Add encoder with filter
This commit is contained in:
root
parent
5ecf92426a
commit
8537e8504b
60 changed files with 593 additions and 8208 deletions
4
server/.gitignore
vendored
4
server/.gitignore
vendored
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@ -101,4 +101,6 @@ Temporary Items
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# Support for Project snippet scope
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# End of https://www.toptal.com/developers/gitignore/api/c++,macos,linux,visualstudiocode
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# End of https://www.toptal.com/developers/gitignore/api/c++,macos,linux,visualstudiocode
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build
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@ -1,9 +1,22 @@
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cmake_minimum_required(VERSION 3.17)
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set(CMAKE_CXX_STANDARD 17)
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cmake_minimum_required(VERSION 3.16)
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set(PROJECT_NAME compLib_server)
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project(${PROJECT_NAME})
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules ${CMAKE_MODULE_PATH})
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif ()
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set(CMAKE_CXX_FLAGS "-Wall -Wextra -Wno-psabi")
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set(CMAKE_CXX_FLAGS_DEBUG "-g")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3")
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find_package(Protobuf REQUIRED)
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find_package(spdlog REQUIRED)
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find_package(pigpio REQUIRED)
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set(PROTO_FILES
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protos/CompLib.proto
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@ -11,13 +24,20 @@ set(PROTO_FILES
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set(SRC_FILES
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src/main.cpp
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src/Spi.cpp
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src/spi.cpp
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src/encoder.cpp
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src/motor.cpp
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)
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set(HDR_FILES
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include/messageBuilder.hpp
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include/errorMessages.hpp
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include/Spi.hpp
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include/spi.hpp
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include/reset.hpp
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include/mathUtils.hpp
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include/encoder.hpp
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include/robot.hpp
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include/motor.hpp
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)
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include_directories(third_party/asio)
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@ -29,4 +49,4 @@ target_include_directories(${PROJECT_NAME}
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PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
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PUBLIC ${PROTOBUF_INCLUDE_DIRS}
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)
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target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES})
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target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES} pigpio spdlog::spdlog)
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# if __SUNPRO_C >= 0x5100
|
||||
/* __SUNPRO_C = 0xVRRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
|
||||
# else
|
||||
/* __SUNPRO_CC = 0xVRP */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
|
||||
# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
|
||||
# endif
|
||||
|
||||
#elif defined(__HP_cc)
|
||||
# define COMPILER_ID "HP"
|
||||
/* __HP_cc = VVRRPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100)
|
||||
|
||||
#elif defined(__DECC)
|
||||
# define COMPILER_ID "Compaq"
|
||||
/* __DECC_VER = VVRRTPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000)
|
||||
|
||||
#elif defined(__IBMC__) && defined(__COMPILER_VER__)
|
||||
# define COMPILER_ID "zOS"
|
||||
/* __IBMC__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
|
||||
|
||||
#elif defined(__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(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
|
||||
# define COMPILER_ID "XL"
|
||||
/* __IBMC__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
|
||||
|
||||
#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
|
||||
# define COMPILER_ID "VisualAge"
|
||||
/* __IBMC__ = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
|
||||
|
||||
#elif defined(__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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
|
||||
# define COMPILER_ID "Fujitsu"
|
||||
|
||||
#elif defined(__ghs__)
|
||||
# define COMPILER_ID "GHS"
|
||||
/* __GHS_VERSION_NUMBER = VVVVRP */
|
||||
# ifdef __GHS_VERSION_NUMBER
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10)
|
||||
# endif
|
||||
|
||||
#elif defined(__TINYC__)
|
||||
# define COMPILER_ID "TinyCC"
|
||||
|
||||
#elif defined(__BCC__)
|
||||
# define COMPILER_ID "Bruce"
|
||||
|
||||
#elif defined(__SCO_VERSION__)
|
||||
# define COMPILER_ID "SCO"
|
||||
|
||||
#elif defined(__ARMCC_VERSION) && !defined(__clang__)
|
||||
# define COMPILER_ID "ARMCC"
|
||||
#if __ARMCC_VERSION >= 1000000
|
||||
/* __ARMCC_VERSION = VRRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#else
|
||||
/* __ARMCC_VERSION = VRPPPP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000)
|
||||
#endif
|
||||
|
||||
|
||||
#elif defined(__clang__) && defined(__apple_build_version__)
|
