From 74a2d8c35552d162f7acd75d5b5cae174002ac6f Mon Sep 17 00:00:00 2001 From: ydy0615 Date: Sat, 6 Dec 2025 22:47:57 +0800 Subject: [PATCH] new file: .vscode/settings.json new file: Legs_controller.py modified: README.md new file: __pycache__/Legs_controller.cpython-310.pyc new file: __pycache__/Legs_controller.cpython-313.pyc new file: __pycache__/balance.cpython-310.pyc new file: __pycache__/gradio.cpython-310.pyc new file: __pycache__/gradio.cpython-313.pyc new file: app_ui.py new file: balance.py new file: build/.cmake/api/v1/query/client-vscode/query.json new file: build/.cmake/api/v1/reply/cache-v2-ae4a9db768b4bbb36baa.json new file: build/.cmake/api/v1/reply/cmakeFiles-v1-389eb8769a8295e7571d.json new file: build/.cmake/api/v1/reply/codemodel-v2-5ea8cfc0b9263cbe5ae5.json new file: build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json new file: build/.cmake/api/v1/reply/index-2025-09-11T04-53-20-0515.json new file: 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u2can/motor_interface.py create mode 100644 u2can/requirements.txt create mode 100644 ui.log diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..0308dd3 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "cmake.sourceDirectory": "/home/allenyuan/balance/pybind_imu" +} \ No newline at end of file diff --git a/Legs_controller.py b/Legs_controller.py new file mode 100644 index 0000000..e47f15d --- /dev/null +++ b/Legs_controller.py @@ -0,0 +1,94 @@ +import math +import time +import serial +from u2can.DM_CAN import ( + Motor, MotorControl, + DM_Motor_Type, Control_Type, DM_variable +) + +class LegsController: + """ + 简单的达妙腿部/轮子控制类，只实现基本的初始化、使能、 + 失能、扭矩读取以及位置控制。 + """ + + def __init__(self, port="/dev/dm-u2can", baudrate=921600, timeout=0.5): + """打开串口、创建 MotorControl、实例化并注册所有电机。""" + self.serial_device = serial.Serial(port, baudrate, timeout=timeout) + self.mc = MotorControl(self.serial_device) + + # 四条腿电机（DM4340） + self.motor1 = Motor(DM_Motor_Type.DM4340, 0x01, 0x11) + self.motor2 = Motor(DM_Motor_Type.DM4340, 0x02, 0x12) + self.motor3 = Motor(DM_Motor_Type.DM4340, 0x03, 0x13) + self.motor4 = Motor(DM_Motor_Type.DM4340, 0x04, 0x14) + + # 四个轮子电机（DMH6215） + self.wheel1 = Motor(DM_Motor_Type.DMH6215, 0x05, 0x15) + self.wheel2 = Motor(DM_Motor_Type.DMH6215, 0x06, 0x16) + self.wheel3 = Motor(DM_Motor_Type.DMH6215, 0x07, 0x17) + self.wheel4 = Motor(DM_Motor_Type.DMH6215, 0x08, 0x18) + + # 注册所有电机 + for m in (self.motor1, self.motor2, self.motor3, self.motor4, + self.wheel1, self.wheel2, self.wheel3, self.wheel4): + self.mc.addMotor(m) + + # ---------- 串口管理 ---------- + def open_serial(self): + """重新打开已关闭的串口（如果需要）。""" + if not self.serial_device.is_open: + self.serial_device.open() + + def close_serial(self): + """关闭串口，释放资源。""" + if self.serial_device.is_open: + self.serial_device.close() + + # ---------- 使能 ---------- + def enable_legs(self): + """使能四条腿电机。""" + for m in (self.motor1, self.motor2, self.motor3, self.motor4): + self.mc.enable(m) + + def enable_wheels(self): + """使能四个轮子电机。""" + for w in (self.wheel1, self.wheel2, self.wheel3, self.wheel4): + self.mc.enable(w) + + def disable_all(self): + """一次性失能所有电机（腿+轮子）。""" + for m in (self.motor1, self.motor2, self.motor3, self.motor4, + self.wheel1, self.wheel2, self.wheel3, self.wheel4): + self.mc.disable(m) + + # ---------- 状态读取 ---------- + def get_legs_torque(self): + """刷新四条腿的状态并返回它们的扭矩列表。""" + for m in (self.motor1, self.motor2, self.motor3, self.motor4): + self.mc.refresh_motor_status(m) + return [ + self.motor1.getTorque(), + self.motor2.getTorque(), + self.motor3.getTorque(), + self.motor4.getTorque(), + ] + + # ---------- 位置控制 ---------- + def control_legs_pos(self, pos1, pos2, pos3, pos4, vel=0.5): + """ + 使用位置‑速度模式控制四条腿。 + 参数: + pos1‑pos4: 目标位置（单位依据电机规格） + vel: 速度比例，默认 0.5 + """ + self.mc.control_Pos_Vel(self.motor1, -pos1, vel) + self.mc.control_Pos_Vel(self.motor2, pos2, vel) + self.mc.control_Pos_Vel(self.motor3, pos3, vel) + self.mc.control_Pos_Vel(self.motor4, -pos4, vel) + + def control_wheels_vel(self,vel,of_vel): + self.mc.control_Vel(self.wheel1,vel+of_vel) + self.mc.control_Vel(self.wheel2,vel-of_vel) + self.mc.control_Vel(self.wheel3,vel-of_vel) + self.mc.control_Vel(self.wheel4,vel+of_vel) \ No newline at end of file diff --git a/README.md b/README.md index ed0c2d3..e943f2b 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,111 @@ -# balance -A robot balance package for damiao. +# DM‑IMU USB 驱动库 + +## 项目简介 +`dm_imu` 目录下实现了一个 **纯 C++ 的 USB IMU 驱动库**，原始代码基于 ROS，但已完全去除 ROS 依赖，使用 POSIX 串口 API 与 IMU 通信。库提供： + +- 串口初始化、波特率配置 +- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等） +- 线程安全的数据采集（`IMU_Data` 结构体） +- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用 + +## 目录结构 +``` +dm_imu/ +├─ bsp_crc.cpp / bsp_crc.h # CRC 校验实现 +├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS） +├─ test_imu.cpp # 示例程序，演示如何使用库 +└─ README.md # 本文档 +``` + +## 编译方法 + +### 依赖 +- **C++17** 编译器（gcc/clang） +- POSIX 系统（Linux）提供的串口头文件 `、、` +- 标准库（`、、` 等） + +### 编译示例 +```bash +# 进入项目根目录 +cd /home/allenyuan/balance + +# 编译库源码（生成目标文件） +g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o +g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o + +# 编译示例程序并链接 +g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread +``` + +> **说明**：如果你希望将库封装为静态或动态库，只需将 `bsp_crc.o` 与 `imu_driver.o` 打包为 `libdm_imu.a`（或 `libdm_imu.so`），然后在链接时使用 `-L. -ldm_imu`。 + +## 示例程序 `test_imu.cpp` + +```cpp +// test_imu.cpp +// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据 + +#include "imu_driver.h" +#include +#include +#include + +int main() +{ + // 根据实际设备路径与波特率创建对象 + dmbot_serial::DmImu imu("/dev/ttyACM1", 921600); + + // 启动采集线程 + if (!imu.start()) { + std::cerr << "Failed to start IMU driver." << std::endl; + return 1; + } + + // 连续读取 1000 次数据（约 10 秒） + for (int i = 0; i < 1000; ++i) { + IMU_Data d = imu.getData(); + + std::cout << "Roll: " << d.roll << " Pitch: " << d.pitch + << " Yaw: " << d.yaw << std::endl; + std::cout << "Acc : [" << d.accx << ", " << d.accy << ", " << d.accz << "]" + << std::endl; + std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]" + << std::endl; + std::cout << "-----------------------------------------" << std::endl; + + // 10 ms 间隔（约 100 Hz） + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // 停止采集并关闭串口 + imu.stop(); + + return 0; +} +``` + +### 运行示例 +```bash +# 编译（参考上面的编译示例） +g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread + +# 运行 +./test_imu +``` + +运行后，程序会在终端持续打印 IMU 的欧拉角、加速度和陀螺仪数据。若串口未打开或设备路径错误，程序会在初始化阶段输出错误信息并退出。 + +## 常见问题 + +| 问题 | 可能原因 | 解决办法 | +|------|----------|----------| +| 程序启动后没有数据输出 | 串口未打开或设备路径错误 | 确认 IMU 已正确连接，`/dev/ttyACM1` 是否存在；如有不同，请在 `test_imu.cpp` 中修改构造函数的 `port` 参数 | +| `write` / `read` 返回错误 | 波特率不匹配 | 检查 IMU 手册，确认波特率是否为 921600；如需修改，请在 `DmImu` 构造函数的 `baud` 参数中传入正确值 | +| 编译报缺少头文件 | 开发环境缺少 POSIX 串口头文件 | 在 Linux 上默认可用；若使用交叉编译，请确保交叉工具链包含对应头文件 | + +## 许可证 +本项目采用 MIT 许可证，详情见 `LICENSE`（若项目中未提供，请自行添加）。 + +--- + +**祝你使用愉快！** 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zv)$Y7*)HffuieXYZJ1YexSSnZ1T`(DKZ|cG7DpY6gN%ioKrDVVV5h|^Mx03pcTJl# ziCi$NWM;X{tdN;%@tg$G<*|1PYL}gNcWl1rg(7HIb$dE_7qgmefYtDkbNeA6W|Ra$ z`~{`|4V8SSMyA|xW1dfUTdgGWZX05x=(a&iJV)HlB#Fm}nG~ef?%B9&aYAt99gYvGU%^rH6Xp3tZT~C YU(FVIO4n4LbhShS_^VaArZt-X0(o9+6aWAK literal 0 HcmV?d00001 diff --git a/app_ui.py b/app_ui.py new file mode 100644 index 0000000..19b5df1 --- /dev/null +++ b/app_ui.py @@ -0,0 +1,231 @@ +import gradio as gr +from balance import BalanceController +import logging +import threading +import time +import os + +# ------------------------------------------------- +# 全局配置 & 日志系统（写入磁盘文件 ui.log） +# ------------------------------------------------- +LOG_PATH = "ui.log" +logging.basicConfig( + filename=LOG_PATH, + level=logging.INFO, + format="%(asctime)s - %(levelname)s - %(message)s", +) +logger = logging.getLogger("ui") + +def log(msg: str) -> None: + """统一写入日志的函数，同时打印到控制台（方便调试）。""" + logger.info(msg) + for h in logger.handlers: + h.flush() + print(msg) # optional, 可删除 + +# ------------------------------------------------- +# 全局状态 +# ------------------------------------------------- +controller: BalanceController | None = None # 单例 + +# ------------------------------------------------- +# 安全创建 BalanceController（带重试） +# ------------------------------------------------- +def create_controller(retries: int = 3, delay: float = 1.0) -> BalanceController | None: + """尝试实例化 BalanceController，失败则记录日志并返回 None。""" + for attempt in range(1, retries + 1): + try: + log(f"尝试创建 BalanceController（第 {attempt} 次）") + return BalanceController() + except Exception as e: + log(f"创建 BalanceController 失败: {e}") + if attempt < retries: + time.sleep(delay) + log("全部重试结束，仍未能创建 BalanceController") + return None + +# ------------------------------------------------- +# UI 操作函数（统一异常捕获、日志记录、返回状态文字） +# ------------------------------------------------- +def open_port() -> tuple: + """创建 BalanceController 实例并打开串口（不自动使能）。""" + global controller + if controller is None: + controller = create_controller() + if controller is None: + msg = "打开串口失败：无法创建 BalanceController" + log(msg) + return (msg, msg) + msg = "串口已打开" + log(msg) + return (msg, msg) + msg = "串口已打开（已存在实例）" + log(msg) + return (msg, msg) + +def enable_all() -> tuple: + """使能所有电机（腿部+轮子）。""" + global motors_enabled + if controller is None: + msg = "请先打开串口" + return (msg, msg) + try: + controller.enable_all() + motors_enabled = True + msg = "电机已全部使能" + log(msg) + return (msg, msg) + except Exception as e: + msg = f"使能电机异常: {e}" + log(msg) + return (msg, msg) + +def disable_all() -> tuple: + """失能所有电机。""" + global motors_enabled + if controller is None: + msg = "请先打开串口" + return (msg, msg) + try: + controller.disable_all() + motors_enabled = False + msg = "所有电机已失能" + log(msg) + return (msg, msg) + except Exception as e: + msg = f"失能电机异常: {e}" + log(msg) + return (msg, msg) + +def set_position(pos1, pos2, pos3, pos4, vel) -> tuple: + """设置四条腿的位置与速度比例。""" + if controller is None: + msg = "请先打开串口" + return (msg, msg) + try: + controller.control_legs_pos(pos1, pos2, pos3, pos4, vel) + msg = f"已设置位置: {pos1}, {pos2}, {pos3}, {pos4}（速度比例 {vel}）" + log(msg) + return (msg, msg) + except Exception as e: + msg = f"设置位置异常: {e}" + log(msg) + return (msg, msg) + +def get_torque() -> tuple: + """读取四条腿的扭矩，返回字符串列表。""" + if controller is None: + msg = "未打开串口" + log(msg) + return (["未打开串口"] * 4, msg) + try: + torques = controller.get_legs_torque() + msg = f"读取扭矩: {torques}" + log(msg) + return ([f"{t:.2f}" if t is not None else "N/A" for t in torques], msg) + except Exception as e: + msg = f"读取扭矩异常: {e}" + log(msg) + return (["错误"] * 4, msg) + +# ------------------------------------------------- +# 后台平衡循环（守护线程） +# ------------------------------------------------- +def _balance_thread(ctrl: BalanceController) -> None: + """后台线程入口，运行平衡循环并确保资源安全释放。""" + try: + ctrl.enable_all() + log("平衡循环启动") + ctrl.run_balance_loop() + except Exception as e: + log(f"平衡循环异常: {e}") + finally: + ctrl.shutdown() + log("平衡循环已结束，资源已清理") + +def start_balance_thread() -> None: + """在守护线程中启动平衡循环。""" + global controller + if controller is None: + controller = create_controller() + if controller is None: + log("启动平衡控制失败：无法创建 BalanceController") + return + thread = threading.Thread(target=_balance_thread, args=(controller,), daemon=True) + thread.start() + log("平衡控制线程已启动") + +def start_balance() -> tuple: + """检查电机是否已使能后启动平衡控制。""" + if not motors_enabled: + msg = "启动平衡控制失败：电机未使能" + log(msg) + return (msg, msg) + start_balance_thread() + msg = "平衡控制已启动" + log(msg) + return (msg, msg) + +# ------------------------------------------------- +# 日志刷新（用于 UI 按钮） +# ------------------------------------------------- +def refresh_log() -> str: + """读取最新的日志文件内容返回给 UI。""" + if not os.path.exists(LOG_PATH): + return "" + with open(LOG_PATH, "r", encoding="utf-8") as f: + return f.read() + +# ------------------------------------------------- +# 自动打开串口并初始化 UI +# ------------------------------------------------- +init_status, _ = open_port() # 自动打开串口 + +# ------------------------------------------------- +# Gradio UI +# ------------------------------------------------- +with gr.Blocks() as demo: + # 日志显示区 + log_box = gr.Textbox(label="运行日志", lines=15, interactive=False) + refresh_btn = gr.Button("刷新日志") + refresh_btn.click(fn=refresh_log, inputs=None, outputs=log_box) + + gr.Markdown("# 🤖 四足机器人控制面板") + + with gr.Row(): + # 左侧：电机控制 + with gr.Column(): + gr.Markdown("## 电机控制") + # 已移除 “打开串口” 按钮，串口在启动时已自动打开 + enable_btn = gr.Button("✅ 使能全部") + disable_btn = gr.Button("❌ 失能全部") + start_btn = gr.Button("▶️ 启动平衡控制") + status_box = gr.Textbox(label="状态", value=init_status, interactive=False) + + enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box]) + disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box]) + start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box]) + + # 中间：位置控制 + with gr.Column(): + gr.Markdown("## 位置控制") + pos1 = gr.Slider(0, 0.85, label="腿 1 位置") + pos2 = gr.Slider(0, 0.85, label="腿 2 位置") + pos3 = gr.Slider(0, 0.85, label="腿 3 位置") + pos4 = gr.Slider(0, 0.85, label="腿 4 位置") + vel = gr.Slider(0.1, 1.0, value=0.5, step=0.1, label="速度比例") + set_btn = gr.Button("📍 设置位置") + pos_status = gr.Textbox(label="位置设置结果", interactive=False) + + set_btn.click(fn=set_position, + inputs=[pos1, pos2, pos3, pos4, vel], + outputs=[pos_status, log_box]) + + # 右侧：扭矩读取 + with gr.Column(): + gr.Markdown("## 扭矩读取") + torque_output = gr.Textbox(label="腿部扭矩 (N/m)", interactive=False) + read_btn = gr.Button("🔍 读取扭矩") + read_btn.click(fn=get_torque, inputs=None, outputs=[torque_output, log_box]) + + demo.launch(server_name="0.0.0.0", server_port=7860, debug=True) diff --git a/balance.py b/balance.py new file mode 100644 index 0000000..aab648d --- /dev/null +++ b/balance.py @@ -0,0 +1,157 @@ +import time +import imu_py +from Legs_controller import LegsController + +class BalanceController: + """ + BalanceController 将原 balance.py 的平衡控制逻辑封装为类， + 复用 LegsController 中已实现的电机初始化、使能、失能、扭矩读取 + 与位置控制等接口，保持脚本仍可直接运行。 + """ + + def __init__(self, imu_port="/dev/dm-imu", imu_baud=921600, leg_port="/dev/dm-u2can"): + # 实例化 LegsController（内部完成串口、MotorControl、所有电机的注册） + # 若实际硬件不存在，LegsController 会在内部捕获异常，仍可安全实例化 + try: + self.legs = LegsController(port=leg_port) + except Exception as e: + print(f"初始化 LegsController 失败: {e}") + # 创建一个空对象，后续通过 getattr 检查其是否拥有 mc 属性 + self.legs = type('DummyLegs', (), {})() + # 初始化 IMU（若硬件不可用则使用模拟对象） + try: + self.imu = imu_py.DmImu(imu_port, imu_baud) + self.imu.start() + except Exception as e: + print(f"初始化 IMU 失败: {e}") + class DummyImu: + def getData(self): + # 返回零姿态以便算法继续运行 + return {'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0} + self.imu = DummyImu() + # 运行标志，控制主循环的退出 + self._running = False + + # ---------- 电机管理 ---------- + def enable_all(self): + """使能四条腿和四个轮子电机。""" + if getattr(self.legs, "mc", None): + self.legs.enable_legs() + self.legs.enable_wheels() + else: + print("警告: LegsController 未成功初始化串口，跳过使能步骤。") + + def disable_all(self): + """一次性失能所有电机（腿+轮子）。""" + if getattr(self.legs, "mc", None): + self.legs.disable_all() + else: + print("警告: LegsController 未成功初始化串口，跳过失能步骤。") + + # ---------- 状态读取 ---------- + def get_legs_torque(self): + """返回四条腿电机的扭矩列表。""" + if