LibXR Color Control Library / LibXR终端颜色控制库 More...

Data Structures
class	ADC
	模拟数字转换器（ADC）基类 More...

class	Application
	应用模块抽象类，需实现 OnMonitor 方法 More...

class	ApplicationManager
	应用模块管理器 More...

class	Assert
	运行时错误检查的断言工具类。 Provides assertion mechanisms for runtime error checking. More...

class	ASync
	异步任务处理类。 Asynchronous task processing class. More...

class	Axis
	三维坐标轴类，继承自 Eigen::Matrix<Scalar, 3, 1>。 A 3D axis class, inheriting from Eigen::Matrix<Scalar, 3, 1>. More...

class	BaseQueue
	基础队列类，提供固定大小的循环缓冲区 (Base queue class providing a fixed-size circular buffer). More...

class	Callback
	提供一个通用的回调包装，支持动态参数传递。 Provides a generic callback wrapper, supporting dynamic argument passing. More...

class	CallbackBlock
	提供一个回调函数的封装，实现参数绑定和回调执行。 Provides a wrapper for callback functions, enabling argument binding and invocation. More...

class	CAN
	CAN通信接口，定义标准CAN通信结构，支持不同类型的消息 (CAN communication interface that defines a standard CAN structure supporting different message types). More...

class	CenterOfMass
	质心信息表示类。Represents the center of mass information. More...

class	ChunkQueue
	块队列（ChunkQueue）用于存储和管理数据块 ChunkQueue is used to store and manage chunks of data More...

struct	condition_var_handle
	条件变量结构体定义，包含互斥锁和条件变量 Condition variable structure definition including a mutex and a condition variable More...

class	ConditionVar
	条件变量封装类 / Condition variable wrapper class More...

class	ConstRawData
	常量原始数据封装类。 A class for encapsulating constant raw data. More...

class	CRC16
	16 位循环冗余校验（CRC-16）计算类 / CRC-16 checksum computation class More...

class	CRC32
	32 位循环冗余校验（CRC-32）计算类 / CRC-32 checksum computation class More...

class	CRC8
	8 位循环冗余校验（CRC-8）计算类 / CRC-8 checksum computation class More...

class	CycleValue
	角度循环处理类，用于处理周期性角度计算。 A cyclic angle handling class for periodic angle calculations. More...

class	Database
	数据库接口，提供键值存储和管理功能 (Database interface providing key-value storage and management). More...

class	DatabaseRaw
	适用于最小写入单元受限的 Flash 存储的数据库实现 (Database implementation for Flash storage with minimum write unit restrictions). More...

class	DatabaseRawSequential
	适用于不支持逆序写入的 Flash 存储的数据库实现 (Database implementation for Flash storage that does not support reverse writing). More...

struct	Entry

class	EulerAngle
	表示欧拉角的类，用于描述3D旋转。Class representing Euler angles for 3D rotation. More...

class	Event
	事件管理系统，允许基于事件 ID 注册和触发回调函数。 Event management system that allows registration and triggering of callbacks based on event IDs. More...

class	FDCAN
	FDCAN 通信接口，扩展 CAN 功能，支持灵活数据速率（FD）CAN 消息 (FDCAN communication interface that extends CAN functionality by supporting Flexible Data-Rate (FD) CAN messages). More...

class	Flash
	Abstract base class representing a flash memory interface. 抽象基类，表示闪存接口。 More...

struct	FlashSector
	STM32Flash 通用类，构造时传入扇区列表，自动判断编程粒度。 More...

class	FloatEncoder
	浮点数编码器，将浮点值映射到定长无符号整数。 A generic float encoder mapping a float value to N-bit unsigned integer. More...

class	GPIO
	通用输入输出（GPIO）接口类。General Purpose Input/Output (GPIO) interface class. More...

class	HardwareContainer

struct	HasFlashBank

struct	HasFlashBank< T, std::void_t< decltype(std::declval< T >().Banks)> >

struct	HasFlashPage

struct	HasFlashPage< T, std::void_t< decltype(std::declval< T >().Page)> >

class	I2C
	I2C（Inter-Integrated Circuit）接口类。 I2C (Inter-Integrated Circuit) interface class. More...

class	Inertia
	表示刚体的惯性张量和质量信息的类。Provides a class to represent the inertia tensor and mass of a rigid body. More...

