Initial commit from DCSP - 2026/1/12 19:40:21
This commit is contained in:
xb
47
CMakeLists.txt
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47
CMakeLists.txt
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@@ -0,0 +1,47 @@
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cmake_minimum_required(VERSION 3.10)
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project(MemsHS)
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# 设置C++标准
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# 设置编译选项
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread")
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# 包含头文件路径
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR} # 当前目录
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/usr/local/include/simmsg # simmsg头文件目录
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/usr/local/include # 系统本地include
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/usr/include # 系统include
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)
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# 链接库路径
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link_directories(
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/usr/local/lib # 系统本地lib
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/usr/lib # 系统lib
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/usr/lib/x86_64-linux-gnu # 系统64位库
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)
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# 添加可执行文件
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add_executable(MemsHS
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MemsHS-main.cpp
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MemsHS.cpp
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)
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# 链接库
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target_link_libraries(MemsHS
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pthread
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m
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rt
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simmsg
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fastrtps
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fastcdr
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foonathan_memory
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jsoncpp
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)
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# 设置输出目录
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set_target_properties(MemsHS PROPERTIES
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
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)
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61
MemsHS-main.cpp
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61
MemsHS-main.cpp
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@@ -0,0 +1,61 @@
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#include <iostream>
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#include <csignal>
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#include <cstdlib>
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#include <string>
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#include "MemsHS.h"
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using namespace std;
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// 全局变量用于信号处理
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static bool running = true;
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// 信号处理函数
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void signal_handler(int signal) {
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running = false;
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}
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int main(int argc, char* argv[]) {
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// 设置信号处理
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signal(SIGINT, signal_handler);
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signal(SIGTERM, signal_handler);
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// 默认配置文件
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string config_file = "MemsHS.json";
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cout << "[INFO] Starting MEMS Hardware Service" << endl;
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cout << "[INFO] Loading configuration from: " << config_file << endl;
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// 解析配置文件
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MemsConfig config;
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int result = parse_mems_config_file(config_file.c_str(), &config);
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if (result != 0) {
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cerr << "[ERROR] Failed to parse config file" << endl;
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// 使用默认配置
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config.device = "/dev/tnt5";
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config.baudrate = 115200;
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cout << "[WARN] Using default config: device=" << config.device
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<< ", baudrate=" << config.baudrate << endl;
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}
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// 初始化MEMS设备
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result = mems_uart_init(config.device.c_str(), config.baudrate);
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if (result == MEMS_ERR_OK) {
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cout << "[OK] MEMS initialized successfully" << endl;
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} else {
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cerr << "[ERROR] Failed to initialize MEMS" << endl;
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}
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// 初始化FastDDS
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Fastdds_init(0, "Mems_Hardware_Service");
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// 主循环
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while (running) {
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usleep(1000000); // 每1秒检查一次
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}
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// 清理
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MEMS_hardware_cleanup();
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return 0;
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}
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487
MemsHS.cpp
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487
MemsHS.cpp
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@@ -0,0 +1,487 @@
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#include <iostream>
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#include <cstring>
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#include <cstdlib>
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#include <unistd.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <pthread.h>
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#include <sys/ioctl.h>
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#include <sys/time.h>
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#include <sys/select.h>
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#include <errno.h>
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#include <signal.h>
