Initial commit from DCSP - 2025/12/30 17:02:59
This commit is contained in:
46
CMakeLists.txt
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46
CMakeLists.txt
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@@ -0,0 +1,46 @@
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cmake_minimum_required(VERSION 3.10)
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project(CanHS)
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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(CanHS
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CanHS-main.cpp
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CanHS.cpp
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)
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# 链接库
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target_link_libraries(CanHS
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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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)
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# 设置输出目录
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set_target_properties(CanHS PROPERTIES
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
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)
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88
CanHS-main.cpp
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88
CanHS-main.cpp
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@@ -0,0 +1,88 @@
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#include "CanHS.h"
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#include <iostream>
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#include <string>
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#include <cstring>
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#include <chrono>
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#include <thread>
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#include <signal.h>
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#include <stdlib.h>
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static volatile bool g_running = true;
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/* 信号处理函数 */
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static void signal_handler(int signum) {
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std::cout << "[INFO] Interrupt signal (" << signum << ") received." << std::endl;
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g_running = false;
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}
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/* 打印统计数据 */
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static void print_stats(void) {
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const CanStats* stats = can_service_get_stats();
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if (!stats) return;
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std::cout << "[STATS] TelemetryReq: " << (int)stats->rec_normal_telemetry
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<< ", TelemetryCtrl: " << (int)stats->rec_telemetry_control << std::endl;
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}
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/* 获取CAN设备路径 */
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static std::string get_can_device(int argc, char* argv[]) {
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/* 1. 命令行参数优先 */
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if (argc > 1) {
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return argv[1];
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}
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/* 2. 环境变量次之 */
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const char* env_can = getenv("CAN_DEV");
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if (env_can) {
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return env_can;
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}
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/* 3. 使用默认值 */
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return "/dev/canfd0";
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}
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int main(int argc, char* argv[]) {
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std::cout << "[INFO] CAN Hardware Service Starting..." << std::endl;
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/* 注册信号处理 */
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signal(SIGINT, signal_handler);
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signal(SIGTERM, signal_handler);
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/* 获取CAN设备路径 */
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std::string can_device = get_can_device(argc, argv);
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std::cout << "[CONFIG] Using CAN device: " << can_device << std::endl;
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/* 初始化CAN服务 */
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if (!can_service_init(can_device.c_str())) {
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std::cerr << "[ERROR] Failed to initialize CAN service" << std::endl;
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return -1;
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}
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/* 初始化FastDDS */
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CanHS_init(0, "Can_Hardware_Service");
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/* 启动CAN服务 */
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can_service_start();
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std::cout << "[INFO] CAN Service started successfully" << std::endl;
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std::cout << "[INFO] Press Ctrl+C to stop" << std::endl;
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/* 主循环 */
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int counter = 0;
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while (g_running) {
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std::this_thread::sleep_for(std::chrono::seconds(1));
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if (++counter % 30 == 0) { // 每30秒打印一次
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std::cout << "[INFO] Service running..." << std::endl;
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print_stats();
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}
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}
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/* 清理资源 */
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std::cout << "[INFO] Shutting down CAN Service..." << std::endl;
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can_service_stop();
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can_service_destroy();
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std::cout << "[INFO] CAN Service terminated successfully" << std::endl;
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return 0;
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}
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583
CanHS.cpp
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583
CanHS.cpp
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@@ -0,0 +1,583 @@
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#include "CanHS.h"
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#include "SimMsg.h"
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#include <iostream>
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#include <string>
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#include <vector>
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#include <cstring>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <sys/time.h>
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#include <errno.h>
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#include <sys/select.h>
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#include <time.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <net/if.h>
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using namespace std;
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/* 全局变量定义 */
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static CanServiceContext g_can_ctx = {
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.fd_can = -1,
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.running = false,
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.send_id_on_o2 = 0x27,
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.stats = {0},
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.telemetry_len = 0,
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.telemetry_request_pending = false,
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.listener_thread = 0
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};
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/* FastDDS相关全局变量 */
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string topic_name_cmd = "Command";
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string topic_name_tlm = "Telemetry";
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SimMsg* CanHS_part = nullptr;
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string servername = "Can_Hardware_Service";
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/* 内部函数声明 */
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static bool can_device_init(const char* dev_can);
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static void* background_listener_thread(void* arg);
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static void background_listener(void);
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static void process_can_data(uint8_t serve_type, uint8_t *rcv_data, uint8_t data_len);
