From b07c7ba834880ffb0c8a2e861895ec1d839116f3 Mon Sep 17 00:00:00 2001 From: xb <18656218039@163.com> Date: Fri, 9 Jan 2026 10:35:06 +0800 Subject: [PATCH] Initial commit from DCSP - 2026/1/9 10:35:06 --- CMakeLists.txt | 47 + Star_sensorHS-main.cpp | 77 ++ Star_sensorHS.cpp | 960 ++++++++++++++++++ Star_sensorHS.h | 337 ++++++ Star_sensorHS.json | 18 + build/CMakeCache.txt | 369 +++++++ build/CMakeFiles/3.22.1/CMakeCCompiler.cmake | 72 ++ .../CMakeFiles/3.22.1/CMakeCXXCompiler.cmake | 83 ++ .../3.22.1/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 15968 bytes .../3.22.1/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 15992 bytes build/CMakeFiles/3.22.1/CMakeSystem.cmake | 15 + .../3.22.1/CompilerIdC/CMakeCCompilerId.c | 803 +++++++++++++++ build/CMakeFiles/3.22.1/CompilerIdC/a.out | Bin 0 -> 16088 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 791 +++++++++++++++ build/CMakeFiles/3.22.1/CompilerIdCXX/a.out | Bin 0 -> 16096 bytes .../CMakeDirectoryInformation.cmake | 16 + build/CMakeFiles/CMakeOutput.log | 449 ++++++++ build/CMakeFiles/Makefile.cmake | 122 +++ build/CMakeFiles/Makefile2 | 112 ++ .../Star_sensorHS.dir/DependInfo.cmake | 20 + .../Star_sensorHS-main.cpp.o | Bin 0 -> 9704 bytes .../Star_sensorHS-main.cpp.o.d | 180 ++++ .../Star_sensorHS.dir/Star_sensorHS.cpp.o | Bin 0 -> 171520 bytes .../Star_sensorHS.dir/Star_sensorHS.cpp.o.d | 446 ++++++++ build/CMakeFiles/Star_sensorHS.dir/build.make | 126 +++ .../Star_sensorHS.dir/cmake_clean.cmake | 13 + .../Star_sensorHS.dir/compiler_depend.make | 2 + .../Star_sensorHS.dir/compiler_depend.ts | 2 + .../CMakeFiles/Star_sensorHS.dir/depend.make | 2 + build/CMakeFiles/Star_sensorHS.dir/flags.make | 10 + build/CMakeFiles/Star_sensorHS.dir/link.txt | 1 + .../Star_sensorHS.dir/progress.make | 4 + build/CMakeFiles/TargetDirectories.txt | 3 + build/CMakeFiles/cmake.check_cache | 1 + build/CMakeFiles/progress.marks | 1 + build/Makefile | 208 ++++ build/bin/Star_sensorHS | Bin 0 -> 110984 bytes build/bin/Star_sensorHS.json | 18 + build/cmake_install.cmake | 54 + 39 files changed, 5362 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 Star_sensorHS-main.cpp create mode 100644 Star_sensorHS.cpp create mode 100644 Star_sensorHS.h create mode 100644 Star_sensorHS.json create mode 100644 build/CMakeCache.txt create mode 100644 build/CMakeFiles/3.22.1/CMakeCCompiler.cmake create mode 100644 build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake create mode 100755 build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_C.bin create mode 100755 build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin create mode 100644 build/CMakeFiles/3.22.1/CMakeSystem.cmake create mode 100644 build/CMakeFiles/3.22.1/CompilerIdC/CMakeCCompilerId.c create mode 100755 build/CMakeFiles/3.22.1/CompilerIdC/a.out create mode 100644 build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp create mode 100755 build/CMakeFiles/3.22.1/CompilerIdCXX/a.out create mode 100644 build/CMakeFiles/CMakeDirectoryInformation.cmake create mode 100644 build/CMakeFiles/CMakeOutput.log create mode 100644 build/CMakeFiles/Makefile.cmake create mode 100644 build/CMakeFiles/Makefile2 create mode 100644 build/CMakeFiles/Star_sensorHS.dir/DependInfo.cmake create mode 100644 build/CMakeFiles/Star_sensorHS.dir/Star_sensorHS-main.cpp.o create mode 100644 build/CMakeFiles/Star_sensorHS.dir/Star_sensorHS-main.cpp.o.d create mode 100644 build/CMakeFiles/Star_sensorHS.dir/Star_sensorHS.cpp.o create mode 100644 build/CMakeFiles/Star_sensorHS.dir/Star_sensorHS.cpp.o.d create mode 100644 build/CMakeFiles/Star_sensorHS.dir/build.make create mode 100644 build/CMakeFiles/Star_sensorHS.dir/cmake_clean.cmake create mode 100644 build/CMakeFiles/Star_sensorHS.dir/compiler_depend.make create mode 100644 build/CMakeFiles/Star_sensorHS.dir/compiler_depend.ts create mode 100644 build/CMakeFiles/Star_sensorHS.dir/depend.make create mode 100644 build/CMakeFiles/Star_sensorHS.dir/flags.make create mode 100644 build/CMakeFiles/Star_sensorHS.dir/link.txt create mode 100644 build/CMakeFiles/Star_sensorHS.dir/progress.make create mode 100644 build/CMakeFiles/TargetDirectories.txt create mode 100644 build/CMakeFiles/cmake.check_cache create mode 100644 build/CMakeFiles/progress.marks create mode 100644 build/Makefile create mode 100755 build/bin/Star_sensorHS create mode 100644 build/bin/Star_sensorHS.json create mode 100644 build/cmake_install.cmake diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..96178a8 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.10) +project(Star_sensorHS) + +# 设置C++标准 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +# 设置编译选项 +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread") + +# 包含头文件路径 +include_directories( + ${CMAKE_CURRENT_SOURCE_DIR} # 当前目录 + /usr/local/include/simmsg # simmsg头文件目录 + /usr/local/include # 系统本地include + /usr/include # 系统include +) + +# 链接库路径 +link_directories( + /usr/local/lib # 系统本地lib + /usr/lib # 系统lib + /usr/lib/x86_64-linux-gnu # 系统64位库 +) + +# 添加可执行文件 +add_executable(Star_sensorHS + Star_sensorHS-main.cpp + Star_sensorHS.cpp +) + +# 链接库 +target_link_libraries(Star_sensorHS + pthread + m + rt + simmsg + fastrtps + fastcdr + foonathan_memory + jsoncpp +) + +# 设置输出目录 +set_target_properties(Star_sensorHS PROPERTIES + RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin +) diff --git a/Star_sensorHS-main.cpp b/Star_sensorHS-main.cpp new file mode 100644 index 0000000..6f43413 --- /dev/null +++ b/Star_sensorHS-main.cpp @@ -0,0 +1,77 @@ +#include +#include +#include +#include + +#include "Star_sensorHS.h" + +using