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#include <arpa/inet.h>
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#include <string>
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#include <vector>
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#include <fstream>
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#include <jsoncpp/json/json.h>
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#include "SimMsg.h"
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#include "MemsHS.h"
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using namespace std;
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/* ------------------ 全局变量 ------------------ */
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// FastDDS硬件服务化相关
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SimMsg* MEMS_part = nullptr;
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string servername = "Mems_Hardware_Service";
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string topic_name_tlm = "Telemetry";
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// MEMS设备状态（单设备）
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static MEMS_Device_Status mems_device = {0};
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// 互斥锁
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static pthread_mutex_t mems_cache_mutex = PTHREAD_MUTEX_INITIALIZER;
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/* ------------------ 解析JSON配置文件 ------------------ */
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int parse_mems_config_file(const char* filename, MemsConfig *config) {
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ifstream config_file(filename);
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if (!config_file.is_open()) {
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cerr << "[ERROR] Cannot open config file: " << filename << endl;
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return -1;
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}
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// 解析JSON
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Json::CharReaderBuilder reader_builder;
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Json::Value root;
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string errs;
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if (!Json::parseFromStream(reader_builder, config_file, &root, &errs)) {
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cerr << "[ERROR] Failed to parse JSON: " << errs << endl;
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return -1;
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}
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// 读取MEMS配置
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if (root.isMember("mems_sensor")) {
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const Json::Value& mems = root["mems_sensor"];
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// 串口设备
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config->device = mems.isMember("device") ? mems["device"].asString() : "/dev/ttyS2";
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// 波特率
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config->baudrate = mems.isMember("baudrate") ? mems["baudrate"].asInt() : 115200;
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return 0;
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} else {
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cerr << "[ERROR] No 'mems_sensor' found in config file" << endl;
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return -1;
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}
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}
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/* ------------------ 日志函数 ------------------ */
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void MEMS_WriteLog(const std::string &msg) {
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std::cout << "[MEMS] " << msg << std::endl;
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}
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/* ------------------ FastDDS初始化 ------------------ */
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void Fastdds_init(uint8_t domainid, string appname) {
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vector<string> parameters;
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string expression = "dest = '"+ servername + "'";
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if (nullptr == MEMS_part) {
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MEMS_part = new SimMsg(domainid, 3000, appname, MEMS_WriteLog);
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// 创建发布者
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MEMS_part->create_pub(topic_name_tlm);
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// 注册遥测回调函数
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MEMS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
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}
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}
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/* ------------------ 遥测回调函数 ------------------ */
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void telemetry_callback(string src, string dest, string type,
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string reserve1, string reserve2,
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vector<uint8_t>& data) {
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cout << "[INFO] MEMS telemetry request from " << src << endl;
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// 加锁保护串口访问
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pthread_mutex_lock(&mems_cache_mutex);
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// 读取数据
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MEMS_Info_Frame response_frame;
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int result = read_mems_data(&response_frame);
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pthread_mutex_unlock(&mems_cache_mutex);
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if (result == MEMS_ERR_OK) {
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// 发布遥测响应
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telemetry_Pub((uint8_t *)&response_frame, src, sizeof(MEMS_Info_Frame));
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cout << "[OK] MEMS telemetry data sent to " << src << endl;
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} else {
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cerr << "[ERROR] Failed to read MEMS data: " << result << endl;
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// 即使读取失败，也发送错误状态
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memset(&response_frame, 0, sizeof(MEMS_Info_Frame));
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response_frame.on_off_status = 0; // 标记为错误状态
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telemetry_Pub((uint8_t *)&response_frame, src, sizeof(MEMS_Info_Frame));
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}
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}
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/* ------------------ 遥测发布 ------------------ */
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void telemetry_Pub(uint8_t* data, const string& dest, uint16_t len) {
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MEMS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len);
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}