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static int process_multi_frame(uint8_t serve_type, uint8_t frame_seq,
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uint8_t *data, uint8_t data_len);
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static void reset_multi_frame_state(void);
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static bool is_multi_frame_timeout(void);
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static void process_telemetry_request(uint8_t *rcv_data, uint8_t data_len);
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static void process_telemetry_control(uint8_t *rcv_data, uint8_t data_len);
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/* ============================================================
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FastDDS相关函数实现
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============================================================ */
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void CanHSWriteLog(const std::string &msg)
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{
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std::cout << msg << std::endl;
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}
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void CanHS_init(uint8_t domainid, std::string appname)
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{
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std::vector<std::string> parameters;
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string expression = "dest = '" + servername + "'";
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if (nullptr == CanHS_part)
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{
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CanHS_part = new SimMsg(domainid, 3000, appname, CanHSWriteLog);
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CanHS_part->create_pub(topic_name_cmd);
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CanHS_part->create_pub(topic_name_tlm);
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CanHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
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}
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}
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/* 命令发布函数 */
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void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len)
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{
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if (CanHS_part && data && len > 0)
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{
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CanHS_part->publish(topic_name_cmd, servername, dest, "command", data, len);
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}
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}
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/* 遥测发布函数 */
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void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len)
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{
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if (CanHS_part && data && len > 0)
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{
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CanHS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len);
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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(std::string src, std::string dest, std::string type,
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std::string reserve1, std::string reserve2,
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std::vector<uint8_t>& data)
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{
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std::cout << "[INFO] CanHS telemetry received from " << src
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<< " to " << dest << ", size=" << data.size() << std::endl;
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if (data.empty())
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{
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std::cout << "[WARN] CanHS: Empty telemetry data received" << std::endl;
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return;
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}
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/* 存储遥测数据 */
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can_set_telemetry_data(data.data(), data.size());
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/* 检查是否有遥测请求待处理 */
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if (g_can_ctx.telemetry_request_pending)
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{
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std::cout << "[INFO] CanHS: Sending telemetry response (pending request)" << std::endl;
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send_telemetry_response(data.data(), data.size());
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g_can_ctx.telemetry_request_pending = false;
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}
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}
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/* ============================================================
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CAN服务核心实现 - 使用Linux SocketCAN
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============================================================ */
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/* 初始化与销毁 */
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bool can_service_init(const char* can_device) {
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/* 初始化互斥锁 */
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pthread_mutex_init(&g_can_ctx.telemetry_mutex, NULL);
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pthread_mutex_init(&g_can_ctx.multi_frame_mutex, NULL);
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memset(&g_can_ctx.multi_frame_state, 0, sizeof(g_can_ctx.multi_frame_state));
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/* 初始化CAN设备 */
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if (!can_device_init(can_device)) {
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std::cerr << "[ERROR] CAN device init failed: " << can_device << std::endl;
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return false;
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}
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return true;
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}
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void can_service_destroy(void) {
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can_service_stop();
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pthread_mutex_destroy(&g_can_ctx.telemetry_mutex);
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pthread_mutex_destroy(&g_can_ctx.multi_frame_mutex);
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if (g_can_ctx.fd_can >= 0) {
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close(g_can_ctx.fd_can);
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g_can_ctx.fd_can = -1;
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}
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/* 清理FastDDS资源 */
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if (CanHS_part) {
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delete CanHS_part;
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CanHS_part = nullptr;
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}
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std::cout << "[INFO] CAN Service destroyed" << std::endl;
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}
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/* 运行控制 */
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void can_service_start(void) {
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if (g_can_ctx.running) {
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std::cout << "[WARN] CAN Service already running" << std::endl;
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return;
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}
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g_can_ctx.running = true;
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/* 启动后台监听线程 */
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if (pthread_create(&g_can_ctx.listener_thread, NULL,
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background_listener_thread, NULL) != 0) {
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std::cerr << "[ERROR] Failed to create background listener thread" << std::endl;
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g_can_ctx.running = false;
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return;
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}
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std::cout << "[INFO] CAN Service started" << std::endl;
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}
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void can_service_stop(void) {
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g_can_ctx.running = false;
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if (g_can_ctx.listener_thread) {
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pthread_join(g_can_ctx.listener_thread, NULL);
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g_can_ctx.listener_thread = 0;
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}
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std::cout << "[INFO] CAN Service stopped" << std::endl;
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}
