From 3ea6e2f18966d7f2c4c6053d3cfc534f75ce362a Mon Sep 17 00:00:00 2001 From: xb <18656218039@163.com> Date: Thu, 15 Jan 2026 19:23:30 +0800 Subject: [PATCH] Initial commit from DCSP - 2026/1/15 19:23:30 --- CMakeLists.txt | 47 + FlywheelHS-main.cpp | 99 +++ FlywheelHS.cpp | 660 ++++++++++++++ FlywheelHS.h | 189 +++++ FlywheelHS.json | 21 + build/CMakeCache.txt | 369 ++++++++ build/CMakeFiles/3.22.1/CMakeCCompiler.cmake | 72 ++ .../CMakeFiles/3.22.1/CMakeCXXCompiler.cmake | 83 ++ .../3.22.1/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 15968 bytes .../3.22.1/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 15992 bytes build/CMakeFiles/3.22.1/CMakeSystem.cmake | 15 + .../3.22.1/CompilerIdC/CMakeCCompilerId.c | 803 ++++++++++++++++++ build/CMakeFiles/3.22.1/CompilerIdC/a.out | Bin 0 -> 16088 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 791 +++++++++++++++++ build/CMakeFiles/3.22.1/CompilerIdCXX/a.out | Bin 0 -> 16096 bytes .../CMakeDirectoryInformation.cmake | 16 + 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build/bin/FlywheelHS.json | 21 + build/cmake_install.cmake | 54 ++ 39 files changed, 4927 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 FlywheelHS-main.cpp create mode 100644 FlywheelHS.cpp create mode 100644 FlywheelHS.h create mode 100644 FlywheelHS.json create mode 100644 build/CMakeCache.txt create mode 100644 build/CMakeFiles/3.22.1/CMakeCCompiler.cmake create mode 100644 build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake create mode 100755 build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_C.bin create mode 100755 build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin create mode 100644 build/CMakeFiles/3.22.1/CMakeSystem.cmake create mode 100644 build/CMakeFiles/3.22.1/CompilerIdC/CMakeCCompilerId.c create mode 100755 build/CMakeFiles/3.22.1/CompilerIdC/a.out create mode 100644 build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp create mode 100755 build/CMakeFiles/3.22.1/CompilerIdCXX/a.out create mode 100644 build/CMakeFiles/CMakeDirectoryInformation.cmake create mode 100644 build/CMakeFiles/CMakeOutput.log create mode 100644 build/CMakeFiles/FlywheelHS.dir/DependInfo.cmake create mode 100644 build/CMakeFiles/FlywheelHS.dir/FlywheelHS-main.cpp.o create mode 100644 build/CMakeFiles/FlywheelHS.dir/FlywheelHS-main.cpp.o.d create mode 100644 build/CMakeFiles/FlywheelHS.dir/FlywheelHS.cpp.o create mode 100644 build/CMakeFiles/FlywheelHS.dir/FlywheelHS.cpp.o.d create mode 100644 build/CMakeFiles/FlywheelHS.dir/build.make create mode 100644 build/CMakeFiles/FlywheelHS.dir/cmake_clean.cmake create mode 100644 build/CMakeFiles/FlywheelHS.dir/compiler_depend.make create mode 100644 build/CMakeFiles/FlywheelHS.dir/compiler_depend.ts create mode 100644 build/CMakeFiles/FlywheelHS.dir/depend.make create mode 100644 build/CMakeFiles/FlywheelHS.dir/flags.make create mode 100644 build/CMakeFiles/FlywheelHS.dir/link.txt create mode 100644 build/CMakeFiles/FlywheelHS.dir/progress.make create mode 100644 build/CMakeFiles/Makefile.cmake create mode 100644 build/CMakeFiles/Makefile2 create mode 100644 build/CMakeFiles/TargetDirectories.txt create mode 100644 build/CMakeFiles/cmake.check_cache create mode 100644 build/CMakeFiles/progress.marks create mode 100644 build/Makefile create mode 100755 build/bin/FlywheelHS create mode 100644 build/bin/FlywheelHS.json create mode 100644 build/cmake_install.cmake diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7c3d8d1 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 3.10) +project(FlywheelHS) + +# 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(FlywheelHS + FlywheelHS-main.cpp + FlywheelHS.cpp +) + +# 链接库 +target_link_libraries(FlywheelHS + pthread + m + rt + simmsg + fastrtps + fastcdr + foonathan_memory + jsoncpp +) + +# 设置输出目录 +set_target_properties(FlywheelHS PROPERTIES + RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin +) diff --git a/FlywheelHS-main.cpp b/FlywheelHS-main.cpp new file mode 100644 index 0000000..83f496e --- /dev/null +++ b/FlywheelHS-main.cpp @@ -0,0 +1,99 @@ +#include +#include +#include +#include + +#include "FlywheelHS.h" + +using namespace std; + +// 全局变量用于信号处理 +static bool running = true; + +// 信号处理函数 +void signal_handler(int signal) { + running = false; + cout << "[INFO] Received signal " << signal << ", shutting down..." << endl; +} + +int main(int argc, char* argv[]) { + // 设置信号处理 + signal(SIGINT, signal_handler); + signal(SIGTERM, signal_handler); + + // 默认配置文件 + string config_file = "FlywheelHS.json"; + if (argc > 1) { + config_file = argv[1]; + } + + cout << "[INFO] Starting Flywheel Hardware Service" << endl; + cout << "[INFO] Loading configuration from: " << config_file << endl; + + // 解析配置文件 + const int MAX_CONFIGS = MAX_FLYWHEELS; + FlywheelConfig flywheel_configs[MAX_CONFIGS]; + + int