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/* ------------------ 串口初始化（奇校验） ------------------ */
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int mems_uart_init(const char *dev, int baudrate) {
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// 如果已经打开，先关闭
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if (mems_device.fd > 0) {
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close(mems_device.fd);
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mems_device.fd = -1;
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}
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// 打开串口
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mems_device.fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (mems_device.fd < 0) {
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perror("[ERROR] Open MEMS serial failed");
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return MEMS_ERR_SERIAL;
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}
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// 配置串口参数
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struct termios options;
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if (tcgetattr(mems_device.fd, &options) < 0) {
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perror("[ERROR] Get MEMS serial attributes failed");
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close(mems_device.fd);
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mems_device.fd = -1;
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return MEMS_ERR_SERIAL;
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}
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// 设置波特率
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speed_t baud = B115200;
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switch (baudrate) {
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case 9600: baud = B9600; break;
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case 19200: baud = B19200; break;
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case 38400: baud = B38400; break;
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case 57600: baud = B57600; break;
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case 115200: baud = B115200; break;
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case 230400: baud = B230400; break;
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case 460800: baud = B460800; break;
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case 921600: baud = B921600; break;
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default: baud = B115200;
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}
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cfsetispeed(&options, baud);
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cfsetospeed(&options, baud);
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// 8位数据位，奇校验，1位停止位
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options.c_cflag |= PARENB; // 启用校验位
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options.c_cflag |= PARODD; // 奇校验
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options.c_cflag &= ~CSTOPB; // 1位停止位
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8; // 8位数据位
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// 启用接收
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options.c_cflag |= CREAD | CLOCAL;
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// 禁用软件流控
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options.c_iflag &= ~(IXON | IXOFF | IXANY);
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// 原始模式
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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options.c_oflag &= ~OPOST;
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// 设置超时
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options.c_cc[VMIN] = 0;
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options.c_cc[VTIME] = 10; // 1秒超时
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if (tcsetattr(mems_device.fd, TCSANOW, &options) < 0) {
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perror("[ERROR] Set MEMS serial attributes failed");
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close(mems_device.fd);
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mems_device.fd = -1;
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return MEMS_ERR_SERIAL;
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}
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// 刷新缓冲区
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tcflush(mems_device.fd, TCIOFLUSH);
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// 初始化设备信息
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mems_device.dev = dev;
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mems_device.baudrate = baudrate;
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mems_device.on_off_status = 1;
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// 设置标定参数
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mems_device.mems_K[0] = 319198.1f;
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mems_device.mems_K[1] = 319182.2f;
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mems_device.mems_K[2] = 319335.1f;
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mems_device.mems_w0[0] = 1.465294f;
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mems_device.mems_w0[1] = 2.140157f;
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mems_device.mems_w0[2] = 1.470876f;
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printf("[OK] MEMS UART init: dev=%s, baud=%d, fd=%d\n",
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dev, baudrate, mems_device.fd);
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return MEMS_ERR_OK;
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}
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/* ------------------ 工具函数 ------------------ */
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int32_t mems_24bit_to_int32(const uint8_t *data) {
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int32_t value = (data[0] << 16) | (data[1] << 8) | data[2];
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if (value & 0x800000) {
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value |= 0xFF000000; // 符号扩展
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}
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return value;
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}
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uint16_t mems_be16_to_host(uint8_t high, uint8_t low) {
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return ((uint16_t)high << 8) | low;
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}
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int mems_checksum_verify(const uint8_t *data, int len) {
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if (len <= 1 || data == NULL) return MEMS_ERR_DATA;
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uint8_t checksum = 0;
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for (int i = 0; i < len - 1; ++i) checksum += data[i];
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if (checksum == data[len - 1]) return MEMS_ERR_OK;
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fprintf(stderr, "[ERROR] MEMS checksum error: calc=0x%02X, recv=0x%02X\n", checksum, data[len - 1]);
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return MEMS_ERR_CHECKSUM;
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}
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void mems_update_fault_count(void) {