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/* 统计数据获取 */
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const CanStats* can_service_get_stats(void) {
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return &g_can_ctx.stats;
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}
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/* CAN设备初始化 - Linux SocketCAN版本 */
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static bool can_device_init(const char* dev_can) {
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int s;
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struct sockaddr_can addr;
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struct ifreq ifr;
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/* 创建SocketCAN socket */
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s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (s < 0) {
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perror("socket");
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return false;
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}
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strcpy(ifr.ifr_name, dev_can);
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if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
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perror("ioctl SIOCGIFINDEX");
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close(s);
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return false;
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}
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
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perror("bind");
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close(s);
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return false;
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}
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g_can_ctx.fd_can = s;
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std::cout << "[OK] CAN SocketCAN initialized: " << dev_can << std::endl;
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g_can_ctx.stats.can_reset++;
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return true;
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}
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/* CAN单帧发送 */
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int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len) {
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if (data_len > 8 || g_can_ctx.fd_can < 0) {
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return -1;
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}
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struct can_frame frame;
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memset(&frame, 0, sizeof(struct can_frame));
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frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_SINGLE_FRAME;
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frame.can_dlc = data_len;
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if (data && data_len > 0) {
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memcpy(frame.data, data, data_len);
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}
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ssize_t ret = write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame));
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if (ret != sizeof(struct can_frame)) {
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std::cerr << "[ERROR] CAN send failed: " << strerror(errno) << std::endl;
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return -1;
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}
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if (serve_type == O2_NORMAL_TELEMETRY) {
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g_can_ctx.stats.send_single_frame++;
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}
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std::cout << "[INFO] CAN single frame sent: type=0x" << std::hex << (int)serve_type
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<< ", len=" << std::dec << (int)data_len << std::endl;
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return 0;
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}
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/* CAN多帧发送 */
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int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len) {
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if (data_len <= 8 || g_can_ctx.fd_can < 0) {
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return -1;
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}
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struct can_frame frame;
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uint16_t remain_len = data_len;
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uint16_t frame_index = 0;
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/* 发送首帧 */
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memset(&frame, 0, sizeof(struct can_frame));
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frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_START_FRAME;
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frame.can_dlc = 8;
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frame.data[0] = (uint8_t)frame_index;
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uint16_t copy_len = (remain_len > 7) ? 7 : remain_len;
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memcpy(&frame.data[1], data, copy_len);
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if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
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std::cerr << "[ERROR] Failed to send start frame" << std::endl;
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return -1;
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}
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remain_len -= copy_len;
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frame_index++;
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/* 发送中间帧 */
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while (remain_len > 7) {
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memset(&frame, 0, sizeof(struct can_frame));
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frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_MID_FRAME;
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frame.can_dlc = 8;
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frame.data[0] = (uint8_t)frame_index;
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memcpy(&frame.data[1], data + (frame_index * 7), 7);
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if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
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std::cerr << "[ERROR] Failed to send middle frame " << frame_index << std::endl;
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return -1;
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}
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remain_len -= 7;
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frame_index++;
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}
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/* 发送末帧 */
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memset(&frame, 0, sizeof(struct can_frame));
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frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_END_FRAME;
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frame.can_dlc = remain_len + 1;
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frame.data[0] = (uint8_t)frame_index;
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if (remain_len > 0) {
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memcpy(&frame.data[1], data + (frame_index * 7), remain_len);
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}
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||||
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if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
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std::cerr << "[ERROR] Failed to send end frame" << std::endl;
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return -1;
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}
|
||||
|
||||
if (serve_type == O2_NORMAL_TELEMETRY) {
|
||||
g_can_ctx.stats.send_multi_frame++;
|
||||
}
|
||||
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||||
std::cout << "[INFO] Multi-frame sent: " << data_len << " bytes in "
|
||||
<< (frame_index + 1) << " frames, type=0x" << std::hex << (int)serve_type << std::dec << std::endl;
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return 0;
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||||
}
|
||||
|
||||
/* 遥测数据管理 */
|
||||
void can_set_telemetry_data(const uint8_t *data, size_t data_len) {
|
||||
pthread_mutex_lock(&g_can_ctx.telemetry_mutex);
|
||||
|
||||
size_t copy_len = (data_len < sizeof(g_can_ctx.telemetry_buffer)) ?
|
||||
data_len : sizeof(g_can_ctx.telemetry_buffer);
|
||||
|
||||
memcpy(g_can_ctx.telemetry_buffer, data, copy_len);
|
||||
g_can_ctx.telemetry_len = copy_len;
|
||||
|
||||
std::cout << "[INFO] Telemetry data updated, size=" << copy_len << std::endl;
|
||||
|
||||
pthread_mutex_unlock(&g_can_ctx.telemetry_mutex);
|
||||
}
|
||||
|
||||
bool can_get_telemetry_data(uint8_t *buffer, size_t buffer_size, size_t *data_len) {
|
||||
pthread_mutex_lock(&g_can_ctx.telemetry_mutex);
|
||||
|
||||
if (g_can_ctx.telemetry_len == 0) {
|
||||
pthread_mutex_unlock(&g_can_ctx.telemetry_mutex);
|
||||
return false;
|
||||
}
|
||||
|
||||
size_t copy_len = (g_can_ctx.telemetry_len < buffer_size) ?
