From 0755ab4a06636417e1a8470be19b503cc9680745 Mon Sep 17 00:00:00 2001 From: xb <18656218039@163.com> Date: Mon, 12 Jan 2026 19:40:22 +0800 Subject: [PATCH] Initial commit from DCSP - 2026/1/12 19:40:21 --- CMakeLists.txt | 47 + MemsHS-main.cpp | 61 ++ MemsHS.cpp | 487 +++++++++++ MemsHS.h | 198 +++++ MemsHS.json | 6 + 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 +++ build/CMakeFiles/MemsHS.dir/DependInfo.cmake | 20 + build/CMakeFiles/MemsHS.dir/MemsHS-main.cpp.o | Bin 0 -> 8392 bytes .../CMakeFiles/MemsHS.dir/MemsHS-main.cpp.o.d | 180 ++++ build/CMakeFiles/MemsHS.dir/MemsHS.cpp.o | Bin 0 -> 155704 bytes build/CMakeFiles/MemsHS.dir/MemsHS.cpp.o.d | 446 ++++++++++ build/CMakeFiles/MemsHS.dir/build.make | 126 +++ build/CMakeFiles/MemsHS.dir/cmake_clean.cmake | 13 + .../MemsHS.dir/compiler_depend.make | 2 + .../CMakeFiles/MemsHS.dir/compiler_depend.ts | 2 + build/CMakeFiles/MemsHS.dir/depend.make | 2 + build/CMakeFiles/MemsHS.dir/flags.make | 10 + build/CMakeFiles/MemsHS.dir/link.txt | 1 + build/CMakeFiles/MemsHS.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/MemsHS | Bin 0 -> 101288 bytes build/bin/MemsHS.json | 6 + build/cmake_install.cmake | 54 ++ 39 files changed, 4710 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 MemsHS-main.cpp create mode 100644 MemsHS.cpp create mode 100644 MemsHS.h create mode 100644 MemsHS.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/MemsHS.dir/DependInfo.cmake create mode 100644 build/CMakeFiles/MemsHS.dir/MemsHS-main.cpp.o create mode 100644 build/CMakeFiles/MemsHS.dir/MemsHS-main.cpp.o.d create mode 100644 build/CMakeFiles/MemsHS.dir/MemsHS.cpp.o create mode 100644 build/CMakeFiles/MemsHS.dir/MemsHS.cpp.o.d create mode 100644 build/CMakeFiles/MemsHS.dir/build.make create mode 100644 build/CMakeFiles/MemsHS.dir/cmake_clean.cmake create mode 100644 build/CMakeFiles/MemsHS.dir/compiler_depend.make create mode 100644 build/CMakeFiles/MemsHS.dir/compiler_depend.ts create mode 100644 build/CMakeFiles/MemsHS.dir/depend.make create mode 100644 build/CMakeFiles/MemsHS.dir/flags.make create mode 100644 build/CMakeFiles/MemsHS.dir/link.txt create mode 100644 build/CMakeFiles/MemsHS.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/MemsHS create mode 100644 build/bin/MemsHS.json create mode 100644 build/cmake_install.cmake diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..4240fda --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.10) +project(MemsHS) + +# 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(MemsHS + MemsHS-main.cpp + MemsHS.cpp +) + +# 链接库 +target_link_libraries(MemsHS + pthread + m + rt + simmsg + fastrtps + fastcdr + foonathan_memory + jsoncpp +) + +# 设置输出目录 +set_target_properties(MemsHS PROPERTIES + RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin +) diff --git a/MemsHS-main.cpp b/MemsHS-main.cpp new file mode 100644 index 0000000..2be4504 --- /dev/null +++ b/MemsHS-main.cpp @@ -0,0 +1,61 @@ +#include +#include +#include +#include + +#include "MemsHS.