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mems_device.fault_cnt = mems_device.header_err_cnt + mems_device.check_err_cnt +
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mems_device.length_err_cnt + mems_device.uart_reset_cnt +
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mems_device.send_cmd_err_cnt;
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}
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const char *mems_strerror(int err) {
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switch (err) {
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case MEMS_ERR_OK: return "OK";
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case MEMS_ERR_SERIAL: return "Serial not open or invalid";
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case MEMS_ERR_SEND_CMD: return "Failed to send command";
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case MEMS_ERR_NO_RESPONSE: return "No response after sending command";
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case MEMS_ERR_SELECT: return "Select() system call failed";
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case MEMS_ERR_HEADER: return "Invalid frame header";
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case MEMS_ERR_DATA: return "Failed to parse data";
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case MEMS_ERR_UNKNOWN: return "Unknown error, check connection or output format";
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case MEMS_ERR_LEN: return "Frame length error";
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case MEMS_ERR_CHECKSUM: return "Checksum error";
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case MEMS_ERR_TIMEOUT: return "Timeout while waiting for response";
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default: return "Unrecognized error";
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}
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}
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/* ------------------ 发送MEMS命令 ------------------ */
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int send_mems_cmd(void) {
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if (mems_device.fd < 0) {
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fprintf(stderr, "[ERROR] MEMS serial not open\n");
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return MEMS_ERR_SERIAL;
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}
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uint8_t send_cmd[2] = {0x55, 0x68};
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if (write(mems_device.fd, send_cmd, 2) != 2) {
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perror("[ERROR] Send MEMS cmd failed");
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mems_device.send_cmd_err_cnt++;
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mems_device.send_cmd_cnt++;
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mems_update_fault_count();
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return MEMS_ERR_SEND_CMD;
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}
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return MEMS_ERR_OK;
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}
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/* ------------------ 数据解析 ------------------ */
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int mems_data_extraction(const uint8_t *buf, MEMS_Info_Frame *info) {
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if (!buf || !info) return MEMS_ERR_DATA;
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memset(info, 0, sizeof(MEMS_Info_Frame));
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// X轴角增量解析
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int32_t x_raw = mems_24bit_to_int32(&buf[1]);
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uint16_t x_integral_time = mems_be16_to_host(buf[4], buf[5]);
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if (x_integral_time == 0) x_integral_time = 1;
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info->x_angle_delta =
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(float)x_raw * 1024.0f / (x_integral_time * mems_device.mems_K[0]) -
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mems_device.mems_w0[0] / 3600.0f;
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// Y轴角增量解析
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int32_t y_raw = mems_24bit_to_int32(&buf[6]);
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uint16_t y_integral_time = mems_be16_to_host(buf[9], buf[10]);
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if (y_integral_time == 0) y_integral_time = 1;
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info->y_angle_delta =
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(float)y_raw * 1024.0f / (y_integral_time * mems_device.mems_K[1]) -
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mems_device.mems_w0[1] / 3600.0f;
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// Z轴角增量解析
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int32_t z_raw = mems_24bit_to_int32(&buf[11]);
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uint16_t z_integral_time = mems_be16_to_host(buf[14], buf[15]);
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if (z_integral_time == 0) z_integral_time = 1;
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info->z_angle_delta =
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(float)z_raw * 1024.0f / (z_integral_time * mems_device.mems_K[2]) -
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mems_device.mems_w0[2] / 3600.0f;
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return MEMS_ERR_OK;
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}
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/* ------------------ 读取MEMS数据 ------------------ */
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int read_mems_data(MEMS_Info_Frame *frame) {
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if (!frame) return MEMS_ERR_DATA;
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||||
if (mems_device.fd < 0) {
|
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fprintf(stderr, "[ERROR] MEMS serial not open\n");
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return MEMS_ERR_SERIAL;
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||||
}
|
||||
|
||||
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);
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||||
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);
|
||||
}
|
||||
198
MemsHS.h
Normal file
198
MemsHS.h
Normal file
@@ -0,0 +1,198 @@
|
||||
#ifndef MEMS_HARDWARE_SERVICE_H
|
||||
#define MEMS_HARDWARE_SERVICE_H
|
||||
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <cstddef>
|
||||
|
||||
/* ================== 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<uint8_t>& 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 */
|
||||
6
MemsHS.json
Normal file
6
MemsHS.json
Normal file
@@ -0,0 +1,6 @@
|
||||
{
|
||||
"mems_sensor": {
|
||||
"device": "/dev/tnt5",
|
||||
"baudrate": 115200
|
||||
}
|
||||
}
|
||||
369
build/CMakeCache.txt
Normal file
369
build/CMakeCache.txt
Normal file
@@ -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 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' option
|
||||
// for the GCC compiler
|
||||
CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
|
||||
|
||||
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
|
||||
// for the GCC compiler
|
||||
CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
|
||||
|
||||
//Flags used by the CXX compiler during all build types.
