refactor(package): rename to dm_imu and restructure directories
Renamed package from dm_imu_pkg to dm_imu across PKG-INFO, egg-info files, and directories. Updated CMakeLists.txt, __init__.py, and top_level.txt to reflect new structure. Bumped gradio version from <5.0 to <6.0 in dependencies. This refactoring improves naming consistency and streamlines the package layout for better maintainability.
This commit is contained in:
@@ -1,5 +1,5 @@
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Metadata-Version: 2.4
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Name: dm_imu_pkg
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Name: dm_imu
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Version: 0.1.0
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Summary: Balance project with pybind11 IMU driver
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Author: allenyuan
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@@ -13,7 +13,7 @@ License-File: LICENSE
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Requires-Dist: pybind11>=2.10
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Requires-Dist: numpy<2.0
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Requires-Dist: pyserial>=3.5
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Requires-Dist: gradio<5.0
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Requires-Dist: gradio<6.0
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Dynamic: author
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Dynamic: license-file
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Dynamic: requires-python
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11
dm_imu.egg-info/SOURCES.txt
Normal file
11
dm_imu.egg-info/SOURCES.txt
Normal file
@@ -0,0 +1,11 @@
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LICENSE
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README.md
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pyproject.toml
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setup.py
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dm_imu/__init__.py
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dm_imu.egg-info/PKG-INFO
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dm_imu.egg-info/SOURCES.txt
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dm_imu.egg-info/dependency_links.txt
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dm_imu.egg-info/not-zip-safe
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dm_imu.egg-info/requires.txt
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dm_imu.egg-info/top_level.txt
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@@ -1,4 +1,4 @@
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pybind11>=2.10
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numpy<2.0
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pyserial>=3.5
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gradio<5.0
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gradio<6.0
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@@ -1 +1,2 @@
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dm_imu
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imu_py
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@@ -10,14 +10,12 @@ execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pybind11; print(pybind11
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set(CMAKE_PREFIX_PATH "${PYBIND11_CMAKE_DIR}" ${CMAKE_PREFIX_PATH})
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/..
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${CMAKE_CURRENT_SOURCE_DIR}/src
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)
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find_package(pybind11 REQUIRED)
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pybind11_add_module(imu_py
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pybind_imu.cpp
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../dm_imu/imu_driver.cpp
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../dm_imu/bsp_crc.cpp)
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target_link_libraries(imu_py PRIVATE pthread)
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src/imu_driver.cpp
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src/bsp_crc.cpp)
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@@ -5,9 +5,7 @@ import sys
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def _load_imu_module():
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"""
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Load the compiled pybind11 module ``imu_py``.
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When the package is installed via ``pip install .`` the shared object
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will be placed next to this ``__init__.py``. During development it may
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still reside in the build directory under ``src/pybind_imu/build``.
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The shared object should be placed in the ``build`` directory next to this ``__init__.py``.
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"""
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# 1. Try to import if the .so is already in the package directory.
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try:
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@@ -16,19 +14,12 @@ def _load_imu_module():
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except Exception:
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pass
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# 2. Fallback: locate the build output relative to the repository root.
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# 2. Fallback: locate the build output relative to the package root.
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possible_paths = [
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pathlib.Path(__file__).parent.parent
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/ "src"
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/ "pybind_imu"
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/ "build"
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/ "imu_py.cpython-310-aarch64-linux-gnu.so",
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pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-darwin.so",
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pathlib.Path(__file__).parent / "build" / "imu_py.cpython-312-darwin.so",
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# Generic pattern for other Python versions / architectures
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pathlib.Path(__file__).parent.parent
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/ "src"
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/ "pybind_imu"
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/ "build"
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/ "imu_py.*.so",
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pathlib.Path(__file__).parent / "build" / "imu_py.*.so",
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]
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for p in possible_paths:
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@@ -1,6 +1,6 @@
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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#include "dm_imu/imu_driver.h"
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#include "imu_driver.h"
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namespace py = pybind11;
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using namespace dmbot_serial;
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|
Before Width: | Height: | Size: 208 KiB After Width: | Height: | Size: 208 KiB |
Binary file not shown.
Binary file not shown.