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 = "MemsHS.json"; + + cout << "[INFO] Starting MEMS Hardware Service" << endl; + cout << "[INFO] Loading configuration from: " << config_file << endl; + + // 解析配置文件 + MemsConfig config; + int result = parse_mems_config_file(config_file.c_str(), &config); + if (result != 0) { + cerr << "[ERROR] Failed to parse config file" << endl; + // 使用默认配置 + config.device = "/dev/tnt5"; + config.baudrate = 115200; + cout << "[WARN] Using default config: device=" << config.device + << ", baudrate=" << config.baudrate << endl; + } + + // 初始化MEMS设备 + result = mems_uart_init(config.device.c_str(), config.baudrate); + if (result == MEMS_ERR_OK) { + cout << "[OK] MEMS initialized successfully" << endl; + } else { + cerr << "[ERROR] Failed to initialize MEMS" << endl; + } + + // 初始化FastDDS + Fastdds_init(0, "Mems_Hardware_Service"); + + // 主循环 + while (running) { + usleep(1000000); // 每1秒检查一次 + } + + // 清理 + MEMS_hardware_cleanup(); + + return 0; +} \ No newline at end of file diff --git a/MemsHS.cpp b/MemsHS.cpp new file mode 100644 index 0000000..2529a2b --- /dev/null +++ b/MemsHS.cpp @@ -0,0 +1,487 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "SimMsg.h" +#include "MemsHS.h" + +using namespace std; + +/* ------------------ 全局变量 ------------------ */ +// FastDDS硬件服务化相关 +SimMsg* MEMS_part = nullptr; +string servername = "Mems_Hardware_Service"; +string topic_name_tlm = "Telemetry"; + +// MEMS设备状态（单设备） +static MEMS_Device_Status mems_device = {0}; + +// 互斥锁 +static pthread_mutex_t mems_cache_mutex = PTHREAD_MUTEX_INITIALIZER; + +/* ------------------ 解析JSON配置文件 ------------------ */ +int parse_mems_config_file(const char* filename, MemsConfig *config) { + 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MEMS配置 + if (root.isMember("mems_sensor")) { + const Json::Value& mems = root["mems_sensor"]; + + // 串口设备 + config->device = mems.isMember("device") ? mems["device"].asString() : "/dev/ttyS2"; + + // 波特率 + config->baudrate = mems.isMember("baudrate") ? mems["baudrate"].asInt() : 115200; + + return 0; + } else { + cerr << "[ERROR] No 'mems_sensor' found in config file" << endl; + return -1; + } +} + +/* ------------------ 日志函数 ------------------ */ +void MEMS_WriteLog(const std::string &msg) { + std::cout << "[MEMS] " << msg << std::endl; +} + +/* ------------------ FastDDS初始化 ------------------ */ +void Fastdds_init(uint8_t domainid, string appname) { + vector parameters; + string expression = "dest = '"+ servername + "'"; + + if (nullptr == MEMS_part) { + MEMS_part = new SimMsg(domainid, 3000, appname, MEMS_WriteLog); + // 创建发布者 + MEMS_part->create_pub(topic_name_tlm); + + // 注册遥测回调函数 + MEMS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters); + } +} + +/* ------------------ 遥测回调函数 ------------------ */ +void telemetry_callback(string src, string dest, string type, + string reserve1, string reserve2, + vector& data) { + cout << "[INFO] MEMS telemetry request from " << src << endl; + + // 加锁保护串口访问 + pthread_mutex_lock(&mems_cache_mutex); + + // 读取数据 + MEMS_Info_Frame response_frame; + int result = read_mems_data(&response_frame); + + pthread_mutex_unlock(&mems_cache_mutex); + + if (result == MEMS_ERR_OK) { + // 发布遥测响应 + telemetry_Pub((uint8_t *)&response_frame, src, sizeof(MEMS_Info_Frame)); + cout << "[OK] MEMS telemetry data sent to " << src << endl; + } else { + cerr << "[ERROR] Failed to read MEMS data: " << result << endl; + + // 即使读取失败，也发送错误状态 + memset(&response_frame, 0, sizeof(MEMS_Info_Frame)); + response_frame.on_off_status = 0; // 标记为错误状态 + telemetry_Pub((uint8_t *)&response_frame, src, sizeof(MEMS_Info_Frame)); + } +} + +/* ------------------ 遥测发布 ------------------ */ +void telemetry_Pub(uint8_t* data, const string& dest, uint16_t len) { + MEMS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len); +} + +/* ------------------ 串口初始化（奇校验） ------------------ */ +int mems_uart_init(const char *dev, int baudrate) { + // 如果已经打开，先关闭 + if (mems_device.fd > 0) { + close(mems_device.fd); + mems_device.fd = -1; + } + + // 打开串口 + mems_device.fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK); + if (mems_device.fd < 0) { + perror("[ERROR] Open MEMS serial failed"); + return MEMS_ERR_SERIAL; + } + + // 配置串口参数 + struct termios options; + if (tcgetattr(mems_device.fd, &options) < 0) { + perror("[ERROR] Get MEMS serial attributes failed"); + close(mems_device.fd); + mems_device.fd = -1; + return MEMS_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，奇校验，1位停止位 + options.c_cflag |= PARENB; // 启用校验位 + options.c_cflag |= PARODD; // 奇校验 + options.c_cflag &= ~CSTOPB; // 1位停止位 + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; // 8位数据位 + + // 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(mems_device.fd, TCSANOW, &options) < 0) { + perror("[ERROR] Set MEMS serial attributes failed"); + close(mems_device.fd); + mems_device.fd = -1; + return MEMS_ERR_SERIAL; + } + + // 刷新缓冲区 + tcflush(mems_device.fd, TCIOFLUSH); + + // 初始化设备信息 + mems_device.dev = dev; + mems_device.baudrate = baudrate; + mems_device.on_off_status = 1; + + // 设置标定参数 + mems_device.mems_K[0] = 319198.1f; + mems_device.mems_K[1] = 319182.2f; + mems_device.mems_K[2] = 319335.1f; + mems_device.mems_w0[0] = 1.465294f; + mems_device.mems_w0[1] = 2.140157f; + mems_device.mems_w0[2] = 1.470876f; + + printf("[OK] MEMS UART init: dev=%s, baud=%d, fd=%d\n", + dev, baudrate, mems_device.fd); + + return MEMS_ERR_OK; +} + +/* ------------------ 工具函数 ------------------ */ +int32_t mems_24bit_to_int32(const uint8_t *data) { + int32_t value = (data[0] << 16) | (data[1] << 8) | data[2]; + if (value & 0x800000) { + value |= 0xFF000000; // 符号扩展 + } + return value; +} + +uint16_t mems_be16_to_host(uint8_t high, uint8_t low) { + return ((uint16_t)high << 8) | low; +} + +int mems_checksum_verify(const uint8_t *data, int len) { + if (len <= 1 || data == NULL) return MEMS_ERR_DATA; + uint8_t checksum = 0; + for (int i = 0; i < len - 1; ++i) checksum += data[i]; + if (checksum == data[len - 1]) return MEMS_ERR_OK; + fprintf(stderr, "[ERROR] MEMS checksum error: calc=0x%02X, recv=0x%02X\n", checksum, data[len - 1]); + return MEMS_ERR_CHECKSUM; +} + +void