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Initial commit from DCSP - 2025/12/30 17:02:59

This commit is contained in:
xb
2025-12-30 17:02:59 +08:00
commit 172fb807f6
37 changed files with 4734 additions and 0 deletions

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CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.10)
project(CanHS)
# 设置C++标准
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# 设置编译选项
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread")
# 包含头文件路径
include_directories(
${CMAKE_CURRENT_SOURCE_DIR} # 当前目录
/usr/local/include/simmsg # simmsg头文件目录
/usr/local/include # 系统本地include
/usr/include # 系统include
)
# 链接库路径
link_directories(
/usr/local/lib # 系统本地lib
/usr/lib # 系统lib
/usr/lib/x86_64-linux-gnu # 系统64位库
)
# 添加可执行文件
add_executable(CanHS
CanHS-main.cpp
CanHS.cpp
)
# 链接库
target_link_libraries(CanHS
pthread
m
rt
simmsg
fastrtps
fastcdr
foonathan_memory
)
# 设置输出目录
set_target_properties(CanHS PROPERTIES
RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin
)

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CanHS-main.cpp Normal file
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#include "CanHS.h"
#include <iostream>
#include <string>
#include <cstring>
#include <chrono>
#include <thread>
#include <signal.h>
#include <stdlib.h>
static volatile bool g_running = true;
/* 信号处理函数 */
static void signal_handler(int signum) {
std::cout << "[INFO] Interrupt signal (" << signum << ") received." << std::endl;
g_running = false;
}
/* 打印统计数据 */
static void print_stats(void) {
const CanStats* stats = can_service_get_stats();
if (!stats) return;
std::cout << "[STATS] TelemetryReq: " << (int)stats->rec_normal_telemetry
<< ", TelemetryCtrl: " << (int)stats->rec_telemetry_control << std::endl;
}
/* 获取CAN设备路径 */
static std::string get_can_device(int argc, char* argv[]) {
/* 1. 命令行参数优先 */
if (argc > 1) {
return argv[1];
}
/* 2. 环境变量次之 */
const char* env_can = getenv("CAN_DEV");
if (env_can) {
return env_can;
}
/* 3. 使用默认值 */
return "/dev/canfd0";
}
int main(int argc, char* argv[]) {
std::cout << "[INFO] CAN Hardware Service Starting..." << std::endl;
/* 注册信号处理 */
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
/* 获取CAN设备路径 */
std::string can_device = get_can_device(argc, argv);
std::cout << "[CONFIG] Using CAN device: " << can_device << std::endl;
/* 初始化CAN服务 */
if (!can_service_init(can_device.c_str())) {
std::cerr << "[ERROR] Failed to initialize CAN service" << std::endl;
return -1;
}
/* 初始化FastDDS */
CanHS_init(0, "Can_Hardware_Service");
/* 启动CAN服务 */
can_service_start();
std::cout << "[INFO] CAN Service started successfully" << std::endl;
std::cout << "[INFO] Press Ctrl+C to stop" << std::endl;
/* 主循环 */
int counter = 0;
while (g_running) {
std::this_thread::sleep_for(std::chrono::seconds(1));
if (++counter % 30 == 0) { // 每30秒打印一次
std::cout << "[INFO] Service running..." << std::endl;
print_stats();
}
}
/* 清理资源 */
std::cout << "[INFO] Shutting down CAN Service..." << std::endl;
can_service_stop();
can_service_destroy();
std::cout << "[INFO] CAN Service terminated successfully" << std::endl;
return 0;
}

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CanHS.cpp Normal file
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#include "CanHS.h"
#include "SimMsg.h"
#include <iostream>
#include <string>
#include <vector>
#include <cstring>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <errno.h>
#include <sys/select.h>
#include <time.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
using namespace std;
/* 全局变量定义 */
static CanServiceContext g_can_ctx = {
.fd_can = -1,
.running = false,
.send_id_on_o2 = 0x27,
.stats = {0},
.telemetry_len = 0,
.telemetry_request_pending = false,
.listener_thread = 0
};
/* FastDDS相关全局变量 */
string topic_name_cmd = "Command";
string topic_name_tlm = "Telemetry";