|
||||
g_can_ctx.telemetry_len : buffer_size;
|
||||
|
||||
memcpy(buffer, g_can_ctx.telemetry_buffer, copy_len);
|
||||
if (data_len) *data_len = copy_len;
|
||||
|
||||
pthread_mutex_unlock(&g_can_ctx.telemetry_mutex);
|
||||
return true;
|
||||
}
|
||||
|
||||
/* 遥测响应发送 */
|
||||
void send_telemetry_response(const uint8_t *data, size_t data_len) {
|
||||
uint8_t send_data[1024];
|
||||
send_data[0] = 0x02; // 遥测响应标识
|
||||
|
||||
size_t copy_len = (data_len < sizeof(send_data) - 1) ? data_len : sizeof(send_data) - 1;
|
||||
memcpy(&send_data[1], data, copy_len);
|
||||
|
||||
uint16_t send_data_len = copy_len + 1;
|
||||
|
||||
if (send_data_len <= 8) {
|
||||
can_send_single(O2_NORMAL_TELEMETRY, send_data, (uint8_t)send_data_len);
|
||||
} else {
|
||||
can_send_multi(O2_NORMAL_TELEMETRY, send_data, send_data_len);
|
||||
}
|
||||
|
||||
std::cout << "[INFO] Telemetry response sent, data_len=" << copy_len
|
||||
<< ", total_len=" << send_data_len << std::endl;
|
||||
}
|
||||
|
||||
/* 数据处理函数 */
|
||||
static void process_telemetry_request(uint8_t *rcv_data, uint8_t data_len) {
|
||||
std::cout << "[INFO] Processing telemetry request, data=0x" << std::hex << (int)rcv_data[0]
|
||||
<< ", len=" << std::dec << (int)data_len << std::endl;
|
||||
|
||||
if (rcv_data[0] == 0x01 && data_len == 1) {
|
||||
g_can_ctx.stats.rec_normal_telemetry++;
|
||||
|
||||
/* 检查是否有遥测数据 */
|
||||
uint8_t telemetry_buffer[1024];
|
||||
size_t telemetry_len = 0;
|
||||
|
||||
if (can_get_telemetry_data(telemetry_buffer, sizeof(telemetry_buffer), &telemetry_len)) {
|
||||
/* 有遥测数据,发送响应 */
|
||||
send_telemetry_response(telemetry_buffer, telemetry_len);
|
||||
} else {
|
||||
/* 无遥测数据,标记待处理 */
|
||||
g_can_ctx.telemetry_request_pending = true;
|
||||
std::cout << "[WARN] No telemetry data available, request pending" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void process_telemetry_control(uint8_t *rcv_data, uint8_t data_len) {
|
||||
std::cout << "[INFO] Processing telemetry control, len=" << (int)data_len << std::endl;
|
||||
|
||||
if (data_len >= 4) { // 最小有效数据长度
|
||||
g_can_ctx.stats.rec_telemetry_control++;
|
||||
|
||||
/* 通过FastDDS转发到通信服务 */
|
||||
string dest = "Com_Service";
|
||||
CanHS_command_Pub(rcv_data, dest, data_len);
|
||||
|
||||
std::cout << "[INFO] Telemetry control forwarded via FastDDS" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
/* 主数据处理函数 */
|
||||
static void process_can_data(uint8_t serve_type, uint8_t *rcv_data, uint8_t data_len) {
|
||||
switch (serve_type) {
|
||||
case O2_NORMAL_TELEMETRY:
|
||||
process_telemetry_request(rcv_data, data_len);
|
||||
break;
|
||||
case O2_TELEMETRY_CONTROL:
|
||||
process_telemetry_control(rcv_data, data_len);
|
||||
break;
|
||||
default:
|
||||
std::cout << "[WARN] Unknown service type: 0x" << std::hex << (int)serve_type << std::dec << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* 多帧重组 */
|
||||
static bool is_multi_frame_timeout(void) {
|
||||
struct timeval current_time;
|
||||
gettimeofday(¤t_time, NULL);
|
||||
|
||||
long elapsed_ms = (current_time.tv_sec - g_can_ctx.multi_frame_state.start_time.tv_sec) * 1000 +
|
||||
(current_time.tv_usec - g_can_ctx.multi_frame_state.start_time.tv_usec) / 1000;
|
||||
|
||||
return (elapsed_ms > 10000); // 10秒超时
|
||||
}
|
||||
|
||||
static void reset_multi_frame_state(void) {
|
||||
pthread_mutex_lock(&g_can_ctx.multi_frame_mutex);
|
||||
g_can_ctx.multi_frame_state.active = 0;
|
||||
g_can_ctx.multi_frame_state.length = 0;
|
||||
g_can_ctx.multi_frame_state.expected_frame_index = 0;
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
}
|
||||
|
||||
static int process_multi_frame(uint8_t serve_type, uint8_t frame_seq,
|
||||
uint8_t *data, uint8_t data_len) {
|
||||
pthread_mutex_lock(&g_can_ctx.multi_frame_mutex);
|
||||
|
||||
/* 检查超时 */
|
||||
if (g_can_ctx.multi_frame_state.active && is_multi_frame_timeout()) {
|
||||
std::cout << "[WARN] Multi-frame reassembly timeout" << std::endl;
|
||||
reset_multi_frame_state();
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* 如果是首帧 */
|
||||