@@ -1,128 +0,0 @@
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Metadata-Version: 2.4
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Name: balance-pkg
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Version: 0.1.0
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Summary: Balance project with pybind11 IMU driver
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Author: Your Name
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Author-email: Your Name <you@example.com>
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License-Expression: MIT
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Classifier: Programming Language :: Python :: 3
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Classifier: Operating System :: OS Independent
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Requires-Python: >=3.8
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Description-Content-Type: text/markdown
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License-File: LICENSE
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Requires-Dist: pybind11>=2.10
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Dynamic: author
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Dynamic: license-file
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Dynamic: requires-python
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# DM‑IMU USB 驱动库
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## 项目简介
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`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：
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- 串口初始化、波特率配置
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- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等）
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- 线程安全的数据采集（`IMU_Data` 结构体）
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- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用
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## 目录结构
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```
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dm_imu/
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├─ bsp_crc.cpp / bsp_crc.h # CRC 校验实现
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├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS）
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├─ test_imu.cpp # 示例程序，演示如何使用库
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└─ README.md # 本文档
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```
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## 编译方法
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### 依赖
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- **C++17** 编译器（gcc/clang）
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- POSIX 系统（Linux）提供的串口头文件 `<fcntl.h>、<unistd.h>、<termios.h>`
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- 标准库（`<thread>、<mutex>、<atomic>` 等）
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### 编译示例
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```bash
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# 进入项目根目录
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cd /home/allenyuan/balance
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# 编译库源码（生成目标文件）
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g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o
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g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o
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# 编译示例程序并链接
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g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
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```
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> **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`。
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## 示例程序 `test_imu.cpp`
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```cpp
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// test_imu.cpp
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// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据
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#include "imu_driver.h"
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#include <iostream>
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#include <thread>
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#include <chrono>
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int main()
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{
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// 根据实际设备路径与波特率创建对象
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dmbot_serial::DmImu imu("/dev/ttyACM1", 921600);
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// 启动采集线程
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if (!imu.start()) {
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std::cerr << "Failed to start IMU driver." << std::endl;
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return 1;
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}
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// 连续读取 1000 次数据（约 10 秒）
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for (int i = 0; i < 1000; ++i) {
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IMU_Data d = imu.getData();
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std::cout << "Roll: " << d.roll << " Pitch: " << d.pitch
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<< " Yaw: " << d.yaw << std::endl;
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std::cout << "Acc : [" << d.accx << ", " << d.accy << ", " << d.accz << "]"
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<< std::endl;
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std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]"
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<< std::endl;
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std::cout << "-----------------------------------------" << std::endl;
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// 10 ms 间隔（约 100 Hz）
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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// 停止采集并关闭串口
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imu.stop();
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return 0;
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}
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```
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### 运行示例
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```bash
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# 编译（参考上面的编译示例）
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g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
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# 运行
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./test_imu
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```
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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。
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## 常见问题
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| 问题 | 可能原因 | 解决办法 |
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|------|----------|----------|
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| 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 |
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| `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 |
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| 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 |
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## 许可证
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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）。
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---
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**祝你使用愉快！** 如有其他需求（如添加四元数计算、回调机制等），欢迎进一步扩展此库。
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@@ -1,10 +0,0 @@
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LICENSE
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||||
README.md
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pyproject.toml
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setup.py
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balance_pkg/balance_pkg.egg-info/PKG-INFO
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balance_pkg/balance_pkg.egg-info/SOURCES.txt
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balance_pkg/balance_pkg.egg-info/dependency_links.txt
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||||
balance_pkg/balance_pkg.egg-info/not-zip-safe
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balance_pkg/balance_pkg.egg-info/requires.txt
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balance_pkg/balance_pkg.egg-info/top_level.txt
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@@ -1 +0,0 @@
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||||
pybind11>=2.10
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||||
@@ -1,10 +0,0 @@
|
||||
LICENSE
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||||
README.md
|
||||
pyproject.toml
|
||||
setup.py
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO
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||||
dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt
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||||
dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt
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||||
dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe
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||||
dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt
|
||||
dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt
|
||||
@@ -1 +0,0 @@
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||||
|
||||
@@ -1 +0,0 @@
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
imu_py
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||||
Binary file not shown.
