrammingSkillsAuton.h
@@ -1,13 +1,17 @@
 #include "Auton.h"
 #include "adaptive_pursuit_controller/PathManager.h"
 #include "DataNodes/TankDriveNode.h"
+#include "DataNodes/OdometryNode.h"
 #include "Actions/FollowPathAction.h"
 
 class ProgrammingSkillsAuton : public Auton {
 public:
-    ProgrammingSkillsAuton(TankDriveNode * tankDriveNode);
+    ProgrammingSkillsAuton(TankDriveNode* tankDriveNode, OdometryNode* odom_node);
+
     void AddNodes();
+
 private:
-    TankDriveNode * m_tankDriveNode;
-    AutonNode * testNode;
+    TankDriveNode* m_tankDriveNode;
+    AutonNode* testNode;
+    OdometryNode* m_odom_node;
 };
\ No newline at end of file
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
index 9d5bf2ee7..43fc7e6cc 100644
--- a/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/AdaptivePursuit.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "TankOdometry.h"
+#include "odometry/TankOdometry.h"
 #include <optional>
 #include "Path.h"
 #include "Logger.h"
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
deleted file mode 100644
index 53d2f74ae..000000000
--- a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Math.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include <cmath>
-#include <iostream>
-
-#ifndef PI
-#define PI 3.141592653589793
-#endif
-
-#define kEpsilon .000000001
-#define kE .000000001
-
-using namespace std;
-
-inline double toRadians(double degrees) {
-    return degrees * (PI / 180.0);
-}
-
-inline double toDegrees(double degrees) {
-    return degrees * (180.0 / PI);
-}
-
-inline double arctan(double x, double y) {
-    double result = toDegrees(atan2(y, x));
-    if(x >= 0 && y >= 0) {
-        return 90 - result;
-    } else if(x >= 0 && y < 0) {
-        return 90 + -1 * result;
-    } else if(x <= 0 && y < 0) {
-        return 90 + -1 * result;
-    } else if(x < 0 && y >= 0) {
-        return 450 - result;
-    }
-    return -1;
-}
-
-inline double pathogram(double x, double y){
-    return sqrt(x*x + y*y);
-}
-
-inline double clamp(double value, double minimum, double maximum) {
-    if(value < minimum) {
-        return minimum;
-    } else if(value > maximum) {
-        return maximum;
-    } else {
-        return value;
-    }
-}
-
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
deleted file mode 100644
index 8c95f81a3..000000000
--- a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Math/Pose.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#pragma once
-
-#include "eigen/Eigen/Dense"
-
-using namespace Eigen;
-
-struct Pose {
-    Vector2d position;
-    Rotation2Dd angle;
-
-    Pose(Vector2d positionIn, Rotation2Dd angleIn) {
-        position = positionIn;
-        angle = angleIn;
-    }
-
-    Pose() {
-        position = Vector2d(0, 0);
-        angle = Rotation2Dd(0);
-    }
-
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-};
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
index 0949dae5a..a1e7ba3b8 100644
--- a/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
+++ b/src/v5_hal/firmware/include/adaptive_pursuit_controller/Rotation2d.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Math/Math.h"
+#include "math/Math.h"
 
 class Rotation2d{
 protected:
diff --git a/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h b/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h
deleted file mode 100644
index 78eecbaf5..000000000
--- a/src/v5_hal/firmware/include/adaptive_pursuit_controller/TankOdometry.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include "Math/Pose.h"
-#include "Math/Math.h"
-
-using namespace std;
-
-
-class TankOdometry {
-public:
-    struct EncoderConfig {
-        double initialTicks;
-        double ticksPerWheelRevolution;
-        double wheelDiameter;
-    };
-
-    void ResetEncoderTicks(double leftEncoderTicks = 0, double rightEncoderTicks = 0);
-
-    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, double trackWidth);
-    void Update(double leftEncoderRawTicks, double rightEncoderRawTicks, Rotation2Dd gyroAngle);
-
-    static TankOdometry* GetInstance();
-
-    void Initialize(EncoderConfig leftEncoderConfig, EncoderConfig rightEncoderConfig, Pose currentPose = Pose());
-
-    void SetCurrentPose(Pose currentPose);
-
-    Pose GetPose();
-
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-private:
-    TankOdometry() = default;
-
-    static TankOdometry* m_instance;
-
-    double m_leftTicksToDist;
-    double m_rightTicksToDist;
-
-    double m_lastLeftEncoderDist;
-    double m_lastRightEncoderDist;
-
-    Rotation2Dd m_gyroInitialAngle;
-
-    bool m_poseReset = true;
-
-    Pose m_robotPose = Pose(Vector2d(0, 0), Rotation2Dd());
-};
-
-
diff --git a/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp b/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp
index ad93a6756..768ccd3dd 100644
--- a/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp
+++ b/src/v5_hal/firmware/src/ProgrammingSkillsAuton.cpp
@@ -1,12 +1,12 @@
 #include "ProgrammingSkillsAuton.h"
 
-ProgrammingSkillsAuton::ProgrammingSkillsAuton(TankDriveNode * tankDriveNode) : Auton("Programming Skills"), 
-    m_tankDriveNode(tankDriveNode) {
+ProgrammingSkillsAuton::ProgrammingSkillsAuton(TankDriveNode* tankDriveNode, OdometryNode* odom_node) : Auton("Programming Skills"), 
+    m_tankDriveNode(tankDriveNode), m_odom_node(odom_node) {
     
