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Auto commit from DCSP - 2026/1/4 20:30:54

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xb
2026-01-04 20:30:54 +08:00
parent 0ceb98ed87
commit 6980e8ade2
7 changed files with 93 additions and 97 deletions
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3
ComHS-main.cpp
View File

@@ -30,9 +30,8 @@ int main(int argc, char *argv[])
// 主循环 // 主循环
int counter = 0; int counter = 0;
while (1) // 使用g_running标志在stop_scomm_service中控制退出 while (1)
{ {
// 主线程可以做其他工作，如状态监控
sleep(1); sleep(1);
} }

35
ComHS.cpp
View File

@@ -16,8 +16,8 @@
using namespace std; using namespace std;
// 全局变量定义 // 全局变量定义
static int fd_telecontrol = -1; // 遥控串口 通信机发送给服务端 static int fd_telecontrol = -1; // 遥控串口 通信硬件服务化发送给通信机
static int fd_telemetry = -1; // 遥测串口 服务端发送给通信机 static int fd_telemetry = -1; // 遥测串口 通信机发送给通信硬件服务化
S_Comm_telemetry_data_t S_TELE; // 维护遥测数据缓存，供状态查询使用 S_Comm_telemetry_data_t S_TELE; // 维护遥测数据缓存，供状态查询使用
uint8_t cmderPadding[1] = {0xA5}; // 用于填充指令 uint8_t cmderPadding[1] = {0xA5}; // 用于填充指令
@@ -51,20 +51,19 @@ static pthread_t telemetry_thread, monitor_thread;
// 信号处理函数 // 信号处理函数
static void signal_handler(int signum) static void signal_handler(int signum)
{ {
cout << "[INFO] Received signal " << signum << ", shutting down..." << endl;
g_running = 0; g_running = 0;
} }
// ComHS日志函数 // ComHS日志函数
void ComHSWriteLog(const std::string &msg) void ComHSWriteLog(const string &msg)
{ {
std::cout << msg << std::endl; cout << msg << endl;
} }
// 初始化ComHS // 初始化ComHS的fastdds
void ComHS_init(uint8_t domainid, std::string appname) void ComHS_init(uint8_t domainid, string appname)
{ {
std::vector<std::string> parameters; vector<string> parameters;
string expression = "dest = '" + servername + "'"; string expression = "dest = '" + servername + "'";
if (nullptr == ComHS_part) if (nullptr == ComHS_part)
@@ -76,7 +75,6 @@ void ComHS_init(uint8_t domainid, std::string appname)
ComHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters); ComHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters);
ComHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters); ComHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
cout << "[OK] ComHS initialized for " << appname << endl;
} }
} }
@@ -95,14 +93,13 @@ void ComHS_telemetry_Pub(uint8_t* data, string dest, uint16_t len)
if (ComHS_part) if (ComHS_part)
{ {
ComHS_part->publish(topic_name_tlm, "Com_Hardware_Service", dest, "telemetry", data, len); ComHS_part->publish(topic_name_tlm, "Com_Hardware_Service", dest, "telemetry", data, len);
cout << "[INFO] Telemetry published to " << dest << ", len=" << len << endl;
} }
} }
// ComHS命令回调函数 // ComHS命令回调函数
void command_callback(std::string src, std::string dest, std::string type, void command_callback(string src, string dest, string type,
std::string reserve1, std::string reserve2, string reserve1, string reserve2,
std::vector<uint8_t>& data) vector<uint8_t>& data)
{ {
if (S_COMM_ON_OFF != 1) if (S_COMM_ON_OFF != 1)
@@ -128,9 +125,9 @@ void command_callback(std::string src, std::string dest, std::string type,
} }
// ComHS遥测回调函数 // ComHS遥测回调函数
void telemetry_callback(std::string src, std::string dest, std::string type, void telemetry_callback(string src, string dest, string type,
std::string reserve1, std::string reserve2, string reserve1, string reserve2,
std::vector<uint8_t>& data) vector<uint8_t>& data)
{ {
if (S_COMM_ON_OFF != 1) if (S_COMM_ON_OFF != 1)
@@ -447,7 +444,7 @@ int process_received_data(uint8_t *data, uint16_t size)
} }
break; break;
case 0xA5: // 发送遥测确认 case 0xA5: // 遥测确认
if ((S_Telec1_Data[5] == 0xAA) && (S_Telec1_Data[6] == 0x50)) if ((S_Telec1_Data[5] == 0xAA) && (S_Telec1_Data[6] == 0x50))
{ {
sendTelemSuccessCnt = 1; sendTelemSuccessCnt = 1;
@@ -515,8 +512,6 @@ int read_scomm_response(void)
printf("[WARN] S_COMM buffer full\n"); printf("[WARN] S_COMM buffer full\n");
break; break;
} }
// 短暂延时，避免CPU占用过高
usleep(1000); usleep(1000);
} }
@@ -537,7 +532,7 @@ static void *telemetry_query_thread(void *arg)
if (S_COMM_ON_OFF == 1) if (S_COMM_ON_OFF == 1)
{ {
// 定时查询遥测数据 // 定时查询遥测数据
Get_S_COMM_Telemetry_Data(); Get_S_COMM_UP_CMD();
} }
// 每2秒查询一次 // 每2秒查询一次