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@@ -3,7 +3,7 @@ requires = ["setuptools>=61", "wheel", "pybind11>=2.10", "cmake"]
|
||||
build-backend = "setuptools.build_meta"
|
||||
|
||||
[project]
|
||||
name = "dm_imu_pkg"
|
||||
name = "dm_imu"
|
||||
version = "0.1.0"
|
||||
description = "Balance project with pybind11 IMU driver"
|
||||
readme = "README.md"
|
||||
@@ -22,4 +22,5 @@ classifiers = [
|
||||
]
|
||||
|
||||
[tool.setuptools.packages.find]
|
||||
where = ["dm_imu_pkg"]
|
||||
where = ["."]
|
||||
include = ["dm_imu"]
|
||||
|
||||
7
setup.py
7
setup.py
@@ -49,17 +49,16 @@ class CMakeBuild(build_ext):
|
||||
)
|
||||
|
||||
# Path to the pybind11 C++ source directory.
|
||||
pybind_src = pathlib.Path(__file__).parent / "src" / "pybind_imu"
|
||||
pybind_src = pathlib.Path(__file__).parent / "dm_imu"
|
||||
|
||||
setup(
|
||||
name="dm_imu_pkg",
|
||||
name="dm_imu",
|
||||
version="0.1.0",
|
||||
author="allenyuan",
|
||||
description="DM IMU driver with pybind11",
|
||||
long_description=open("README.md", encoding="utf-8").read(),
|
||||
long_description_content_type="text/markdown",
|
||||
packages=find_packages(where="dm_imu_pkg"),
|
||||
package_dir={"": "dm_imu_pkg"},
|
||||
packages=["dm_imu"],
|
||||
ext_modules=[CMakeExtension("imu_py", sourcedir=str(pybind_src))],
|
||||
cmdclass={"build_ext": CMakeBuild},
|
||||
zip_safe=False,
|
||||
|
||||
@@ -1,51 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
example.py – Demonstrates how to use the pybind11‑wrapped DM‑IMU driver.
|
||||
|
||||
Prerequisites
|
||||
-------------
|
||||
* The compiled shared library `imu_py*.so` must exist (see README.md for build steps).
|
||||
* The current user must have read/write access to the IMU serial device
|
||||
(e.g. /dev/ttyACM1). Use `sudo` or add the user to the `dialout` group
|
||||
if necessary.
|
||||
|
||||
Usage
|
||||
-----
|
||||
$ python3 example.py
|
||||
"""
|
||||
|
||||
import sys
|
||||
import signal
|
||||
import time
|
||||
import imu_py
|
||||
|
||||
def _signal_handler(sig, frame):
|
||||
print("\nReceived interrupt – stopping IMU...")
|
||||
imu.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, _signal_handler)
|
||||
signal.signal(signal.SIGTERM, _signal_handler)
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Create an IMU instance.
|
||||
# You can change the serial port or baud rate if your hardware differs.
|
||||
# ----------------------------------------------------------------------
|
||||
imu = imu_py.DmImu("/dev/ttyACM0", 921600)
|
||||
|
||||
print("Starting IMU data acquisition...")
|
||||
imu.start()
|
||||
|
||||
print("Press Ctrl‑C to stop.\n")
|
||||
try:
|
||||
while True:
|
||||
data = imu.getData()
|
||||
# Pretty‑print the dictionary; you may replace this with logging, saving, etc.
|
||||
print(
|
||||
f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
|
||||
)
|
||||
# Adjust the sleep interval as needed (here we poll at ~10 Hz).
|
||||
time.sleep(0.01)
|
||||
except KeyboardInterrupt:
|
||||
# Fallback in case the signal handler missed the interrupt.
|
||||
_signal_handler(None, None)
|
||||
@@ -1,367 +0,0 @@
|
||||
# This is the CMakeCache file.
|
||||
# For build in directory: /home/allenyuan/balance/pybind_imu/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
|
||||
|
||||
//Path to a program.
|
||||
CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
|
||||
|
||||
//Flags used by the linker during all build types.