class	LinuxBinaryFileFlash
	LinuxBinaryFileFlash 类，用于从二进制文件加载闪存数据 LinuxBinaryFileFlash class for loading flash data from a binary file. More...

class	LinuxTimebase
	LinuxTimebase 类，用于获取 Linux 系统的时间基准。Provides a timebase for Linux systems. More...

class	LinuxUART

class	List
	链表实现，用于存储和管理数据节点。 A linked list implementation for storing and managing data nodes. More...

class	LockFreeQueue
	无锁队列实现 / Lock-free queue implementation More...

class	LockQueue
	线程安全的队列实现，基于 FreeRTOS 消息队列 Thread-safe queue implementation based on FreeRTOS message queue More...

struct	LogData
	日志数据结构体 / Log data structure More...

class	Logger
	LibXR 日志管理器 / LibXR Logger Manager. More...

class	Mutex
	互斥锁类，提供线程同步机制 (Mutex class providing thread synchronization mechanisms). More...

class	Operation
	Defines an operation with different execution modes. More...

class	PID
	通用 PID 控制器类。 Generic PID controller. More...

class	Position
	三维空间中的位置向量 / 3D position vector More...

class	PowerManager
	电源管理器基类 / Abstract base class for Power Manager More...

class	PWM
	Abstract base class for PWM (Pulse Width Modulation) control. PWM（脉冲宽度调制）控制的抽象基类。 More...

class	Quaternion
	四元数表示与运算，继承自 Eigen::Quaternion / Quaternion representation and operations, inheriting from Eigen::Quaternion More...

class	Queue
	基于 BaseQueue 的泛型队列模板类 (Generic queue template class based on BaseQueue). More...

class	RamFS
	轻量级的内存文件系统，实现基本的文件、目录和设备管理 A lightweight in-memory file system implementing basic file, directory, and device management More...

class	RawData
	原始数据封装类。 A class for encapsulating raw data. More...

class	RBTree
	红黑树实现，支持泛型键和值，并提供线程安全操作 (Red-Black Tree implementation supporting generic keys and values with thread-safe operations). More...

class	ReadInfoBlock
	Read information block structure. More...

class	ReadPort
	ReadPort class for handling read operations. More...

class	RotationMatrix
	旋转矩阵类，继承自 Eigen::Matrix<Scalar, 3, 3>。 Rotation matrix class, inheriting from Eigen::Matrix<Scalar, 3, 3>. More...

class	Semaphore
	信号量类，实现线程同步机制 Semaphore class implementing thread synchronization More...

class	Signal
	信号处理类，用于线程间的信号传递和同步。 Signal handling class for inter-thread signaling and synchronization. More...

class	SPI
	串行外设接口（SPI）抽象类。Abstract class for Serial Peripheral Interface (SPI). More...

class	SpinLock
	轻量级自旋锁实现 / Lightweight spinlock implementation More...

class	Stack
	线程安全的栈数据结构 / Thread-safe stack data structure More...

class	STDIO
	STDIO interface for read/write ports. More...

class	STM32ADC
	STM32ADC 类，用于处理 STM32 系统的 ADC 通道。 Provides handling for STM32 ADC channels. More...

class	STM32CAN
	STM32CAN 类，用于处理 STM32 系统的 CAN 通道。 Provides handling for STM32 CAN channels. More...

class	STM32CANFD
	STM32CANFD 类，用于处理 STM32 系统的 CANFD 通道。 Provides handling for STM32 CANFD. More...

class	STM32Flash
	STM32Flash 通用类，构造时传入扇区列表，自动判断编程粒度。 More...

class	STM32GPIO

class	STM32I2C

class	STM32PowerManager

class	STM32PWM

class	STM32SPI

class	STM32Timebase
	获取基于STM32 SysTick计数器的时间基准（微秒与毫秒） / Provides a timebase using STM32 SysTick timer (microseconds and milliseconds) More...

class	STM32TimerTimebase
	基于硬件定时器的时间基准类 / Provides a timebase using hardware timer (TIM) More...

class	STM32UART

class	STM32VirtualUART

class	String
	A fixed-length string class with safe operations. More...

class	Terminal
	终端类，实现一个基于 RamFS 的基本命令行接口 Terminal class implementing a basic command-line interface based on RamFS More...