||||
# define COMPILER_ID "AppleClang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
|
||||
|
||||
#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
|
||||
# define COMPILER_ID "ARMClang"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
|
||||
# define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION % 10000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
|
||||
|
||||
#elif defined(__clang__)
|
||||
# define COMPILER_ID "Clang"
|
||||
# if defined(_MSC_VER)
|
||||
# define SIMULATE_ID "MSVC"
|
||||
# endif
|
||||
# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
|
||||
# if defined(_MSC_VER)
|
||||
/* _MSC_VER = VVRR */
|
||||
# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# endif
|
||||
|
||||
#elif defined(__GNUC__)
|
||||
# define COMPILER_ID "GNU"
|
||||
# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
|
||||
# if defined(__GNUC_MINOR__)
|
||||
# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
|
||||
# endif
|
||||
# if defined(__GNUC_PATCHLEVEL__)
|
||||
# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
|
||||
# endif
|
||||
|
||||
#elif defined(_MSC_VER)
|
||||
# define COMPILER_ID "MSVC"
|
||||
/* _MSC_VER = VVRR */
|
||||
# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
|
||||
# if defined(_MSC_FULL_VER)
|
||||
# if _MSC_VER >= 1400
|
||||
/* _MSC_FULL_VER = VVRRPPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
|
||||
# else
|
||||
/* _MSC_FULL_VER = VVRRPPPP */
|
||||
# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
|
||||
# endif
|
||||
# endif
|
||||
# if defined(_MSC_BUILD)
|
||||
# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
|
||||
# endif
|
||||
|
||||
#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
|
||||
# define COMPILER_ID "ADSP"
|
||||
#if defined(__VISUALDSPVERSION__)
|
||||
/* __VISUALDSPVERSION__ = 0xVVRRPP00 */
|
||||
# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
|
||||
# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
|
||||
# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
|
||||
#endif
|
||||
|
||||
#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
|
||||
# define COMPILER_ID "IAR"
|
||||
# if defined(__VER__) && defined(__ICCARM__)
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
|
||||
# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
|
||||
# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
|
||||
# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
|
||||
# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
|
||||
# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
|
||||
# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
|
||||
# endif
|
||||
|
||||
#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
|
||||
# define COMPILER_ID "SDCC"
|
||||
# if defined(__SDCC_VERSION_MAJOR)
|
||||
# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
|
||||
# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
|
||||
# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
|
||||
# else
|
||||
/* SDCC = VRP */
|
||||
# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
|
||||
# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
|
||||
# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
|
||||
# endif
|
||||
|
||||
|
||||
/* These compilers are either not known or too old to define an
|
||||
identification macro. Try to identify the platform and guess that
|
||||
it is the native compiler. */
|
||||
#elif defined(__hpux) || defined(__hpua)
|
||||
# define COMPILER_ID "HP"
|
||||
|
||||
#else /* unknown compiler */
|
||||
# define COMPILER_ID ""
|
||||
#endif
|
||||
|
||||
/* Construct the string literal in pieces to prevent the source from
|
||||
getting matched. Store it in a pointer rather than an array
|
||||
because some compilers will just produce instructions to fill the
|
||||
array rather than assigning a pointer to a static array. */
|
||||
char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
|
||||
#ifdef SIMULATE_ID
|
||||
char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
|
||||
#endif
|
||||
|
||||
#ifdef __QNXNTO__
|
||||
char const* qnxnto = "INFO" ":" "qnxnto[]";
|
||||
#endif
|
||||
|
||||
#if defined(__CRAYXE) || defined(__CRAYXC)
|
||||
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(__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"
|
||||
|
||||
# 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_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"
|
||||
|
||||
# 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
|
||||
#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 components. */
|
||||
#ifdef 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'};
|
||||
#endif
|
||||
|
||||
/* Construct a string literal encoding the version number components. */
|
||||
#ifdef SIMULATE_VERSION_MAJOR
|
||||
char const info_simulate_version[] = {
|
||||
'I', 'N', 'F', 'O', ':',
|
||||
's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
|
||||
SIMULATE_VERSION_MAJOR,
|
||||
# ifdef SIMULATE_VERSION_MINOR
|
||||
'.', SIMULATE_VERSION_MINOR,
|
||||
# ifdef SIMULATE_VERSION_PATCH
|
||||
'.', SIMULATE_VERSION_PATCH,
|
||||
# ifdef SIMULATE_VERSION_TWEAK
|
||||
'.', SIMULATE_VERSION_TWEAK,
|
||||
# endif
|
||||
# endif
|
||||
# endif
|
||||
']','\0'};
|
||||
#endif
|
||||
|
||||
/* Construct the string literal in pieces to prevent the source from
|
||||
getting matched. Store it in a pointer rather than an array
|
||||
because some compilers will just produce instructions to fill the
|
||||
array rather than assigning a pointer to a static array. */
|
||||
char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
|
||||
char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
|
||||
|
||||
|
||||
|
||||
|
||||
#if !defined(__STDC__)
|
||||
# if (defined(_MSC_VER) && !defined(__clang__)) \
|
||||
|| (defined(__ibmxl__) || defined(__IBMC__))
|
||||
# define C_DIALECT "90"
|
||||
# else
|
||||
# define C_DIALECT
|
||||
# endif
|
||||
#elif __STDC_VERSION__ >= 201000L
|
||||
# define C_DIALECT "11"
|
||||
#elif __STDC_VERSION__ >= 199901L
|
||||
# define C_DIALECT "99"
|
||||
#else
|
||||
# define C_DIALECT "90"
|
||||
#endif
|
||||
const char* info_language_dialect_default =
|
||||
"INFO" ":" "dialect_default[" C_DIALECT "]";
|
||||
|
||||
/*--------------------------------------------------------------------------*/