config_count = parse_config_file(config_file.c_str(), flywheel_configs, MAX_CONFIGS); + if (config_count <= 0) { + cerr << "[ERROR] No valid flywheels configured" << endl; + return -1; + } + + cout << "[INFO] Found " << config_count << " flywheels in configuration" << endl; + + // 初始化飞轮设备 + flywheel_count = 0; + for (int i = 0; i < config_count; i++) { + FlywheelConfig config = flywheel_configs[i]; + + // 验证ID范围 + if (config.id >= MAX_FLYWHEELS) { + cerr << "[ERROR] Invalid flywheel ID: " << (int)config.id + << ", must be less than " << MAX_FLYWHEELS << endl; + continue; + } + + // 调用初始化函数 + int result = flywheel_uart_init(config.id, config.device.c_str(), + config.baudrate, config.hardware_id); + + if (result == SAT_ERR_OK) { + cout << "[OK] Flywheel " << (int)config.id << " initialized successfully" << endl; + flywheel_count++; + + // 初始化缓存 + flywheels[config.id].id = config.id; + flywheels[config.id].hardware_id = config.hardware_id; + flywheels[config.id].is_data_valid = 0; + + // 初始化指令缓存 + cmd_cache[config.id].has_cmd = 0; + } else { + cerr << "[ERROR] Failed to initialize flywheel " << (int)config.id + << ": " << flywheel_strerror(result) << endl; + } + } + + if (flywheel_count == 0) { + cerr << "[ERROR] No flywheels initialized successfully" << endl; + return -1; + } + + // 初始化FastDDS + Fastdds_init(0, "Flywheel_Hardware_Service"); + + + // 主循环 + while (running) { + // 检查并接收串口数据（非阻塞） + int frames = check_and_receive_serial_data(); + + usleep(10000); // 10ms + } + + // 清理 + FlywheelHS_cleanup(); + + return 0; +} \ No newline at end of file diff --git a/FlywheelHS.cpp b/FlywheelHS.cpp new file mode 100644 index 0000000..a207e88 --- /dev/null +++ b/FlywheelHS.cpp @@ -0,0 +1,660 @@ +/*********************************飞轮接口说明*********************************************************** +GNC服务下达控制指令： +指令格式：id + mode + 速度 + 力矩 +id：1/2/3... +mode：0速度模式 1滑行模式 +速度：-6200~6200 +力矩：0~2 + +GNC服务下达取遥测指令： +指令格式：id + 指令码 +id：1/2/3... +指令码：0xFF +**********************************************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "FlywheelHS.h" +#include "SimMsg.h" + +using namespace std; + +/* ------------------ 全局变量 ------------------ */ +SimMsg* FlywheelHS_part = nullptr; +string servername = "Flywheel_Hardware_Service"; +string topic_name_cmd = "Command"; +string topic_name_tlm = "Telemetry"; + +Flywheel_Device flywheels[MAX_FLYWHEELS] = {0}; +uint8_t flywheel_count = 0; +pthread_mutex_t cache_mutex = PTHREAD_MUTEX_INITIALIZER; +Flywheel_Cmd_Cache cmd_cache[MAX_FLYWHEELS] = {0}; + +/* ------------------ 工具函数 ------------------ */ +uint32_t bytes_to_uint32(const uint8_t *a) { + return (((uint32_t)a[0] << 24) & 0xFF000000) | + (((uint32_t)a[1] << 16) & 0x00FF0000) | + (((uint32_t)a[2] << 8) & 0x0000FF00) | + ((uint32_t)a[3] & 0x000000FF); +} + +void cal_cmder_para(double k, double exp, uint8_t *a) { + unsigned long t; + if (k < 0) t = (unsigned long)(WHEEL_LIMIT4 + k * exp); + else t = (unsigned long)(k * exp); + a[0] = (uint8_t)(t >> 24) & 0xFF; + a[1] = (uint8_t)(t >> 16) & 0xFF; + a[2] = (uint8_t)(t >> 8) & 0xFF; + a[3] = (uint8_t)t & 0xFF; +} + +double cal_message_para(const uint8_t *data, int exp) { + double result = 0; + uint32_t k = bytes_to_uint32(data); + if (k > 0x7FFFFFFF) { + result = (double)k - WHEEL_LIMIT4; + } else { + result = (double)k; + } + return result / exp; +} + +int checksum_verify(const uint8_t *data, int len) { + if (len <= 1 || data == NULL) return SAT_ERR_DATA; + uint8_t checksum = 0; + for (int i = 1; i < len - 2; ++i) checksum += data[i]; + if (checksum == data[len - 1]) return SAT_ERR_OK; + cerr << "[ERROR] Checksum error: calculated=0x" << hex << (int)checksum + << ", received=0x" << (int)data[len - 1] << dec << endl; + return SAT_ERR_CHECKSUM; +} + +void update_fault_count(Flywheel_Device *wheel) { + wheel->fault_cnt = wheel->header_err_cnt + wheel->check_err_cnt + + wheel->length_err_cnt + wheel->uart_reset_cnt; +} + +const char *flywheel_strerror(int err) { + switch (err) { + case SAT_ERR_OK: return "OK"; + case SAT_ERR_SERIAL: return "Serial not open or invalid"; + case SAT_ERR_SEND_CMD: return "Failed to send command"; + case SAT_ERR_NO_RESPONSE: return "No response after sending command"; + case SAT_ERR_SELECT: return "Select() system call failed"; + case SAT_ERR_HEADER: return "Invalid frame header"; + case SAT_ERR_DATA: return "Failed to parse data"; + case SAT_ERR_UNKNOWN: return "Unknown error"; + case SAT_ERR_LEN: return "Frame length error"; + case SAT_ERR_CHECKSUM: return "Checksum error"; + case SAT_ERR_TIMEOUT: return "Timeout"; + case E_wheel_ID: return "Invalid wheel ID"; + default: return "Unrecognized error"; + } +} + +uint8_t hardware_id_to_logical_id(uint8_t hardware_id, uint8_t default_id) { + // 硬件ID转换: 0x11->1, 0x22->2, 0x33->3... + if (hardware_id >= HARDWARE_ID_BASE && hardware_id <= 0x88 && + (hardware_id % HARDWARE_ID_BASE == 0)) { + return hardware_id / HARDWARE_ID_BASE; + } else { + // 如果硬件ID不符合预期格式，使用默认ID + return default_id; + } +} + +/* ------------------ 配置文件解析 ------------------ */ +int parse_config_file(const char* filename, FlywheelConfig flywheel_configs[], int max_flywheels) { + ifstream config_file(filename); + if (!config_file.is_open()) { + cerr << "[ERROR] Cannot open config file: " << filename << endl; + return -1; + } + + Json::CharReaderBuilder reader_builder; + Json::Value root; + string errs; + + if (!Json::parseFromStream(reader_builder, config_file, &root, &errs)) { + cerr << "[ERROR] Failed to parse JSON: " << errs << endl; + return -1; + } + + int wheel_count = 0; + + if (root.isMember("flywheels") && root["flywheels"].isArray()) { + const Json::Value& wheels = root["flywheels"]; + + for (unsigned int i = 0; i < wheels.size() && wheel_count < max_flywheels; i++) { + const Json::Value& wheel = wheels[i]; + + FlywheelConfig config; + + if (!wheel.isMember("id")) { + cerr << "[WARNING] Flywheel " << i << " has no ID specified, skipping" << endl; + continue; + } + config.id = wheel["id"].asInt(); + + if (!wheel.isMember("device")) { + cerr << "[WARNING] Flywheel " << config.id << " has no device specified, skipping" << endl; + continue; + } + config.device = wheel["device"].asString(); + + config.baudrate = wheel.isMember("baudrate") ? wheel["baudrate"].asInt() : 115200; + config.hardware_id = wheel.isMember("hardware_id") ? wheel["hardware_id"].asInt() : + ((config.id + 1) * HARDWARE_ID_BASE); // 默认硬件ID + + flywheel_configs[wheel_count] = config; + wheel_count++; + } + } else { + cerr << "[ERROR] No 'flywheels' array found in config file" << endl; + return -1; + } + + return wheel_count; +} + +/* ------------------ FastDDS相关 ------------------ */ +void FlywheelHSWriteLog(const std::string &msg) { + std::cout << "[FlywheelHS] " << msg << std::endl; +} + +void Fastdds_init(uint8_t domainid, string appname) { + vector parameters; + string expression = "dest = '"+ servername + "'"; + + if (nullptr == FlywheelHS_part) { + FlywheelHS_part = new SimMsg(domainid, 3000, appname, FlywheelHSWriteLog); + FlywheelHS_part->create_pub(topic_name_tlm); + FlywheelHS_part->create_sub(topic_name_cmd, command_callback, expression, parameters); + FlywheelHS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters); + } +} + +void Flywheel_telemetry_Pub(uint8_t* data, const string& dest, uint16_t len) { + FlywheelHS_part->publish(topic_name_tlm, servername, dest, "telemetry", data, len); +} + +/* ------------------ 串口初始化 ------------------ */ +int flywheel_uart_init(uint8_t id, const char *dev, int baudrate, uint8_t hardware_id) { + if (id >= MAX_FLYWHEELS) { + cerr << "[ERROR] Invalid flywheel id: " << (int)id << endl; + return SAT_ERR_DATA; + } + + Flywheel_Device *wheel = &flywheels[id]; + + if (wheel->fd > 0) { + close(wheel->fd); + wheel->fd = -1; + } + + wheel->fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK); + if (wheel->fd < 0) { + perror("[ERROR] Open flywheel serial failed"); + return SAT_ERR_SERIAL; + } + + struct termios options; + if (tcgetattr(wheel->fd, &options) < 0) { + perror("[ERROR] Get serial attributes failed"); + close(wheel->fd); + wheel->fd = -1; + return SAT_ERR_SERIAL; + } + + speed_t baud = B115200; + switch (baudrate) { + case 9600: baud = B9600; break; + case 19200: baud = B19200; break; + case 38400: baud = B38400; break; + case 57600: baud = B57600; break; + case 115200: baud = B115200; break; + case 230400: baud = B230400; break; + case 460800: baud = B460800; break; + case 921600: baud = B921600; break; + default: baud = B115200; + } + cfsetispeed(&options, baud); + cfsetospeed(&options, baud); + + options.c_cflag |= PARENB; + options.c_cflag |= PARODD; + options.c_cflag &= ~CSTOPB; + options.c_cflag &= ~CSIZE; + options.c_cflag |= CS8; + options.c_cflag |= CREAD | CLOCAL; + options.c_iflag &= ~(IXON | IXOFF | IXANY); + options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + options.c_oflag &= ~OPOST; + options.c_cc[VMIN] = 0; + options.c_cc[VTIME] = 10; + + if (tcsetattr(wheel->fd, TCSANOW, &options) < 0) { + perror("[ERROR] Set serial attributes failed"); + close(wheel->fd); + wheel->fd = -1; + return SAT_ERR_SERIAL; + } + + tcflush(wheel->fd, TCIOFLUSH); + + wheel->dev = dev; + wheel->baudrate = baudrate; + wheel->hardware_id = hardware_id; + wheel->id = id; + wheel->is_data_valid = 0; + + // 初始化错误计数 + wheel->header_err_cnt = 0; + wheel->check_err_cnt = 0; + wheel->length_err_cnt = 0; + wheel->uart_reset_cnt = 0; + wheel->fault_cnt = 0; + wheel->send_cmd_cnt = 0; + + cout << "[OK] Flywheel " << (int)id << " UART init: dev=" << dev + << ", baud=" << baudrate << ", hw_id=0x" << hex << (int)hardware_id << dec << endl; + + return