if (frame_seq == O2_START_FRAME) {
|
||||
g_can_ctx.multi_frame_state.active = 1;
|
||||
g_can_ctx.multi_frame_state.serve_type = serve_type;
|
||||
g_can_ctx.multi_frame_state.expected_frame_index = 1;
|
||||
g_can_ctx.multi_frame_state.length = 0;
|
||||
gettimeofday(&g_can_ctx.multi_frame_state.start_time, NULL);
|
||||
|
||||
if (data_len > 1) {
|
||||
memcpy(g_can_ctx.multi_frame_state.buffer, &data[1], data_len - 1);
|
||||
g_can_ctx.multi_frame_state.length = data_len - 1;
|
||||
}
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* 如果是中间帧或末帧 */
|
||||
if (g_can_ctx.multi_frame_state.active && serve_type == g_can_ctx.multi_frame_state.serve_type) {
|
||||
if (data[0] == g_can_ctx.multi_frame_state.expected_frame_index) {
|
||||
if (data_len > 1) {
|
||||
memcpy(&g_can_ctx.multi_frame_state.buffer[g_can_ctx.multi_frame_state.length],
|
||||
&data[1], data_len - 1);
|
||||
g_can_ctx.multi_frame_state.length += data_len - 1;
|
||||
}
|
||||
|
||||
g_can_ctx.multi_frame_state.expected_frame_index++;
|
||||
|
||||
if (frame_seq == O2_END_FRAME) {
|
||||
g_can_ctx.multi_frame_state.active = 0;
|
||||
uint16_t final_length = g_can_ctx.multi_frame_state.length;
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return final_length; // 返回完整数据长度
|
||||
}
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return 0; // 需要继续接收
|
||||
} else {
|
||||
std::cout << "[WARN] Multi-frame sequence mismatch: expected="
|
||||
<< (int)g_can_ctx.multi_frame_state.expected_frame_index
|
||||
<< ", received=" << (int)data[0] << std::endl;
|
||||
reset_multi_frame_state();
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* 后台监听线程 */
|
||||
static void* background_listener_thread(void* arg) {
|
||||
(void)arg;
|
||||
background_listener();
|
||||
return NULL;
|
||||
}
|
||||
|
||||
static void background_listener(void) {
|
||||
std::cout << "[INFO] CAN background listener started" << std::endl;
|
||||
|
||||
while (g_can_ctx.running) {
|
||||
if (g_can_ctx.fd_can < 0) {
|
||||
sleep(1);
|
||||
continue;
|
||||
}
|
||||
|
||||
fd_set readfds;
|
||||
struct timeval timeout = {0, 100000}; // 100ms
|
||||
|
||||
FD_ZERO(&readfds);
|
||||
FD_SET(g_can_ctx.fd_can, &readfds);
|
||||
|
||||
int ret = select(g_can_ctx.fd_can + 1, &readfds, NULL, NULL, &timeout);
|
||||
if (ret > 0 && FD_ISSET(g_can_ctx.fd_can, &readfds)) {
|
||||
struct can_frame recv_frame;
|
||||
ssize_t bytes = read(g_can_ctx.fd_can, &recv_frame, sizeof(struct can_frame));
|
||||
if (bytes == sizeof(struct can_frame)) {
|
||||
uint8_t serve_type = (recv_frame.can_id >> 2) & 0x07;
|
||||
uint8_t frame_seq = recv_frame.can_id & 0x03;
|
||||
|
||||
std::cout << "[INFO] CAN received: type=0x" << std::hex << (int)serve_type
|
||||
<< ", seq=" << std::dec << (int)frame_seq
|
||||
<< ", len=" << (int)recv_frame.can_dlc << std::endl;
|
||||
|
||||
/* 处理多帧数据 */
|
||||
if (frame_seq != O2_SINGLE_FRAME) {
|
||||
int result = process_multi_frame(serve_type, frame_seq,
|
||||
recv_frame.data, recv_frame.can_dlc);
|
||||
|
||||
if (result > 0) {
|
||||
std::cout << "[SUCCESS] Multi-frame reassembly completed: type=0x"
|
||||
<< std::hex << (int)serve_type << std::dec
|
||||
<< ", bytes=" << result << std::endl;
|
||||
process_can_data(serve_type, g_can_ctx.multi_frame_state.buffer, result);
|
||||
} else if (result == 0) {
|
||||
std::cout << "[INFO] Waiting for more multi-frame data, type=0x"
|
||||
<< std::hex << (int)serve_type << std::dec << std::endl;
|
||||
} else {
|
||||
std::cout << "[ERROR] Multi-frame reassembly failed: type=0x"
|
||||
<< std::hex << (int)serve_type << std::dec << std::endl;
|
||||
}
|
||||
} else {
|
||||
process_can_data(serve_type, recv_frame.data, recv_frame.can_dlc);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* 检查多帧超时 */
|
||||
pthread_mutex_lock(&g_can_ctx.multi_frame_mutex);
|
||||
if (g_can_ctx.multi_frame_state.active && is_multi_frame_timeout()) {
|
||||
std::cout << "[WARN] Multi-frame reassembly timeout" << std::endl;
|
||||
reset_multi_frame_state();
|
||||
}
|
||||
pthread_mutex_unlock(&g_can_ctx.multi_frame_mutex);
|
||||
|
||||