|
||||
|
||||
#ifdef ID_VOID_MAIN
|
||||
void main() {}
|
||||
#else
|
||||
# if defined(__CLASSIC_C__)
|
||||
int main(argc, argv) int argc; char *argv[];
|
||||
# else
|
||||
int main(int argc, char* argv[])
|
||||
# endif
|
||||
{
|
||||
int require = 0;
|
||||
require += info_compiler[argc];
|
||||
require += info_platform[argc];
|
||||
require += info_arch[argc];
|
||||
#ifdef COMPILER_VERSION_MAJOR
|
||||
require += info_version[argc];
|
||||
#endif
|
||||
#ifdef COMPILER_VERSION_INTERNAL
|
||||
require += info_version_internal[argc];
|
||||
#endif
|
||||
#ifdef SIMULATE_ID
|
||||
require += info_simulate[argc];
|
||||
#endif
|
||||
#ifdef SIMULATE_VERSION_MAJOR
|
||||
require += info_simulate_version[argc];
|
||||
#endif
|
||||
#if defined(__CRAYXE) || defined(__CRAYXC)
|
||||
require += info_cray[argc];
|
||||
#endif
|
||||
require += info_language_dialect_default[argc];
|
||||
(void)argv;
|
||||
return require;
|
||||
}
|
||||
#endif
|
||||
|
|
@ -1,660 +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
|
||||
|
||||
|
||||
/* 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 */
|
||||
# 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
|
||||
# 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(__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(__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(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
|
||||
# define COMPILER_ID "Fujitsu"
|
||||
|
||||
#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
|
||||
|
||||
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Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "CMakeCXXCompilerId.o"
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Determining if the C compiler works passed with the following output:
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|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/include/errorMessages.hpp">
|
||||
<Option target="compLib_server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/include/messageBuilder.hpp">
|
||||
<Option target="compLib_server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/protos/CompLib.proto">
|
||||
<Option target="compLib_server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/src/Spi.cpp">
|
||||
<Option target="compLib_server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/src/main.cpp">
|
||||
<Option target="compLib_server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/CMakeLists.txt">
|
||||
<Option virtualFolder="CMake Files\"/>
|
||||
</Unit>
|
||||
</Project>
|
||||
</CodeBlocks_project_file>
|
||||
Binary file not shown.
|
|
@ -1,90 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<CodeBlocks_project_file>
|
||||
<FileVersion major="1" minor="6"/>
|
||||
<Project>
|
||||
<Option title="server"/>
|
||||
<Option makefile_is_custom="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Option virtualFolders="CMake Files\;"/>
|
||||
<Build>
|
||||
<Target title="all">
|
||||
<Option working_dir="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 all"/>
|
||||
<CompileFile command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="rebuild_cache">
|
||||
<Option working_dir="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 rebuild_cache"/>
|
||||
<CompileFile command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="edit_cache">
|
||||
<Option working_dir="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 edit_cache"/>
|
||||
<CompileFile command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="server">
|
||||
<Option output="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/server" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/bin/../include/c++/v1"/>
|
||||
<Add directory="/usr/local/include"/>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/lib/clang/12.0.0/include"/>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/include"/>
|
||||
<Add directory="/System/Library/Frameworks"/>
|
||||
<Add directory="/Library/Frameworks"/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 server"/>
|
||||
<CompileFile command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="server/fast">
|
||||
<Option output="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/server" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/bin/../include/c++/v1"/>
|
||||
<Add directory="/usr/local/include"/>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/lib/clang/12.0.0/include"/>
|
||||
<Add directory="/Library/Developer/CommandLineTools/usr/include"/>
|
||||
<Add directory="/System/Library/Frameworks"/>
|
||||
<Add directory="/Library/Frameworks"/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 server/fast"/>
|
||||
<CompileFile command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -j16 -f "/Users/konstantinviesure/workspace/compLIB/server/cmake-build-debug/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
</Build>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/src/main.cpp">
|
||||
<Option target="server"/>
|
||||
</Unit>
|
||||
<Unit filename="/Users/konstantinviesure/workspace/compLIB/server/CMakeLists.txt">
|
||||
<Option virtualFolder="CMake Files\"/>
|
||||
</Unit>
|
||||
</Project>
|
||||
</CodeBlocks_project_file>
|
||||
31
server/cmake/modules/Findpigpio.cmake
Normal file
31
server/cmake/modules/Findpigpio.cmake
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
################################################################################
|
||||
### Find the pigpio shared libraries.
|
||||
################################################################################
|
||||
|
||||
# Find the path to the pigpio includes.
|
||||
find_path(pigpio_INCLUDE_DIR
|
||||
NAMES pigpio.h pigpiod_if.h pigpiod_if2.h
|
||||
HINTS /usr/local/include)
|
||||
|
||||
# Find the pigpio libraries.
|
||||
find_library(pigpio_LIBRARY
|
||||
NAMES libpigpio.so
|
||||
HINTS /usr/local/lib)
|
||||
find_library(pigpiod_if_LIBRARY
|
||||
NAMES libpigpiod_if.so
|
||||
HINTS /usr/local/lib)
|
||||
find_library(pigpiod_if2_LIBRARY
|
||||
NAMES libpigpiod_if2.so
|
||||
HINTS /usr/local/lib)
|
||||
|
||||
# Set the pigpio variables to plural form to make them accessible for
|
||||
# the paramount cmake modules.
|
||||
set(pigpio_INCLUDE_DIRS ${pigpio_INCLUDE_DIR})
|
||||
set(pigpio_INCLUDES ${pigpio_INCLUDE_DIR})