|
||||
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|
||||
set(CMAKE_CXX_SIMULATE_ID "")
|
||||
set(CMAKE_CXX_COMPILER_FRONTEND_VARIANT "")
|
||||
set(CMAKE_CXX_SIMULATE_VERSION "")
|
||||
|
||||
|
||||
|
||||
|
||||
set(CMAKE_AR "/usr/bin/ar")
|
||||
set(CMAKE_CXX_COMPILER_AR "/usr/bin/gcc-ar-11")
|
||||
set(CMAKE_RANLIB "/usr/bin/ranlib")
|
||||
set(CMAKE_CXX_COMPILER_RANLIB "/usr/bin/gcc-ranlib-11")
|
||||
set(CMAKE_LINKER "/usr/bin/ld")
|
||||
set(CMAKE_MT "")
|
||||
set(CMAKE_COMPILER_IS_GNUCXX 1)
|
||||
set(CMAKE_CXX_COMPILER_LOADED 1)
|
||||
set(CMAKE_CXX_COMPILER_WORKS TRUE)
|
||||
set(CMAKE_CXX_ABI_COMPILED TRUE)
|
||||
|
||||
set(CMAKE_CXX_COMPILER_ENV_VAR "CXX")
|
||||
|
||||
set(CMAKE_CXX_COMPILER_ID_RUN 1)
|
||||
set(CMAKE_CXX_SOURCE_FILE_EXTENSIONS C;M;c++;cc;cpp;cxx;m;mm;mpp;CPP;ixx;cppm)
|
||||
set(CMAKE_CXX_IGNORE_EXTENSIONS inl;h;hpp;HPP;H;o;O;obj;OBJ;def;DEF;rc;RC)
|
||||
|
||||
foreach (lang C OBJC OBJCXX)
|
||||
if (CMAKE_${lang}_COMPILER_ID_RUN)
|
||||
foreach(extension IN LISTS CMAKE_${lang}_SOURCE_FILE_EXTENSIONS)
|
||||
list(REMOVE_ITEM CMAKE_CXX_SOURCE_FILE_EXTENSIONS ${extension})
|
||||
endforeach()
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
set(CMAKE_CXX_LINKER_PREFERENCE 30)
|
||||
set(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1)
|
||||
|
||||
# Save compiler ABI information.
|
||||
set(CMAKE_CXX_SIZEOF_DATA_PTR "8")
|
||||
set(CMAKE_CXX_COMPILER_ABI "ELF")
|
||||
set(CMAKE_CXX_BYTE_ORDER "LITTLE_ENDIAN")
|
||||
set(CMAKE_CXX_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
|
||||
if(CMAKE_CXX_SIZEOF_DATA_PTR)
|
||||
set(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}")
|
||||
endif()
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ABI)
|
||||
set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_CXX_COMPILER_ABI}")
|
||||
endif()
|
||||
|
||||
if(CMAKE_CXX_LIBRARY_ARCHITECTURE)
|
||||
set(CMAKE_LIBRARY_ARCHITECTURE "aarch64-linux-gnu")
|
||||
endif()
|
||||
|
||||
set(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX "")
|
||||
if(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX)
|
||||
set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_CXX_CL_SHOWINCLUDES_PREFIX}")
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/include/c++/11;/usr/include/aarch64-linux-gnu/c++/11;/usr/include/c++/11/backward;/usr/lib/gcc/aarch64-linux-gnu/11/include;/usr/local/include;/usr/include/aarch64-linux-gnu;/usr/include")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;gcc_s;gcc;c;gcc_s;gcc")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/aarch64-linux-gnu/11;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib")
|
||||
set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")
|
||||
Binary file not shown.