SimMsg* CanHS_part = nullptr;
string servername = "Can_Hardware_Service";
/* 内部函数声明 */
static bool can_device_init(const char* dev_can);
static void* background_listener_thread(void* arg);
static void background_listener(void);
static void process_can_data(uint8_t serve_type, uint8_t *rcv_data, uint8_t data_len);
static int process_multi_frame(uint8_t serve_type, uint8_t frame_seq,
uint8_t *data, uint8_t data_len);
static void reset_multi_frame_state(void);
static bool is_multi_frame_timeout(void);
static void process_telemetry_request(uint8_t *rcv_data, uint8_t data_len);
static void process_telemetry_control(uint8_t *rcv_data, uint8_t data_len);
/* ============================================================
FastDDS相关函数实现
============================================================ */
void CanHSWriteLog(const std::string &msg)
{
std::cout << msg << std::endl;
}
void CanHS_init(uint8_t domainid, std::string appname)
{
std::vector<std::string> parameters;
string expression = "dest = '" + servername + "'";
if (nullptr == CanHS_part)
{
CanHS_part = new SimMsg(domainid, 3000, appname, CanHSWriteLog);
CanHS_part->create_pub(topic_name_cmd);
CanHS_part->create_pub(topic_name_tlm);
CanHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
}
}
/* 命令发布函数 */
void CanHS_command_Pub(uint8_t* data, std::string dest, uint16_t len)
{
if (CanHS_part && data && len > 0)
{
CanHS_part->publish(topic_name_cmd, servername, dest, "command", data, len);
}
}
/* 遥测发布函数 */
void CanHS_telemetry_Pub(uint8_t* data, std::string dest, uint16_t len)
{
if (CanHS_part && data && len > 0)
{
CanHS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len);
}
}
/* 遥测回调函数 */
void telemetry_callback(std::string src, std::string dest, std::string type,
std::string reserve1, std::string reserve2,
std::vector<uint8_t>& data)
{
std::cout << "[INFO] CanHS telemetry received from " << src
<< " to " << dest << ", size=" << data.size() << std::endl;
if (data.empty())
{
std::cout << "[WARN] CanHS: Empty telemetry data received" << std::endl;
return;
}
/* 存储遥测数据 */
can_set_telemetry_data(data.data(), data.size());
/* 检查是否有遥测请求待处理 */
if (g_can_ctx.telemetry_request_pending)
{
std::cout << "[INFO] CanHS: Sending telemetry response (pending request)" << std::endl;
send_telemetry_response(data.data(), data.size());
g_can_ctx.telemetry_request_pending = false;
}
}
/* ============================================================
CAN服务核心实现 - 使用Linux SocketCAN
============================================================ */
/* 初始化与销毁 */
bool can_service_init(const char* can_device) {
/* 初始化互斥锁 */
pthread_mutex_init(&g_can_ctx.telemetry_mutex, NULL);
pthread_mutex_init(&g_can_ctx.multi_frame_mutex, NULL);
memset(&g_can_ctx.multi_frame_state, 0, sizeof(g_can_ctx.multi_frame_state));
/* 初始化CAN设备 */
if (!can_device_init(can_device)) {
std::cerr << "[ERROR] CAN device init failed: " << can_device << std::endl;
return false;
}
return true;
}
void can_service_destroy(void) {
can_service_stop();
pthread_mutex_destroy(&g_can_ctx.telemetry_mutex);
pthread_mutex_destroy(&g_can_ctx.multi_frame_mutex);
if (g_can_ctx.fd_can >= 0) {
close(g_can_ctx.fd_can);
g_can_ctx.fd_can = -1;
}
/* 清理FastDDS资源 */
if (CanHS_part) {
delete CanHS_part;
CanHS_part = nullptr;
}
std::cout << "[INFO] CAN Service destroyed" << std::endl;
}
/* 运行控制 */
void can_service_start(void) {
if (g_can_ctx.running) {
std::cout << "[WARN] CAN Service already running" << std::endl;
return;
}
g_can_ctx.running = true;
/* 启动后台监听线程 */
if (pthread_create(&g_can_ctx.listener_thread, NULL,
background_listener_thread, NULL) != 0) {
std::cerr << "[ERROR] Failed to create background listener thread" << std::endl;
g_can_ctx.running = false;
return;
}
std::cout << "[INFO] CAN Service started" << std::endl;
}
void can_service_stop(void) {
g_can_ctx.running = false;
if (g_can_ctx.listener_thread) {