|
||||
|
||||
# Handle REQUIRED, QUIET, and version arguments
|
||||
# and set the <packagename>_FOUND variable.
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(pigpio
|
||||
DEFAULT_MSG
|
||||
pigpio_INCLUDE_DIR pigpio_LIBRARY pigpiod_if_LIBRARY pigpiod_if2_LIBRARY)
|
||||
|
|
@ -1,10 +0,0 @@
|
|||
#ifndef COMPLIB_SERVER_SPI_HPP
|
||||
#define COMPLIB_SERVER_SPI_HPP
|
||||
|
||||
|
||||
class Spi {
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //COMPLIB_SERVER_SPI_HPP
|
||||
14
server/include/encoder.hpp
Normal file
14
server/include/encoder.hpp
Normal file
|
|
@ -0,0 +1,14 @@
|
|||
#ifndef COMPLIB_SERVER_ENCODER_HPP
|
||||
#define COMPLIB_SERVER_ENCODER_HPP
|
||||
|
||||
#include <vector>
|
||||
#include <cstdint>
|
||||
|
||||
#define ENCODER_COUNT 4
|
||||
|
||||
class Encoder {
|
||||
public:
|
||||
static std::vector<int32_t> read_all();
|
||||
};
|
||||
|
||||
#endif // COMPLIB_SERVER_ENCODER_HPP
|
||||
27
server/include/mathUtils.hpp
Normal file
27
server/include/mathUtils.hpp
Normal file
|
|
@ -0,0 +1,27 @@
|
|||
#ifndef COMPLIB_SERVER_MATHUTILS_HPP
|
||||
#define COMPLIB_SERVER_MATHUTILS_HPP
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace mathUtils {
|
||||
inline int int_from_bytes(uint8_t *data, int length) {
|
||||
int ret = 0;
|
||||
|
||||
int i = 0;
|
||||
for (int j = length -1; j >= 0; j--) {
|
||||
ret = ret | (data[i] << (j * 8));
|
||||
i++;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
inline void bytes_from_int(int data, int length, uint8_t *result) {
|
||||
int i = 0;
|
||||
for (int j = length -1; j >= 0; j--) {
|
||||
result[i] = ((data >> (j * 8)) & 0xffu);
|
||||
i++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif // COMPLIB_SERVER_MATHUTILS_HPP
|
||||
44
server/include/motor.hpp
Normal file
44
server/include/motor.hpp
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
#ifndef COMPLIB_SERVER_MOTOR_HPP
|
||||
#define COMPLIB_SERVER_MOTOR_HPP
|
||||
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
#include <chrono>
|
||||
|
||||
#include "include/robot.hpp"
|
||||
|
||||
class Motor {
|
||||
public:
|
||||
enum Mode : uint8_t {
|
||||
COAST = 0,
|
||||
FORWARD = 1,
|
||||
BACKWARD = 2,
|
||||
BREAK = 3,
|
||||
SERVO = 4,
|
||||
NONE = 5
|
||||
};
|
||||
|
||||
static Motor& get_instance()
|
||||
{
|
||||
static Motor instance;
|
||||
return instance;
|
||||
}
|
||||
|
||||
Motor(Motor const&) = delete;
|
||||
void operator=(Motor const&) = delete;
|
||||
|
||||
static void power(uint8_t port, double percent);
|
||||
static void pwm(uint8_t port, uint16_t pwm, Mode mode);
|
||||
|
||||
std::vector<double> get_speed();
|
||||
private:
|
||||
Motor();
|
||||
|
||||
int32_t last_encoder_values[MOTOR_COUNT] = {0};
|
||||
double filtered_speeds[MOTOR_COUNT] = {0};
|
||||
std::chrono::system_clock::time_point last_time_read;
|
||||
|
||||
void reset_speed();
|
||||
};
|
||||
|
||||
#endif // COMPLIB_SERVER_MOTOR_HPP
|
||||
31
server/include/reset.hpp
Normal file
31
server/include/reset.hpp
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
#ifndef COMPLIB_SERVER_RESET_HPP
|
||||
#define COMPLIB_SERVER_RESET_HPP
|
||||
|
||||
#include <pigpio.h>
|
||||
|
||||
#define RESET_PIN 23
|
||||
#define BOOT_PIN 17
|
||||
|
||||
#define RESET_SLEEP_TIME_US 1000 * 100
|
||||
#define RESET_STARTUP_SLEEP_TIME_US 1000 * 500
|
||||
|
||||
namespace Reset {
|
||||
void reset_robot() {
|
||||
gpioInitialise();
|
||||
|
||||
gpioSetMode(BOOT_PIN, PI_OUTPUT);
|
||||
gpioSetMode(RESET_PIN, PI_OUTPUT);
|
||||
|
||||
gpioWrite(BOOT_PIN, 0);
|
||||
gpioWrite(RESET_PIN, 0);
|
||||
|
||||
usleep(RESET_SLEEP_TIME_US);
|
||||
|
||||
gpioWrite(RESET_PIN, 1);
|
||||
|
||||
usleep(RESET_STARTUP_SLEEP_TIME_US);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif //COMPLIB_SERVER_RESET_HPP
|
||||
22
server/include/robot.hpp
Normal file
22
server/include/robot.hpp