getattr(self.legs, "mc", None): + return self.legs.get_legs_torque() + else: + print("警告: LegsController 未成功初始化串口，返回空列表。") + return [] + + # ---------- 位置控制 ---------- + def control_legs_pos(self, pos1, pos2, pos3, pos4, vel=0.5): + """使用 LegsController 的位置‑速度控制四条腿。""" + if getattr(self.legs, "mc", None): + self.legs.control_legs_pos(pos1, pos2, pos3, pos4, vel) + else: + print("警告: LegsController 未成功初始化串口，跳过位置控制。") + + # ---------- 私有工具 ---------- + def _limit_offsets(self, offs): + """将偏置限制在 0~0.5 之间。""" + return min(max(offs, 0.0), 0.5) + + def _update_offsets(self, data, dt): + offs=[0.0,0.0,0.0,0.0] + if data['pitch']>0.2: + offs[0]=offs[0]+0.0001*(data['pitch'])*pow(data['pitch'],0.1) + offs[1]=offs[1]+0.0001*(data['pitch'])*pow(data['pitch'],0.1) + if data['pitch']<-0.2: + offs[2]=offs[2]+0.0001*(-data['pitch'])*pow(-data['pitch'],0.1) + offs[3]=offs[3]+0.0001*(-data['pitch'])*pow(-data['pitch'],0.1) + if data['roll']<-0.2: + offs[0]=offs[0]+0.0001*(-data['roll'])*pow(-data['roll'],0.1) + offs[3]=offs[3]+0.0001*(-data['roll'])*pow(-data['roll'],0.1) + if data['roll']>0.2: + offs[1]=offs[1]+0.0001*(data['roll'])*pow(data['roll'],0.1) + offs[2]=offs[2]+0.0001*(data['roll'])*pow(data['roll'],0.1) + + # 归一化到 0~0.5 区间 + min_off = min(offs) + offs = [o - min_off for o in offs] + offs = [self._limit_offsets(o) for o in offs] + + return offs + + # ---------- 主循环 ---------- + def run_balance_loop(self, max_vel=1.0): + self._running = True + offs = [0.0, 0.0, 0.0, 0.0] + prev_time = time.time() + + while self._running: + try: + cur_time = time.time() + dt = cur_time - prev_time + if dt <= 0: + # 防止除以零或极小 dt 导致的异常 + dt = 1e-6 + prev_time = cur_time + + data = self.imu.getData() + offs = self._update_offsets(data, dt) + + if getattr(self.legs, "mc", None): + vel = min(1.0, max_vel) + self.control_legs_pos( + 0.85 - offs[0], + 0.85 - offs[1], + 0.85 - offs[2], + 0.85 - offs[3], + vel=vel, + ) + else: + print("调试: 偏置计算结果", offs) + + #print(f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})") + time.sleep(0.001) + except Exception as e: + print(f"平衡循环内部异常, 退出循环: {e}") + break + + # ---------- 收尾 ---------- + def shutdown(self): + """关闭所有资源：失能电机、关闭串口、停止 IMU。""" + # 先停止循环 + self._running = False + self.disable_all() + # 若 LegsController 成功初始化串口则关闭，否则跳过 + if getattr(self.legs, "close_serial", None): + try: + self.legs.close_serial() + except Exception as e: + print(f"关闭串口时出现异常: {e}") + # 若 imu_py 提供 stop 方法，可取消注释以下行 + # self.imu.stop() + + +if __name__ == "__main__": + # 直接运行脚本时的入口 + controller = BalanceController() + controller.enable_all() + # 初始位置设置（与原脚本保持一致） + controller.control_legs_pos(0.85, 0.85, 0.85, 0.85, vel=0.5) + 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DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += info_language_extensions_default[argc]; + (void)argv; + return require; +} diff --git a/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out b/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file mode 100644 index 0000000000000000000000000000000000000000..7b912bfd2ddec71661d25299e52fdfc336f9d324 GIT binary patch literal 9176 zcmeHNZ){sv6+gDKHC_LtDWx5>wC(Ylr9@%bCR}cP@0r3n+DZ*d5N9Gn`1}z z^GI9RGPVz(4V0|a7A6hC7*aNbRHOo}G(k5ZF$q2t22+K`NUL>1q8~DCpqjNa=iGaK z&hxX=A|&{n##j#@TgRVG^enTFk%e zXf26YoxvlKeM6}^_Q1%h;~%7MZ|q1P#|7TI!xMM25Djr|p0r{s%vLc<+(NK4|^=@gIuc;)B=|87U&a$kZ$@JoKmV ze?%g*gf7)sBoSK8omN^DA6C||x|gwN4P3N0)xZ;sMQh+9Tg!fa0eNzqfic$^Ol913 z>Tr^qJkSG9-g9%FGvcN)h(`W&<;bsIyb__wn~9EHIr7TP>4@{j9Agti6OC_l6jwZd=VUaz;SG_+V|agN z-m8{p+HZ0Dysv$p+u^&6uHnDK?M=3g_W%{UpQ7||Co22W@++KrW={wMfCU6d<=7YV&lb* zqRTpSk z@VzBeJj#9cosZuZ57B4Y?gY(s6q%kdebmK^KV#p|@)M=;1AXV|w)d9Ai&u`kYQ`P@ zzsc`YdW?QQ+d!wzMW|TXK&Om;oF+pQFU~fMpNbMa!C&Fqn19pkhWIHyC6~-XuJ77% z#J+{5H%%H_!+k9^?Mz?Wj`8dCwdKS|ey2&y6V@Hp9Q(tkOIQeXcJJxAeIPqBno1{g 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mode 100644 index 0000000..b158f63 --- /dev/null +++ b/dm_imu/bsp_crc.cpp @@ -0,0 +1,73 @@ +#include "bsp_crc.h" + +const uint8_t CRC8_table[256] = +{ + 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, + 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, + 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, + 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, + 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, + 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, + 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, + 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, + 0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, + 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, + 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, + 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, + 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, + 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, + 0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, + 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, +}; + +const uint16_t CRC16_table[256] = +{ + 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, + 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, + 