 
 }
 
 void ProgrammingSkillsAuton::AddNodes() {
-    testNode = new AutonNode(10, new FollowPathAction(m_tankDriveNode, PathManager::GetInstance()->GetPath("TestPath")));
+    testNode = new AutonNode(10, new FollowPathAction(m_tankDriveNode, m_odom_node, PathManager::GetInstance()->GetPath("TestPath")));
     Auton::AddFirstNode(testNode);
 }
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/main.cpp b/src/v5_hal/firmware/src/main.cpp
index f7f0daab1..2c13831be 100644
--- a/src/v5_hal/firmware/src/main.cpp
+++ b/src/v5_hal/firmware/src/main.cpp
@@ -40,8 +40,9 @@ BatteryNode* battery;
 CompetitionStatusNode* competition_status;
 
 ProsTimeNode* pros_time;
-Auton * programming_skills_auton;
+Auton* programming_skills_auton;
 
+OdometryNode* odom_node;
 
 /**
  * Runs initialization code. This occurs as soon as the program is started.
@@ -87,11 +88,14 @@ void initialize() {
 	tank_drive_node = new TankDriveNode(node_manager, "drivetrain", primary_controller, 
 		left_front_drive, left_rear_drive, right_front_drive, right_rear_drive);
 
+	odom_node = new OdometryNode(node_manager, "odometry", tank_drive_node, x_odom_encoder, 
+		y_odom_encoder, inertial_sensor, OdometryNode::FOLLOWER);
+
 	conveyor_node = new ConveyorNode(node_manager, "conveyor", primary_controller, left_intake,
 		right_intake, bottom_rollers, ejection_roller, top_rollers, bottom_conveyor_sensor, middle_conveyor_sensor,
 		top_conveyor_sensor);
      
-    programming_skills_auton = new ProgrammingSkillsAuton(tank_drive_node);
+    programming_skills_auton = new ProgrammingSkillsAuton(tank_drive_node, odom_node);
 
 	// Call the node manager to initialize all of the nodes above
 	node_manager->initialize();
diff --git a/src/v5_hal/firmware/src/odometry/Odometry.cpp b/src/v5_hal/firmware/src/odometry/Odometry.cpp
index eb5308976..980dff7db 100644
--- a/src/v5_hal/firmware/src/odometry/Odometry.cpp
+++ b/src/v5_hal/firmware/src/odometry/Odometry.cpp
@@ -24,3 +24,7 @@ void Odometry::SetCurrentPose(Pose current_pose) {
     m_pose_reset = true;
 }
 
+Odometry::~Odometry() {
+
+}
+

From d584dc93cd400afe89272d38ac39b9e52d7738bf Mon Sep 17 00:00:00 2001
From: NathanDuPont <nathan.dupont01@gmail.com>
Date: Fri, 12 Feb 2021 22:37:57 -0600
Subject: [PATCH 37/37] Added turning auton to test turn PID

---
 .../firmware/include/Autons/TestTurnAuton.h     | 17 +++++++++++++++++
 .../firmware/src/Autons/TestTurnAuton.cpp       | 14 ++++++++++++++
 2 files changed, 31 insertions(+)
 create mode 100644 src/v5_hal/firmware/include/Autons/TestTurnAuton.h
 create mode 100644 src/v5_hal/firmware/src/Autons/TestTurnAuton.cpp

diff --git a/src/v5_hal/firmware/include/Autons/TestTurnAuton.h b/src/v5_hal/firmware/include/Autons/TestTurnAuton.h
new file mode 100644
index 000000000..85e866142
--- /dev/null
+++ b/src/v5_hal/firmware/include/Autons/TestTurnAuton.h
@@ -0,0 +1,17 @@
+#include "Auton.h"
+#include "DataNodes/TankDriveNode.h"
+#include "DataNodes/InertialSensorNode.h"
+#include "Actions/TurnToAngleAction.h"
+#include "eigen/Eigen/Dense"
+
+class TestTurnAuton : public Auton {
+public:
+    TestTurnAuton(TankDriveNode* chassis_node, InertialSensorNode* inertial_sensor_node);
+
+    void AddNodes();
+
+private:
+    TankDriveNode* m_chassis_node;
+    InertialSensorNode* m_inertial_sensor_node;
+    AutonNode* m_turn_node;
+};
\ No newline at end of file
diff --git a/src/v5_hal/firmware/src/Autons/TestTurnAuton.cpp b/src/v5_hal/firmware/src/Autons/TestTurnAuton.cpp
new file mode 100644
index 000000000..1d41d6595
--- /dev/null
+++ b/src/v5_hal/firmware/src/Autons/TestTurnAuton.cpp
@@ -0,0 +1,14 @@
+#include "Autons/TestTurnAuton.h"
+
+TestTurnAuton::TestTurnAuton(TankDriveNode* chassis_node, InertialSensorNode* inertial_sensor_node) : 
+        Auton("Test Turn Node"), m_chassis_node(chassis_node), m_inertial_sensor_node(inertial_sensor_node) {
+    
+
+}
+
+void TestTurnAuton::AddNodes() {
+    Eigen::Rotation2Dd target_angle(M_PI);
+
+    m_turn_node = new AutonNode(10, new TurnToAngleAction(m_chassis_node, m_inertial_sensor_node, target_angle));
+    Auton::AddFirstNode(m_turn_node);
+}
\ No newline at end of file