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
#ifndef COMPLIB_SERVER_ROBOT_HPP
|
||||
#define COMPLIB_SERVER_ROBOT_HPP
|
||||
|
||||
#define PI 3.14159265359L
|
||||
|
||||
#define WHEEL_CIRCUMFERENCE_MM (71.0L * PI)
|
||||
#define TICKS_PER_TURN (27.7L * 100.0L)
|
||||
#define ARBOR_LENGTH_MM 139.0L
|
||||
#define ARBOR_LENGTH_M (ARBOR_LENGTH_MM / 1000.0L)
|
||||
#define TICKS_PER_METER (1000.0L / WHEEL_CIRCUMFERENCE_MM * TICKS_PER_TURN)
|
||||
|
||||
#define MOTOR_COUNT 4
|
||||
#define MAX_MOTOR_SPEED 65535
|
||||
|
||||
#define MOTOR_MAX_DELTA_TIME_S 0.1L
|
||||
#define MOTOR_FILTER_ALPHA 0.05L
|
||||
#define MOTOR_FILTER_RESET_DELAY_US (1000 * 10)
|
||||
|
||||
#define LEFT_PORT 3
|
||||
#define RIGHT_PORT 0
|
||||
|
||||
#endif // COMPLIB_SERVER_ROBOT_HPP
|
||||
126
server/include/spi.hpp
Normal file
126
server/include/spi.hpp
Normal file
|
|
@ -0,0 +1,126 @@
|
|||
#ifndef COMPLIB_SERVER_SPI_HPP
|
||||
#define COMPLIB_SERVER_SPI_HPP
|
||||
|
||||
//SPI_MODE_0 (0,0) CPOL = 0, CPHA = 0, Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
|
||||
//SPI_MODE_1 (0,1) CPOL = 0, CPHA = 1, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
|
||||
//SPI_MODE_2 (1,0) CPOL = 1, CPHA = 0, Clock idle high, data is clocked in on falling edge, output data (change) on rising edge
|
||||
//SPI_MODE_3 (1,1) CPOL = 1, CPHA = 1, Clock idle high, data is clocked in on rising, edge output data (change) on falling edge
|
||||
|
||||
#define SPI_BUFFER_SIZE 20
|
||||
#define SPI_SPEED 4000000 // 4 MHz
|
||||
#define SPI_BITS_PER_WORD 8
|
||||
|
||||
class Spi {
|
||||
public:
|
||||
static Spi& getInstance()
|
||||
{
|
||||
static Spi instance;
|
||||
return instance;
|
||||
}
|
||||
|
||||
Spi(Spi const&) = delete;
|
||||
void operator=(Spi const&) = delete;
|
||||
|
||||
int read(uint8_t reg, uint8_t length);
|
||||
void read_array(uint8_t reg, uint8_t length, uint8_t* data);
|
||||
|
||||
void write(uint8_t reg, uint8_t length, int value);
|
||||
void write_array(uint8_t reg, uint8_t length, const uint8_t* data);
|
||||
|
||||
enum Register : uint8_t {
|
||||
IDENTIFICATION_MODEL_ID = 1,
|
||||
IDENTIFICATION_MODEL_REV_MAJOR = 2,
|
||||
IDENTIFICATION_MODEL_REV_MINOR = 3,
|
||||
IDENTIFICATION_MODEL_REV_PATCH = 4,
|
||||
|
||||
// Motor encoder positions
|
||||
MOTOR_1_POS_B3 = 10,
|
||||
MOTOR_1_POS_B2 = 11,
|
||||
MOTOR_1_POS_B1 = 12,
|
||||
MOTOR_1_POS_B0 = 13,
|
||||
MOTOR_2_POS_B3 = 14,
|
||||
MOTOR_2_POS_B2 = 15,
|
||||
MOTOR_2_POS_B1 = 16,
|
||||
MOTOR_2_POS_B0 = 17,
|
||||
MOTOR_3_POS_B3 = 18,
|
||||
MOTOR_3_POS_B2 = 19,
|
||||
MOTOR_3_POS_B1 = 20,
|
||||
MOTOR_3_POS_B0 = 21,
|
||||
MOTOR_4_POS_B3 = 22,
|
||||
MOTOR_4_POS_B2 = 23,
|
||||
MOTOR_4_POS_B1 = 24,
|
||||
MOTOR_4_POS_B0 = 25,
|
||||
|
||||
// PWM Control Modes
|
||||
PWM_1_CTRL = 26,
|
||||
PWM_2_CTRL = 27,
|
||||
PWM_3_CTRL = 28,
|
||||
PWM_4_CTRL = 29,
|
||||
|
||||
// Motor pwm speed
|
||||
MOTOR_1_PWM_H = 30,
|
||||
MOTOR_1_PWM_L = 31,
|
||||
MOTOR_2_PWM_H = 32,
|
||||
MOTOR_2_PWM_L = 33,
|
||||
MOTOR_3_PWM_H = 34,
|
||||
MOTOR_3_PWM_L = 35,
|
||||
MOTOR_4_PWM_H = 36,
|
||||
MOTOR_4_PWM_L = 37,
|
||||
|
||||
// Servo goal position
|
||||
SERVO_1_PWM_H = 38,
|
||||
SERVO_1_PWM_L = 39,
|
||||
SERVO_2_PWM_H = 40,
|
||||
SERVO_2_PWM_L = 41,
|
||||
SERVO_3_PWM_H = 42,
|
||||
SERVO_3_PWM_L = 43,
|
||||
SERVO_4_PWM_H = 44,
|
||||
SERVO_4_PWM_L = 45,
|
||||
SERVO_5_PWM_H = 46,
|
||||
SERVO_5_PWM_L = 47,
|
||||
SERVO_6_PWM_H = 48,
|
||||
SERVO_6_PWM_L = 49,
|
||||
SERVO_7_PWM_H = 50,
|
||||
SERVO_7_PWM_L = 51,
|
||||
SERVO_8_PWM_H = 52,
|
||||
SERVO_8_PWM_L = 53,
|
||||
|
||||
// IR Sensor value
|
||||
IR_1_H = 54,
|
||||
IR_1_L = 55,
|
||||
IR_2_H = 56,
|
||||
IR_2_L = 57,
|
||||
IR_3_H = 58,
|
||||
IR_3_L = 59,
|
||||
IR_4_H = 60,
|
||||
IR_4_L = 61,
|
||||
IR_5_H = 62,
|
||||
IR_5_L = 63,
|
||||
IR_1_LED = 64,
|
||||
IR_2_LED = 65,
|
||||
IR_3_LED = 66,