|
||||
CMAKE_CXX_FLAGS:STRING=
|
||||
|
||||
//Flags used by the CXX compiler during DEBUG builds.
|
||||
CMAKE_CXX_FLAGS_DEBUG:STRING=-g
|
||||
|
||||
//Flags used by the CXX compiler during MINSIZEREL builds.
|
||||
CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
|
||||
|
||||
//Flags used by the CXX compiler during RELEASE builds.
|
||||
CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
|
||||
|
||||
//Flags used by the CXX compiler during RELWITHDEBINFO builds.
|
||||
CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
|
||||
|
||||
//C compiler
|
||||
CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
|
||||
|
||||
//A wrapper around 'ar' adding the appropriate '--plugin' option
|
||||
// for the GCC compiler
|
||||
CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11
|
||||
|
||||
//A wrapper around 'ranlib' adding the appropriate '--plugin' option
|
||||
// for the GCC compiler
|
||||
CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11
|
||||
|
||||
//Flags used by the C compiler during all build types.
|
||||
CMAKE_C_FLAGS:STRING=
|
||||
|
||||
//Flags used by the C compiler during DEBUG builds.
|
||||
CMAKE_C_FLAGS_DEBUG:STRING=-g
|
||||
|
||||
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|
||||
# 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(__TINYC__)
|
||||
# define COMPILER_ID "TinyCC"
|
||||
|
||||
#elif defined(__BCC__)
|
||||
# define COMPILER_ID "Bruce"
|
||||
|
||||
#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__)
|
||||
# define COMPILER_ID "GNU"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
|
||||
# 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
|
||||
|
||||
#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)), \
|
||||
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|
||||
# 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
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
|
||||
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|
||||
/usr/include/c++/11/bits/streambuf.tcc \
|
||||
/usr/include/c++/11/bits/basic_ios.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/c++/11/bits/istream.tcc /usr/include/c++/11/cstring \
|
||||
/usr/include/string.h /usr/include/strings.h /usr/include/unistd.h \
|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/environments.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/confname.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/getopt_core.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/termios.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/termios-struct.h \
|
||||
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|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/termios-baud.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/termios-c_cflag.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/termios-c_lflag.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/termios-tcflow.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/termios-misc.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/ttydefaults.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/ioctl.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/ioctls.h \
|
||||
/usr/include/x86_64-linux-gnu/asm/ioctls.h \
|
||||
/usr/include/asm-generic/ioctls.h /usr/include/linux/ioctl.h \
|
||||
/usr/include/x86_64-linux-gnu/asm/ioctl.h \
|
||||
/usr/include/asm-generic/ioctl.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/ioctl-types.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/time.h /usr/include/signal.h \
|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/signum-arch.h \
|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/types/__sigval_t.h \
|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/siginfo-consts-arch.h \
|
||||
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|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/sigevent-consts.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/sigaction.h \
|
||||