22
ComHS.h
View File

@@ -5,6 +5,8 @@
#include <string> #include <string>
#include <vector> #include <vector>
using namespace std;
// 遥测cmd定义 // 遥测cmd定义
#define CON_TELEMETRY 0x0F //常规遥测查询 #define CON_TELEMETRY 0x0F //常规遥测查询
#define TELECONTROL_CMD 0x1E //遥控指令 #define TELECONTROL_CMD 0x1E //遥控指令
@@ -154,16 +156,16 @@ typedef struct __attribute__((__packed__)) {
} Multi_EPDU_packet_t; } Multi_EPDU_packet_t;
// 声明ComHS接口函数 // 声明ComHS接口函数
void ComHSWriteLog(const std::string &msg); void ComHSWriteLog(const string &msg);
void ComHS_init(uint8_t domainid, std::string appname); void ComHS_init(uint8_t domainid, string appname);
void command_callback(std::string src, std::string dest, std::string type, void command_callback(string src, string dest, string type,
std::string reserve1, std::string reserve2, string reserve1, string reserve2,
std::vector<uint8_t>& data); vector<uint8_t>& data);
void telemetry_callback(std::string src, std::string dest, std::string type, void telemetry_callback(string src, string dest, string type,
std::string reserve1, std::string reserve2, string reserve1, string reserve2,
std::vector<uint8_t>& data); vector<uint8_t>& data);
void ComHS_command_Pub(uint8_t* data, std::string dest, uint16_t len); void ComHS_command_Pub(uint8_t* data, string dest, uint16_t len);
void ComHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len); void ComHS_telemetry_Pub(uint8_t* data, string dest, uint16_t len);
// 声明串口操作函数 // 声明串口操作函数
int scomm_uart_init(const char *dev_telec, const char *dev_telem, int baudrate); int scomm_uart_init(const char *dev_telec, const char *dev_telem, int baudrate);

8
build/CMakeFiles/3.22.1/CMakeSystem.cmake
View File

@@ -1,13 +1,13 @@
set(CMAKE_HOST_SYSTEM "Linux-6.8.0-87-generic") set(CMAKE_HOST_SYSTEM "Linux-6.8.0-90-generic")
set(CMAKE_HOST_SYSTEM_NAME "Linux") set(CMAKE_HOST_SYSTEM_NAME "Linux")
set(CMAKE_HOST_SYSTEM_VERSION "6.8.0-87-generic") set(CMAKE_HOST_SYSTEM_VERSION "6.8.0-90-generic")
set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64") set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
set(CMAKE_SYSTEM "Linux-6.8.0-87-generic") set(CMAKE_SYSTEM "Linux-6.8.0-90-generic")
set(CMAKE_SYSTEM_NAME "Linux") set(CMAKE_SYSTEM_NAME "Linux")
set(CMAKE_SYSTEM_VERSION "6.8.0-87-generic") set(CMAKE_SYSTEM_VERSION "6.8.0-90-generic")
set(CMAKE_SYSTEM_PROCESSOR "x86_64") set(CMAKE_SYSTEM_PROCESSOR "x86_64")
set(CMAKE_CROSSCOMPILING "FALSE") set(CMAKE_CROSSCOMPILING "FALSE")