mems_update_fault_count(void) { + mems_device.fault_cnt = mems_device.header_err_cnt + mems_device.check_err_cnt + + mems_device.length_err_cnt + mems_device.uart_reset_cnt + + mems_device.send_cmd_err_cnt; +} + +const char *mems_strerror(int err) { + switch (err) { + case MEMS_ERR_OK: return "OK"; + case MEMS_ERR_SERIAL: return "Serial not open or invalid"; + case MEMS_ERR_SEND_CMD: return "Failed to send command"; + case MEMS_ERR_NO_RESPONSE: return "No response after sending command"; + case MEMS_ERR_SELECT: return "Select() system call failed"; + case MEMS_ERR_HEADER: return "Invalid frame header"; + case MEMS_ERR_DATA: return "Failed to parse data"; + case MEMS_ERR_UNKNOWN: return "Unknown error, check connection or output format"; + case MEMS_ERR_LEN: return "Frame length error"; + case MEMS_ERR_CHECKSUM: return "Checksum error"; + case MEMS_ERR_TIMEOUT: return "Timeout while waiting for response"; + default: return "Unrecognized error"; + } +} + +/* ------------------ 发送MEMS命令 ------------------ */ +int send_mems_cmd(void) { + if (mems_device.fd < 0) { + fprintf(stderr, "[ERROR] MEMS serial not open\n"); + return MEMS_ERR_SERIAL; + } + + uint8_t send_cmd[2] = {0x55, 0x68}; + + if (write(mems_device.fd, send_cmd, 2) != 2) { + perror("[ERROR] Send MEMS cmd failed"); + mems_device.send_cmd_err_cnt++; + mems_device.send_cmd_cnt++; + mems_update_fault_count(); + return MEMS_ERR_SEND_CMD; + } + + return MEMS_ERR_OK; +} + +/* ------------------ 数据解析 ------------------ */ +int mems_data_extraction(const uint8_t *buf, MEMS_Info_Frame *info) { + if (!buf || !info) return MEMS_ERR_DATA; + + memset(info, 0, sizeof(MEMS_Info_Frame)); + + // X轴角增量解析 + int32_t x_raw = mems_24bit_to_int32(&buf[1]); + uint16_t x_integral_time = mems_be16_to_host(buf[4], buf[5]); + if (x_integral_time == 0) x_integral_time = 1; + info->x_angle_delta = + (float)x_raw * 1024.0f / (x_integral_time * mems_device.mems_K[0]) - + mems_device.mems_w0[0] / 3600.0f; + + // Y轴角增量解析 + int32_t y_raw = mems_24bit_to_int32(&buf[6]); + uint16_t y_integral_time = mems_be16_to_host(buf[9], buf[10]); + if (y_integral_time == 0) y_integral_time = 1; + info->y_angle_delta = + (float)y_raw * 1024.0f / (y_integral_time * mems_device.mems_K[1]) - + mems_device.mems_w0[1] / 3600.0f; + + // Z轴角增量解析 + int32_t z_raw = mems_24bit_to_int32(&buf[11]); + uint16_t z_integral_time = mems_be16_to_host(buf[14], buf[15]); + if (z_integral_time == 0) z_integral_time = 1; + info->z_angle_delta = + (float)z_raw * 1024.0f / (z_integral_time * mems_device.mems_K[2]) - + mems_device.mems_w0[2] / 3600.0f; + + return MEMS_ERR_OK; +} + +/* ------------------ 读取MEMS数据 ------------------ */ +int read_mems_data(MEMS_Info_Frame *frame) { + if (!frame) return MEMS_ERR_DATA; + + if (mems_device.fd < 0) { + fprintf(stderr, "[ERROR] MEMS serial not open\n"); + return MEMS_ERR_SERIAL; + } + + uint8_t buf[MAX_BUF_SIZE] = {0}; + + for (int retry = 0; retry < MAX_RETRY_COUNT; ++retry) { + // 清空串口缓冲区 + tcflush(mems_device.fd, TCIOFLUSH); + memset(buf, 0, sizeof(buf)); + int total_read = 0; + + // 发送命令 + int send_ret = send_mems_cmd(); + if (send_ret != MEMS_ERR_OK) { + fprintf(stderr, "[ERROR] Retry %d: send MEMS cmd failed\n", retry); + mems_device.send_cmd_cnt++; + continue; + } + + // 如果设备供电正常，期望接收遥测数据 + if (mems_device.on_off_status == 1) { + mems_device.send_cmd_cnt++; // 供电情况下发送命令计数+1 + } + + // 检查是否超时过多需要重启串口 + if (mems_device.send_cmd_cnt >= 10) { + fprintf(stderr, "[ERROR] Too many MEMS timeouts (%d), resetting UART\n", + mems_device.send_cmd_cnt); + mems_uart_init(mems_device.dev, mems_device.baudrate); + mems_device.uart_reset_cnt++; + mems_device.send_cmd_cnt = 0; + mems_update_fault_count(); + continue; + } + + // 设置超时 + struct timeval start_time, current_time; + gettimeofday(&start_time, NULL); + const long TOTAL_TIMEOUT_MS = 10000; // 10秒超时 + + // 读取数据 + while (total_read < MEMS_FRAME_LENGTH && 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 after %ld ms\n", + total_read, MEMS_FRAME_LENGTH, elapsed_ms); + break; + } + + // 使用select等待数据 + struct timeval timeout = {0, 100000}; // 100ms + fd_set readfds; + FD_ZERO(&readfds); + FD_SET(mems_device.fd, &readfds); + + int ret = select(mems_device.fd + 1, &readfds, NULL, NULL, &timeout); + if (ret < 0) { + perror("[ERROR] MEMS select failed"); + return MEMS_ERR_SELECT; + } else if (ret == 0) { + continue; // 超时，继续等待 + } + + // 读取数据 + if (FD_ISSET(mems_device.fd, &readfds)) { + int bytes = read(mems_device.fd, buf + total_read, MEMS_FRAME_LENGTH - 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 MEMS data failed"); + return MEMS_ERR_SERIAL; + } + } + } + + // 检查数据长度 + if (total_read < MEMS_FRAME_LENGTH) { + fprintf(stderr, "[ERROR] MEMS frame too short: %d/%d bytes\n", + total_read, MEMS_FRAME_LENGTH); + mems_device.length_err_cnt++; + mems_update_fault_count(); + continue; + } + + // 检查帧头 + if (buf[0] != 0x97) { + fprintf(stderr, "[ERROR] Invalid MEMS frame header: 0x%02X\n", buf[0]); + mems_device.header_err_cnt++; + mems_update_fault_count(); + continue; + } + + // 检查校验和 + if (mems_checksum_verify(buf, MEMS_FRAME_LENGTH) != MEMS_ERR_OK) { + mems_device.check_err_cnt++; + mems_update_fault_count(); + continue; + } + + // 解析数据成功，重置发送命令计数 + mems_device.send_cmd_cnt = 0; + + // 解析数据 + int parse_ret = mems_data_extraction(buf, frame); + if (parse_ret == MEMS_ERR_OK) { + // 填充设备状态 + frame->on_off_status = mems_device.on_off_status; + + // 填充错误计数信息 + frame->header_err_cnt = mems_device.header_err_cnt; + frame->check_err_cnt = mems_device.check_err_cnt; + frame->length_err_cnt = mems_device.length_err_cnt; + frame->uart_reset_cnt = mems_device.uart_reset_cnt; + frame->send_cmd_err_cnt = mems_device.send_cmd_err_cnt; + frame->fault_cnt = mems_device.fault_cnt; + + return MEMS_ERR_OK; + } else { + fprintf(stderr, "[ERROR] Parse MEMS data failed\n"); + mems_device.check_err_cnt++; + mems_update_fault_count(); + continue; + } + } + + fprintf(stderr, "[ERROR] MEMS read failed after %d retries\n", MAX_RETRY_COUNT); + + // 最终失败时尝试复位串口 + mems_uart_init(mems_device.dev, mems_device.baudrate); + mems_device.uart_reset_cnt++; + mems_device.send_cmd_cnt = 