namespace std; + +// 全局变量用于信号处理 +static bool running = true; + +// 信号处理函数 +void signal_handler(int signal) { + running = false; +} + +int main(int argc, char* argv[]) { + // 设置信号处理 + signal(SIGINT, signal_handler); + signal(SIGTERM, signal_handler); + + // 默认配置文件 + string config_file = "Star_sensorHS.json"; + + cout << "[INFO] Starting Star Sensor Hardware Service" << endl; + cout << "[INFO] Loading configuration from: " << config_file << endl; + + // 解析配置文件 + const int MAX_STARS = 8; + StarConfig star_configs[MAX_STARS]; + + int star_count = parse_config_file(config_file.c_str(), star_configs, MAX_STARS); + if (star_count <= 0) { + cerr << "[ERROR] No valid star sensors configured" << endl; + return -1; + } + + cout << "[INFO] Found " << star_count << " star sensors in configuration" << endl; + + // 初始化星敏设备 + for (int i = 0; i < star_count; i++) { + StarConfig config = star_configs[i]; + + // 调用初始化函数 + int result = star_uart_init(config.type, config.star_num, + config.device.c_str(), config.baudrate); + + if (result == SAT_ERR_OK) { + cout << "[OK] Star sensor " << config.star_num << " initialized successfully" << endl; + } else { + cerr << "[ERROR] Failed to initialize star sensor " << config.star_num << endl; + } + } + + // 统计初始化成功的星敏数量 + int nano_init_count = 0; + int pico_init_count = 0; + + for (int i = 0; i < MAX_STAR_NUM_PER_TYPE; i++) { + if (nano_stars[i].fd > 0) nano_init_count++; + if (pico_stars[i].fd > 0) pico_init_count++; + } + + // 初始化FastDDS + Fastdds_init(0, "Star_sensor_Hardware_Service"); + + // 主循环 + while (running) { + usleep(500000); // 每500ms检查一次 + } + + // 清理 + Star_sensorHS_cleanup(); + + return 0; +} \ No newline at end of file diff --git a/Star_sensorHS.cpp b/Star_sensorHS.cpp new file mode 100644 index 0000000..7e72812 --- /dev/null +++ b/Star_sensorHS.cpp @@ -0,0 +1,960 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "SimMsg.h" +#include "Star_sensorHS.h" + +using namespace std; + +/* ------------------ 全局变量 ------------------ */ +// FastDDS硬件服务化相关 +SimMsg* StarHS_part = nullptr; +string servername = "Star_sensor_Hardware_Service"; +string topic_name_cmd = "Command"; +string topic_name_tlm = "Telemetry"; + +// 星敏设备相关 +Star_Device nano_stars[MAX_STAR_NUM_PER_TYPE] = {0}; +Star_Device pico_stars[MAX_STAR_NUM_PER_TYPE] = {0}; +uint8_t nano_star_count = 0; +uint8_t pico_star_count = 0; + +// 全局UTC时间变量 +static uint8_t UTC_TIME_SET[5] = {0}; + +// 电星模数据结构体 +static CMD_ESD_S CMD_ESD_S_DATA = {0}; + +// 互斥锁 +static pthread_mutex_t cache_mutex = PTHREAD_MUTEX_INITIALIZER; + +/* ------------------ 解析json配置文件 ------------------ */ +int parse_config_file(const char* filename, StarConfig star_configs[], int max_stars) { + ifstream config_file(filename); + if (!config_file.is_open()) { + cerr << "[ERROR] Cannot open config file: " << filename << endl; + return -1; + } + + // 解析JSON + Json::CharReaderBuilder reader_builder; + Json::Value root; + string errs; + + if (!Json::parseFromStream(reader_builder, config_file, &root, &errs)) { + cerr << "[ERROR] Failed to parse JSON: " << errs << endl; + return -1; + } + + // 读取星敏配置 + int star_count = 0; + + if (root.isMember("star_sensors") && root["star_sensors"].isArray()) { + const Json::Value& stars = root["star_sensors"]; + + for (unsigned int i = 0; i < stars.size() && star_count < max_stars; i++) { + const Json::Value& star = stars[i]; + + // 检查是否启用 + if (star.isMember("enabled") && !star["enabled"].asBool()) { + continue; // 跳过禁用的星敏 + } + + // 读取配置参数 + StarConfig config; + + // 星敏类型 + string type_str = star.isMember("type") ? star["type"].asString() : "nano"; + if (type_str == "nano") { + config.type = STAR_TYPE_NANO; + } else if (type_str == "pico") { + config.type = STAR_TYPE_PICO; + } else { + cerr << "[WARNING] Unknown star type: " << type_str << ", defaulting to nano" << endl; + config.type = STAR_TYPE_NANO; + } + + // 串口设备 + config.device = star.isMember("device") ? star["device"].asString() : ""; + if (config.device.empty()) { + cerr << "[WARNING] Star sensor " << i << " has no device specified, skipping" << endl; + continue; + } + + // 波特率 + config.baudrate = star.isMember("baudrate") ? star["baudrate"].asInt() : 115200; + + // 星敏编号 + config.star_num = star.isMember("star_num") ? star["star_num"].asInt() : (star_count + 1); + + config.enabled = true; + star_configs[star_count] = config; + + + star_count++; + } + } else { + cerr << "[ERROR] No 'star_sensors' array found in config file" << endl; + return -1; + } + + return star_count; +} + +/* ------------------ 日志函数 ------------------ */ +void StarHSWriteLog(const std::string &msg) +{ + std::cout << "[StarHS] " << msg << std::endl; +} + +/* ------------------ FastDDS初始化 ------------------ */ +void Fastdds_init(uint8_t domainid, string appname) +{ + + vector parameters; + string expression = "dest = '"+ servername + "'"; + + if (nullptr == StarHS_part) + { + StarHS_part = new SimMsg(domainid, 3000, appname, StarHSWriteLog); + // 创建发布者和订阅者 + StarHS_part->create_pub(topic_name_tlm); + + // 注册回调函数 + StarHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters); + StarHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters); + + } +} + +/* ------------------ 命令回调函数 ------------------ */ +void command_callback(string src, string dest, string type, + string reserve1, string reserve2, + vector& data) { + cout << "[INFO] Command received from " << src << " to " << dest << endl; + + // 解析命令数据 + if (data.size() >= 4) { + uint8_t star_type = data[0]; + uint8_t star_num = data[1]; + uint8_t cmd = data[2]; + uint8_t param = data[3]; + + cout << "[INFO] Executing: star_type=" << (star_type == 0 ? "NANO" : "PICO") + << ", num=" << (int)star_num << ", cmd=" << (int)cmd << ", param=" << (int)param << endl; + + // 加锁保护串口访问 + pthread_mutex_lock(&cache_mutex); + + // 执行命令 + int result = send_star_cmd((star_type_t)star_type, star_num, (enum SENSOR_Cmder)cmd, param); + + pthread_mutex_unlock(&cache_mutex); + + if (result != SAT_ERR_OK) { + cerr << "[ERROR] Send command failed: " << result << endl; + } else { + cout << "[OK] Command executed successfully" << endl; + } + } else { + cerr << "[ERROR] Invalid command data size: " << data.size() << endl; + } +} + +/* ------------------ 遥测回调函数 ------------------ */ +void telemetry_callback(string src, string dest, string type, + string reserve1, string reserve2, + vector& data) { + + // 解析请求：前2字节为star_type和star_num + if (data.size() >= 2) { + star_type_t star_type = (star_type_t)data[0]; + uint8_t star_num = data[1]; + enum SENSOR_Cmder cmd = (star_type == STAR_TYPE_NANO) ? CMD_TLM_1 : CMD_TLM_2; + + cout << "[INFO] Reading telemetry: star_type=" + << (star_type == STAR_TYPE_NANO ? "NANO" : "PICO") + << ", num=" << (int)star_num << endl; + + // 加锁保护串口访问 + pthread_mutex_lock(&cache_mutex); + + // 读取数据 + Star_sensorHS_Frame response_frame; + int result = read_single_star_data(star_type, star_num, cmd, &response_frame); + + pthread_mutex_unlock(&cache_mutex); + + if (result == SAT_ERR_OK) { + // 发布遥测响应 + Star_sensorHS_telemetry_Pub((uint8_t *)&response_frame, src, sizeof(Star_sensorHS_Frame)); + cout << "[OK] Telemetry data sent to " << src << endl; + } else { + cerr << "[ERROR] Failed to read star data: " << result << endl; + + // 即使读取失败，也发送错误状态 + memset(&response_frame, 0, sizeof(Star_sensorHS_Frame)); + response_frame.on_off_status = 0; // 标记为错误状态 + Star_sensorHS_telemetry_Pub((uint8_t *)&response_frame, src, sizeof(Star_sensorHS_Frame)); + } + } else { + cerr << "[ERROR] Invalid telemetry request data size: " << data.size() << endl; + } +} + +/* ------------------ 遥测发布 ------------------ */ +void Star_sensorHS_telemetry_Pub(uint8_t* data, const string& dest, uint16_t len) { + StarHS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len); +} + + +/* ------------------ 星敏设备初始化 ------------------ */ +int star_devices_init(void) { + + pthread_mutex_init(&cache_mutex, NULL); + // 初始化纳型星敏 + char *nano_devs = getenv("STAR_NANO_DEVS"); + if (nano_devs) { + char *token = strtok(nano_devs, ","); + while (token && nano_star_count < MAX_STAR_NUM_PER_TYPE) { + char dev[32]; + int baud; + if (sscanf(token, "%[^:]:%d", dev, &baud) == 2) { + if (star_uart_init(STAR_TYPE_NANO, nano_star_count + 1, dev, baud) == SAT_ERR_OK) { + nano_star_count++; + } + } + token = strtok(NULL, ","); + } + } else { + // 默认配置 + if (star_uart_init(STAR_TYPE_NANO, 1, "/dev/ttyS0", 115200) == SAT_ERR_OK) { + nano_star_count = 1; + } + } + + // 初始化皮型星敏 + char *pico_devs = getenv("STAR_PICO_DEVS"); + if (pico_devs) { + char *token = strtok(pico_devs, ","); + while (token && pico_star_count < MAX_STAR_NUM_PER_TYPE) { + char dev[32]; + int baud; + if (sscanf(token, "%[^:]:%d", dev, &baud) == 2) { + if (star_uart_init(STAR_TYPE_PICO, pico_star_count + 1, dev, baud) == SAT_ERR_OK) { + pico_star_count++; + } + } + token = strtok(NULL, ","); + } + } else { + // 默认配置 + if (star_uart_init(STAR_TYPE_PICO, 1, "/dev/ttyS1", 115200) == SAT_ERR_OK) { + pico_star_count = 1; + } + } + + printf("[INFO] Initialized %d nano stars, %d pico stars\n", nano_star_count, pico_star_count); + return (nano_star_count + pico_star_count) > 0 ? 0 : -1; +} + + + +/* ------------------ 串口初始化 ------------------ */ +int star_uart_init(star_type_t type, uint8_t num, const char *dev, int baudrate) { + if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE) { + fprintf(stderr, "[ERROR] Invalid star type=%d or num=%d\n", type, num); + return SAT_ERR_DATA; + } + + uint8_t idx = num - 1; + Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx]; + + // 如果已经打开，先关闭 + if (star->fd > 0) { + close(star->fd); + star->fd = -1; + } + + // 打开串口 + star->fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK); + if (star->fd < 0) { + perror("[ERROR] Open star serial failed"); + return SAT_ERR_SERIAL; + } + + // 配置串口参数 + struct termios options; + if (tcgetattr(star->fd, &options) < 0) { + perror("[ERROR] Get serial attributes failed"); + close(star->fd); + star->fd = -1; + return SAT_ERR_SERIAL; + } + + // 设置波特率 + speed_t baud = B115200; + switch (baudrate) { + case 9600: baud = B9600; break; + case 19200: baud = B19200; break; + case 38400: baud = B38400; break; + case 57600: baud = B57600; break; + case 115200: baud = B115200; break; + case 230400: baud = B230400; break; + case 460800: baud = B460800; break; + case 921600: baud = B921600; break; + default: baud = B115200; + } + cfsetispeed(&options, baud); + cfsetospeed(&options, baud); + + // 8位数据位，无奇偶校验，1位停止位 + options.c_cflag &= ~PARENB; + options.c_cflag &= ~CSTOPB; + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; + + // 启用接收 + options.c_cflag |= CREAD | CLOCAL; + + // 禁用软件流控 + options.c_iflag &= ~(IXON | IXOFF | IXANY); + + // 原始模式 + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + options.c_oflag &= ~OPOST; + + // 设置超时 + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 10; // 1秒超时 + + if (tcsetattr(star->fd, TCSANOW, &options) < 0) { + perror("[ERROR] Set serial attributes failed"); + close(star->fd); + star->fd = -1; + return SAT_ERR_SERIAL; + } + + // 刷新缓冲区 + tcflush(star->fd, TCIOFLUSH); + + // 初始化设备信息 + star->dev = dev; + star->baudrate = baudrate; + star->on_off_status = 1; + + printf("[OK] %s STAR%d UART init: dev=%s, baud=%d, fd=%d\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num, dev, baudrate, star->fd); + + return SAT_ERR_OK; +} + +/* ------------------ 工具函数 ------------------ */ +// 计算校验和 +int checksum_verify(const uint8_t *data, int len) { + if (len <= 1 || data == NULL) return SAT_ERR_DATA; + uint8_t checksum = 0; + for (int i = 0; i < len - 1; ++i) checksum += data[i]; + if (checksum == data[len - 1]) return SAT_ERR_OK; + fprintf(stderr, "[ERROR] Checksum error: calculated=0x%02X, received=0x%02X\n", checksum, data[len - 1]); + return SAT_ERR_CHECKSUM; +} + +/* ------------------ 发送星敏命令 ------------------ */ +int send_star_cmd(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, uint8_t param) { + if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE) return SAT_ERR_DATA; + + uint8_t idx = num - 1; + Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx]; + if (star->fd < 0) { + fprintf(stderr, "[ERROR] Serial not open for %s STAR%d\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + return SAT_ERR_SERIAL; + } + + uint8_t send_cmd[260] = {0}; + int cmd_len = 5; + uint8_t i = 0; + + switch (cmd) { + case CMD_MCT_OST: // 光信号激励 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0X00; + send_cmd[4] = 0X14; + break; + + case CMD_MCT_ESI: // 电信号激励 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0X03; + send_cmd[4] = 0X17; + break; + + case CMD_SAT: // UTC时间（40bit，量纲ms） + send_cmd[0] = 0X74; + send_cmd[1] = 0XA3; + memcpy(send_cmd + 2, UTC_TIME_SET, 5); // 从全局变量读取时间 + send_cmd[7] = 0; + for (i = 0; i < 7; i++) send_cmd[7] += send_cmd[i]; + cmd_len = 8; + break; + + case CMD_WM_NORM: // 正常工作流程 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0X01; + send_cmd[3] = 0X01; + send_cmd[4] = 0X1A; + break; + + case CMD_WM_ALSKY: // 仅工作于全天识别模式 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0X02; + send_cmd[3] = 0X02; + send_cmd[4] = 0X1C; + break; + + case CMD_WM_TST: // 测试模式，用于标定 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0X04; + send_cmd[3] = 0X04; + send_cmd[4] = 0X20; + break; + + case CMD_WM_DLD: // 星图下传 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0X08; + send_cmd[3] = 0X08; + send_cmd[4] = 0X28; + break; + + case CMD_WM_IDLE: // 待机模式 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0XF0; + send_cmd[3] = 0XF0; + send_cmd[4] = 0XF8; + break; + + case CMD_WM_HK: // 至启动模式进行在轨维护 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0X0A; + send_cmd[3] = 0X0A; + send_cmd[4] = 0X2C; + break; + + case CMD_WM_RST: // 软件复位重启 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA4; + send_cmd[2] = 0XFF; + send_cmd[3] = 0XFF; + send_cmd[4] = 0X16; + break; + + case CMD_SEN_EXPO: // 曝光时间设置 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA9; + send_cmd[2] = 0X60; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_SEN_AGAIN: // 模拟增益设置 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA9; + send_cmd[2] = 0X30; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_SEN_DGAIN: // 数字增益设置 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA9; + send_cmd[2] = 0X90; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_ADE: // 设置星对角距匹配容差 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X03; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_SSE: // 设置单星匹配容差 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X05; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_TKR: // 星跟踪半径/二次迭代容差 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X06; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_ADN: // 设置定姿星数 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X09; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST: // 波门星点提取阈值偏移量 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X0A; + send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST_IMG_0: // 星图子块灰度均值0~5 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X0F; + send_cmd[3] = param; // 默认为5 + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST_IMG_1: // 星图子块灰度均值6~100 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X1F; + send_cmd[3] = param; // 默认为10 + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST_IMG_2: // 星图子块灰度均值101~150 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X2F; + send_cmd[3] = param; // 默认为12 + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST_IMG_3: // 星图子块灰度均值151~200 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X3F; + send_cmd[3] = param; // 默认为15 + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_OFST_IMG_4: // 星图子块灰度均值201~255 + send_cmd[0] = 0X74; + send_cmd[1] = 0XAC; + send_cmd[2] = 0X4F; + send_cmd[3] = param; // 默认为20 + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_WIN: // 波门图像大小 + send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0E; send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_PAR_RST: // 软件参数恢复默认值 + send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0B; send_cmd[3] = param; + send_cmd[4] = 0; + for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i]; + break; + + case CMD_ESD: + { + // 后续需修改 + CMD_ESD_S_DATA.FRAME_HEAD = htons(0x7456); + CMD_ESD_S_DATA.FRAME_ID = htons(0x0001); + memcpy(CMD_ESD_S_DATA.UTC, UTC_TIME_SET, 5); + CMD_ESD_S_DATA.STAR_NUM_S[0] = 1; + memset(&CMD_ESD_S_DATA.SS_SCP_X, 0, sizeof(CMD_ESD_S) - 8); + + uint8_t crc = 0; + uint8_t *data_ptr = (uint8_t *)&CMD_ESD_S_DATA; + for (uint32_t i = 0; i < sizeof(CMD_ESD_S) - 1; i++) { // 排除最后1字节SUM_CRC + crc += data_ptr[i]; + } + CMD_ESD_S_DATA.SUM_CRC = crc; + + if (write(star->fd, &CMD_ESD_S_DATA, sizeof(CMD_ESD_S)) != sizeof(CMD_ESD_S)) { + perror("[ERROR] Send ESD cmd failed"); + star->send_cmd_cnt++; + return SAT_ERR_SEND_CMD; + } + star->send_cmd_cnt = 0; + return SAT_ERR_OK; + } + + case CMD_MCT_FLT_ON: // 姿态滤波开 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0x05; + send_cmd[4] = 0x19; + break; + + case CMD_MCT_FLT_OFF: // 姿态滤波关 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0x07; + send_cmd[4] = 0x1B; + break; + + case CMD_MCT_PPS_ON: // PPS校时使能开 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0x0A; + send_cmd[4] = 0x1E; + break; + + case CMD_MCT_PPS_OFF: // PPS使能关 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0x0C; + send_cmd[4] = 0x20; + break; + + case CMD_MCT_PPS_CNT_RST: // PPS计数清零 + send_cmd[0] = 0X74; + send_cmd[1] = 0XA0; + send_cmd[2] = 0X00; + send_cmd[3] = 0x0E; + send_cmd[4] = 0x22; + break; + + case CMD_TLM_1: // 读取纳型遥测数据包1（64字节） + if (type != STAR_TYPE_NANO) return SAT_ERR_DATA; + send_cmd[0] = 0X74; + send_cmd[1] = 0XA1; + send_cmd[2] = 0X00; + send_cmd[3] = 0x00; + send_cmd[4] = 0x15; + break; + + case CMD_TLM_2: // 读取皮型遥测数据包2（256字节） + if (type != STAR_TYPE_PICO) return SAT_ERR_DATA; + send_cmd[0] = 0X74; + send_cmd[1] = 0XA1; + send_cmd[2] = 0X00; + send_cmd[3] = 0x05; + send_cmd[4] = 0x1A; + break; + + default: + fprintf(stderr, "[ERROR] Unsupported cmd=%d for %s STAR%d\n", cmd, + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + return SAT_ERR_DATA; + } + + if (write(star->fd, send_cmd, cmd_len) != cmd_len) { + perror("[ERROR] Send star cmd failed"); + star->send_cmd_cnt++; + return SAT_ERR_SEND_CMD; + } + + star->send_cmd_cnt = 0; + return SAT_ERR_OK; +} + +/* ------------------ 读取单个星敏数据 ------------------ */ +int read_single_star_data(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, Star_sensorHS_Frame *frame) { + if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE || !frame) { + return SAT_ERR_DATA; + } + + uint8_t idx = num - 1; + Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx]; + if (star->fd < 0) { + fprintf(stderr, "[ERROR] Serial not open for %s STAR%d\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + return SAT_ERR_SERIAL; + } + + int expected_bin_len = 0; + if (cmd == CMD_TLM_1 && type == STAR_TYPE_NANO) { + expected_bin_len = 64; + } else if (cmd == CMD_TLM_2 && type == STAR_TYPE_PICO) { + expected_bin_len = 256; + } else { + fprintf(stderr, "[ERROR] Unknown frame length for cmd=%d, type=%d\n", cmd, type); + return SAT_ERR_DATA; + } + + const int MAX_RETRY = 10; + uint8_t buf[MAX_BUF_SIZE] = {0}; + + for (int retry = 0; retry < MAX_RETRY; ++retry) { + // 清空串口缓冲区 + tcflush(star->fd, TCIOFLUSH); + memset(buf, 0, sizeof(buf)); + int total_read = 0; + + // 发送命令 + int send_ret = send_star_cmd(type, num, cmd, 0); + if (send_ret != SAT_ERR_OK) { + fprintf(stderr, "[ERROR] Retry %d: send cmd failed\n", retry); + // 增加命令发送错误计数 + star->send_cmd_cnt++; + continue; + } + + // 设置超时 + struct timeval start_time, current_time; + gettimeofday(&start_time, NULL); + const long TOTAL_TIMEOUT_MS = 1000; + + // 读取数据 + while (total_read < expected_bin_len && total_read < MAX_BUF_SIZE) { + gettimeofday(¤t_time, NULL); + long elapsed_ms = (current_time.tv_sec - start_time.tv_sec) * 1000 + + (current_time.tv_usec - start_time.tv_usec) / 1000; + if (elapsed_ms > TOTAL_TIMEOUT_MS) { + fprintf(stderr, "[ERROR] Timeout: read %d/%d bytes\n", total_read, expected_bin_len); + star->send_cmd_cnt++; + break; + } + + // 使用select等待数据 + struct timeval timeout = {0, 100000}; + fd_set readfds; + FD_ZERO(&readfds); + FD_SET(star->fd, &readfds); + + int ret = select(star->fd + 1, &readfds, NULL, NULL, &timeout); + if (ret < 0) { + perror("[ERROR] Select failed"); + return SAT_ERR_SELECT; + } else if (ret == 0) { + continue; // 超时，继续等待 + } + + // 读取数据 + if (FD_ISSET(star->fd, &readfds)) { + int bytes = read(star->fd, buf + total_read, expected_bin_len - total_read); + if (bytes > 0) { + total_read += bytes; + } else if (bytes == 0) { + usleep(10000); // 没有数据，等待10ms + } else { + perror("[ERROR] Read star data failed"); + return SAT_ERR_SERIAL; + } + } + } + + // 检查是否超时过多 + if (star->send_cmd_cnt >= 10) { + fprintf(stderr, "[ERROR] Too many timeouts, resetting %s STAR%d UART\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + star_uart_init(type, num, star->dev, star->baudrate); + star->uart_reset_cnt++; + star->send_cmd_cnt = 0; + continue; + } + + // 检查数据长度 + if (total_read < expected_bin_len) { + fprintf(stderr, "[ERROR] Frame too short: %d/%d bytes\n", total_read, expected_bin_len); + star->length_err_cnt++; + update_fault_count(star); + continue; + } + + // 检查帧头 + int header_valid = 0; + if (type == STAR_TYPE_NANO && cmd == CMD_TLM_1) { + header_valid = (buf[0] == 0x8A && buf[1] == 0xA1); + } else if (type == STAR_TYPE_PICO && cmd == CMD_TLM_2) { + header_valid = (buf[0] == 0xEB && buf[1] == 0x50 && buf[2] == 0x22); + } + if (!header_valid) { + fprintf(stderr, "[ERROR] Invalid frame header for %s STAR%d\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + star->header_err_cnt++; + update_fault_count(star); + continue; + } + + // 检查校验和 + if (checksum_verify(buf, expected_bin_len) != SAT_ERR_OK) { + star->check_err_cnt++; + update_fault_count(star); + continue; + } + + // 解析数据 + int parse_ret = SAT_ERR_DATA; + if (type == STAR_TYPE_NANO) { + parse_ret = parse_nano_quaternion(buf, frame); + } else if (type == STAR_TYPE_PICO) { + parse_ret = parse_pico_quaternion(buf, frame); + } + + if (parse_ret == SAT_ERR_OK) { + // 填充设备状态 + frame->on_off_status = star->on_off_status; + + // 填充错误计数信息 + frame->header_err_cnt = star->header_err_cnt; + frame->check_err_cnt = star->check_err_cnt; + frame->length_err_cnt = star->length_err_cnt; + frame->uart_reset_cnt = star->uart_reset_cnt; + frame->fault_cnt = star->fault_cnt; + + return SAT_ERR_OK; + } else { + fprintf(stderr, "[ERROR] Parse data failed for %s STAR%d\n", + type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + star->check_err_cnt++; // 解析失败也算校验错误 + update_fault_count(star); + continue; + } + } + + fprintf(stderr, "[ERROR] Read failed after %d retries for %s STAR%d\n", + MAX_RETRY, type == STAR_TYPE_NANO ? "NANO" : "PICO", num); + + // 串口复位 + star_uart_init(type, num, star->dev, star->baudrate); + star->uart_reset_cnt++; + update_fault_count(star); + + // 返回错误数据 + memset(frame, 0, sizeof(Star_sensorHS_Frame)); + frame->on_off_status = star->on_off_status; + frame->header_err_cnt = star->header_err_cnt; + frame->check_err_cnt = star->check_err_cnt; + frame->length_err_cnt = star->length_err_cnt; + frame->uart_reset_cnt = star->uart_reset_cnt; + frame->fault_cnt = star->fault_cnt; + + return SAT_ERR_UNKNOWN; +} + +/* ------------------ 数据解析纳型星敏 ------------------ */ +int parse_nano_quaternion(const uint8_t *buf, Star_sensorHS_Frame *frame) { + if (!buf || !frame) return SAT_ERR_DATA; + + int32_t raw_q0 = (int32_t)((buf[4] << 24) | (buf[5] << 16) | (buf[6] << 8) | buf[7]); + int32_t raw_q1 = (int32_t)((buf[8] << 24) | (buf[9] << 16) | (buf[10] << 8) | buf[11]); + int32_t raw_q2 = (int32_t)((buf[12] << 24) | (buf[13] << 16) | (buf[14] << 8) | buf[15]); + int32_t raw_q3 = (int32_t)((buf[16] << 24) | (buf[17] << 16) | (buf[18] << 8) | buf[19]); + + frame->q0 = (float)raw_q0 / 2147483647.5f; + frame->q1 = (float)raw_q1 / 2147483647.5f; + frame->q2 = (float)raw_q2 / 2147483647.5f; + frame->q3 = (float)raw_q3 / 2147483647.5f; + + int16_t raw_omega_x = (int16_t)((buf[45] << 8) | buf[46]); + int16_t raw_omega_y = (int16_t)((buf[47] << 8) | buf[48]); + int16_t raw_omega_z = (int16_t)((buf[49] << 8) | buf[50]); + + frame->wx = (float)raw_omega_x * 2e-13f; + frame->wy = (float)raw_omega_y * 2e-13f; + frame->wz = (float)raw_omega_z * 2e-13f; + + frame->bitpara_state.ext = buf[20]; + frame->star_num_d = buf[35]; + + return SAT_ERR_OK; +} + +/* ------------------ 数据解析皮型星敏 ------------------ */ +int parse_pico_quaternion(const uint8_t *buf, Star_sensorHS_Frame *frame) { + if (!buf || !frame) return SAT_ERR_DATA; + + int32_t raw_q1 = (int32_t)((buf[7] << 24) | (buf[6] << 16) | (buf[5] << 8) | buf[4]); + int32_t raw_q2 = (int32_t)((buf[11] << 24) | (buf[10] << 16) | (buf[9] << 8) | buf[8]); + int32_t raw_q3 = (int32_t)((buf[15] << 24) | (buf[14] << 16) | (buf[13] << 8) | buf[12]); + int32_t raw_q0 = (int32_t)((buf[19] << 24) | (buf[18] << 16) | (buf[17] << 8) | buf[16]); + + frame->q0 = (float)raw_q0 / 2147483647.0f; + frame->q1 = (float)raw_q1 / 2147483647.0f; + frame->q2 = (float)raw_q2 / 2147483647.0f; + frame->q3 = (float)raw_q3 / 2147483647.0f; + + frame->star_num_d = (buf[34] >> 1) & 0x7F; + + frame->bitpara_state.str_state1_data1 = buf[31] & 0x0F; + frame->bitpara_state.str_state1_data2 = (buf[31] >> 4) & 0x03; + frame->bitpara_state.str_state1_data3 = (buf[32] >> 6) & 0x03; + + frame->wx = 0.0f; + frame->wy = 0.0f; + frame->wz = 0.0f; + + return SAT_ERR_OK; +} + +/* ------------------ 硬件服务化清理 ------------------ */ +void Star_sensorHS_cleanup(void) { + cout << "[INFO] Star_sensorHS cleaning up..." << endl; + + // 清理FastDDS组件 + if (StarHS_part != nullptr) { + delete StarHS_part; + StarHS_part = nullptr; + } + + // 关闭所有串口 + for (uint8_t i = 0; i < MAX_STAR_NUM_PER_TYPE; i++) { + if (nano_stars[i].fd > 0) { + close(nano_stars[i].fd); + nano_stars[i].fd = -1; + } + if (pico_stars[i].fd > 0) { + close(pico_stars[i].fd); + pico_stars[i].fd = -1; + } + } + + // 销毁互斥锁 + pthread_mutex_destroy(&cache_mutex); + +} \ No newline at end of file diff --git a/Star_sensorHS.h b/Star_sensorHS.h new file mode 100644 index 0000000..d06fe8a --- /dev/null +++ b/Star_sensorHS.h @@ -0,0 +1,337 @@ +#ifndef STAR_SENSORHS_H +#define STAR_SENSORHS_H + +#include +#include +#include +#include + +/* ================== 错误码定义 ================== */ + +#ifndef SAT_ERR_OK +#define SAT_ERR_OK 0 // 成功 +#endif + +#ifndef SAT_ERR_SERIAL +#define SAT_ERR_SERIAL -1 // 串口未打开或无效 +#endif + +#ifndef SAT_ERR_SEND_CMD +#define SAT_ERR_SEND_CMD -2 // 发送命令失败 +#endif + +#ifndef SAT_ERR_NO_RESPONSE +#define SAT_ERR_NO_RESPONSE -3 // 无响应 +#endif + +#ifndef SAT_ERR_SELECT +#define SAT_ERR_SELECT -4 // select() 系统调用失败 +#endif + +#ifndef SAT_ERR_HEADER +#define SAT_ERR_HEADER -5 // 帧头错误 +#endif + +#ifndef SAT_ERR_DATA +#define SAT_ERR_DATA -6 // 数据解析失败 +#endif + +#ifndef SAT_ERR_UNKNOWN +#define SAT_ERR_UNKNOWN -7 // 未知错误 +#endif + +#ifndef SAT_ERR_LEN +#define SAT_ERR_LEN -8 // 帧长度错误 +#endif + +#ifndef SAT_ERR_CHECKSUM +#define SAT_ERR_CHECKSUM -9 // 校验和错误 +#endif + +#ifndef SAT_ERR_TIMEOUT +#define SAT_ERR_TIMEOUT -10 // 接收数据超时 +#endif + +/* ================== 常量定义 ================== */ +#define SS_SCP_ARR_LEN 20 +#define DS_SCP_ARR_LEN 20 +#define MAX_STAR_NUM_PER_TYPE 8 +#define MAX_BUF_SIZE 256 + +/* ================== 类型定义 ================== */ + +// 星敏子类型 +typedef enum { + STAR_TYPE_NANO = 0, + STAR_TYPE_PICO, + STAR_TYPE_MAX +} star_type_t; + +// 星敏配置结构体 +typedef struct { + star_type_t type; // 星敏类型 + std::string device; // 串口设备 + int baudrate; // 波特率 + bool enabled; // 是否启用 + int star_num; // 星敏编号 +} StarConfig; + +// 星敏感器状态字位域 +#pragma pack(push, 1) +typedef union { + uint8_t ext; + struct { + uint8_t str_state1_data4 : 1; + uint8_t str_state1_data3 : 1; + uint8_t str_state1_data2 : 2; + uint8_t str_state1_data1 : 4; + }; +} Bitpara_State; +#pragma pack(pop) + +// 统一遥测数据帧（包含数据和错误信息） +#pragma pack(push, 1) +typedef struct { + // 四元数数据 + float q0, q1, q2, q3; + + // 角速度 + float wx, wy, wz; + + // 