usleep(10000); // 10ms
|
||||
}
|
||||
}
|
||||
130
CanHS.h
Normal file
130
CanHS.h
Normal file
@@ -0,0 +1,130 @@
|
||||
#ifndef CANHS_H
|
||||
#define CANHS_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <pthread.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* 简化后的服务类型定义 */
|
||||
#define O2_NORMAL_TELEMETRY 0x2 /* 常规遥测 */
|
||||
#define O2_TELEMETRY_CONTROL 0x4 /* 遥控 */
|
||||
|
||||
/* 帧序列定义 */
|
||||
#define O2_MID_FRAME 0x0
|
||||
#define O2_START_FRAME 0x1
|
||||
#define O2_END_FRAME 0x2
|
||||
#define O2_SINGLE_FRAME 0x3
|
||||
|
||||
/* CAN帧结构体 */
|
||||
typedef struct {
|
||||
uint32_t CAN_uiId;
|
||||
uint8_t CAN_bRtr;
|
||||
uint8_t CAN_bExtId;
|
||||
uint8_t CAN_ucLen;
|
||||
uint8_t CAN_ucData[8];
|
||||
} CAN_FRAME;
|
||||
|
||||
/* 多帧重组状态 */
|
||||
typedef struct {
|
||||
uint8_t buffer[1024];
|
||||
uint16_t length;
|
||||
uint8_t serve_type;
|
||||
uint8_t expected_frame_index;
|
||||
uint8_t active;
|
||||
struct timeval start_time;
|
||||
} MultiFrameState;
|
||||
|
||||
/* 统计计数器 */
|
||||
typedef struct {
|
||||
uint8_t rec_normal_telemetry; /* 接收遥测请求次数 */
|
||||
uint8_t rec_telemetry_control; /* 接收遥控指令次数 */
|
||||
uint8_t send_single_frame; /* 发送单帧次数 */
|
||||
uint8_t send_multi_frame; /* 发送多帧次数 */
|
||||
uint8_t can_reset; /* CAN重置次数 */
|
||||
} CanStats;
|
||||
|
||||
/* CAN服务上下文 */
|
||||
typedef struct {
|
||||
int fd_can;
|
||||
bool running;
|
||||
uint8_t send_id_on_o2; /* CAN发送ID */
|
||||
|
||||
CanStats stats;
|
||||
|
||||
/* 遥测数据缓冲区 */
|
||||
uint8_t telemetry_buffer[1024];
|
||||
size_t telemetry_len;
|
||||
pthread_mutex_t telemetry_mutex;
|
||||
bool telemetry_request_pending;
|
||||
|
||||
/* 多帧重组状态 */
|
||||
MultiFrameState multi_frame_state;
|
||||
pthread_mutex_t multi_frame_mutex;
|
||||
|
||||
/* 线程相关 */
|
||||
pthread_t listener_thread;
|
||||
} CanServiceContext;
|
||||
|
||||
/* 函数声明 */
|
||||
|
||||
/* 初始化与销毁 */
|
||||
bool can_service_init(const char* can_device);
|
||||
void can_service_destroy(void);
|
||||
|
||||
/* 运行控制 */
|
||||
void can_service_start(void);
|
||||
void can_service_stop(void);
|
||||
|
||||
/* 统计数据获取 */
|
||||
const CanStats* can_service_get_stats(void);
|
||||
|
||||
/* CAN发送函数 */
|
||||
int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len);
|
||||
int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len);
|
||||
|
||||
/* 遥测数据处理 */
|
||||
void can_set_telemetry_data(const uint8_t *data, size_t data_len);
|
||||
bool can_get_telemetry_data(uint8_t *buffer, size_t buffer_size, size_t *data_len);
|
||||
void send_telemetry_response(const uint8_t *data, size_t data_len);
|
||||
|
||||
/* 快速查询接口 */
|
||||
static inline uint8_t can_get_normal_telemetry_count(void) {
|
||||
const CanStats* stats = can_service_get_stats();
|
||||
return stats ? stats->rec_normal_telemetry : 0;
|
||||
}
|
||||
|
||||
static inline uint8_t can_get_telemetry_control_count(void) {
|
||||
const CanStats* stats = can_service_get_stats();
|
||||
return stats ? stats->rec_telemetry_control : 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
/* C++接口声明(与ComS保持一致) */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* FastDDS相关函数 */
|
||||
void CanHSWriteLog(const std::string &msg);
|
||||
void CanHS_init(uint8_t domainid, std::string appname);
|
||||
void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len);
|
||||
void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len);
|
||||
|
||||
void telemetry_callback(std::string src, std::string dest, std::string type,
|
||||
std::string reserve1, std::string reserve2,
|
||||
std::vector<uint8_t>& data);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CANHS_H */
|
||||
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/CAN硬件服务化-test/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
|
||||
|
||||
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|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
|
||||
|
||||
#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
|
||||
# define COMPILER_ID "VisualAge"
|
||||