@@ -1,15 +0,0 @@
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||||
set(CMAKE_HOST_SYSTEM "Linux-5.15.148-tegra")
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||||
set(CMAKE_HOST_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_HOST_SYSTEM_VERSION "5.15.148-tegra")
|
||||
set(CMAKE_HOST_SYSTEM_PROCESSOR "aarch64")
|
||||
|
||||
|
||||
|
||||
set(CMAKE_SYSTEM "Linux-5.15.148-tegra")
|
||||
set(CMAKE_SYSTEM_NAME "Linux")
|
||||
set(CMAKE_SYSTEM_VERSION "5.15.148-tegra")
|
||||
set(CMAKE_SYSTEM_PROCESSOR "aarch64")
|
||||
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
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||||
|
||||
set(CMAKE_SYSTEM_LOADED 1)
|
||||
@@ -1,791 +0,0 @@
|
||||
/* 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
|
||||
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|
||||
|
||||
|
||||
/* Version number components: V=Version, R=Revision, P=Patch
|
||||
Version date components: YYYY=Year, MM=Month, DD=Day */
|
||||
|
||||
#if defined(__COMO__)
|
||||
# define COMPILER_ID "Comeau"
|
||||
/* __COMO_VERSION__ = VRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
|
||||
|
||||
#elif defined(__INTEL_COMPILER) || defined(__ICC)
|
||||
# define COMPILER_ID "Intel"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# if defined(__GNUC__)
|
||||
# define SIMULATE_ID "GNU"
|
||||
# endif
|
||||
/* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
|
||||
except that a few beta releases use the old format with V=2021. */
|
||||
# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
|
||||
# if defined(__INTEL_COMPILER_UPDATE)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
|
||||
# else
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
|
||||
# endif
|
||||
# else
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
|
||||
/* The third version component from --version is an update index,
|
||||
but no macro is provided for it. */
|
||||
# define COMPILER_VERSION_PATCH DEC(0)
|
||||
# endif
|
||||
# if defined(__INTEL_COMPILER_BUILD_DATE)
|
||||
/* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
|
||||
# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
|
||||
# endif
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# if defined(__GNUC__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
|
||||
# elif defined(__GNUG__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
|
||||
# endif
|
||||
# if defined(__GNUC_MINOR__)
|
||||
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
# endif
|
||||
# if defined(__GNUC_PATCHLEVEL__)
|
||||
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
|
||||
# define COMPILER_ID "IntelLLVM"
|
||||
#if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
#endif
|
||||
#if defined(__GNUC__)
|
||||
# define SIMULATE_ID "GNU"
|
||||
#endif
|
||||
/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
|
||||
* later. Look for 6 digit vs. 8 digit version number to decide encoding.
|
||||
* VVVV is no smaller than the current year when a version is released.
|
||||
*/
|
||||
#if __INTEL_LLVM_COMPILER < 1000000L
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 10)
|
||||
#else
|
||||
# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER % 100)
|
||||
#endif
|
||||
#if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
#endif
|
||||
#if defined(__GNUC__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
|
||||
#elif defined(__GNUG__)
|
||||
# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
|
||||
#endif
|
||||
#if defined(__GNUC_MINOR__)
|
||||
# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
#endif
|
||||
#if defined(__GNUC_PATCHLEVEL__)
|
||||
# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
#endif
|
||||
|
||||
#elif defined(__PATHCC__)
|
||||
# define COMPILER_ID "PathScale"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
|
||||
# if defined(__PATHCC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
|
||||
# define COMPILER_ID "Embarcadero"
|
||||
# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
|
||||
# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
|
||||
# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF)
|
||||
|
||||
#elif defined(__BORLANDC__)
|
||||
# define COMPILER_ID "Borland"
|
||||
/* __BORLANDC__ = 0xVRR */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
|
||||
# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
|
||||
|
||||
#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
|
||||
# define COMPILER_ID "Watcom"
|
||||
/* __WATCOMC__ = VVRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
|
||||
# if (__WATCOMC__ % 10) > 0
|
||||
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__WATCOMC__)
|
||||
# define COMPILER_ID "OpenWatcom"
|
||||
/* __WATCOMC__ = VVRP + 1100 */
|
||||
# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
|
||||
# if (__WATCOMC__ % 10) > 0
|
||||
# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__SUNPRO_CC)
|
||||
# define COMPILER_ID "SunPro"
|
||||
# if __SUNPRO_CC >= 0x5100
|
||||
/* __SUNPRO_CC = 0xVRRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
|
||||
# else
|
||||
/* __SUNPRO_CC = 0xVRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
|
||||
# endif
|
||||
|
||||
#elif defined(__HP_aCC)
|
||||
# define COMPILER_ID "HP"
|
||||
/* __HP_aCC = VVRRPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
|
||||
|
||||
#elif defined(__DECCXX)
|
||||
# define COMPILER_ID "Compaq"
|
||||