SAT_ERR_OK; +} + +/* ------------------ 命令回调函数 ------------------ */ +void command_callback(string src, string dest, string type, + string reserve1, string reserve2, + vector& data) { + cout << "[INFO] Command received from " << src << " to " << dest << endl; + + if (data.size() >= 10) { // 10字节格式 + uint8_t wheel_id = data[0]; // 飞轮逻辑ID (1,2,3...) + uint8_t mode_flag = data[1]; // 模式标志 (0=速度,1=力矩) + + float speed, torque; + memcpy(&speed, &data[2], sizeof(float)); // 速度指令 (rpm) + memcpy(&torque, &data[6], sizeof(float)); // 力矩指令 (mNm) + + // 验证飞轮ID + if (wheel_id == 0 || wheel_id > flywheel_count) { + cerr << "[ERROR] Invalid wheel_id: " << (int)wheel_id + << ", valid range: 1-" << flywheel_count << endl; + return; + } + + // 转换为硬件索引 (0-based) + uint8_t hw_index = wheel_id - 1; + + // 转换为硬件模式 + uint8_t hw_mode; + if (mode_flag == 0) { + hw_mode = 0x58; // 速度模式 + } else if (mode_flag == 1) { + hw_mode = 0x59; // 力矩模式 + } else { + cerr << "[ERROR] Invalid mode_flag: " << (int)mode_flag + << ", must be 0(speed) or 1(torque)" << endl; + return; + } + + // 获取硬件ID + Flywheel_Device *wheel = &flywheels[hw_index]; + uint8_t hw_id = wheel->hardware_id; + + // 转换为11字节硬件指令 + uint8_t raw_command[11]; + + // 字节0: 模式 + raw_command[0] = hw_mode; + + // 字节1-4: 速度指令（编码） + unsigned long speed_encoded; + if (speed < 0) { + speed_encoded = (unsigned long)(WHEEL_LIMIT4 + speed * WHEEL_EXP); + } else { + speed_encoded = (unsigned long)(speed * WHEEL_EXP); + } + raw_command[1] = (speed_encoded >> 24) & 0xFF; + raw_command[2] = (speed_encoded >> 16) & 0xFF; + raw_command[3] = (speed_encoded >> 8) & 0xFF; + raw_command[4] = speed_encoded & 0xFF; + + // 字节5-8: 力矩指令（编码） + unsigned long torque_encoded; + if (torque < 0) { + torque_encoded = (unsigned long)(WHEEL_LIMIT4 + torque * WHEEL_EXP); + } else { + torque_encoded = (unsigned long)(torque * WHEEL_EXP); + } + raw_command[5] = (torque_encoded >> 24) & 0xFF; + raw_command[6] = (torque_encoded >> 16) & 0xFF; + raw_command[7] = (torque_encoded >> 8) & 0xFF; + raw_command[8] = torque_encoded & 0xFF; + + // 字节9: 硬件ID + raw_command[9] = hw_id; + + // 字节10: 校验和（前10字节累加和取低8位） + raw_command[10] = 0; + for (int i = 0; i < 10; i++) { + raw_command[10] += raw_command[i]; + } + + // 发送给硬件 + if (wheel->fd < 0) { + cerr << "[ERROR] Serial not open for Flywheel " << (int)wheel_id << endl; + return; + } + + // 缓存指令 + pthread_mutex_lock(&cache_mutex); + cmd_cache[hw_index].mode = hw_mode; + cmd_cache[hw_index].speed_cmd = speed; + cmd_cache[hw_index].torque_cmd = torque; + cmd_cache[hw_index].has_cmd = 1; + pthread_mutex_unlock(&cache_mutex); + + // 立即发送指令 + int bytes_written = write(wheel->fd, raw_command, sizeof(raw_command)); + if (bytes_written == sizeof(raw_command)) { + cout << "[OK] Command sent to hardware" << endl; + } else { + cerr << "[ERROR] Failed to send command to hardware" << endl; + } + } else { + cerr << "[ERROR] Invalid command data size: " << data.size() + << ", expected at least 10 bytes" << endl; + } +} + +/* ------------------ 遥测回调函数 ------------------ */ +void telemetry_callback(string src, string dest, string type, + string reserve1, string reserve2, + vector& data) { + + if (data.size() >= 2 && type == "command") { + uint8_t wheel_id = data[0]; // 请求的飞轮ID (1,2,3...) + uint8_t req_type = data[1]; // 请求类型 + + // 注意：传入的wheel_id是1-based，需要转换为0-based索引 + if (wheel_id == 0 || wheel_id > flywheel_count) { + cerr << "[ERROR] Invalid wheel_id in telemetry request: " + << (int)wheel_id << ", valid range: 1-" << (int)flywheel_count << endl; + + // 构造错误响应帧 + Flywheel_Frame error_frame; + memset(&error_frame, 0, sizeof(Flywheel_Frame)); + error_frame.wheel_id = wheel_id; // 返回请求的ID + + Flywheel_telemetry_Pub((uint8_t *)&error_frame, src, sizeof(Flywheel_Frame)); + return; + } + + uint8_t wheel_index = wheel_id - 1; + Flywheel_Frame response_frame; + int result = get_telemetry_from_cache(wheel_index, &response_frame); + + if (result == SAT_ERR_OK) { + // 确保ID正确 + response_frame.wheel_id = wheel_id; + Flywheel_telemetry_Pub((uint8_t *)&response_frame, src, sizeof(Flywheel_Frame)); + cout << "[TELEMETRY] Sent data for Flywheel " << (int)wheel_id + << " to " << src << endl; + } else { + // 构造错误响应帧 + Flywheel_Frame error_frame; + memset(&error_frame, 0, sizeof(Flywheel_Frame)); + error_frame.wheel_id = wheel_id; + + Flywheel_telemetry_Pub((uint8_t *)&error_frame, src, sizeof(Flywheel_Frame)); + cerr << "[ERROR] No valid telemetry data for Flywheel " + << (int)wheel_id << endl; + } + } else { + cerr << "[ERROR] Invalid telemetry request data size: " << data.size() + << " or type: " << type << endl; + } +} + +/* ------------------ 串口接收函数 ------------------ */ +int check_and_receive_serial_data(void) { + fd_set readfds; + struct timeval timeout; + int max_fd = -1; + int frames_received = 0; + + FD_ZERO(&readfds); + + // 设置要监听的串口文件描述符 + for (uint8_t i = 0; i < flywheel_count; i++) { + if (flywheels[i].fd > 0) { + FD_SET(flywheels[i].fd, &readfds); + if (flywheels[i].fd > max_fd) { + max_fd = flywheels[i].fd; + } + } + } + + if (max_fd < 0) { + return 0; // 没有有效的串口 + } + + // 设置超时为0，立即返回（非阻塞） + timeout.tv_sec = 0; + timeout.tv_usec = 0; + + // 检查哪些串口有数据可读 + int result = select(max_fd + 1, &readfds, NULL, NULL, &timeout); + + if (result > 0) { + // 有数据可读的串口 + for (uint8_t i = 0; i < flywheel_count; i++) { + if (flywheels[i].fd > 0 && FD_ISSET(flywheels[i].fd, &readfds)) { + uint8_t buffer[WHEEL_FRAME_LENGTH]; + int bytes_read = read(flywheels[i].fd, buffer, WHEEL_FRAME_LENGTH); + + if (bytes_read == WHEEL_FRAME_LENGTH) { + Flywheel_Frame frame; + int parse_result = parse_flywheel_frame(i, buffer, &frame); + + if (parse_result == SAT_ERR_OK) { + pthread_mutex_lock(&cache_mutex); + flywheels[i].last_frame = frame; + flywheels[i].is_data_valid = 1; + pthread_mutex_unlock(&cache_mutex); + + frames_received++; + cout << "[DATA] Flywheel " << (int)frame.wheel_id + << " received: speed=" << frame.rotate_speed + << " rpm, current=" << frame.current + << ", torque=" << frame.acc_torque << endl; + } + } else if (bytes_read > 0) { + cerr << "[WARN] Flywheel " << (int)i << " incomplete frame: " + << bytes_read << "/" << WHEEL_FRAME_LENGTH << " bytes" << endl; + flywheels[i].length_err_cnt++; + update_fault_count(&flywheels[i]); + } + } + } + } else if (result < 0 && errno != EINTR) { + perror("[ERROR] Select failed"); + return -1; + } + + return frames_received; +} + +/* ------------------ 解析飞轮数据帧 ------------------ */ +int parse_flywheel_frame(uint8_t wheel_index, const uint8_t* buffer, Flywheel_Frame* frame) { + Flywheel_Device *wheel = &flywheels[wheel_index]; + + // 检查帧头 + if (buffer[0] != 0xFF) { + wheel->header_err_cnt++; + update_fault_count(wheel); + return SAT_ERR_HEADER; + } + + // 检查校验和 + if (checksum_verify(buffer, WHEEL_FRAME_LENGTH) != SAT_ERR_OK) { + wheel->check_err_cnt++; + update_fault_count(wheel); + return SAT_ERR_CHECKSUM; + } + + // 获取硬件ID并转换为逻辑ID + uint8_t hardware_id = buffer[17]; + uint8_t logical_id = hardware_id_to_logical_id(hardware_id, wheel_index + 1); + + // 解析数据 + float rotate_speed = cal_message_para(&buffer[1], WHEEL_EXP); + float current = cal_message_para(&buffer[5], WHEEL_EXP); + float acc_torque = cal_message_para(&buffer[13], WHEEL_EXP); + + // 填充数据帧，只保留需要的字段 + memset(frame, 0, sizeof(Flywheel_Frame)); + + // 设备标识 - 传转换后的逻辑ID (1,2,3...) + frame->wheel_id = logical_id; + + // 状态数据 + frame->rotate_speed = rotate_speed; + frame->current = current; + frame->acc_torque = acc_torque; + + // 错误统计 + frame->header_err_cnt = wheel->header_err_cnt; + frame->check_err_cnt = wheel->check_err_cnt; + frame->length_err_cnt = wheel->length_err_cnt; + frame->uart_reset_cnt = wheel->uart_reset_cnt; + frame->fault_cnt = wheel->fault_cnt; + + return SAT_ERR_OK; +} + +/* ------------------ 发送控制指令 ------------------ */ +int send_flywheel_command(uint8_t wheel_index) { + Flywheel_Device *wheel = &flywheels[wheel_index]; + + if (wheel->fd < 0) { + return SAT_ERR_SERIAL; + } + + pthread_mutex_lock(&cache_mutex); + Flywheel_Cmd_Cache cmd = cmd_cache[wheel_index]; + pthread_mutex_unlock(&cache_mutex); + + if (!cmd.has_cmd) { + return SAT_ERR_OK; // 没有指令要发送 + } + + // 构建11字节硬件指令 + uint8_t raw_command[11]; + + // 硬件ID + uint8_t hw_id = wheel->hardware_id; + + // 字节0: 模式 + raw_command[0] = cmd.mode; + + // 字节1-4: 速度指令（编码） + unsigned long speed_encoded; + double speed_cmd = cmd.speed_cmd; + if (speed_cmd < 0) { + speed_encoded = (unsigned long)(WHEEL_LIMIT4 + speed_cmd * WHEEL_EXP); + } else { + speed_encoded = (unsigned long)(speed_cmd * WHEEL_EXP); + } + raw_command[1] = (speed_encoded >> 24) & 0xFF; + raw_command[2] = (speed_encoded >> 16) & 0xFF; + raw_command[3] = (speed_encoded >> 8) & 0xFF; + raw_command[4] = speed_encoded & 0xFF; + + // 字节5-8: 力矩指令（编码） + unsigned long torque_encoded; + double torque_cmd = cmd.torque_cmd; + if (torque_cmd < 0) { + torque_encoded = (unsigned long)(WHEEL_LIMIT4 + torque_cmd * WHEEL_EXP); + } else { + torque_encoded = (unsigned long)(torque_cmd * WHEEL_EXP); + } + raw_command[5] = (torque_encoded >> 24) & 0xFF; + raw_command[6] = (torque_encoded >> 16) & 0xFF; + raw_command[7] = (torque_encoded >> 8) & 0xFF; + raw_command[8] = torque_encoded & 0xFF; + + // 字节9: 硬件ID + raw_command[9] = hw_id; + + // 字节10: 校验和 + raw_command[10] = 0; + for (int i = 0; i < 10; i++) { + raw_command[10] += raw_command[i]; + } + + // 发送指令 + int bytes_written = write(wheel->fd, raw_command, sizeof(raw_command)); + if (bytes_written != sizeof(raw_command)) { + cerr << "[Flywheel" << (int)wheel_index << "] Send cmd failed: " + << strerror(errno) << endl; + wheel->send_cmd_cnt++; + return SAT_ERR_SEND_CMD; + } + + wheel->send_cmd_cnt = 0; + + return