/* __IBMC__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 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(__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__)
|
||||
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# 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[] = {
|
||||
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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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|
||||
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|
||||
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|
||||
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|
||||
/usr/include/c++/11/bits/stl_algobase.h \
|
||||
/usr/include/c++/11/bits/functexcept.h \
|
||||
/usr/include/c++/11/bits/exception_defines.h \
|
||||
/usr/include/c++/11/bits/cpp_type_traits.h \
|
||||
/usr/include/c++/11/ext/type_traits.h \
|
||||
/usr/include/c++/11/ext/numeric_traits.h \
|
||||
/usr/include/c++/11/bits/stl_pair.h /usr/include/c++/11/bits/move.h \
|
||||
/usr/include/c++/11/type_traits \
|
||||
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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/predefined_ops.h \
|
||||
/usr/include/c++/11/bits/postypes.h /usr/include/c++/11/cwchar \
|
||||
/usr/include/wchar.h /usr/include/x86_64-linux-gnu/bits/floatn.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/floatn-common.h \
|
||||
/usr/lib/gcc/x86_64-linux-gnu/11/include/stdarg.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/wint_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/mbstate_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/__mbstate_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/__FILE.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/FILE.h \
|
||||
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|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/c++allocator.h \
|
||||
/usr/include/c++/11/ext/new_allocator.h /usr/include/c++/11/new \
|
||||
/usr/include/c++/11/bits/exception.h \
|
||||
/usr/include/c++/11/bits/localefwd.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h \
|
||||
/usr/include/c++/11/clocale /usr/include/locale.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/locale.h /usr/include/c++/11/iosfwd \
|
||||
/usr/include/c++/11/cctype /usr/include/ctype.h \
|
||||
/usr/include/c++/11/bits/ostream_insert.h \
|
||||
/usr/include/c++/11/bits/cxxabi_forced.h \
|
||||
/usr/include/c++/11/bits/stl_function.h \
|
||||
/usr/include/c++/11/backward/binders.h \
|
||||
/usr/include/c++/11/bits/range_access.h \
|
||||
/usr/include/c++/11/initializer_list \
|
||||
/usr/include/c++/11/bits/basic_string.h \
|
||||
/usr/include/c++/11/ext/atomicity.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/gthr.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/gthr-default.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/atomic_word.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/single_threaded.h \
|
||||
/usr/include/c++/11/ext/alloc_traits.h \
|
||||
/usr/include/c++/11/bits/alloc_traits.h \
|
||||
/usr/include/c++/11/bits/stl_construct.h \
|
||||
/usr/include/c++/11/ext/string_conversions.h /usr/include/c++/11/cstdlib \
|
||||
/usr/include/stdlib.h /usr/include/x86_64-linux-gnu/bits/waitflags.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/waitstatus.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/types.h /usr/include/endian.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/byteswap.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/uintn-identity.h \
|
||||
/usr/include/x86_64-linux-gnu/sys/select.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/select.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/sigset_t.h \
|
||||
/usr/include/alloca.h /usr/include/x86_64-linux-gnu/bits/stdlib-float.h \
|
||||
/usr/include/c++/11/bits/std_abs.h /usr/include/c++/11/cstdio \
|
||||
/usr/include/stdio.h /usr/include/x86_64-linux-gnu/bits/types/__fpos_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/struct_FILE.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/cookie_io_functions_t.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/stdio_lim.h \