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, + 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, + 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, + 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, + 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, + 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, + 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, + 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, + 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, + 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, + 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, + 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, + 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 +}; + + +/** + * @brief 计算CRC8 + * @param[in] ess_value: crc初始值 + * @param[in] ptr: 数据指针 + * @param[in] len: 校验长度 + * @retval CRC-8值 + */ +uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len) +{ + uint8_t uc_index; + uint8_t ucCRC8 = init_value; + while (len--) + { + uc_index = ucCRC8^(*ptr++); + ucCRC8 = CRC8_table[uc_index]; + } + return(ucCRC8); +} + +uint16_t Get_CRC16(uint8_t *ptr, uint16_t len) +{ + // ISO/IEC 13239 的初始值 + uint16_t crc = 0xFFFF; + for (size_t i = 0; i < len; ++i) + { + uint8_t index = (crc >> 8 ^ ptr[i]); + crc = ((crc << 1) ^ CRC16_table[index]); + } + return crc; +} diff --git a/dm_imu/bsp_crc.h b/dm_imu/bsp_crc.h new file mode 100644 index 0000000..fbc6fb3 --- /dev/null +++ b/dm_imu/bsp_crc.h @@ -0,0 +1,10 @@ +#ifndef __BSP_CRC_H +#define __BSP_CRC_H +#include + + +uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len); +uint16_t Get_CRC16(uint8_t *ptr, uint16_t len); + + +#endif \ No newline at end of file diff --git a/dm_imu/imu_data.csv b/dm_imu/imu_data.csv new file mode 100644 index 0000000..01e6e98 --- /dev/null +++ b/dm_imu/imu_data.csv @@ -0,0 +1,1001 @@ 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std::this_thread::sleep_for(std::chrono::milliseconds(10)); + + set_output_1000HZ(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + + save_imu_para(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + + exit_setting_mode(); + std::this_thread::sleep_for(std::chrono::milliseconds(100)); +} + +DmImu::~DmImu() +{ + stop(); + if (serial_fd >= 0) + { + close(serial_fd); + serial_fd = -1; + } +} + +// ------------------------------- +// Public API +// ------------------------------- +bool DmImu::start() +{ + if (rec_thread.joinable()) + { + // 已经在运行 + return true; + } + + // 确保串口已打开 + if (serial_fd < 0) + { + init_imu_serial(); + } + + stop_thread_ = false; + rec_thread = std::thread(&DmImu::get_imu_data_thread, this); + return true; +} + +void DmImu::stop() +{ + stop_thread_ = true; + if (rec_thread.joinable()) + { + rec_thread.join(); + } + if (serial_fd >= 0) + { + close(serial_fd); + serial_fd = -1; + } +} + +IMU_Data DmImu::getData() const +{ + std::lock_guard lock(data_mutex); + return data; +} + +// ------------------------------- +// Private implementation +// ------------------------------- +void DmImu::init_imu_serial() +{ + // 打开串口 + serial_fd = open(imu_serial_port.c_str(), O_RDWR | O_NOCTTY | O_SYNC); + if (serial_fd < 0) + { + std::cerr << "Failed to open IMU serial port: " << imu_serial_port << std::endl; + std::exit(EXIT_FAILURE); + } + + // 配置波特率和串口属性 + struct termios tty; + if (tcgetattr(serial_fd, &tty) != 0) + { + std::cerr << "Error from tcgetattr" << std::endl; + std::exit(EXIT_FAILURE); + } + + // 设置波特率 + speed_t speed; + switch (imu_seial_baud) + { + case 115200: speed = B115200; break; + case 230400: speed = B230400; break; + case 460800: speed = B460800; break; + case 921600: speed = B921600; break; + default: + std::cerr << "Unsupported baud rate: " << imu_seial_baud << std::endl; + std::exit(EXIT_FAILURE); + } + cfsetospeed(&tty, speed); + cfsetispeed(&tty, speed); + + // 8N1, 无硬件流控制 + tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8 位字符 + tty.c_iflag &= ~IGNBRK; // 禁用 BREAK 处理 + tty.c_lflag = 0; // 无信号字符、回显、规范模式 + tty.c_oflag = 0; // 原始输出 + tty.c_cc[VMIN] = 0; // 读取不阻塞 + tty.c_cc[VTIME] = 5; // 0.5 秒读取超时 + + tty.c_cflag |= (CLOCAL | CREAD); // 忽略调制解调器控制线，启用接收 + tty.c_cflag &= ~(PARENB | PARODD); // 无奇偶校验 + tty.c_cflag &= ~CSTOPB; // 1 位停止位 + tty.c_cflag &= ~CRTSCTS; // 无硬件流控制 + + if (tcsetattr(serial_fd, TCSANOW, &tty) != 0) + { + std::cerr << "Error from tcsetattr" << std::endl; + std::exit(EXIT_FAILURE); + } + + std::cout << "IMU serial port opened successfully." << std::endl; +} + +// ------------------------------- +// 配置指令（与原始 ROS 代码保持一致，仅去掉 ros::Duration） +// ------------------------------- +void DmImu::enter_setting_mode() +{ + uint8_t txbuf[4] = {0xAA, 0x06, 0x01, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::turn_on_accel() +{ + uint8_t txbuf[4] = {0xAA, 0x01, 0x14, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::turn_on_gyro() +{ + uint8_t txbuf[4] = {0xAA, 0x01, 0x15, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::turn_on_euler() +{ + uint8_t txbuf[4] = {0xAA, 0x01, 0x16, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::turn_off_quat() +{ + uint8_t txbuf[4] = {0xAA, 0x01, 0x07, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::set_output_1000HZ() +{ + uint8_t txbuf[5] = {0xAA, 0x02, 0x01, 0x00, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::save_imu_para() +{ + uint8_t txbuf[4] = {0xAA, 0x03, 0x01, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::exit_setting_mode() +{ + uint8_t txbuf[4] = {0xAA, 0x06, 0x00, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +void DmImu::restart_imu() +{ + uint8_t txbuf[4] = {0xAA, 0x00, 0x00, 0x0D}; + for (int i = 0; i < 5; ++i) + { + write(serial_fd, txbuf, sizeof(txbuf)); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } +} + +// ------------------------------- +// 数据采集线程 +// ------------------------------- +void DmImu::get_imu_data_thread() +{ + int error_num = 0; + while (!stop_thread_) + { + if (serial_fd < 0) + { + std::cerr << "IMU serial port not open in data thread." << std::endl; + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + continue; + } + + // 读取完整帧（共 57 字节） + ssize_t len = read(serial_fd, &receive_data, sizeof(receive_data)); + if (len != static_cast(sizeof(receive_data))) + { + ++error_num; + continue; + } + + // 验证帧头 + if (receive_data.FrameHeader1 == 0x55 && receive_data.flag1 == 0xAA && + receive_data.slave_id1 == 0x01 && receive_data.reg_acc == 0x01) + { + // CRC 校验并提取数据 + if (Get_CRC16(reinterpret_cast(&receive_data.FrameHeader1), 16) == receive_data.crc1) + { + data.accx = *reinterpret_cast(&receive_data.accx_u32); + data.accy = *reinterpret_cast(&receive_data.accy_u32); + data.accz = *reinterpret_cast(&receive_data.accz_u32); + } + if (Get_CRC16(reinterpret_cast(&receive_data.FrameHeader2), 16) == receive_data.crc2) + { + data.gyrox = *reinterpret_cast(&receive_data.gyrox_u32); + data.gyroy = *reinterpret_cast(&receive_data.gyroy_u32); + data.gyroz = *reinterpret_cast(&receive_data.gyroz_u32); + } + if (Get_CRC16(reinterpret_cast(&receive_data.FrameHeader3), 16) == receive_data.crc3) + { + data.roll = *reinterpret_cast(&receive_data.roll_u32); + data.pitch = *reinterpret_cast(&receive_data.pitch_u32); + data.yaw = *reinterpret_cast(&receive_data.yaw_u32); + } + + // 线程安全更新共享数据 + { + std::lock_guard lock(data_mutex); + // data 已在上面更新，无需额外操作 + } + } + else + { + ++error_num; + if (error_num > 1200) + { + std::cerr << "Failed to find correct IMU frame header (0x55)." << std::endl; + error_num = 0; + } + } + } +} + +} diff --git a/dm_imu/imu_driver.h b/dm_imu/imu_driver.h new file mode 100644 index 0000000..a9115aa --- /dev/null +++ b/dm_imu/imu_driver.h @@ -0,0 +1,103 @@ +#ifndef _IMU_DRIVER_H_ +#define _IMU_DRIVER_H_ +#include +#include +#include +#include +#include +#include +#include +#include +#include "bsp_crc.h" + +namespace dmbot_serial +{ +#pragma pack(1) +typedef struct +{ + uint8_t FrameHeader1; + uint8_t flag1; + uint8_t slave_id1; + uint8_t reg_acc; + uint32_t accx_u32; + uint32_t accy_u32; + uint32_t accz_u32; + uint16_t crc1; + uint8_t FrameEnd1; + + uint8_t FrameHeader2; + uint8_t flag2; + uint8_t slave_id2; + uint8_t reg_gyro; + uint32_t gyrox_u32; + uint32_t gyroy_u32; + uint32_t gyroz_u32; + uint16_t crc2; + uint8_t FrameEnd2; + + uint8_t FrameHeader3; + uint8_t flag3; + uint8_t slave_id3; + uint8_t reg_euler; // r-p-y + uint32_t roll_u32; + uint32_t pitch_u32; + uint32_t yaw_u32; + uint16_t crc3; + uint8_t FrameEnd3; +} IMU_Receive_Frame; +#pragma pack() + +typedef struct +{ + float accx; + float accy; + float accz; + float gyrox; + float gyroy; + float gyroz; + float roll; + float pitch; + float yaw; +} IMU_Data; + +class DmImu +{ +public: + DmImu(const std::string& port = "/dev/ttyACM1", int baud = 921600); + ~DmImu(); + + // Start data acquisition thread; returns true on success + bool start(); + // Stop acquisition and close serial port + void stop(); + + // Get latest IMU data (thread‑safe copy) + IMU_Data getData() const; + +private: + void init_imu_serial(); + void get_imu_data_thread(); + + void enter_setting_mode(); + void turn_on_accel(); + void turn_on_gyro(); + void turn_on_euler(); + void turn_off_quat(); + void set_output_1000HZ(); + void save_imu_para(); + void exit_setting_mode(); + void restart_imu(); + + int imu_seial_baud; + std::string imu_serial_port; + int serial_fd = -1; + std::thread rec_thread; + mutable std::mutex data_mutex; + bool stop_thread_ = false; + + IMU_Receive_Frame receive_data{}; + IMU_Data data{}; +}; + +} +#endif diff --git a/dm_imu/imu_plot.png b/dm_imu/imu_plot.png new file mode 100644 index 0000000000000000000000000000000000000000..2fe795ea5f39047bbfe6ea567f04f3ab2e531934 GIT binary patch literal 213327 zcmcG#WmuJ4+b)bCNP~pZh;(;JDF{k;cS?76mxMG(Nq2X*NTYOjcQ@=YS3J+Vk7Iw| z{bM%Kn0rJ=Vrl`^k~Hq*XRF$@!vN z6a_pL&6__T&|$Im^=@Xg_FMFx?I^|;zNJywZb=vwlBUeA8#-+ELPmH)7(HldE3h>< zvu`l4AZg^ZIqY$mm0wu+)*oFEp5*T@F)Z7J-v9j;ed;X&-9NtqKV2Co^CAE5t5d#{ zmH+oUfBBf_@&El(Yt!gED(hj|M!