SAT_ERR_OK; +} + +/* ------------------ 从缓存获取遥测数据 ------------------ */ +int get_telemetry_from_cache(uint8_t wheel_index, Flywheel_Frame* frame) { + if (wheel_index >= flywheel_count || !frame) { + return E_wheel_ID; + } + + if (!flywheels[wheel_index].is_data_valid) { + return SAT_ERR_NO_RESPONSE; + } + + pthread_mutex_lock(&cache_mutex); + *frame = flywheels[wheel_index].last_frame; + pthread_mutex_unlock(&cache_mutex); + + return SAT_ERR_OK; +} + +/* ------------------ 清理函数 ------------------ */ +void FlywheelHS_cleanup(void) { + + if (FlywheelHS_part != nullptr) { + delete FlywheelHS_part; + FlywheelHS_part = nullptr; + } + + for (uint8_t i = 0; i < MAX_FLYWHEELS; i++) { + if (flywheels[i].fd > 0) { + close(flywheels[i].fd); + flywheels[i].fd = -1; + } + } + + pthread_mutex_destroy(&cache_mutex); + +} \ No newline at end of file diff --git a/FlywheelHS.h b/FlywheelHS.h new file mode 100644 index 0000000..bfb8960 --- /dev/null +++ b/FlywheelHS.h @@ -0,0 +1,189 @@ +#ifndef FLYWHEEL_HS_H +#define FLYWHEEL_HS_H + +#include +#include +#include +#include + +/* ================== 错误码定义 ================== */ +#define SAT_ERR_OK 0 // 成功 +#define SAT_ERR_SERIAL -1 // 串口未打开或无效 +#define SAT_ERR_SEND_CMD -2 // 发送命令失败 +#define SAT_ERR_NO_RESPONSE -3 // 无响应 +#define SAT_ERR_SELECT -4 // select() 系统调用失败 +#define SAT_ERR_HEADER -5 // 帧头错误 +#define SAT_ERR_DATA -6 // 数据解析失败 +#define SAT_ERR_UNKNOWN -7 // 未知错误 +#define SAT_ERR_LEN -8 // 帧长度错误 +#define SAT_ERR_CHECKSUM -9 // 校验和错误 +#define SAT_ERR_TIMEOUT -10 // 接收数据超时 +#define E_wheel_ID -20 // 飞轮ID错误 + +/* ================== 常量定义 ================== */ +#define MAX_FLYWHEELS 8 // 最大飞轮数量 +#define WHEEL_FRAME_LENGTH 19 // 飞轮数据帧长度 +#define WHEEL_EXP 1000 // 数据转换系数 +#define WHEEL_LIMIT4 4.294967296e9 // 32位有符号数最大值 +#define HARDWARE_ID_BASE 0x11 // 硬件ID基数 + +/* ================== 类型定义 ================== */ + +// 飞轮配置结构体 +#pragma pack(push, 1) +typedef struct { + uint8_t id; // 飞轮逻辑ID + std::string device; // 串口设备 + int baudrate; // 波特率 + uint8_t hardware_id; // 硬件ID +} FlywheelConfig; +#pragma pack(pop) + +// 飞轮控制状态（仅用于内部解析） +#pragma pack(push, 1) +typedef struct { + uint8_t soft_err; + uint8_t soft_ver; + uint16_t cmd_cnt; +} Flywheel_Control; +#pragma pack(pop) + +// 飞轮信息（仅用于内部解析） +#pragma pack(push, 1) +typedef struct { + float rotate_speed; // 转速 (rpm) + float current; // 电流 + Flywheel_Control control_state; // 控制状态 + float acc_torque; // 加速度矩 + uint8_t hardware_id; // 硬件ID +} Flywheel_Info; +#pragma pack(pop) + +// 飞轮控制指令 +#pragma pack(push, 1) +typedef struct { + uint8_t wheel_id; // 飞轮逻辑ID: 1,2,3... + uint8_t mode_flag; // 0=速度模式, 1=力矩模式 + float speed; // 速度指令 (rpm) + float torque; // 力矩指令 (mNm) +} Flywheel_Cmder; +#pragma pack(pop) + +// 飞轮数据帧（用于FastDDS传输）- 精简版 +#pragma pack(push, 1) +typedef struct { + // 设备标识 + uint8_t wheel_id; // 逻辑ID (1,2,3...) + + // 状态数据 + float rotate_speed; // 转速 (rpm) + float current; // 电流 + float acc_torque; // 加速度矩指令 + + // 错误统计（用于故障诊断） + uint16_t header_err_cnt; // 帧头错误累计次数 + uint16_t check_err_cnt; // 校验错误累计次数 + uint16_t length_err_cnt; // 长度错误累计次数 + uint16_t uart_reset_cnt; // 串口复位累计次数 + uint16_t fault_cnt; // 总故障计数 +} Flywheel_Frame; +#pragma pack(pop) + +// 控制指令缓存 +#pragma pack(push, 1) +typedef struct { + uint8_t mode; // 控制模式 + float speed_cmd; // 速度指令 + float torque_cmd; // 扭矩指令 + uint8_t has_cmd; // 是否有有效指令 +} Flywheel_Cmd_Cache; +#pragma pack(pop) + +// 设备管理结构体 +#pragma pack(push, 1) +typedef struct { + int fd; // 串口文件描述符 + const char *dev; // 设备节点 + int baudrate; // 波特率 + uint8_t hardware_id; // 硬件ID + uint8_t id; // 逻辑ID (0-based) + + // 错误统计 + uint16_t header_err_cnt; // 帧头错误计数 + uint16_t check_err_cnt; // 校验错误计数 + uint16_t length_err_cnt; // 帧长错误计数 + uint16_t uart_reset_cnt; // 串口复位计数 + uint16_t fault_cnt; // 故障计数 + uint8_t send_cmd_cnt; // 命令发送计数 + + // 数据缓存 + Flywheel_Frame last_frame; // 最后接收的帧 + uint8_t is_data_valid; // 数据是否有效 +} Flywheel_Device; +#pragma pack(pop) + +// 全局变量声明 +extern Flywheel_Device flywheels[]; +extern uint8_t flywheel_count; +extern pthread_mutex_t cache_mutex; +extern Flywheel_Cmd_Cache cmd_cache[]; + +/* ================== FastDDS接口声明 ================== */ +void Fastdds_init(uint8_t domainid, std::string appname); +void Flywheel_telemetry_Pub(uint8_t *data, const std::string& dest, uint16_t len); +void command_callback(std::string src, std::string dest, std::string type, + std::string reserve1, std::string reserve2, + std::vector& data); +void telemetry_callback(std::string src, std::string dest, std::string type, + std::string reserve1, std::string reserve2, + std::vector& data); + +/* ================== 配置文件解析 ================== */ +int parse_config_file(const char* filename, FlywheelConfig flywheel_configs[], int max_flywheels); + +/* ================== 硬件操作函数声明 ================== */ +int flywheel_uart_init(uint8_t id, const char *dev, int baudrate, uint8_t hardware_id); +int read_flywheel_data(uint8_t wheel_id, Flywheel_Frame *frame); +void FlywheelHS_cleanup(void); + +/* ================== 串口接收函数 ================== */ +/** + * @brief 检查并接收串口数据 + * @return 接收到的数据帧数量 + */ +int check_and_receive_serial_data(void); + +/** + * @brief 发送控制指令到指定飞轮 + * @param wheel_id 飞轮ID + * @return 错误码 + */ +int send_flywheel_command(uint8_t wheel_id); + +/** + * @brief 解析飞轮数据帧 + * @param wheel_id 飞轮ID + * @param buffer 原始数据缓冲区 + * @param frame 输出数据帧 + * @return 错误码 + */ +int parse_flywheel_frame(uint8_t wheel_id, const uint8_t* buffer, Flywheel_Frame* frame); + +/** + * @brief 从设备缓存获取遥测数据 + * @param wheel_id 飞轮ID + * @param frame 输出数据帧 + * @return 错误码 + */ +int get_telemetry_from_cache(uint8_t wheel_id, Flywheel_Frame* frame); + +/* ================== 工具函数声明 ================== */ +const char *flywheel_strerror(int err); +uint32_t bytes_to_uint32(const uint8_t *a); +void cal_cmder_para(double k, double exp, uint8_t *a); +double cal_message_para(const uint8_t *data, int exp); +int checksum_verify(const uint8_t *data, int len); +void update_fault_count(Flywheel_Device *wheel); +uint8_t hardware_id_to_logical_id(uint8_t hardware_id, uint8_t default_id); + +#endif /* FLYWHEEL_HS_H */ \ No newline at end of file diff --git a/FlywheelHS.json b/FlywheelHS.json new file mode 100644 index 0000000..ca906ef --- /dev/null +++ b/FlywheelHS.json @@ -0,0 +1,21 @@ +{ + "flywheels": [ + { + "id": 0, + "device": "/dev/tnt11", + "baudrate": 115200, + "hardware_id": 17 + }, + { + "id": 1, + "device": "/dev/tnt13", + "baudrate": 115200, + "hardware_id": 34 + }, + { + "id": 2, + "device": "/dev/tnt15", + "baudrate": 115200 + } + ] +} \ No newline at end of file diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..ba059fe --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,369 @@ +# This is the CMakeCache file. +# For build in directory: /home/xb/satellite/aircraft-1/container-2/飞轮硬件服务化/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Path to a program. +CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None Debug Release RelWithDebInfo +// MinSizeRel ... +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11 + +//Flags used by the CXX compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the CXX compiler during DEBUG builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the CXX compiler during MINSIZEREL builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the CXX compiler during RELEASE builds. +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the CXX compiler during RELWITHDEBINFO builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG + +//C compiler +CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc + +//A wrapper around 'ar' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11 + +//A wrapper around 'ranlib' adding the appropriate '--plugin' option +// for the GCC compiler +CMAKE_C_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11 + +//Flags used by the C compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the C compiler during DEBUG builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the C compiler during MINSIZEREL builds. 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+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump + +//Value Computed by CMake +CMAKE_PROJECT_DESCRIPTION:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_HOMEPAGE_URL:STATIC= + +//Value Computed by CMake +CMAKE_PROJECT_NAME:STATIC=FlywheelHS + +//Path to a program. +CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib + +//Path to a program. +CMAKE_READELF:FILEPATH=/usr/bin/readelf + +//Flags used by the linker during the creation of shared libraries +// during all build types. +CMAKE_SHARED_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of shared libraries +// during DEBUG builds. +CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of shared libraries +// during MINSIZEREL builds. +CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELEASE builds. +CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of shared libraries +// during RELWITHDEBINFO builds. +CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//If set, runtime paths are not added when installing shared libraries, +// but are added when building. +CMAKE_SKIP_INSTALL_RPATH:BOOL=NO + +//If set, runtime paths are not added when using shared libraries. +CMAKE_SKIP_RPATH:BOOL=NO + +//Flags used by the linker during the creation of static libraries +// during all build types. +CMAKE_STATIC_LINKER_FLAGS:STRING= + +//Flags used by the linker during the creation of static libraries +// during DEBUG builds. +CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING= + +//Flags used by the linker during the creation of static libraries +// during MINSIZEREL builds. +CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELEASE builds. +CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING= + +//Flags used by the linker during the creation of static libraries +// during RELWITHDEBINFO builds. +CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING= + +//Path to a program. +CMAKE_STRIP:FILEPATH=/usr/bin/strip + +//If this value is on, makefiles will be generated without the +// .SILENT directive, and all commands will be echoed to the console +// during the make. 