|
||||
/usr/include/c++/11/cerrno /usr/include/errno.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/errno.h /usr/include/linux/errno.h \
|
||||
/usr/include/x86_64-linux-gnu/asm/errno.h \
|
||||
/usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
|
||||
/usr/include/x86_64-linux-gnu/bits/types/error_t.h \
|
||||
/usr/include/c++/11/bits/charconv.h \
|
||||
/usr/include/c++/11/bits/functional_hash.h \
|
||||
/usr/include/c++/11/bits/hash_bytes.h \
|
||||
/usr/include/c++/11/bits/basic_string.tcc /usr/include/c++/11/vector \
|
||||
/usr/include/c++/11/bits/stl_uninitialized.h \
|
||||
/usr/include/c++/11/bits/stl_vector.h \
|
||||
/usr/include/c++/11/bits/stl_bvector.h \
|
||||
/usr/include/c++/11/bits/vector.tcc /usr/local/include/simmsg/SimMsg.h \
|
||||
/usr/local/include/simmsg/SimMessageType.h \
|
||||
/usr/include/c++/11/functional /usr/include/c++/11/tuple \
|
||||
/usr/include/c++/11/utility /usr/include/c++/11/bits/stl_relops.h \
|
||||
/usr/include/c++/11/array /usr/include/c++/11/bits/uses_allocator.h \
|
||||
/usr/include/c++/11/bits/invoke.h /usr/include/c++/11/bits/refwrap.h \
|
||||
/usr/include/c++/11/bits/std_function.h /usr/include/c++/11/typeinfo \
|
||||
/usr/include/c++/11/map /usr/include/c++/11/bits/stl_tree.h \
|
||||
/usr/include/c++/11/ext/aligned_buffer.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/local/include/fastdds/dds/domain/DomainParticipantFactory.hpp \
|
||||
/usr/local/include/fastrtps/attributes/ParticipantAttributes.h \
|
||||
/usr/local/include/fastdds/rtps/attributes/RTPSParticipantAttributes.h \
|
||||
/usr/include/c++/11/memory /usr/include/c++/11/bits/stl_tempbuf.h \
|
||||
/usr/include/c++/11/bits/stl_raw_storage_iter.h \
|
||||
/usr/include/c++/11/bits/align.h /usr/include/c++/11/bit \
|
||||
/usr/include/c++/11/bits/unique_ptr.h \
|
||||
/usr/include/c++/11/bits/shared_ptr.h \
|
||||
/usr/include/c++/11/bits/shared_ptr_base.h \
|
||||
/usr/include/c++/11/bits/allocated_ptr.h \
|
||||
/usr/include/c++/11/ext/concurrence.h /usr/include/c++/11/exception \
|
||||
/usr/include/c++/11/bits/exception_ptr.h \
|
||||
/usr/include/c++/11/bits/cxxabi_init_exception.h \
|
||||
/usr/include/c++/11/bits/nested_exception.h \
|
||||
/usr/include/c++/11/bits/shared_ptr_atomic.h \
|
||||
/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/istream /usr/include/c++/11/ios \
|
||||
/usr/include/c++/11/bits/ios_base.h \
|
||||
/usr/include/c++/11/bits/locale_classes.h \
|
||||
/usr/include/c++/11/bits/locale_classes.tcc \
|
||||
/usr/include/c++/11/system_error \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/error_constants.h \
|
||||
/usr/include/c++/11/stdexcept /usr/include/c++/11/streambuf \
|
||||
/usr/include/c++/11/bits/streambuf.tcc \
|
||||
/usr/include/c++/11/bits/basic_ios.h \
|
||||
/usr/include/c++/11/bits/locale_facets.h /usr/include/c++/11/cwctype \
|
||||
/usr/include/wctype.h /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_base.h \
|
||||
/usr/include/c++/11/bits/streambuf_iterator.h \
|
||||
/usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h \
|
||||
/usr/include/c++/11/bits/locale_facets.tcc \
|
||||
/usr/include/c++/11/bits/basic_ios.tcc /usr/include/c++/11/ostream \
|
||||
/usr/include/c++/11/bits/ostream.tcc \
|
||||
/usr/include/c++/11/bits/istream.tcc \
|
||||
/usr/include/c++/11/bits/sstream.tcc \
|
||||
/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/include/c++/11/iostream \
|
||||
/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/codecvt.h \
|
||||
/usr/include/c++/11/bits/locale_facets_nonio.tcc \
|
||||
/usr/include/c++/11/bits/locale_conv.h /usr/include/c++/11/stack \
|
||||
/usr/include/c++/11/deque /usr/include/c++/11/bits/stl_deque.h \
|
||||
/usr/include/c++/11/bits/deque.tcc /usr/include/c++/11/bits/stl_stack.h \
|
||||
/usr/include/c++/11/cstring /usr/include/string.h /usr/include/strings.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/include/c++/11/cstddef \
|
||||
/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 \
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