pthread_join(g_can_ctx.listener_thread, NULL);
g_can_ctx.listener_thread = 0;
}
std::cout << "[INFO] CAN Service stopped" << std::endl;
}
/* 统计数据获取 */
const CanStats* can_service_get_stats(void) {
return &g_can_ctx.stats;
}
/* CAN设备初始化 - Linux SocketCAN版本 */
static bool can_device_init(const char* dev_can) {
int s;
struct sockaddr_can addr;
struct ifreq ifr;
/* 创建SocketCAN socket */
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
perror("socket");
return false;
}
strcpy(ifr.ifr_name, dev_can);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("ioctl SIOCGIFINDEX");
close(s);
return false;
}
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
close(s);
return false;
}
g_can_ctx.fd_can = s;
std::cout << "[OK] CAN SocketCAN initialized: " << dev_can << std::endl;
g_can_ctx.stats.can_reset++;
return true;
}
/* CAN单帧发送 */
int can_send_single(uint8_t serve_type, uint8_t *data, uint8_t data_len) {
if (data_len > 8 || g_can_ctx.fd_can < 0) {
return -1;
}
struct can_frame frame;
memset(&frame, 0, sizeof(struct can_frame));
frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_SINGLE_FRAME;
frame.can_dlc = data_len;
if (data && data_len > 0) {
memcpy(frame.data, data, data_len);
}
ssize_t ret = write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame));
if (ret != sizeof(struct can_frame)) {
std::cerr << "[ERROR] CAN send failed: " << strerror(errno) << std::endl;
return -1;
}
if (serve_type == O2_NORMAL_TELEMETRY) {
g_can_ctx.stats.send_single_frame++;
}
std::cout << "[INFO] CAN single frame sent: type=0x" << std::hex << (int)serve_type
<< ", len=" << std::dec << (int)data_len << std::endl;
return 0;
}
/* CAN多帧发送 */
int can_send_multi(uint8_t serve_type, uint8_t *data, uint16_t data_len) {
if (data_len <= 8 || g_can_ctx.fd_can < 0) {
return -1;
}
struct can_frame frame;
uint16_t remain_len = data_len;
uint16_t frame_index = 0;
/* 发送首帧 */
memset(&frame, 0, sizeof(struct can_frame));
frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_START_FRAME;
frame.can_dlc = 8;
frame.data[0] = (uint8_t)frame_index;
uint16_t copy_len = (remain_len > 7) ? 7 : remain_len;
memcpy(&frame.data[1], data, copy_len);
if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
std::cerr << "[ERROR] Failed to send start frame" << std::endl;
return -1;
}
remain_len -= copy_len;
frame_index++;
/* 发送中间帧 */
while (remain_len > 7) {
memset(&frame, 0, sizeof(struct can_frame));
frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_MID_FRAME;
frame.can_dlc = 8;
frame.data[0] = (uint8_t)frame_index;
memcpy(&frame.data[1], data + (frame_index * 7), 7);
if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
std::cerr << "[ERROR] Failed to send middle frame " << frame_index << std::endl;
return -1;
}
remain_len -= 7;
frame_index++;
}
/* 发送末帧 */
memset(&frame, 0, sizeof(struct can_frame));
frame.can_id = g_can_ctx.send_id_on_o2 << 5 | serve_type << 2 | O2_END_FRAME;
frame.can_dlc = remain_len + 1;
frame.data[0] = (uint8_t)frame_index;
if (remain_len > 0) {
memcpy(&frame.data[1], data + (frame_index * 7), remain_len);
}
if (write(g_can_ctx.fd_can, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
std::cerr << "[ERROR] Failed to send end frame" << std::endl;
return -1;
}
if (serve_type == O2_NORMAL_TELEMETRY) {
g_can_ctx.stats.send_multi_frame++;
}
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;
return 0;
}
/* 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(&current_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
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#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
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@@ -0,0 +1,369 @@
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#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
#endif
#define STRINGIFY_HELPER(X) #X
#define STRINGIFY(X) STRINGIFY_HELPER(X)