122
build/CMakeFiles/CMakeOutput.log
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@@ -1,4 +1,4 @@
The system is: Linux - 6.8.0-87-generic - x86_64 The system is: Linux - 6.8.0-90-generic - x86_64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded. Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: /usr/bin/cc Compiler: /usr/bin/cc
Build flags: Build flags:
@@ -28,10 +28,10 @@ The CXX compiler identification is GNU, found in "/home/xb/satellite/aircraft-1/
Detecting C compiler ABI info compiled with the following output: Detecting C compiler ABI info compiled with the following output:
Change Dir: /home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp Change Dir: /home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp
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gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp' gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_6d08f.dir/CMakeCCompilerABI.c.o Building C object CMakeFiles/cmTC_23e68.dir/CMakeCCompilerABI.c.o
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OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa
@@ -41,8 +41,8 @@ Configured with: ../src/configure -v --with-pkgversion='Ubuntu 11.4.0-1ubuntu1~2
Thread model: posix Thread model: posix
Supported LTO compression algorithms: zlib zstd Supported LTO compression algorithms: zlib zstd
gcc version 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2) gcc version 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2)
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GNU C17 (Ubuntu 11.4.0-1ubuntu1~22.04.2) version 11.4.0 (x86_64-linux-gnu) GNU C17 (Ubuntu 11.4.0-1ubuntu1~22.04.2) version 11.4.0 (x86_64-linux-gnu)
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ignore line: [Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_6d08f/fast && /usr/bin/gmake -f CMakeFiles/cmTC_6d08f.dir/build.make CMakeFiles/cmTC_6d08f.dir/build] ignore line: [Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_23e68/fast && /usr/bin/gmake -f CMakeFiles/cmTC_23e68.dir/build.make CMakeFiles/cmTC_23e68.dir/build]
ignore line: [gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp'] ignore line: [gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp']
ignore line: [Building C object CMakeFiles/cmTC_6d08f.dir/CMakeCCompilerABI.c.o] ignore line: [Building C object CMakeFiles/cmTC_23e68.dir/CMakeCCompilerABI.c.o]
ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_6d08f.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.22/Modules/CMakeCCompilerABI.c] ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_23e68.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.22/Modules/CMakeCCompilerABI.c]
ignore line: [Using built-in specs.] ignore line: [Using built-in specs.]
ignore line: [COLLECT_GCC=/usr/bin/cc] ignore line: [COLLECT_GCC=/usr/bin/cc]
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa] ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa]
@@ -122,8 +122,8 @@ Parsed C implicit link information from above output:
ignore line: [Thread model: posix] ignore line: [Thread model: posix]
ignore line: [Supported LTO compression algorithms: zlib zstd] ignore line: [Supported LTO compression algorithms: zlib zstd]
ignore line: [gcc version 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2) ] ignore line: [gcc version 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2) ]
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arg [/usr/lib/gcc/x86_64-linux-gnu/11/collect2] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/11/collect2] ==> ignore
arg [-plugin] ==> ignore arg [-plugin] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/11/liblto_plugin.so] ==> ignore arg [/usr/lib/gcc/x86_64-linux-gnu/11/liblto_plugin.so] ==> ignore
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/11/lto-wrapper] ==> ignore arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/11/lto-wrapper] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/ccANoz0x.res] ==> ignore arg [-plugin-opt=-fresolution=/tmp/cczVHtZR.res] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lc] ==> ignore arg [-plugin-opt=-pass-through=-lc] ==> ignore