0; + mems_update_fault_count(); + + // 返回错误数据 + memset(frame, 0, sizeof(MEMS_Info_Frame)); + frame->on_off_status = mems_device.on_off_status; + frame->header_err_cnt = mems_device.header_err_cnt; + frame->check_err_cnt = mems_device.check_err_cnt; + frame->length_err_cnt = mems_device.length_err_cnt; + frame->uart_reset_cnt = mems_device.uart_reset_cnt; + frame->send_cmd_err_cnt = mems_device.send_cmd_err_cnt; + frame->fault_cnt = mems_device.fault_cnt; + + return MEMS_ERR_UNKNOWN; +} + +/* ------------------ 硬件服务化清理 ------------------ */ +void MEMS_hardware_cleanup(void) { + cout << "[INFO] MEMS Hardware Service cleaning up..." << endl; + + // 清理FastDDS组件 + if (MEMS_part != nullptr) { + delete MEMS_part; + MEMS_part = nullptr; + } + + // 关闭串口 + if (mems_device.fd > 0) { + close(mems_device.fd); + mems_device.fd = -1; + } + + // 销毁互斥锁 + pthread_mutex_destroy(&mems_cache_mutex); +} \ No newline at end of file diff --git a/MemsHS.h b/MemsHS.h new file mode 100644 index 0000000..02ee296 --- /dev/null +++ b/MemsHS.h @@ -0,0 +1,198 @@ +#ifndef MEMS_HARDWARE_SERVICE_H +#define MEMS_HARDWARE_SERVICE_H + +#include +#include +#include +#include + +/* ================== 错误码定义 ================== */ +#ifndef MEMS_ERR_OK +#define MEMS_ERR_OK 0 // 成功 +#endif + +#ifndef MEMS_ERR_SERIAL +#define MEMS_ERR_SERIAL -1 // 串口未打开或无效 +#endif + +#ifndef MEMS_ERR_SEND_CMD +#define MEMS_ERR_SEND_CMD -2 // 发送命令失败 +#endif + +#ifndef MEMS_ERR_NO_RESPONSE +#define MEMS_ERR_NO_RESPONSE -3 // 无响应 +#endif + +#ifndef MEMS_ERR_SELECT +#define MEMS_ERR_SELECT -4 // select() 系统调用失败 +#endif + +#ifndef MEMS_ERR_HEADER +#define MEMS_ERR_HEADER -5 // 帧头错误 +#endif + +#ifndef MEMS_ERR_DATA +#define MEMS_ERR_DATA -6 // 数据解析失败 +#endif + +#ifndef MEMS_ERR_UNKNOWN +#define MEMS_ERR_UNKNOWN -7 // 未知错误 +#endif + +#ifndef MEMS_ERR_LEN +#define MEMS_ERR_LEN -8 // 帧长度错误 +#endif + +#ifndef MEMS_ERR_CHECKSUM +#define MEMS_ERR_CHECKSUM -9 // 校验和错误 +#endif + +#ifndef MEMS_ERR_TIMEOUT +#define MEMS_ERR_TIMEOUT -10 // 接收数据超时 +#endif + +/* ================== 常量定义 ================== */ +#define MEMS_FRAME_LENGTH 44 +#define MAX_BUF_SIZE 256 +#define MAX_RETRY_COUNT 10 + +/* ================== 类型定义 ================== */ + +// MEMS配置结构体 +typedef struct { + std::string device; // 串口设备 + int baudrate; // 波特率 +} MemsConfig; + +// MEMS输出数据帧 +#pragma pack(push, 1) +typedef struct { + // 角增量数据 (rad) + float x_angle_delta; + float y_angle_delta; + float z_angle_delta; + uint8_t on_off_status; // 设备开关状态 (1=正常，0=异常) + 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 send_cmd_err_cnt; // 发送命令错误累计 + uint16_t fault_cnt; // 故障计数（所有错误的总和） +} MEMS_Info_Frame; +#pragma pack(pop) + +/* ================== 设备状态结构体（内部使用）================== */ +typedef struct { + int fd; // 串口文件描述符 + const char *dev; // 设备节点 + int baudrate; // 波特率 + uint16_t header_err_cnt; // 帧头错误计数 + uint16_t check_err_cnt; // 校验错误计数 + uint16_t length_err_cnt; // 帧长错误计数 + uint16_t uart_reset_cnt; // 串口复位计数 + uint16_t send_cmd_err_cnt; // 发送命令错误计数 + uint16_t fault_cnt; // 故障计数 + uint16_t send_cmd_cnt; // 发送命令计数（连续无响应计数） + uint8_t