class	Thread
	线程管理类，封装 FreeRTOS 任务创建和调度 Thread management class encapsulating FreeRTOS task creation and scheduling More...

class	Timebase
	时间基类，用于提供高精度时间戳。 Timebase class for providing high-precision timestamps. More...

class	Timer
	定时器类，实现周期性任务调度 Timer class for scheduling periodic tasks More...

class	TimestampMS
	表示毫秒级时间戳的类。Class representing a timestamp in milliseconds. More...

class	TimestampUS
	表示微秒级时间戳的类。Class representing a timestamp in microseconds. More...

class	Topic
	主题（Topic）管理类 / Topic management class More...

class	Transform
	表示三维空间中的刚体变换，包括旋转和位移。Represents rigid body transformations in 3D space, including rotation and translation. More...

class	UART
	通用异步收发传输（UART）基类 / Abstract base class for Universal Asynchronous Receiver-Transmitter (UART) More...

class	WritePort
	WritePort class for handling write operations. More...

Typedefs
typedef SemaphoreHandle_t	libxr_mutex_handle
	互斥锁句柄类型定义 Mutex handle type definition

typedef SemaphoreHandle_t	libxr_semaphore_handle
	信号量句柄类型定义 Semaphore handle type definition

typedef TaskHandle_t	libxr_thread_handle
	线程句柄类型定义 Thread handle type definition

typedef SemaphoreHandle_t	condition_var_handle

typedef Operation< ErrorCode >	ReadOperation
	Read operation type.

typedef Operation< ErrorCode >	WriteOperation
	Write operation type.

typedef ErrorCode(*	WriteFun) (WritePort &port)
	Function pointer type for write operations.

typedef ErrorCode(*	ReadFun) (ReadPort &port)
	Function pointer type for read operations.

using	DefaultScalar = LIBXR_DEFAULT_SCALAR

Enumerations
enum class	Format : uint8_t { NONE = 0 , RESET , BOLD , DARK , UNDERLINE , BLINK , REVERSE , CONCEALED , CLEAR_LINE , COUNT }
	Terminal text format (Format) / 终端文本格式 (Format) More...

enum class	Font : uint8_t { NONE = 0 , BLACK , RED , GREEN , YELLOW , BLUE , MAGENTA , CYAN , WHITE , COUNT }
	Terminal font color (Font) / 终端字体颜色 (Font) More...

enum class	Background : uint8_t { NONE = 0 , BLACK , RED , GREEN , YELLOW , BLUE , MAGENTA , CYAN , WHITE , COUNT }
	Terminal background color (Background) / 终端背景颜色 (Background) More...

enum class	Bold : uint8_t { NONE = 0 , YELLOW , RED , ON_RED , COUNT }
	Terminal bold style (Bold) / 终端粗体样式 (Bold) More...

enum class	LogLevel : uint8_t { XR_LOG_LEVEL_DEBUG = 0 , XR_LOG_LEVEL_INFO , XR_LOG_LEVEL_PASS , XR_LOG_LEVEL_WARN , XR_LOG_LEVEL_ERROR }
	日志级别枚举 / Log level enumeration More...

Functions
template<typename T >
std::enable_if<!HasFlashPage< T >::value >::type	SetNbPages (T &init, uint32_t addr, uint32_t page)

template<typename T >
std::enable_if< HasFlashPage< T >::value >::type	SetNbPages (T &init, uint32_t addr, uint32_t page)

template<typename T >
std::enable_if<!HasFlashBank< T >::value >::type	SetBanks (T &init)

template<typename T >
std::enable_if< HasFlashBank< T >::value >::type	SetBanks (T &init)

void	PlatformInit (uint32_t timer_pri=2, uint32_t timer_stack_depth=512)
	平台初始化函数 Platform initialization function

void	PlatformInit ()
	平台初始化函数 Platform initialization function

void	PlatformInit (webots::Robot *robot)
	Webots 平台初始化函数 Webots platform initialization function.

template<typename T1 , typename T2 >
constexpr auto	max (T1 a, T2 b) -> typename std::common_type< T1, T2 >::type
	计算两个数的最大值

template<typename T1 , typename T2 >
constexpr auto	min (T1 a, T2 b) -> typename std::common_type< T1, T2 >::type
	计算两个数的最小值