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+# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if !defined(__STDC__) && !defined(__clang__) +# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__) +# define C_VERSION "90" +# else +# define C_VERSION +# endif +#elif __STDC_VERSION__ > 201710L +# define C_VERSION "23" +#elif __STDC_VERSION__ >= 201710L +# define C_VERSION "17" +#elif __STDC_VERSION__ >= 201000L +# define C_VERSION "11" +#elif __STDC_VERSION__ >= 199901L +# define C_VERSION "99" +#else +# define C_VERSION "90" +#endif +const char* info_language_standard_default = + "INFO" ":" "standard_default[" C_VERSION "]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.22.1/CompilerIdC/a.out b/build/CMakeFiles/3.22.1/CompilerIdC/a.out new file mode 100755 index 0000000000000000000000000000000000000000..8b8c27e76b2d5951bf9014e281b5e321a68c6ff6 GIT binary patch literal 16088 zcmeHOeQX>@6`#9&IW&nKx4|YU%~Dd7(0XG#A2mT~&aux~BRdI+Lxs|Gwf3#;6ZhfX z?NPfbB`BrDq>)-c&_6(`ibTanC6G`NkpPFHKubXlAT|6&fEEQQwC1ZaA^D1pm}VVrH`}ldC-#RS z!ZPQ%PS!E;_ypx-Y!jaMf1cOGA_w;0T&JvuII9ltF2WZU;kjM6*72iUcVyCYN3#Vl zmwmt|kpev8mIJR8xOp#IP%LwNcdC5@{d;@dPP^0I5$3mTS8o5%pquea{#dpg_@$x2 zo?Nlu4|&5mb~lzU7Q~%vRO>2o1QYtt^i+amZZF15Wqo!fN1ewXbKida^AzSJ-SJGq zb&TuBT5I?@xxT?)6o(BdQw|<-Q-rrHqt_bYOTt?b{!_wlj_{uqzCFS}Bm9LuN+%vW z+*e2!Yj_@GNSA7OjBPHPt>JmxBF)wC`hJUo7~=@U5r`uYM<9+s9Dz6jaRmM+BJkJ7 zTdp`KE;l%*mi>CGQqCu5f@Jk2=fsa1p408C?s$smzf^DgGC|`;#rh8} zpFV%DGyOZ~#4EE0hteH09nU+bcfUXms_V+6`L|KKapS|#Nc zAuWV^urkM~m{ zJ32yk(;vI+Ojj=cIDM6y>6}{k0zIjpN?&%Ka1t*yKC2qPKa)sbCH~AJ{MYL7#=+@z z&#a*+KfAOk^zv{$ZSo$}<4>ip9;0px`!wuDZfcz32*eSHBM?U*jzAoNI0A75;t0eM zh$9e3;Qu)S{Qc{Csegapfn6iT{6seAmyXg`$zuz(7nHjn^-JY!v2e6qr;ZNWWZJhQ z(|$~8i;0{Uj227zqXYbPRY3D#JEg>*4EzGuQVz=w z?ANVIY*_OC&D1>p9yRoOwR#U>hLGPp1cdZjKpmT{R=-Hd-(oo>9yp{DlTC>Yt5!5T zMjynO=QRhLN&h{p(7Qr^$=gKP?estUTD7W)HBEhMT0hWu!~G4%)t>dc-n(rRe@4{y zT<-o_vyOW+F~;1mXz95r`uYM<9+s9Dz6jaRlNB z#1VLFBY^daSf7YBfcoKus#=BWWc}i5k$)xY9N!@_)J>j=?RJ7RfP-mx2kNllmq~Ll@<8D~0{#=df zaK9v|rQa1%;Wxxjljy_$8S#U01wZG+&lb7A>UTp__*3>n=M~j|S^RH~ z_`_uWh-pPwR=8p$QiV1a7Sp!X5Kr$^pn_GhSVuG@F0 zdob;$_xHNAW1#oL`@0AGdx)l&oNn5YQm6Nja`z1!*xNne9_Z^koE~zAy7vyG$s)Rg zA%%Sl|7ov+pYZ}u>GL5kESQZ8BrM#;;AYB2cbr~?@(zdo1EiJ77TikN&!}u+wCLh3 zs*!SDVXWef`R>2JAypJHvBA4ss%*GimWuTT4A-SC6%r2ZK6Ds;8GD`m6$`g{gdyRr z9J*IbQ{_Fe5%{&QQg(SNA9%xrLCN4aa@hiH_n1(2p&0n~SfOH1l!_C6DVVCEhAUax ztCP(L)xEdBjmM%^ANR`R%Fav`s0xEY$&{cST1^C(%1VCDV*_RLNK*Dh&K&HqB4q*! zu(EkLl4enNrtOc*036SdJtSjqMxwDmo}7F6>aGjQJ|CT`G^ZA8k5K8ICFJF@FYP{*3yg z=l=z=<#R%L_&X!NH+XI!6`i8}_a$O$?JcnbiYV6eKV#sZirBYH0T6m{02%o8h5 zfS-wU80_HhTM>KAbAWiRf`0V;za#dDzp_MA@OcpdLPJzPpd2?5_AiP8@QzT^WTN%| zjObeXIk5+RE@F@V2mLZ-Xf12F9}@Fm?8A)eLk9kyY#VFrG4GyhBa#yIj5IHUf1L_= z?8)Q9{Ct?!&2pNN{^Rk_33lkmuMo#7u*dV{%vRP`Dy5I}2iODWsHoOHG-x+AUGt_o z2RqQ$D8n4;$2_o0?4$Z}IxtsDh+t0CLmu`L#*l}7En@71N|YHFhqw>&bQvllX+HP literal 0 HcmV?d00001 diff --git a/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..25c62a8 --- /dev/null +++ b/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,791 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + +#if !defined(__has_include) +/* If the compiler does not have __has_include, pretend the answer is + always no. */ +# define __has_include(x) 0 +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later, + except that a few beta releases use the old format with V=2021. */ +# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111 +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# else +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE) + /* The third version component from --version is an update index, + but no macro is provided for it. */ +# define COMPILER_VERSION_PATCH DEC(0) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER) +# define COMPILER_ID "IntelLLVM" +#if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +#endif +#if defined(__GNUC__) +# define SIMULATE_ID "GNU" +#endif +/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and + * later. 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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 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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 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/ 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* 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