状态信息 + Bitpara_State bitpara_state; // 星敏感器状态字 + uint8_t star_num_d; // 定姿星数 + uint8_t on_off_status; // 设备开关状态 + + // 错误计数部分 + uint16_t header_err_cnt; // 帧头错误累计 + uint16_t check_err_cnt; // 校验错误累计 + uint16_t length_err_cnt; // 长度错误累计 + uint16_t uart_reset_cnt; // 串口复位累计 + uint16_t fault_cnt; // 故障计数（所有错误的总和） +} Star_sensorHS_Frame; +#pragma pack(pop) + +// 星敏命令枚举 +enum SENSOR_Cmder { + CMD_MCT_OST=0, // 光信号激励 + CMD_MCT_ESI, // 电信号激励 + CMD_MCT_PD_ON, // 无 + CMD_MCT_PD_OFF, // 无 + CMD_SAT, // UTC时间(校时) + CMD_WM_NORM, // 正常工作流程 + CMD_WM_ALSKY, // 仅工作于全天识别模式 + CMD_WM_TST, // 测试模式，用于标定 + CMD_WM_DLD, // 星图下传 + CMD_WM_IDLE, // 待机模式 + CMD_WM_HK, // 至启动模式进行在轨维护 + CMD_WM_RST, // 软件复位重启 + CMD_SEN_EXPO, // 曝光时间设置 + CMD_SEN_AGAIN, // 模拟增益设置 + CMD_SEN_DGAIN, // 数字增益设置 + CMD_PAR_ADE, // 设置星对角距匹配容差 + CMD_PAR_SSE, // 设置单星匹配容差 + CMD_PAR_TKR, // 星跟踪半径/二次迭代容差 + CMD_PAR_ADN, // 设置定姿星数 + CMD_PAR_OFST, // 波门星点提取阈值偏移量 + CMD_PAR_OFST_IMG_0, // 星图子块灰度均值0~5 + CMD_PAR_OFST_IMG_1, // 星图子块灰度均值6~100 + CMD_PAR_OFST_IMG_2, // 星图子块灰度均值101~150 + CMD_PAR_OFST_IMG_3, // 星图子块灰度均值151~200 + CMD_PAR_OFST_IMG_4, // 星图子块灰度均值201~255 + CMD_PAR_WIN, // 波门图像大小 + CMD_PAR_RST, // 软件参数恢复默认值 + CMD_ESD, // 电星模数据注入命令 + CMD_MCT_FLT_ON, // 姿态滤波开 + CMD_MCT_FLT_OFF, // 姿态滤波关 + CMD_MCT_PPS_ON, // PPS校时使能开 + CMD_MCT_PPS_OFF, // PPS使能关 + CMD_MCT_PPS_CNT_RST, // PPS计数清零 + CMD_TLM_1, // 读取遥测数据包1（64字节） + CMD_TLM_2 // 读取遥测数据包2（256字节） +}; + +// 电星模数据注入命令结构体 +#pragma pack(push, 1) +typedef struct { + uint16_t FRAME_HEAD; // 帧头 + uint16_t FRAME_ID; + uint8_t UTC[5]; + uint8_t STAR_NUM_S[10]; + float SS_SCP_X; + float SS_SCP_Y; + float SS_SCP_G; + uint8_t RESERVED[45]; + uint8_t SUM_CRC; +} CMD_ESD_S; +#pragma pack(pop) + +// 设备管理结构体 +typedef struct { + int fd; // 串口文件描述符 + const char *dev; // 设备节点 + int baudrate; // 波特率 + uint8_t header_err_cnt; // 帧头错误计数 + uint8_t check_err_cnt; // 校验错误计数 + uint8_t length_err_cnt; // 帧长错误计数 + uint8_t uart_reset_cnt; // 串口复位计数 + uint16_t fault_cnt; // 故障计数（所有错误的总和） + uint8_t send_cmd_cnt; // 命令发送计数 + uint8_t on_off_status; // 上电状态（1=正常，0=异常） +} Star_Device; + + +// 全局变量声明（在对应的.cpp文件中定义） +extern Star_Device nano_stars[]; +extern Star_Device pico_stars[]; + +/** + * @brief 解析JSON配置文件 + * @param filename 配置文件名 + * @param star_configs 星敏配置数组 + * @param max_stars 最大星敏数量 + * @return 成功解析的星敏数量，-1表示失败 + */ +int parse_config_file(const char* filename, StarConfig star_configs[], int max_stars); + +/* ================== FastDDS接口声明 ================== */ + +/** + * @brief 初始化FastDDS硬件服务化 + * @param domainid 域名 + * @param appname 服务名称 + */ +void Fastdds_init(uint8_t domainid, std::string appname); + +/** + * @brief 发布遥测数据 + * @param data 数据指针 + * @param dest 目标地址 + * @param len 数据长度 + */ +void Star_sensorHS_telemetry_Pub(uint8_t *data, const std::string& dest, uint16_t len); + +/** + * @brief 命令回调函数 + */ +void command_callback(std::string src, std::string dest, std::string type, + std::string reserve1, std::string reserve2, + std::vector& data); + +/** + * @brief 遥测回调函数 + */ +void telemetry_callback(std::string src, std::string dest, std::string type, + std::string reserve1, std::string reserve2, + std::vector& data); + +/* ================== 工具函数 ================== */ + +/** + * @brief 验证数据的校验和 + * @param data 指向数据缓冲区的指针 + * @param len 数据长度（包括校验和字节） + * @return SAT_ERR_OK 如果校验和正确，SAT_ERR_CHECKSUM 如果校验和错误，SAT_ERR_DATA 如果参数无效 + * @note 校验和计算方式：所有字节（除了最后一个校验和字节）的和与最后一个字节相等 + */ +int checksum_verify(const uint8_t *data, int len); + +/* ================== 硬件操作函数声明 ================== */ + +/** + * @brief 初始化星敏串口 + * @param type 星敏类型 (NANO/PICO) + * @param num 星敏编号 (1~MAX_STAR_NUM_PER_TYPE) + * @param dev 串口设备路径 + * @param baudrate 波特率 + * @return 错误码，SAT_ERR_OK表示成功 + */ +int star_uart_init(star_type_t type, uint8_t num, const char *dev, int baudrate); + +/** + * @brief 发送星敏命令 + * @param type 星敏类型 + * @param num 星敏编号 + * @param cmd 命令枚举 + * @param param 命令参数 + * @return 错误码 + */ +int send_star_cmd(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, uint8_t param); + +/** + * @brief 读取单个星敏数据 + * @param type 星敏类型 + * @param num 星敏编号 + * @param cmd 遥测命令 (CMD_TLM_1或CMD_TLM_2) + * @param frame 输出数据帧 + * @return 错误码 + */ +int read_single_star_data(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, Star_sensorHS_Frame *frame); + +/** + * @brief 初始化所有星敏设备 + * @return 成功返回0，失败返回-1 + */ +int star_devices_init(void); + +/** + * @brief 清理硬件服务化资源 + */ +void Star_sensorHS_cleanup(void); + +/** + * @brief 解析纳型星敏四元数数据 + * @param buf 原始数据缓冲区 + * @param frame 输出数据帧 + * @return 错误码 + */ +int parse_nano_quaternion(const uint8_t *buf, Star_sensorHS_Frame *frame); + +/** + * @brief 解析皮型星敏四元数数据 + * @param buf 原始数据缓冲区 + * @param frame 输出数据帧 + * @return 错误码 + */ +int parse_pico_quaternion(const uint8_t *buf, Star_sensorHS_Frame *frame); + +/** + * @brief 验证校验和 + * @param data 数据指针 + * @param len 数据长度 + * @return 错误码 + */ +int checksum_verify(const uint8_t *data, int len); + +/** + * @brief 更新故障计数 + * @param star 设备指针 + */ +static inline void update_fault_count(Star_Device *star) { + star->fault_cnt = star->header_err_cnt + star->check_err_cnt + + star->length_err_cnt + star->uart_reset_cnt; +} + +/** + * @brief 获取错误码对应的字符串描述 + * @param err 错误码 + * @return 错误描述字符串 + */ +static inline const char *star_strerror(int err) { + switch (err) { + case SAT_ERR_OK: return "OK"; + case SAT_ERR_SERIAL: return "Serial not open or invalid"; + case SAT_ERR_SEND_CMD: return "Failed to send command"; + case SAT_ERR_NO_RESPONSE: return "No response after sending command"; + case SAT_ERR_SELECT: return "Select() system call failed"; + case SAT_ERR_HEADER: return "Invalid frame