|
||||
IR_4_LED = 67,
|
||||
IR_5_LED = 68,
|
||||
|
||||
// Display registers
|
||||
DISPLAY_LINE_1_C0 = 69,
|
||||
DISPLAY_LINE_2_C0 = 85,
|
||||
DISPLAY_LINE_3_C0 = 101,
|
||||
DISPLAY_LINE_4_C0 = 117
|
||||
};
|
||||
|
||||
private:
|
||||
Spi();
|
||||
|
||||
int spi_file_descriptor{};
|
||||
uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
|
||||
uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
|
||||
|
||||
void transfer();
|
||||
void clear_buffers();
|
||||
|
||||
uint8_t calculate_checksum(uint8_t* data, uint8_t length);
|
||||
};
|
||||
|
||||
|
||||
#endif //COMPLIB_SERVER_SPI_HPP
|
||||
|
|
@ -1 +0,0 @@
|
|||
#include "Spi.hpp"
|
||||
15
server/src/encoder.cpp
Normal file
15
server/src/encoder.cpp
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
#include "include/encoder.hpp"
|
||||
#include "include/mathUtils.hpp"
|
||||
#include "include/spi.hpp"
|
||||
|
||||
std::vector<int32_t> Encoder::read_all() {
|
||||
std::vector<int32_t> result;
|
||||
uint8_t result_bytes[ENCODER_COUNT * 4] = {0};
|
||||
|
||||
Spi::getInstance().read_array(Spi::Register::MOTOR_1_POS_B3, ENCODER_COUNT * 4, result_bytes);
|
||||
|
||||
for (int i = 0; i < ENCODER_COUNT; i++) {
|
||||
result.push_back(mathUtils::int_from_bytes(result_bytes + i * ENCODER_COUNT, 4));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
|
@ -5,6 +5,14 @@
|
|||
#include <zconf.h>
|
||||
#include "include/messageBuilder.hpp"
|
||||
#include "include/errorMessages.hpp"
|
||||
#include <spdlog/spdlog.h>
|
||||
#include <chrono>
|
||||
|
||||
#include "include/spi.hpp"
|
||||
#include "include/reset.hpp"
|
||||
#include "include/encoder.hpp"
|
||||
#include "include/motor.hpp"
|
||||
#include "include/robot.hpp"
|
||||
|
||||
#define SOCKET_PATH "/tmp/compLib"
|
||||
#define BUFFER_SIZE 64
|
||||
|
|
@ -84,7 +92,55 @@ google::protobuf::Message *processMessage(const std::string &serializedMessage)
|
|||
}
|
||||
|
||||
int main() {
|
||||
socketServer();
|
||||
// socketServer();
|
||||
Reset::reset_robot();
|
||||
// Spi &spi = Spi::getInstance();
|
||||
// int version = spi.read(1, 1);
|
||||
|
||||
// double count = 20000;
|
||||
// double start_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
// for (int i{0}; i < count; i++){
|
||||
// spi.read(1, 1);
|
||||
// }
|
||||
// double end_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
|
||||
|
||||
double power = 0;
|
||||
// int port = 0;
|
||||
// long double accumulator = 0;
|
||||
// long double alpha = 0.2;
|
||||
while (power < 100) {
|
||||
power += 0.1;
|
||||
Motor::power(0, power);
|
||||
Motor::power(3, power);
|
||||
|
||||
auto speeds = Motor::get_instance().get_speed();
|
||||
// spdlog::info("{:05.0f} {:05.0f}", speeds.at(0), speeds.at(3));
|
||||
|
||||
// auto start_values = Encoder::read_all();
|
||||
// spdlog::info("{}", start_values.at(3));
|
||||
// auto start_time = std::chrono::high_resolution_clock::now();
|
||||
usleep(1000.0 * (1000.0 / 150.0));
|
||||
// auto end_values = Encoder::read_all();
|
||||
|
||||
// auto elapsed_time = std::chrono::high_resolution_clock::now() - start_time;
|
||||
// long double elapsed_ticks = end_values.at(port) - start_values.at(port);
|
||||
|
||||
// long double elapsed_us = std::chrono::duration_cast<std::chrono::microseconds>(
|
||||
// elapsed_time).count();
|
||||
// long double elapsed_s = std::chrono::duration_cast<std::chrono::microseconds>(
|
||||
// elapsed_time).count() / 1000000.0;
|
||||
|
||||
// long double vel_ticks_s = elapsed_ticks / elapsed_s;
|
||||
// long double vel_rpm = vel_ticks_s * 60.0L / TICKS_PER_TURN;
|
||||
|
||||
// accumulator = (alpha * vel_rpm) + (1.0 - alpha) * accumulator;
|
||||
|
||||
// spdlog::info("{:05.0f} {:05.0f} {:05.0f} {:05.0f} {:05.0f}", elapsed_us, elapsed_ticks, vel_ticks_s, vel_rpm, accumulator);
|
||||
}
|
||||
|
||||
|
||||