/* Identify known platforms by name. */
#if defined(__linux) || defined(__linux__) || defined(linux)
# define PLATFORM_ID "Linux"
#elif defined(__MSYS__)
# define PLATFORM_ID "MSYS"
#elif defined(__CYGWIN__)
# define PLATFORM_ID "Cygwin"
#elif defined(__MINGW32__)
# define PLATFORM_ID "MinGW"
#elif defined(__APPLE__)
# define PLATFORM_ID "Darwin"
#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
# define PLATFORM_ID "Windows"
#elif defined(__FreeBSD__) || defined(__FreeBSD)
# define PLATFORM_ID "FreeBSD"
#elif defined(__NetBSD__) || defined(__NetBSD)
# define PLATFORM_ID "NetBSD"
#elif defined(__OpenBSD__) || defined(__OPENBSD)
# define PLATFORM_ID "OpenBSD"
#elif defined(__sun) || defined(sun)
# define PLATFORM_ID "SunOS"
#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
# define PLATFORM_ID "AIX"
#elif defined(__hpux) || defined(__hpux__)
# define PLATFORM_ID "HP-UX"
#elif defined(__HAIKU__)
# define PLATFORM_ID "Haiku"
#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
# define PLATFORM_ID "BeOS"
#elif defined(__QNX__) || defined(__QNXNTO__)
# define PLATFORM_ID "QNX"
#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
# define PLATFORM_ID "Tru64"
#elif defined(__riscos) || defined(__riscos__)
# define PLATFORM_ID "RISCos"
#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
# define PLATFORM_ID "SINIX"
#elif defined(__UNIX_SV__)
# define PLATFORM_ID "UNIX_SV"
#elif defined(__bsdos__)
# define PLATFORM_ID "BSDOS"
#elif defined(_MPRAS) || defined(MPRAS)
# define PLATFORM_ID "MP-RAS"
#elif defined(__osf) || defined(__osf__)
# define PLATFORM_ID "OSF1"
#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
# define PLATFORM_ID "SCO_SV"
#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
# define PLATFORM_ID "ULTRIX"
#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
# define PLATFORM_ID "Xenix"
#elif defined(__WATCOMC__)
# if defined(__LINUX__)
# define PLATFORM_ID "Linux"
# elif defined(__DOS__)
# define PLATFORM_ID "DOS"
# elif defined(__OS2__)
# define PLATFORM_ID "OS2"
# elif defined(__WINDOWS__)
# define PLATFORM_ID "Windows3x"
# elif defined(__VXWORKS__)
# define PLATFORM_ID "VxWorks"
# else /* unknown platform */
# define PLATFORM_ID
# endif
#elif defined(__INTEGRITY)
# if defined(INT_178B)
# define PLATFORM_ID "Integrity178"
# else /* regular Integrity */
# define PLATFORM_ID "Integrity"
# endif
#else /* unknown platform */
# define PLATFORM_ID
#endif
/* For windows compilers MSVC and Intel we can determine
the architecture of the compiler being used. This is because
the compilers do not have flags that can change the architecture,
but rather depend on which compiler is being used
*/
#if defined(_WIN32) && defined(_MSC_VER)
# if defined(_M_IA64)
# define ARCHITECTURE_ID "IA64"
# elif defined(_M_ARM64EC)
# define ARCHITECTURE_ID "ARM64EC"
# elif defined(_M_X64) || defined(_M_AMD64)
# define ARCHITECTURE_ID "x64"
# elif defined(_M_IX86)
# define ARCHITECTURE_ID "X86"
# elif defined(_M_ARM64)
# define ARCHITECTURE_ID "ARM64"
# elif defined(_M_ARM)
# if _M_ARM == 4
# define ARCHITECTURE_ID "ARMV4I"
# elif _M_ARM == 5
# define ARCHITECTURE_ID "ARMV5I"
# else
# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
# endif
# elif defined(_M_MIPS)
# define ARCHITECTURE_ID "MIPS"
# elif defined(_M_SH)
# define ARCHITECTURE_ID "SHx"
# else /* unknown architecture */
# define ARCHITECTURE_ID ""
# endif
#elif defined(__WATCOMC__)
# if defined(_M_I86)
# define ARCHITECTURE_ID "I86"
# elif defined(_M_IX86)
# define ARCHITECTURE_ID "X86"
# else /* unknown architecture */
# define ARCHITECTURE_ID ""
# endif
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