on_off_status; // 上电状态 + float mems_K[3]; // 标度因数 + float mems_w0[3]; // 零偏 +} MEMS_Device_Status; + +/* ================== 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MEMS遥测数据 + * @param data 数据指针 + * @param dest 目标地址 + * @param len 数据长度 + */ +void telemetry_Pub(uint8_t *data, const std::string& dest, uint16_t len); + +/** + * @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MEMS数据的校验和 + * @param data 指向数据缓冲区的指针 + * @param len 数据长度 + * @return 错误码 + */ +int mems_checksum_verify(const uint8_t *data, int len); + +/** + * @brief 24位补码转int32 + * @param data 24位数据指针 + * @return 转换后的32位整数 + */ +int32_t mems_24bit_to_int32(const uint8_t *data); + +/** + * @brief 大端16位转主机字节序 + */ +uint16_t mems_be16_to_host(uint8_t high, uint8_t low); + +/* ================== 硬件操作函数声明 ================== */ + +/** + * @brief 初始化MEMS串口（奇校验） + * @param dev 串口设备路径 + * @param baudrate 波特率 + * @return 错误码 + */ +int mems_uart_init(const char *dev, int baudrate); + +/** + * @brief 发送MEMS取遥测命令 + * @return 错误码 + */ +int send_mems_cmd(void); + +/** + * @brief 读取MEMS数据 + * @param frame 输出数据帧 + * @return 错误码 + */ +int read_mems_data(MEMS_Info_Frame *frame); + +/** + * @brief 解析MEMS原始数据 + * @param buf 原始数据缓冲区 + * @param info 输出解析后的信息 + * @return 错误码 + */ +int mems_data_extraction(const uint8_t *buf, MEMS_Info_Frame *info); + +/** + * @brief 解析JSON配置文件 + * @param filename 配置文件名 + * @param config 输出配置信息 + * @return 成功返回0，失败返回-1 + */ +int parse_mems_config_file(const char* filename, MemsConfig *config); + +/** + * @brief 清理硬件服务化资源 + */ +void MEMS_hardware_cleanup(void); + +/** + * @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 + */ +const char *mems_strerror(int err); + +#endif /* MEMS_HARDWARE_SERVICE_H */ \ No newline at end of file diff --git a/MemsHS.json b/MemsHS.json new file mode 100644 index 0000000..a9be07e --- /dev/null +++ b/MemsHS.json @@ -0,0 +1,6 @@ +{ + "mems_sensor": { + "device": "/dev/tnt5", + "baudrate": 115200 + } +} \ No newline at end of file diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..cc40f2b --- /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/微机械惯组硬件服务化/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 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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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--- /dev/null +++ b/build/cmake_install.cmake @@ -0,0 +1,54 @@ +# Install script for directory: /home/xb/satellite/aircraft-1/container-2/微机械惯组硬件服务化 + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +# Set default install directory permissions. +if(NOT DEFINED CMAKE_OBJDUMP) + set(CMAKE_OBJDUMP "/usr/bin/objdump") +endif() + +if(CMAKE_INSTALL_COMPONENT) + set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +else() + set(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +endif() + +string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT + "${CMAKE_INSTALL_MANIFEST_FILES}") +file(WRITE "/home/xb/satellite/aircraft-1/container-2/微机械惯组硬件服务化/build/${CMAKE_INSTALL_MANIFEST}" + "${CMAKE_INSTALL_MANIFEST_CONTENT}")