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|
||||
/usr/include/x86_64-linux-gnu/bits/types/stack_t.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/ucontext.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/sigstack.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/sigstksz.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/ss_flags.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/struct_sigstack.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/sigthread.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/signal_ext.h /usr/include/arpa/inet.h \
|
||||
/usr/include/netinet/in.h /usr/include/x86_64-linux-gnu/sys/socket.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/socket.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/socket_type.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/sockaddr.h \
|
||||
/usr/include/x86_64-linux-gnu/asm/socket.h \
|
||||
/usr/include/asm-generic/socket.h /usr/include/linux/posix_types.h \
|
||||
/usr/include/linux/stddef.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/asm-generic/bitsperlong.h \
|
||||
/usr/include/x86_64-linux-gnu/asm/sockios.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/c++/11/bits/refwrap.h \
|
||||
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|
||||
/usr/include/c++/11/ext/concurrence.h \
|
||||
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|
||||
/usr/include/c++/11/bits/atomic_base.h \
|
||||
/usr/include/c++/11/bits/atomic_lockfree_defines.h \
|
||||
/usr/include/c++/11/backward/auto_ptr.h /usr/include/c++/11/sstream \
|
||||
/usr/include/c++/11/bits/sstream.tcc \
|
||||
/usr/include/jsoncpp/json/allocator.h \
|
||||
/usr/include/jsoncpp/json/version.h \
|
||||
/usr/include/jsoncpp/json/json_features.h \
|
||||
/usr/include/jsoncpp/json/forwards.h /usr/include/jsoncpp/json/reader.h \
|
||||
/usr/include/jsoncpp/json/value.h /usr/include/c++/11/map \
|
||||
/usr/include/c++/11/bits/stl_tree.h /usr/include/c++/11/bits/stl_map.h \
|
||||
/usr/include/c++/11/bits/stl_multimap.h \
|
||||
/usr/include/c++/11/bits/erase_if.h /usr/include/c++/11/deque \
|
||||
/usr/include/c++/11/bits/stl_deque.h /usr/include/c++/11/bits/deque.tcc \
|
||||
/usr/include/c++/11/stack /usr/include/c++/11/bits/stl_stack.h \
|
||||
/usr/include/jsoncpp/json/writer.h /usr/local/include/simmsg/SimMsg.h \
|
||||
/usr/local/include/simmsg/SimMessageType.h \
|
||||
/usr/include/c++/11/functional /usr/include/c++/11/bits/std_function.h \
|
||||
/usr/local/include/fastdds/dds/domain/DomainParticipantFactory.hpp \
|
||||
/usr/local/include/fastrtps/attributes/ParticipantAttributes.h \
|
||||
/usr/local/include/fastdds/rtps/attributes/RTPSParticipantAttributes.h \
|
||||
/usr/local/include/fastdds/rtps/attributes/BuiltinTransports.hpp \
|
||||
/usr/local/include/fastdds/rtps/attributes/ExternalLocators.hpp \
|
||||
/usr/local/include/fastdds/rtps/common/LocatorWithMask.hpp \
|
||||
/usr/local/include/fastrtps/fastrtps_dll.h \
|
||||
/usr/local/include/fastrtps/config.h \
|
||||
/usr/local/include/fastrtps/eProsima_auto_link.h \
|
||||
/usr/local/include/fastdds/rtps/common/Locator.h \
|
||||
/usr/local/include/fastdds/rtps/common/Types.h \
|
||||
/usr/local/include/fastdds/rtps/common/VendorId_t.hpp \
|
||||
/usr/local/include/fastrtps/utils/IPLocator.h \
|
||||
/usr/local/include/fastdds/dds/log/Log.hpp /usr/include/c++/11/regex \
|
||||
/usr/include/c++/11/algorithm /usr/include/c++/11/bits/stl_algo.h \
|
||||
/usr/include/c++/11/bits/algorithmfwd.h \
|
||||
/usr/include/c++/11/bits/stl_heap.h \
|
||||
/usr/include/c++/11/bits/uniform_int_dist.h /usr/include/c++/11/bitset \
|
||||
/usr/include/c++/11/iterator /usr/include/c++/11/bits/stream_iterator.h \
|
||||
/usr/include/c++/11/locale \
|
||||
/usr/include/c++/11/bits/locale_facets_nonio.h /usr/include/c++/11/ctime \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
|
||||
/usr/include/libintl.h /usr/include/c++/11/bits/locale_facets_nonio.tcc \
|
||||