# if defined(__ICCARM__)
# define ARCHITECTURE_ID "ARM"
# elif defined(__ICCRX__)
# define ARCHITECTURE_ID "RX"
# elif defined(__ICCRH850__)
# define ARCHITECTURE_ID "RH850"
# elif defined(__ICCRL78__)
# define ARCHITECTURE_ID "RL78"
# elif defined(__ICCRISCV__)
# define ARCHITECTURE_ID "RISCV"
# elif defined(__ICCAVR__)
# define ARCHITECTURE_ID "AVR"
# elif defined(__ICC430__)
# define ARCHITECTURE_ID "MSP430"
# elif defined(__ICCV850__)
# define ARCHITECTURE_ID "V850"
# elif defined(__ICC8051__)
# define ARCHITECTURE_ID "8051"
# elif defined(__ICCSTM8__)
# define ARCHITECTURE_ID "STM8"
# else /* unknown architecture */
# define ARCHITECTURE_ID ""
# endif
#elif defined(__ghs__)
# if defined(__PPC64__)
# define ARCHITECTURE_ID "PPC64"
# elif defined(__ppc__)
# define ARCHITECTURE_ID "PPC"
# elif defined(__ARM__)
# define ARCHITECTURE_ID "ARM"
# elif defined(__x86_64__)
# define ARCHITECTURE_ID "x64"
# elif defined(__i386__)
# define ARCHITECTURE_ID "X86"
# else /* unknown architecture */
# define ARCHITECTURE_ID ""
# endif
#elif defined(__TI_COMPILER_VERSION__)
# if defined(__TI_ARM__)
# define ARCHITECTURE_ID "ARM"
# elif defined(__MSP430__)
# define ARCHITECTURE_ID "MSP430"
# elif defined(__TMS320C28XX__)
# define ARCHITECTURE_ID "TMS320C28x"
# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
# define ARCHITECTURE_ID "TMS320C6x"
# else /* unknown architecture */
# define ARCHITECTURE_ID ""
# endif
#else
# define ARCHITECTURE_ID
#endif
/* Convert integer to decimal digit literals. */
#define DEC(n) \
('0' + (((n) / 10000000)%10)), \
('0' + (((n) / 1000000)%10)), \
('0' + (((n) / 100000)%10)), \
('0' + (((n) / 10000)%10)), \
('0' + (((n) / 1000)%10)), \
('0' + (((n) / 100)%10)), \
('0' + (((n) / 10)%10)), \
('0' + ((n) % 10))
/* Convert integer to hex digit literals. */
#define HEX(n) \
('0' + ((n)>>28 & 0xF)), \
('0' + ((n)>>24 & 0xF)), \
('0' + ((n)>>20 & 0xF)), \
('0' + ((n)>>16 & 0xF)), \
('0' + ((n)>>12 & 0xF)), \
('0' + ((n)>>8 & 0xF)), \
('0' + ((n)>>4 & 0xF)), \
('0' + ((n) & 0xF))
/* Construct a string literal encoding the version number. */
#ifdef COMPILER_VERSION
char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
/* Construct a string literal encoding the version number components. */
#elif defined(COMPILER_VERSION_MAJOR)
char const info_version[] = {
'I', 'N', 'F', 'O', ':',
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
COMPILER_VERSION_MAJOR,
# ifdef COMPILER_VERSION_MINOR
'.', COMPILER_VERSION_MINOR,
# ifdef COMPILER_VERSION_PATCH
'.', COMPILER_VERSION_PATCH,
# ifdef COMPILER_VERSION_TWEAK
'.', COMPILER_VERSION_TWEAK,
# endif
# endif
# endif
']','\0'};
#endif
/* Construct a string literal encoding the internal version number. */
#ifdef COMPILER_VERSION_INTERNAL
char const info_version_internal[] = {
'I', 'N', 'F', 'O', ':',
'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
'i','n','t','e','r','n','a','l','[',
COMPILER_VERSION_INTERNAL,']','\0'};
#elif defined(COMPILER_VERSION_INTERNAL_STR)
char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
#endif
/* Construct a string literal encoding the version number components. */
#ifdef SIMULATE_VERSION_MAJOR
char const info_simulate_version[] = {
'I', 'N', 'F', 'O', ':',
's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
SIMULATE_VERSION_MAJOR,
# ifdef SIMULATE_VERSION_MINOR
'.', SIMULATE_VERSION_MINOR,
# ifdef SIMULATE_VERSION_PATCH
'.', SIMULATE_VERSION_PATCH,
# ifdef SIMULATE_VERSION_TWEAK
'.', SIMULATE_VERSION_TWEAK,
# endif
# endif
# endif
']','\0'};
#endif
/* Construct the string literal in pieces to prevent the source from
getting matched. Store it in a pointer rather than an array
because some compilers will just produce instructions to fill the
array rather than assigning a pointer to a static array. */
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
#if !defined(__STDC__) && !defined(__clang__)
# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
# define C_VERSION "90"
# else
# define C_VERSION
# endif
#elif __STDC_VERSION__ > 201710L