Variables
constexpr const char *	LIBXR_FORMAT_STR []
	ANSI escape sequences for text format / ANSI转义序列 - 文本格式

constexpr const char *	LIBXR_FONT_STR []
	ANSI escape sequences for font color / ANSI转义序列 - 字体颜色

constexpr const char *	LIBXR_BACKGROUND_STR []
	ANSI escape sequences for background color / ANSI转义序列 - 背景颜色

constexpr const char *	LIBXR_BOLD_STR []
	ANSI escape sequences for bold styles / ANSI转义序列 - 粗体样式

static constexpr uint16_t	LIBXR_DATABASE_VERSION = 1

constexpr DefaultScalar	PID_SIGMA = 1e-6f

Detailed Description

LibXR Color Control Library / LibXR终端颜色控制库

Provides ANSI escape sequences for setting terminal text styles and colors. 提供基于ANSI转义序列的终端文本样式和颜色设置。

Typedef Documentation

◆ condition_var_handle

typedef uint32_t LibXR::condition_var_handle

Definition at line 12 of file libxr_system.hpp.

◆ DefaultScalar

typedef LIBXR_DEFAULT_SCALAR LibXR::DefaultScalar

Definition at line 10 of file cycle_value.hpp.

◆ libxr_mutex_handle

typedef pthread_mutex_t LibXR::libxr_mutex_handle

互斥锁句柄类型定义 Mutex handle type definition

Definition at line 9 of file libxr_system.hpp.

◆ libxr_semaphore_handle

typedef sem_t * LibXR::libxr_semaphore_handle

信号量句柄类型定义 Semaphore handle type definition

Definition at line 10 of file libxr_system.hpp.

◆ libxr_thread_handle

typedef pthread_t LibXR::libxr_thread_handle

线程句柄类型定义 Thread handle type definition

Definition at line 11 of file libxr_system.hpp.

◆ ReadFun

typedef ErrorCode(* LibXR::ReadFun) (ReadPort &port)

Function pointer type for read operations.

读取操作的函数指针类型。

Definition at line 279 of file libxr_rw.hpp.

◆ ReadOperation

typedef Operation<ErrorCode> LibXR::ReadOperation

Read operation type.

读取操作类型。

Definition at line 267 of file libxr_rw.hpp.

◆ WriteFun

typedef ErrorCode(* LibXR::WriteFun) (WritePort &port)

Function pointer type for write operations.

写入操作的函数指针类型。

Definition at line 275 of file libxr_rw.hpp.

◆ WriteOperation

typedef Operation<ErrorCode> LibXR::WriteOperation

Write operation type.

写入操作类型。

Definition at line 271 of file libxr_rw.hpp.

Enumeration Type Documentation

◆ Background

enum class LibXR::Background : uint8_t

strong

Terminal background color (Background) / 终端背景颜色 (Background)

Definition at line 53 of file libxr_color.hpp.

{
  NONE = 0,
  BLACK,
  RED,
  GREEN,
  YELLOW,
  BLUE,
  MAGENTA,
  CYAN,
  WHITE,
  COUNT
};

◆ Bold

enum class LibXR::Bold : uint8_t

strong

Terminal bold style (Bold) / 终端粗体样式 (Bold)

Optional bold styles like yellow bold, red bold, red background bold. 可选粗体样式，包括黄色粗体、红色粗体、红色背景粗体等。

Definition at line 72 of file libxr_color.hpp.

{
  NONE = 0,
  YELLOW,
  RED,
  ON_RED,
  COUNT
};

◆ Font

enum class LibXR::Font : uint8_t

strong

Terminal font color (Font) / 终端字体颜色 (Font)

Definition at line 36 of file libxr_color.hpp.

{
  NONE = 0,
  BLACK,
  RED,
  GREEN,
  YELLOW,
  BLUE,
  MAGENTA,
  CYAN,
  WHITE,
  COUNT
};

◆ Format

enum class LibXR::Format : uint8_t

strong

Terminal text format (Format) / 终端文本格式 (Format)

Defines text styles like NONE, RESET, BOLD, DARK, UNDERLINE, etc. 定义文本样式，如NONE（无格式）、RESET（重置）、BOLD（加粗）、DARK（暗色）、UNDERLINE（下划线）等。

Definition at line 19 of file libxr_color.hpp.