// spdlog::info(count / (end_time - start_time) * 1000.0);
|
||||
// spi.write(Spi::Register::DISPLAY_LINE_1_C0, 1, 66);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
|||
95
server/src/motor.cpp
Normal file
95
server/src/motor.cpp
Normal file
|
|
@ -0,0 +1,95 @@
|
|||
#include <stdexcept>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "include/motor.hpp"
|
||||
#include "include/spi.hpp"
|
||||
#include "include/robot.hpp"
|
||||
#include "include/encoder.hpp"
|
||||
#include <spdlog/spdlog.h>
|
||||
|
||||
Motor::Motor() {
|
||||
reset_speed();
|
||||
}
|
||||
|
||||
void Motor::power(uint8_t port, double percent) {
|
||||
if (port >= MOTOR_COUNT) {
|
||||
throw std::invalid_argument("Invalid motor port specified");
|
||||
}
|
||||
if (abs(percent) > 100) {
|
||||
throw std::invalid_argument("Invalid motor percent specified. Should be -100 <= percent <= 100");
|
||||
}
|
||||
|
||||
Mode mode = Motor::Mode::COAST;
|
||||
if (percent < 0) {
|
||||
mode = Motor::Mode::BACKWARD;
|
||||
} else if (percent > 0) {
|
||||
mode = Motor::Mode::FORWARD;
|
||||
}
|
||||
|
||||
uint16_t pwm = abs(percent) * (MAX_MOTOR_SPEED / 100.0);
|
||||
Motor::pwm(port, pwm, mode);
|
||||
}
|
||||
|
||||
void Motor::pwm(uint8_t port, uint16_t pwm, Mode mode) {
|
||||
if (port >= MOTOR_COUNT) {
|
||||
throw std::invalid_argument("Invalid motor port specified");
|
||||
}
|
||||
|
||||
if (mode > Motor::Mode::BREAK) {
|
||||
throw std::invalid_argument("Invalid motor mode specified");
|
||||
}
|
||||
|
||||
if (port == 0) {
|
||||
Spi::getInstance().write(Spi::Register::MOTOR_1_PWM_H, 2, pwm);
|
||||
Spi::getInstance().write(Spi::Register::PWM_1_CTRL, 1, mode);
|
||||
} else if (port == 1) {
|
||||
Spi::getInstance().write(Spi::Register::MOTOR_2_PWM_H, 2, pwm);
|
||||
Spi::getInstance().write(Spi::Register::PWM_2_CTRL, 1, mode);
|
||||
} else if (port == 2) {
|
||||
Spi::getInstance().write(Spi::Register::MOTOR_3_PWM_H, 2, pwm);
|
||||
Spi::getInstance().write(Spi::Register::PWM_3_CTRL, 1, mode);
|
||||
} else if (port == 3) {
|
||||
Spi::getInstance().write(Spi::Register::MOTOR_4_PWM_H, 2, pwm);
|
||||
Spi::getInstance().write(Spi::Register::PWM_4_CTRL, 1, mode);
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<double> Motor::get_speed() {
|
||||
auto current_time = std::chrono::high_resolution_clock::now();
|
||||
long double delta_seconds = std::chrono::duration_cast<std::chrono::microseconds>(current_time - last_time_read).count() / 1000000.0;
|
||||
|
||||
last_time_read = current_time;
|
||||
|
||||
if (delta_seconds > MOTOR_MAX_DELTA_TIME_S) {
|
||||
reset_speed();
|
||||
usleep(MOTOR_FILTER_RESET_DELAY_US);
|
||||
return Motor::get_speed();
|
||||
}
|
||||
|
||||
std::vector<int32_t> current_ticks = Encoder::read_all();
|
||||
std::vector<double> velocities_rpm;
|
||||
for (int i = 0; i < MOTOR_COUNT; i++) {
|
||||
long double delta_ticks = current_ticks.at(i) - last_encoder_values[i];
|
||||
|
||||
long double velocity_rpm = (delta_ticks / delta_seconds) * 60.0L / TICKS_PER_TURN;
|
||||
filtered_speeds[i] = (long double) ((MOTOR_FILTER_ALPHA * velocity_rpm) + (1.0 - MOTOR_FILTER_ALPHA) * filtered_speeds[i]);
|
||||
velocities_rpm.push_back(filtered_speeds[i]);
|
||||
|
||||
last_encoder_values[i] = current_ticks.at(i);
|
||||
spdlog::info("{} {}", i, current_ticks.at(i));
|
||||
}
|
||||
|
||||
return velocities_rpm;
|
||||
}
|
||||
|
||||
void Motor::reset_speed() {
|
||||
last_time_read = std::chrono::high_resolution_clock::now();
|
||||
|
||||
spdlog::info("Reeeeeset");
|
||||
|
||||
auto current_ticks = Encoder::read_all();
|
||||
for (int i = 0; i < MOTOR_COUNT; i++) {
|
||||
filtered_speeds[i] = 0;
|
||||
last_encoder_values[i] = current_ticks.at(i);
|
||||
}
|
||||
}
|
||||
103
server/src/spi.cpp
Normal file
103
server/src/spi.cpp
Normal file
|
|
@ -0,0 +1,103 @@
|
|||
#include <fcntl.h> //Needed for SPI port
|
||||