# define C_VERSION "23"
#elif __STDC_VERSION__ >= 201710L
# define C_VERSION "17"
#elif __STDC_VERSION__ >= 201000L
# define C_VERSION "11"
#elif __STDC_VERSION__ >= 199901L
# define C_VERSION "99"
#else
# define C_VERSION "90"
#endif
const char* info_language_standard_default =
"INFO" ":" "standard_default[" C_VERSION "]";
const char* info_language_extensions_default = "INFO" ":" "extensions_default["
/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
#if (defined(__clang__) || defined(__GNUC__) || \
defined(__TI_COMPILER_VERSION__)) && \
!defined(__STRICT_ANSI__) && !defined(_MSC_VER)
"ON"
#else
"OFF"
#endif
"]";
/*--------------------------------------------------------------------------*/
#ifdef ID_VOID_MAIN
void main() {}
#else
# if defined(__CLASSIC_C__)
int main(argc, argv) int argc; char *argv[];
# else
int main(int argc, char* argv[])
# endif
{
int require = 0;
require += info_compiler[argc];
require += info_platform[argc];
require += info_arch[argc];
#ifdef COMPILER_VERSION_MAJOR
require += info_version[argc];
#endif
#ifdef COMPILER_VERSION_INTERNAL
require += info_version_internal[argc];
#endif
#ifdef SIMULATE_ID
require += info_simulate[argc];
#endif
#ifdef SIMULATE_VERSION_MAJOR
require += info_simulate_version[argc];
#endif
#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
require += info_cray[argc];
#endif
require += info_language_standard_default[argc];
require += info_language_extensions_default[argc];
(void)argv;
return require;
}
#endif

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/* This source file must have a .cpp extension so that all C++ compilers
recognize the extension without flags. Borland does not know .cxx for
example. */
#ifndef __cplusplus
# error "A C compiler has been selected for C++."
#endif
#if !defined(__has_include)
/* If the compiler does not have __has_include, pretend the answer is
always no. */
# define __has_include(x) 0
#endif
/* Version number components: V=Version, R=Revision, P=Patch
Version date components: YYYY=Year, MM=Month, DD=Day */
#if defined(__COMO__)
# define COMPILER_ID "Comeau"
/* __COMO_VERSION__ = VRR */
# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
#elif defined(__INTEL_COMPILER) || defined(__ICC)
# define COMPILER_ID "Intel"
# if defined(_MSC_VER)
# define SIMULATE_ID "MSVC"
# endif
# if defined(__GNUC__)
# define SIMULATE_ID "GNU"
# endif
/* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
except that a few beta releases use the old format with V=2021. */
# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
# if defined(__INTEL_COMPILER_UPDATE)
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
# else
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
# endif
# else
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
/* The third version component from --version is an update index,
but no macro is provided for it. */
# define COMPILER_VERSION_PATCH DEC(0)
# endif
# if defined(__INTEL_COMPILER_BUILD_DATE)
/* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
# endif
# if defined(_MSC_VER)
/* _MSC_VER = VVRR */
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
# endif
# if defined(__GNUC__)
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
# elif defined(__GNUG__)
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
# endif
# if defined(__GNUC_MINOR__)
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
# endif
# if defined(__GNUC_PATCHLEVEL__)
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
# endif
#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
# define COMPILER_ID "IntelLLVM"
#if defined(_MSC_VER)
# define SIMULATE_ID "MSVC"
#endif
#if defined(__GNUC__)
# define SIMULATE_ID "GNU"
#endif
/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
* later. Look for 6 digit vs. 8 digit version number to decide encoding.