{
  NONE = 0,
  RESET,
  BOLD,
  DARK,
  UNDERLINE,
  BLINK,
  REVERSE,
  CONCEALED,
  CLEAR_LINE,
  COUNT
};

◆ LogLevel

enum class LibXR::LogLevel : uint8_t

strong

日志级别枚举 / Log level enumeration

Enumerator
XR_LOG_LEVEL_DEBUG	调试信息 / Debug message
XR_LOG_LEVEL_INFO	一般信息 / Informational message
XR_LOG_LEVEL_PASS	通过信息 / Pass message
XR_LOG_LEVEL_WARN	警告信息 / Warning message
XR_LOG_LEVEL_ERROR	错误信息 / Error message

Definition at line 18 of file logger.hpp.

{
  XR_LOG_LEVEL_DEBUG = 0,  
  XR_LOG_LEVEL_INFO,       
  XR_LOG_LEVEL_PASS,       
  XR_LOG_LEVEL_WARN,       
  XR_LOG_LEVEL_ERROR,      
};

Function Documentation

◆ max()

template<typename T1 , typename T2 >

constexpr auto LibXR::max	(	T1	a,
		T2	b
	)		-> typename std::common_type<T1, T2>::type

constexpr

计算两个数的最大值

Computes the maximum of two numbers

Template Parameters

T1	第一个数的类型 \| Type of the first number
T2	第二个数的类型 \| Type of the second number

Parameters

a	第一个数 \| First number
b	第二个数 \| Second number

Returns: 两数中的较大值 | The larger of the two numbers

Definition at line 146 of file libxr_def.hpp.

{
  return (a > b) ? a : b;
}

◆ min()

template<typename T1 , typename T2 >

constexpr auto LibXR::min	(	T1	a,
		T2	b
	)		-> typename std::common_type<T1, T2>::type

constexpr

计算两个数的最小值

Computes the minimum of two numbers

Template Parameters

T1	第一个数的类型 \| Type of the first number
T2	第二个数的类型 \| Type of the second number

Parameters

a	第一个数 \| First number
b	第二个数 \| Second number

Returns: 两数中的较小值 | The smaller of the two numbers

Definition at line 161 of file libxr_def.hpp.

{
  return (a < b) ? a : b;
}

◆ PlatformInit() [1/3]

void LibXR::PlatformInit ( )

平台初始化函数 Platform initialization function

平台初始化函数，执行必要的系统初始化 Platform initialization function for necessary system setup

该函数用于初始化 POSIX 线程相关的资源，例如互斥锁、信号量和条件变量。在使用 LibXR 线程库之前，应调用该函数进行必要的系统初始化。

This function initializes POSIX thread-related resources such as mutexes, semaphores, and condition variables. It should be called before using the LibXR threading library for proper system setup.

此函数用于初始化底层平台的线程管理、同步机制（如互斥锁、信号量）以及其他系统资源，需要在使用 LibXR 相关功能之前调用，以确保所有系统组件正确初始化。

This function initializes the underlying platform's thread management, synchronization mechanisms (such as mutexes and semaphores), and other system resources. It should be called before using any LibXR functionalities to ensure proper setup.

Definition at line 23 of file libxr_system.cpp.

{
  auto write_fun = [](WritePort &port)
  {
    static uint8_t write_buff[1024];
    WritePort::WriteInfo info;
    while (true)
    {
      if (port.queue_info_->Pop(info) != ErrorCode::OK)
      {
        return ErrorCode::OK;
      }
 
      port.queue_data_->PopBatch(write_buff, info.size);
      auto ans = fwrite(write_buff, 1, info.size, stdout);
      UNUSED(ans);
      port.queue_info_->Pop(info);
 
      port.UpdateStatus(false, ErrorCode::OK, info.op, info.size);
    }
 
    return ErrorCode::OK;
  };
 
  LibXR::STDIO::write_ =
      new LibXR::WritePort(32, static_cast<size_t>(4 * LIBXR_PRINTF_BUFFER_SIZE));
 
  *LibXR::STDIO::write_ = write_fun;
 
  auto read_fun = [](ReadPort &port)
  {
    ReadInfoBlock info;
    port.queue_block_->Pop(info);
 
    auto need_read = info.data_.size_;
 
    port.read_size_ = fread(info.data_.addr_, sizeof(char), need_read, stdin);
    port.UpdateStatus(false, ErrorCode::OK, info, need_read);
    return ErrorCode::OK;
  };
 