/* __DECCXX_VER = VVRRTPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
|
||||
|
||||
#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
|
||||
# define COMPILER_ID "zOS"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__ibmxl__) && defined(__clang__)
|
||||
# define COMPILER_ID "XLClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
|
||||
# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
|
||||
|
||||
|
||||
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
|
||||
# define COMPILER_ID "XL"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
|
||||
# define COMPILER_ID "VisualAge"
|
||||
/* __IBMCPP__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
|
||||
|
||||
#elif defined(__NVCOMPILER)
|
||||
# define COMPILER_ID "NVHPC"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
|
||||
# if defined(__NVCOMPILER_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(__PGI)
|
||||
# define COMPILER_ID "PGI"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
|
||||
# if defined(__PGIC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(_CRAYC)
|
||||
# define COMPILER_ID "Cray"
|
||||
# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
|
||||
# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
|
||||
|
||||
#elif defined(__TI_COMPILER_VERSION__)
|
||||
# define COMPILER_ID "TI"
|
||||
/* __TI_COMPILER_VERSION__ = VVVRRRPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
|
||||
# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
|
||||
|
||||
#elif defined(__CLANG_FUJITSU)
|
||||
# define COMPILER_ID "FujitsuClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
|
||||
# define COMPILER_VERSION_INTERNAL_STR __clang_version__
|
||||
|
||||
|
||||
#elif defined(__FUJITSU)
|
||||
# define COMPILER_ID "Fujitsu"
|
||||
# if defined(__FCC_version__)
|
||||
# define COMPILER_VERSION __FCC_version__
|
||||
# elif defined(__FCC_major__)
|
||||
# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
|
||||
# endif
|
||||
# if defined(__fcc_version)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
|
||||
# elif defined(__FCC_VERSION)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
|
||||
# endif
|
||||
|
||||
|
||||
#elif defined(__ghs__)
|
||||
# define COMPILER_ID "GHS"
|
||||
/* __GHS_VERSION_NUMBER = VVVVRP */
|
||||
# ifdef __GHS_VERSION_NUMBER
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__SCO_VERSION__)
|
||||
# define COMPILER_ID "SCO"
|
||||
|
||||
#elif defined(__ARMCC_VERSION) && !defined(__clang__)
|
||||
# define COMPILER_ID "ARMCC"
|
||||
#if __ARMCC_VERSION >= 1000000
|
||||
/* __ARMCC_VERSION = VRRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#else
|
||||
/* __ARMCC_VERSION = VRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#endif
|
||||
|
||||
|
||||
#elif defined(__clang__) && defined(__apple_build_version__)
|
||||
# define COMPILER_ID "AppleClang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
|
||||
|
||||
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
|
||||
# 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"
|
||||
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-------------
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import pathlib
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||||
import importlib.util
|
||||
import sys
|
||||
import signal
|
||||
import time
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Load the compiled extension module.
|
||||
# Adjust the path if you installed the .so elsewhere.
|
||||
# ----------------------------------------------------------------------
|
||||
module_path = pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-aarch64-linux-gnu.so"
|
||||
if not module_path.is_file():
|
||||
sys.stderr.write(f"Error: compiled module not found at {module_path}\n")
|
||||
sys.exit(1)
|
||||
|
||||
spec = importlib.util.spec_from_file_location("imu_py", module_path)
|
||||
imu_py = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(imu_py)
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Helper to cleanly stop the IMU thread on SIGINT / SIGTERM.
|
||||
# ----------------------------------------------------------------------
|
||||
def _signal_handler(sig, frame):
|
||||
print("\nReceived interrupt – stopping IMU...")
|
||||
imu.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, _signal_handler)
|
||||
signal.signal(signal.SIGTERM, _signal_handler)
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# Create an IMU instance.
|
||||
# You can change the serial port or baud rate if your hardware differs.
|
||||
# ----------------------------------------------------------------------
|
||||
imu = imu_py.DmImu("/dev/ttyACM0", 921600)
|
||||
|
||||
print("Starting IMU data acquisition...")
|
||||
imu.start()
|
||||
|
||||
print("Press Ctrl‑C to stop.\n")
|
||||
try:
|
||||
while True:
|
||||
data = imu.getData()
|
||||
# Pretty‑print the dictionary; you may replace this with logging, saving, etc.
|
||||
print(
|
||||
f"acc: ({data['accx']:.3f}, {data['accy']:.3f}, {data['accz']:.3f}) "
|
||||
f"gyro: ({data['gyrox']:.3f}, {data['gyroy']:.3f}, {data['gyroz']:.3f}) "
|
||||
f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
|
||||
)
|
||||
# Adjust the sleep interval as needed (here we poll at ~10 Hz).
|
||||
time.sleep(0.01)
|
||||
except KeyboardInterrupt:
|
||||
# Fallback in case the signal handler missed the interrupt.
|
||||
_signal_handler(None, None)
|
||||
Reference in New Issue
Block a user