* VVVV is no smaller than the current year when a version is released.
*/
#if __INTEL_LLVM_COMPILER < 1000000L
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10)
#else
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100)
#endif
#if defined(_MSC_VER)
/* _MSC_VER = VVRR */
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
#endif
#if defined(__GNUC__)
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
#elif defined(__GNUG__)
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
#endif
#if defined(__GNUC_MINOR__)
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
#endif
#if defined(__GNUC_PATCHLEVEL__)
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
#endif
#elif defined(__PATHCC__)
# define COMPILER_ID "PathScale"
# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
# if defined(__PATHCC_PATCHLEVEL__)
# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
# endif
#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
# define COMPILER_ID "Embarcadero"
# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
#elif defined(__BORLANDC__)
# define COMPILER_ID "Borland"
/* __BORLANDC__ = 0xVRR */
# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
# define COMPILER_ID "Watcom"
/* __WATCOMC__ = VVRR */
# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
# if (__WATCOMC__ % 10) > 0
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
# endif
#elif defined(__WATCOMC__)
# define COMPILER_ID "OpenWatcom"
/* __WATCOMC__ = VVRP + 1100 */
# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
# if (__WATCOMC__ % 10) > 0
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
# endif
#elif defined(__SUNPRO_CC)
# define COMPILER_ID "SunPro"
# if __SUNPRO_CC >= 0x5100
/* __SUNPRO_CC = 0xVRRP */
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
# else
/* __SUNPRO_CC = 0xVRP */
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
# endif
#elif defined(__HP_aCC)
# define COMPILER_ID "HP"
/* __HP_aCC = VVRRPP */
# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
#elif defined(__DECCXX)
# define COMPILER_ID "Compaq"
/* __DECCXX_VER = VVRRTPPPP */
# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
# define COMPILER_ID "zOS"
/* __IBMCPP__ = VRP */
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
#elif defined(__ibmxl__) && defined(__clang__)
# define COMPILER_ID "XLClang"
# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
# define COMPILER_ID "XL"
/* __IBMCPP__ = VRP */
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
# define COMPILER_ID "VisualAge"
/* __IBMCPP__ = VRP */
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
#elif defined(__NVCOMPILER)
# define COMPILER_ID "NVHPC"
# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
# if defined(__NVCOMPILER_PATCHLEVEL__)
# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
# endif
#elif defined(__PGI)
# define COMPILER_ID "PGI"
# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
# if defined(__PGIC_PATCHLEVEL__)
# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
# endif
#elif defined(_CRAYC)
# define COMPILER_ID "Cray"
# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
#elif defined(__TI_COMPILER_VERSION__)
# define COMPILER_ID "TI"
/* __TI_COMPILER_VERSION__ = VVVRRRPPP */
# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
#elif defined(__CLANG_FUJITSU)
# define COMPILER_ID "FujitsuClang"
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
# define COMPILER_VERSION_INTERNAL_STR __clang_version__
#elif defined(__FUJITSU)
# define COMPILER_ID "Fujitsu"
# if defined(__FCC_version__)
# define COMPILER_VERSION __FCC_version__
# elif defined(__FCC_major__)
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
# endif
# if defined(__fcc_version)
# define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
# elif defined(__FCC_VERSION)
# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
# endif
#elif defined(__ghs__)
# define COMPILER_ID "GHS"
/* __GHS_VERSION_NUMBER = VVVVRP */
# ifdef __GHS_VERSION_NUMBER
# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
# endif
#elif defined(__SCO_VERSION__)
# define COMPILER_ID "SCO"
#elif defined(__ARMCC_VERSION) && !defined(__clang__)
# define COMPILER_ID "ARMCC"
#if __ARMCC_VERSION >= 1000000
/* __ARMCC_VERSION = VRRPPPP */
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
#else
/* __ARMCC_VERSION = VRPPPP */
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
#endif
#elif defined(__clang__) && defined(__apple_build_version__)
# define COMPILER_ID "AppleClang"
# if defined(_MSC_VER)
# define SIMULATE_ID "MSVC"
# endif
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
# if defined(_MSC_VER)
/* _MSC_VER = VVRR */
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
# endif
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
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