header"; + case SAT_ERR_DATA: return "Failed to parse data"; + case SAT_ERR_UNKNOWN: return "Unknown error, check connection or output format"; + case SAT_ERR_LEN: return "Frame length error"; + case SAT_ERR_CHECKSUM: return "Checksum error"; + case SAT_ERR_TIMEOUT: return "Timeout while waiting for response"; + default: return "Unrecognized error"; + } +} + +#endif /* STAR_SENSORHS_H */ \ No newline at end of file diff --git a/Star_sensorHS.json b/Star_sensorHS.json new file mode 100644 index 0000000..588b0fe --- /dev/null +++ b/Star_sensorHS.json @@ -0,0 +1,18 @@ +{ + "star_sensors": [ + { + "star_num": 1, + "type": "nano", + "device": "/dev/tnt0", + "baudrate": 115200, + "enabled": true + }, + { + "star_num": 2, + "type": "nano", + "device": "/dev/tnt2", + "baudrate": 115200, + "enabled": true + } + ] +} \ No newline at end of file diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..fec4464 --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,369 @@ +# This is the CMakeCache file. +# For build in directory: /home/xb/satellite/aircraft-1/container-2/星敏硬件服务化/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' 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during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. This is useful for debugging only. With Visual +// Studio IDE projects all commands are done without /nologo. +CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE + +//Value Computed by CMake +Star_sensorHS_BINARY_DIR:STATIC=/home/xb/satellite/aircraft-1/container-2/星敏硬件服务化/build + +//Value Computed by CMake +Star_sensorHS_IS_TOP_LEVEL:STATIC=ON + +//Value Computed by CMake +Star_sensorHS_SOURCE_DIR:STATIC=/home/xb/satellite/aircraft-1/container-2/星敏硬件服务化 + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: CMAKE_ADDR2LINE +CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: CMAKE_AR +CMAKE_AR-ADVANCED:INTERNAL=1 +//This is the directory where this CMakeCache.txt was created +CMAKE_CACHEFILE_DIR:INTERNAL=/home/xb/satellite/aircraft-1/container-2/星敏硬件服务化/build +//Major version of cmake used to create the current loaded cache +CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3 +//Minor version of cmake used to create the current loaded cache 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COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..8b8c27e76b2d5951bf9014e281b5e321a68c6ff6 GIT binary patch literal 16088 zcmeHOeQX>@6`#9&IW&nKx4|YU%~Dd7(0XG#A2mT~&aux~BRdI+Lxs|Gwf3#;6ZhfX z?NPfbB`BrDq>)-c&_6(`ibTanC6G`NkpPFHKubXlAT|6&fEEQQwC1ZaA^D1pm}VVrH`}ldC-#RS z!ZPQ%PS!E;_ypx-Y!jaMf1cOGA_w;0T&JvuII9ltF2WZU;kjM6*72iUcVyCYN3#Vl zmwmt|kpev8mIJR8xOp#IP%LwNcdC5@{d;@dPP^0I5$3mTS8o5%pquea{#dpg_@$x2 zo?Nlu4|&5mb~lzU7Q~%vRO>2o1QYtt^i+amZZF15Wqo!fN1ewXbKida^AzSJ-SJGq zb&TuBT5I?@xxT?)6o(BdQw|<-Q-rrHqt_bYOTt?b{!_wlj_{uqzCFS}Bm9LuN+%vW z+*e2!Yj_@GNSA7OjBPHPt>JmxBF)wC`hJUo7~=@U5r`uYM<9+s9Dz6jaRmM+BJkJ7 zTdp`KE;l%*mi>CGQqCu5f@Jk2=fsa1p408C?s$smzf^DgGC|`;#rh8} zpFV%DGyOZ~#4EE0hteH09nU+bcfUXms_V+6`L|KKapS|#Nc zAuWV^urkM~m{ zJ32yk(;vI+Ojj=cIDM6y>6}{k0zIjpN?&%Ka1t*yKC2qPKa)sbCH~AJ{MYL7#=+@z z&#a*+KfAOk^zv{$ZSo$}<4>ip9;0px`!wuDZfcz32*eSHBM?U*jzAoNI0A75;t0eM zh$9e3;Qu)S{Qc{Csegapfn6iT{6seAmyXg`$zuz(7nHjn^-JY!v2e6qr;ZNWWZJhQ z(|$~8i;0{Uj227zqXYbPRY3D#JEg>*4EzGuQVz=w z?ANVIY*_OC&D1>p9yRoOwR#U>hLGPp1cdZjKpmT{R=-Hd-(oo>9yp{DlTC>Yt5!5T zMjynO=QRhLN&h{p(7Qr^$=gKP?estUTD7W)HBEhMT0hWu!~G4%)t>dc-n(rRe@4{y zT<-o_vyOW+F~;1mXz95r`uYM<9+s9Dz6jaRlNB z#1VLFBY^daSf7YBfcoKus#=BWWc}i5k$)xY9N!@_)J>j=?RJ7RfP-mx2kNllmq~Ll@<8D~0{#=df zaK9v|rQa1%;Wxxjljy_$8S#U01wZG+&lb7A>UTp__*3>n=M~j|S^RH~ z_`_uWh-pPwR=8p$QiV1a7Sp!X5Kr$^pn_GhSVuG@F0 zdob;$_xHNAW1#oL`@0AGdx)l&oNn5YQm6Nja`z1!*xNne9_Z^koE~zAy7vyG$s)Rg zA%%Sl|7ov+pYZ}u>GL5kESQZ8BrM#;;AYB2cbr~?@(zdo1EiJ77TikN&!}u+wCLh3 zs*!SDVXWef`R>2JAypJHvBA4ss%*GimWuTT4A-SC6%r2ZK6Ds;8GD`m6$`g{gdyRr z9J*IbQ{_Fe5%{&QQg(SNA9%xrLCN4aa@hiH_n1(2p&0n~SfOH1l!_C6DVVCEhAUax ztCP(L)xEdBjmM%^ANR`R%Fav`s0xEY$&{cST1^C(%1VCDV*_RLNK*Dh&K&HqB4q*! zu(EkLl4enNrtOc*036SdJtSjqMxwDmo}7F6>aGjQJ|CT`G^ZA8k5K8ICFJF@FYP{*3yg z=l=z=<#R%L_&X!NH+XI!6`i8}_a$O$?JcnbiYV6eKV#sZirBYH0T6m{02%o8h5 zfS-wU80_HhTM>KAbAWiRf`0V;za#dDzp_MA@OcpdLPJzPpd2?5_AiP8@QzT^WTN%| zjObeXIk5+RE@F@V2mLZ-Xf12F9}@Fm?8A)eLk9kyY#VFrG4GyhBa#yIj5IHUf1L_= z?8)Q9{Ct?!&2pNN{^Rk_33lkmuMo#7u*dV{%vRP`Dy5I}2iODWsHoOHG-x+AUGt_o z2RqQ$D8n4;$2_o0?4$Z}IxtsDh+t0CLmu`L#*l}7En@71N|YHFhqw>&bQvllX+HP literal 0 HcmV?d00001 diff --git a/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..25c62a8 --- /dev/null +++ b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,791 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. Look for 6 digit vs. 8 digit version number to decide encoding. + * VVVV is no smaller than the current year when a version is released. + */ +#if __INTEL_LLVM_COMPILER < 1000000L +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10) +#else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000) +# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100) +#endif +#if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +#endif +#if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +#elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +#endif +#if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +#endif +#if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +#endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__NVCOMPILER) +# define COMPILER_ID "NVHPC" +# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__) +# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__) +# if defined(__NVCOMPILER_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += 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