/usr/include/c++/11/bits/locale_conv.h \
|
||||
/usr/include/c++/11/bits/regex_constants.h \
|
||||
/usr/include/c++/11/bits/regex_error.h \
|
||||
/usr/include/c++/11/bits/regex_automaton.h \
|
||||
/usr/include/c++/11/bits/regex_automaton.tcc \
|
||||
/usr/include/c++/11/bits/regex_scanner.h \
|
||||
/usr/include/c++/11/bits/regex_scanner.tcc \
|
||||
/usr/include/c++/11/bits/regex_compiler.h \
|
||||
/usr/include/c++/11/bits/regex_compiler.tcc \
|
||||
/usr/include/c++/11/bits/regex.h /usr/include/c++/11/bits/regex.tcc \
|
||||
/usr/include/c++/11/bits/regex_executor.h \
|
||||
/usr/include/c++/11/bits/regex_executor.tcc \
|
||||
/usr/local/include/fastdds/rtps/attributes/ThreadSettings.hpp \
|
||||
/usr/include/c++/11/limits /usr/include/c++/11/set \
|
||||
/usr/include/c++/11/bits/stl_set.h \
|
||||
/usr/include/c++/11/bits/stl_multiset.h /usr/include/c++/11/iomanip \
|
||||
/usr/include/c++/11/bits/quoted_string.h \
|
||||
/usr/local/include/fastdds/rtps/common/LocatorsIterator.hpp \
|
||||
/usr/local/include/fastdds/rtps/common/LocatorList.hpp \
|
||||
/usr/local/include/fastdds/rtps/attributes/PropertyPolicy.h \
|
||||
/usr/local/include/fastdds/rtps/common/Property.h \
|
||||
/usr/local/include/fastdds/rtps/common/BinaryProperty.h \
|
||||
/usr/local/include/fastdds/rtps/attributes/RTPSParticipantAllocationAttributes.hpp \
|
||||
/usr/local/include/fastdds/rtps/builtin/data/ContentFilterProperty.hpp \
|
||||
/usr/local/include/fastrtps/utils/fixed_size_string.hpp \
|
||||
/usr/local/include/fastrtps/utils/collections/ResourceLimitedContainerConfig.hpp \
|
||||
/usr/local/include/fastrtps/utils/collections/ResourceLimitedVector.hpp \
|
||||
/usr/local/include/fastrtps/utils/collections/ResourceLimitedContainerConfig.hpp \
|
||||
/usr/include/assert.h \
|
||||
/usr/local/include/fastdds/rtps/attributes/ServerAttributes.h \
|
||||
/usr/local/include/fastdds/rtps/common/Guid.h \
|
||||
/usr/local/include/fastdds/rtps/common/GuidPrefix_t.hpp \
|
||||
/usr/local/include/fastdds/rtps/common/EntityId_t.hpp \
|
||||
/usr/include/c++/11/list /usr/include/c++/11/bits/stl_list.h \
|
||||
/usr/include/c++/11/bits/list.tcc \
|
||||
/usr/local/include/fastdds/rtps/common/PortParameters.h \
|
||||
/usr/local/include/fastdds/rtps/common/Time_t.h \
|
||||
/usr/include/c++/11/cmath /usr/include/math.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/math-vector.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/libm-simd-decl-stubs.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/flt-eval-method.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/fp-logb.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/fp-fast.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/mathcalls-helper-functions.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/mathcalls.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/mathcalls-narrow.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/iscanonical.h \
|
||||
/usr/local/include/fastdds/rtps/flowcontrol/FlowControllerDescriptor.hpp \
|
||||
/usr/local/include/fastdds/rtps/flowcontrol/FlowControllerConsts.hpp \
|
||||
/usr/local/include/fastdds/rtps/flowcontrol/FlowControllerSchedulerPolicy.hpp \
|
||||
/usr/local/include/fastdds/rtps/flowcontrol/ThroughputControllerDescriptor.h \
|
||||
/usr/local/include/fastdds/rtps/resources/ResourceManagement.h \
|
||||
/usr/local/include/fastdds/rtps/transport/TransportInterface.h \
|
||||
/usr/local/include/fastdds/rtps/common/LocatorSelector.hpp \
|
||||
/usr/local/include/fastdds/rtps/common/LocatorSelectorEntry.hpp \
|
||||
/usr/local/include/fastdds/rtps/transport/SenderResource.h \
|
||||
/usr/include/c++/11/chrono /usr/include/c++/11/ratio \
|
||||
/usr/include/c++/11/bits/parse_numbers.h \
|
||||
/usr/local/include/fastdds/rtps/transport/TransportDescriptorInterface.h \
|
||||
/usr/local/include/fastdds/rtps/transport/TransportReceiverInterface.h \
|
||||
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