  LibXR::STDIO::read_ =
      new LibXR::ReadPort(32, static_cast<size_t>(4 * LIBXR_PRINTF_BUFFER_SIZE));
 
  *LibXR::STDIO::read_ = read_fun;
 
  gettimeofday(&libxr_linux_start_time, nullptr);
  UNUSED(clock_gettime(CLOCK_REALTIME, &libxr_linux_start_time_spec));
 
  struct termios tty;
  tcgetattr(STDIN_FILENO, &tty);           // 获取当前终端属性
  tty.c_lflag &= ~(ICANON | ECHO);         // 禁用规范模式和回显
  tcsetattr(STDIN_FILENO, TCSANOW, &tty);  // 立即生效
}

◆ PlatformInit() [2/3]

void LibXR::PlatformInit	(	uint32_t	timer_pri = `2`,
		uint32_t	timer_stack_depth = `512`
	)

平台初始化函数 Platform initialization function

Parameters

timer_pri	定时器任务的优先级（默认值 2） Timer task priority (default: 2)
timer_stack_depth	定时器任务的栈深度（默认值 512） Timer task stack depth (default: 512)

该函数用于初始化 FreeRTOS 相关资源，如定时器任务。它设置定时器任务的优先级 timer_pri 和栈深度 timer_stack_depth。

This function initializes FreeRTOS-related resources, such as the timer task. It sets the timer task priority (timer_pri) and stack depth (timer_stack_depth).

Definition at line 12 of file libxr_system.cpp.

{
  if (Timebase::timebase == nullptr)
  {
    /* You should initialize Timebase first */
    ASSERT(false);
  }
 
  LibXR::Timer::priority_ = static_cast<LibXR::Thread::Priority>(timer_pri);
  LibXR::Timer::stack_depth_ = timer_stack_depth;
 
  uint32_t time_need_to_catch_up = Timebase::GetMilliseconds() - xTaskGetTickCount();
 
  if (time_need_to_catch_up > 0)
  {
    xTaskCatchUpTicks(time_need_to_catch_up);
  }
}

◆ PlatformInit() [3/3]

void LibXR::PlatformInit ( webots::Robot * robot = nullptr )

Webots 平台初始化函数 Webots platform initialization function.

Parameters

robot Webots 机器人对象指针 Webots robot object pointer

此函数用于初始化 Webots 仿真环境，设置 _libxr_webots_robot_handle 变量，并对仿真时间计数变量 _libxr_webots_time_count 进行初始化。

This function initializes the Webots simulation environment by setting the _libxr_webots_robot_handle variable and initializing the simulation time counter _libxr_webots_time_count.

Definition at line 27 of file libxr_system.cpp.

{  // NOLINT
  auto write_fun = [](WritePort &port)
  {
    static uint8_t write_buff[1024];
    WritePort::WriteInfo info;
    while (true)
    {
      if (port.queue_info_->Pop(info) != ErrorCode::OK)
      {
        return ErrorCode::OK;
      }
 
      port.queue_data_->PopBatch(write_buff, info.size);
      auto ans = fwrite(write_buff, 1, info.size, stdout);
      UNUSED(ans);
      port.queue_info_->Pop(info);
 
      port.UpdateStatus(false, ErrorCode::OK, info.op, info.size);
    }
 
    return ErrorCode::OK;
  };
 
  LibXR::STDIO::write_ = new LibXR::WritePort(32, 32 * LIBXR_PRINTF_BUFFER_SIZE);
 
  *LibXR::STDIO::write_ = write_fun;
 
  auto read_fun = [](ReadPort &port)
  {
    ReadInfoBlock info;
    port.queue_block_->Pop(info);
 
    auto need_read = info.data_.size_;
 
    port.read_size_ = fread(info.data_.addr_, sizeof(char), need_read, stdin);
    port.UpdateStatus(false, ErrorCode::OK, info, need_read);
    return ErrorCode::OK;
  };
 
  LibXR::STDIO::read_ = new LibXR::ReadPort(32, 32 * LIBXR_PRINTF_BUFFER_SIZE);
 