#include <sys/ioctl.h> //Needed for SPI port
|
||||
#include <linux/spi/spidev.h> //Needed for SPI port
|
||||
#include <unistd.h> //Needed for SPI port
|
||||
#include <iostream>
|
||||
#include <string.h>
|
||||
#include <spdlog/spdlog.h>
|
||||
|
||||
#include "include/spi.hpp"
|
||||
#include "include/mathUtils.hpp"
|
||||
|
||||
void check_for_error(int error_code, std::string error_message) {
|
||||
if (error_code < 0) {
|
||||
spdlog::error(error_message);
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
Spi::Spi() {
|
||||
int spi_mode = SPI_MODE_0;
|
||||
int spi_bits_per_workd = SPI_BITS_PER_WORD;
|
||||
int spi_speed = SPI_SPEED;
|
||||
|
||||
check_for_error(spi_file_descriptor = open("/dev/spidev1.2", O_RDWR), "Could not open SPI device");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_WR_MODE, &spi_mode), "Could not set SPI_IOC_WR_MODE");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_RD_MODE, &spi_mode), "Could not set SPI_IOC_RD_MODE");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_workd), "Could not set SPI_IOC_WR_BITS_PER_WORD");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_RD_BITS_PER_WORD, &spi_bits_per_workd), "Could not set SPI_IOC_RD_BITS_PER_WORD");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed), "Could not set SPI_IOC_WR_MAX_SPEED_HZ");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_RD_MAX_SPEED_HZ, &spi_mode), "Could not set SPI_IOC_RD_MAX_SPEED_HZ");
|
||||
}
|
||||
|
||||
void Spi::clear_buffers() {
|
||||
memset(tx_buffer, 0, SPI_BUFFER_SIZE);
|
||||
memset(rx_buffer, 0, SPI_BUFFER_SIZE);
|
||||
}
|
||||
|
||||
uint8_t Spi::calculate_checksum(uint8_t* data, uint8_t length) {
|
||||
int sum = 0;
|
||||
for (int i = 0; i < length; i++) {
|
||||
sum += data[i];
|
||||
}
|
||||
return sum % 256;
|
||||
}
|
||||
|
||||
int Spi::read(uint8_t reg, uint8_t length) {
|
||||
uint8_t read_buffer[SPI_BUFFER_SIZE] = {0};
|
||||
read_array(reg, length, read_buffer);
|
||||
|
||||
return mathUtils::int_from_bytes(read_buffer, length);
|
||||
}
|
||||
|
||||
void Spi::read_array(uint8_t reg, uint8_t length, uint8_t* data) {
|
||||
clear_buffers();
|
||||
tx_buffer[0] = 0;
|
||||
tx_buffer[1] = reg;
|
||||
tx_buffer[2] = length;
|
||||
|
||||
transfer();
|
||||
|
||||
uint8_t checksum = calculate_checksum(rx_buffer, length + 3);
|
||||
if (checksum != rx_buffer[length + 3]) {
|
||||
spdlog::error("Received invalid checksum {}. Should be {}", rx_buffer[length +3], checksum);
|
||||
}
|
||||
|
||||
memcpy(data, rx_buffer + 2, length);
|
||||
}
|
||||
|
||||
void Spi::write(uint8_t reg, uint8_t length, int value) {
|
||||
uint8_t write_buffer[SPI_BUFFER_SIZE] = {0};
|
||||
mathUtils::bytes_from_int(value, length, write_buffer);
|
||||
write_array(reg, length, write_buffer);
|
||||
}
|
||||
|
||||
void Spi::write_array(uint8_t reg, uint8_t length, const uint8_t* data) {
|
||||
clear_buffers();
|
||||
tx_buffer[0] = 1;
|
||||
tx_buffer[1] = reg;
|
||||
tx_buffer[2] = length;
|
||||
memcpy(tx_buffer + 3, data, length);
|
||||
|
||||
transfer();
|
||||
}
|
||||
|
||||
void Spi::transfer() {
|
||||
struct spi_ioc_transfer spi;
|
||||
memset(&spi, 0, sizeof(spi));
|
||||
|
||||
spi.tx_buf = (unsigned long) tx_buffer;
|
||||
spi.rx_buf = (unsigned long) rx_buffer;
|
||||
spi.len = SPI_BUFFER_SIZE;
|
||||
spi.delay_usecs = 0;
|
||||
spi.speed_hz = SPI_SPEED;
|
||||
spi.bits_per_word = SPI_BITS_PER_WORD;
|
||||
spi.cs_change = 0;
|
||||
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_MESSAGE(1), &spi), "Problem transmitting spi data");
|
||||
check_for_error(ioctl(spi_file_descriptor, SPI_IOC_MESSAGE(1), &spi), "Problem transmitting spi data");
|
||||
|
||||
if (tx_buffer[1] != rx_buffer[1]) {
|
||||
spdlog::error("SPI error during read/write of register {}. Got reg {} instead!", tx_buffer[1], rx_buffer[1]);
|
||||
}
|
||||
}
|
||||
Reference in a new issue