{bf?VvPItc%LOdiGm+lOWb 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+ // 打开 CSV 文件用于保存数据 + std::ofstream csvFile("dm_imu/imu_data.csv"); + csvFile << "index,roll,pitch,yaw,accx,accy,accz,gyrox,gyroy,gyroz\n"; + + // 示例：读取 1000 次数据（约 10 秒，100 Hz） + for (int i = 0; i < 1000; ++i) + { + dmbot_serial::IMU_Data data = imu.getData(); + + std::cout << "Roll: " << data.roll << " Pitch: " << data.pitch + << " Yaw: " << data.yaw << std::endl; + std::cout << "Acc : [" << data.accx << ", " << data.accy << ", " << data.accz << "]" + << std::endl; + std::cout << "Gyro : [" << data.gyrox << ", " << data.gyroy << ", " << data.gyroz << "]" + << std::endl; + std::cout << "----------------------------------------" << std::endl; + + // 写入 CSV + csvFile << i << ',' << data.roll << ',' << data.pitch << ',' << data.yaw << ',' + << data.accx << ',' << data.accy << ',' << data.accz << ',' + << data.gyrox << ',' << data.gyroy << ',' << data.gyroz << '\n'; + + // 10 ms 间隔（约 100 Hz） + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + csvFile.close(); + + // 停止采集并关闭串口 + imu.stop(); + std::system("python3 dm_imu/plot_imu.py"); + + return 0; +} diff --git a/imu_data.csv b/imu_data.csv new file mode 100644 index 0000000..c7ae6dc --- /dev/null +++ b/imu_data.csv @@ -0,0 +1,1001 @@ +index,roll,pitch,yaw,accx,accy,accz,gyrox,gyroy,gyroz +0,-9.15521,12.3543,-158.421,-2.22202,-1.53975,10.0259,0.00367642,0.000972733,0.000284962 +1,-9.15583,12.3561,-158.424,-2.14507,-1.56398,9.6912,-0.00058464,-0.00435359,0.0151987 +2,-9.15555,12.3568,-158.423,-2.18116,-1.51611,9.78084,-0.0016499,-0.00328832,0.00348076 +3,-9.15473,12.3574,-158.423,-2.16893,-1.56555,9.78756,-0.00058464,-0.00328832,-0.00184557 +4,-9.15417,12.3576,-158.423,-2.15593,-1.49907,9.82597,-0.00058464,-0.00435359,0.00241549 +5,-9.15256,12.3574,-158.423,-2.17957,-1.54698,9.77514,-0.00058464,0.00523379,0.000284962 +6,-9.15036,12.3595,-158.424,-2.17759,-1.53244,9.75892,-0.0016499,-0.0011578,-0.00291083 +7,-9.14964,12.3601,-158.424,-2.16904,-1.58904,9.76925,-0.00058464,-0.00541885,-0.00291083 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../dm_imu/imu_driver.cpp + ../dm_imu/bsp_crc.cpp) + +target_link_libraries(imu_py PRIVATE pthread) diff --git a/pybind_imu/README.md b/pybind_imu/README.md new file mode 100644 index 0000000..4384fee --- /dev/null +++ b/pybind_imu/README.md @@ -0,0 +1,113 @@ +# Pybind11 Wrapper for DM‑IMU Driver + +## Overview +This project provides a **Python module** that wraps the `DmImu` class from the `dm_imu` driver library using **pybind11**. +After building, you obtain a shared object (`imu_py*.so`) that can be imported in Python to control the IMU, start data acquisition, and retrieve sensor readings as a Python `dict`. + +## Prerequisites +| Requirement | Version / Notes | +|------------|-----------------| +| **C++ compiler** | GCC 11 (or newer) | +| **CMake** | ≥ 3.14 | +| **Python** | 3.8 – 3.12 (the build uses the interpreter found by CMake) | +| **pybind11** | Installed via `pip install pybind11` (the package provides the CMake config) | +| **Serial port access** | The user must have read/write permission for the device (e.g., `/dev/ttyACM1`). See *Serial Port Permissions* below. | + +## Build Steps +```bash +# 1. Install pybind11 (if not already installed) +pip install --user pybind11 + +# 2. Clone / copy this repository (already present in /home/allenyuan/balance) + +# 3. Build the Python extension +cd pybind_imu +rm -rf build +mkdir build && cd build +cmake .. # CMake will locate pybind11 automatically +make -j$(nproc) # Builds imu_py.cpython--.so +``` + +The compiled shared library will be placed in `pybind_imu/build/`. + +## Installing the Module (optional) +You can copy the generated `.so` file to a location that is on `PYTHONPATH`, for example: + +```bash +cp build/imu_py.cpython-310-aarch64-linux-gnu.so ~/.local/lib/python3.10/site-packages/ + +cp build/imu_py.cpython-310-aarch64-linux-gnu.so /home/allenyuan/miniconda3/lib/python3.13/site-packages +``` + +Or simply import it directly from the `build` directory (see the example below). + +## Serial Port Permissions +If you encounter the error: + +``` +Failed to open IMU serial port: /dev/ttyACM1 +``` + +you have two options: + +1. **Run the Python script with sudo** (quick test): + ```bash + sudo python3 example.py + ``` + +2. **Add your user to the dialout group** (recommended): + ```bash + sudo usermod -aG dialout $USER + # Log out and log back in for the group change to take effect + ``` + +## Usage from Python +```python +import pathlib +import importlib.util + +# Load the compiled module (adjust the path if you installed it elsewhere) +lib_path = pathlib.Path('pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so') +spec = importlib.util.spec_from_file_location('imu_py', lib_path) +imu_py = importlib.util.module_from_spec(spec) +spec.loader.exec_module(imu_py) + +# Create an IMU instance (default port and baud rate are shown) +imu = imu_py.DmImu('/dev/ttyACM1', 921600) + +# Start data acquisition (spawns a background thread) +imu.start() + +# Retrieve a single measurement +data = imu.getData() +print('IMU data:', data) + +# When finished, stop the thread and close the serial port +imu.stop() +``` + +## Example Program +A ready‑to‑run example is provided as `example.py` in this directory. It demonstrates: + +* Loading the module +* Starting the driver +* Reading data in a loop +* Clean shutdown on `KeyboardInterrupt` + +Run it with: + +```bash +python3 example.py +``` + +## Troubleshooting +| Symptom | Likely Cause | Fix | +|---------|--------------|-----| +| CMake cannot find `pybind11` | `pybind11` not installed or not on `CMAKE_PREFIX_PATH` | `pip install --user pybind11` and ensure `CMAKE_PREFIX_PATH` points to `~/.local/lib/python3.10/site-packages/pybind11/share/cmake` (the CMakeLists already sets this). | +| Compilation error: `dm_imu/imu_driver.h: No such file or directory` | Include path wrong | The CMake file uses `include_directories(${CMAKE_CURRENT_SOURCE_DIR}/..)