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arg [-znow] ==> ignore arg [-znow] ==> ignore
arg [-zrelro] ==> ignore arg [-zrelro] ==> ignore
arg [-o] ==> ignore arg [-o] ==> ignore
arg [cmTC_6d08f] ==> ignore arg [cmTC_23e68] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o]
@@ -200,7 +200,7 @@ Parsed C implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..] arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..]
arg [CMakeFiles/cmTC_6d08f.dir/CMakeCCompilerABI.c.o] ==> ignore arg [CMakeFiles/cmTC_23e68.dir/CMakeCCompilerABI.c.o] ==> ignore
arg [-lgcc] ==> lib [gcc] arg [-lgcc] ==> lib [gcc]
arg [--push-state] ==> ignore arg [--push-state] ==> ignore
arg [--as-needed] ==> ignore arg [--as-needed] ==> ignore
@@ -234,10 +234,10 @@ Parsed C implicit link information from above output:
Detecting CXX compiler ABI info compiled with the following output: Detecting CXX compiler ABI info compiled with the following output:
Change Dir: /home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp Change Dir: /home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_db813/fast && /usr/bin/gmake -f CMakeFiles/cmTC_db813.dir/build.make CMakeFiles/cmTC_db813.dir/build Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_2433b/fast && /usr/bin/gmake -f CMakeFiles/cmTC_2433b.dir/build.make CMakeFiles/cmTC_2433b.dir/build
gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp' gmake[1]: Entering directory '/home/xb/satellite/aircraft-1/container-2/通信硬件服务化/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_db813.dir/CMakeCXXCompilerABI.cpp.o Building CXX object CMakeFiles/cmTC_2433b.dir/CMakeCXXCompilerABI.cpp.o
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Using built-in specs. Using built-in specs.
COLLECT_GCC=/usr/bin/c++ COLLECT_GCC=/usr/bin/c++
OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa OFFLOAD_TARGET_NAMES=nvptx-none:amdgcn-amdhsa
@@ -247,8 +247,8 @@ Configured with: ../src/configure -v --with-pkgversion='Ubuntu 11.4.0-1ubuntu1~2
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Supported LTO compression algorithms: zlib zstd Supported LTO compression algorithms: zlib zstd
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GNU C++17 (Ubuntu 11.4.0-1ubuntu1~22.04.2) version 11.4.0 (x86_64-linux-gnu) GNU C++17 (Ubuntu 11.4.0-1ubuntu1~22.04.2) version 11.4.0 (x86_64-linux-gnu)
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@@ -272,15 +272,15 @@ GNU C++17 (Ubuntu 11.4.0-1ubuntu1~22.04.2) version 11.4.0 (x86_64-linux-gnu)
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Compiler executable checksum: 6c87588fc345655b93b8c25f48f88886 Compiler executable checksum: 6c87588fc345655b93b8c25f48f88886
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arg [-plugin-opt=-pass-through=-lc] ==> ignore arg [-plugin-opt=-pass-through=-lc] ==> ignore
@@ -408,7 +408,7 @@ Parsed CXX implicit link information from above output:
arg [-znow] ==> ignore arg [-znow] ==> ignore
arg [-zrelro] ==> ignore arg [-zrelro] ==> ignore
arg [-o] ==> ignore arg [-o] ==> ignore
arg [cmTC_db813] ==> ignore arg [cmTC_2433b] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/Scrt1.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/../../../x86_64-linux-gnu/crti.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] arg [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o] ==> obj [/usr/lib/gcc/x86_64-linux-gnu/11/crtbeginS.o]
@@ -420,7 +420,7 @@ Parsed CXX implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu] arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib] arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..] arg [-L/usr/lib/gcc/x86_64-linux-gnu/11/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/11/../../..]
arg [CMakeFiles/cmTC_db813.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore arg [CMakeFiles/cmTC_2433b.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
arg [-lstdc++] ==> lib [stdc++] arg [-lstdc++] ==> lib [stdc++]
arg [-lm] ==> lib [m] arg [-lm] ==> lib [m]
arg [-lgcc_s] ==> lib [gcc_s] arg [-lgcc_s] ==> lib [gcc_s]

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