` which points to the project root where `dm_imu` resides. | +| Runtime: “Failed to open IMU serial port” | No permission on the device | Use `sudo` or add user to `dialout` group (see above). | +| Python import error “module not found” | Wrong path to the `.so` file | Adjust `lib_path` in the Python code to point to the actual location of the compiled shared object. | + +--- + +**Enjoy!** Feel free to adapt the wrapper for additional driver functionality or integrate it into larger Python applications. 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DEC(__NVCOMPILER_PATCHLEVEL__) +# endif + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__CLANG_FUJITSU) +# define COMPILER_ID "FujitsuClang" +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# define COMPILER_VERSION_INTERNAL_STR __clang_version__ + + +#elif defined(__FUJITSU) +# define COMPILER_ID "Fujitsu" +# if defined(__FCC_version__) +# define COMPILER_VERSION __FCC_version__ +# elif defined(__FCC_major__) +# define COMPILER_VERSION_MAJOR DEC(__FCC_major__) +# define COMPILER_VERSION_MINOR DEC(__FCC_minor__) +# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__) +# endif +# if defined(__fcc_version) +# define COMPILER_VERSION_INTERNAL DEC(__fcc_version) +# elif defined(__FCC_VERSION) +# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION) +# endif + + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000) +# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION) + +#elif defined(__clang__) +# define COMPILER_ID "Clang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif + +#elif defined(__GNUC__) || defined(__GNUG__) +# define COMPILER_ID "GNU" +# if defined(__GNUC__) +# define COMPILER_VERSION_MAJOR DEC(__GNUC__) +# else +# define COMPILER_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__MSYS__) +# define PLATFORM_ID "MSYS" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# elif defined(__VXWORKS__) +# define PLATFORM_ID "VxWorks" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_ARM64EC) +# define ARCHITECTURE_ID "ARM64EC" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# elif defined(__ICCSTM8__) +# define ARCHITECTURE_ID "STM8" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__TI_COMPILER_VERSION__) +# if defined(__TI_ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__MSP430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__TMS320C28XX__) +# define ARCHITECTURE_ID "TMS320C28x" + +# elif defined(__TMS320C6X__) || defined(_TMS320C6X) +# define ARCHITECTURE_ID "TMS320C6x" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number. */ +#ifdef COMPILER_VERSION +char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]"; + +/* Construct a string literal encoding the version number components. */ +#elif defined(COMPILER_VERSION_MAJOR) +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#elif defined(COMPILER_VERSION_INTERNAL_STR) +char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]"; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + +#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L +# if defined(__INTEL_CXX11_MODE__) +# if defined(__cpp_aggregate_nsdmi) +# define CXX_STD 201402L +# else +# define CXX_STD 201103L +# endif +# else +# define CXX_STD 199711L +# endif +#elif defined(_MSC_VER) && defined(_MSVC_LANG) +# define CXX_STD _MSVC_LANG +#else +# define CXX_STD __cplusplus +#endif + +const char* info_language_standard_default = "INFO" ":" "standard_default[" +#if CXX_STD > 202002L + "23" +#elif CXX_STD > 201703L + "20" +#elif CXX_STD >= 201703L + "17" +#elif CXX_STD >= 201402L + "14" +#elif CXX_STD >= 201103L + "11" +#else + "98" +#endif +"]"; + +const char* info_language_extensions_default = "INFO" ":" "extensions_default[" +/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */ +#if (defined(__clang__) || defined(__GNUC__) || \ + defined(__TI_COMPILER_VERSION__)) && \ + !defined(__STRICT_ANSI__) && !defined(_MSC_VER) + "ON" +#else + "OFF" +#endif +"]"; + +/*--------------------------------------------------------------------------*/ + +int main(int argc, char* argv[]) +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXT_COMPUTE_LINUX_TARGET) + require += info_cray[argc]; +#endif + require += info_language_standard_default[argc]; + require += 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