  *LibXR::STDIO::read_ = read_fun;
 
  struct termios tty;
  tcgetattr(STDIN_FILENO, &tty);           // 获取当前终端属性
  tty.c_lflag &= ~(ICANON | ECHO);         // 禁用规范模式和回显
  tcsetattr(STDIN_FILENO, TCSANOW, &tty);  // 立即生效
 
  if (robot == nullptr)
  {
    _libxr_webots_robot_handle = new webots::Robot();
  }
  else
  {
    _libxr_webots_robot_handle = robot;
  }
 
  time_step = _libxr_webots_robot_handle->getBasicTimeStep();
 
  if (_libxr_webots_robot_handle == nullptr)
  {
    printf("webots robot handle is null.\n");
    exit(-1);
  }
 
  _libxr_webots_time_notify = new LibXR::ConditionVar();
 
  auto webots_timebase_thread_fun = [](void *)
  {
    poll(nullptr, 0, 100);
 
    while (true)
    {
      poll(nullptr, 0, 1);
      _libxr_webots_robot_handle->step(time_step);
      _libxr_webots_time_count++;
      _libxr_webots_time_notify->Broadcast();
    }
  };
 
  LibXR::Thread webots_timebase_thread;
  webots_timebase_thread.Create<void *>(
      reinterpret_cast<void *>(0), webots_timebase_thread_fun, "webots_timebase_thread",
      1024, Thread::Priority::REALTIME);
}

◆ SetBanks() [1/2]

template<typename T >

std::enable_if<!HasFlashBank< T >::value >::type LibXR::SetBanks ( T & init )

Definition at line 65 of file stm32_flash.hpp.

{
  UNUSED(init);
}

◆ SetBanks() [2/2]

template<typename T >

std::enable_if< HasFlashBank< T >::value >::type LibXR::SetBanks ( T & init )

Definition at line 72 of file stm32_flash.hpp.

{
  init.Banks = 1;
}

◆ SetNbPages() [1/2]

template<typename T >

std::enable_if<!HasFlashPage< T >::value >::type LibXR::SetNbPages	(	T &	init,
		uint32_t	addr,
		uint32_t	page
	)

Definition at line 47 of file stm32_flash.hpp.

{
  UNUSED(page);
  init.PageAddress = addr;
}

◆ SetNbPages() [2/2]

template<typename T >

std::enable_if< HasFlashPage< T >::value >::type LibXR::SetNbPages	(	T &	init,
		uint32_t	addr,
		uint32_t	page
	)

Definition at line 56 of file stm32_flash.hpp.

{
  UNUSED(addr);
  init.Page = page;
}

Variable Documentation

◆ LIBXR_BACKGROUND_STR

constexpr const char* LibXR::LIBXR_BACKGROUND_STR[]

inlineconstexpr

Initial value:

= {
    "",         "\033[40m", "\033[41m", "\033[42m", "\033[43m",
    "\033[44m", "\033[45m", "\033[46m", "\033[47m"}

ANSI escape sequences for background color / ANSI转义序列 - 背景颜色

Definition at line 98 of file libxr_color.hpp.

                                                      {
    "",         "\033[40m", "\033[41m", "\033[42m", "\033[43m",
    "\033[44m", "\033[45m", "\033[46m", "\033[47m"};

◆ LIBXR_BOLD_STR

constexpr const char* LibXR::LIBXR_BOLD_STR[]

inlineconstexpr

Initial value:

= {"", "\033[33m\033[1m", "\033[31m\033[1m",

"\033[1m\033[41m"}

ANSI escape sequences for bold styles / ANSI转义序列 - 粗体样式

Definition at line 105 of file libxr_color.hpp.

105 {"", "\033[33m\033[1m", "\033[31m\033[1m",

106 "\033[1m\033[41m"};

◆ LIBXR_DATABASE_VERSION

constexpr uint16_t LibXR::LIBXR_DATABASE_VERSION = 1

staticconstexpr

Definition at line 14 of file database.hpp.

◆ LIBXR_FONT_STR

constexpr const char* LibXR::LIBXR_FONT_STR[]

inlineconstexpr

Initial value:

= {"",         "\033[30m", "\033[31m",
                                                 "\033[32m", "\033[33m", "\033[34m",
                                                 "\033[35m", "\033[36m", "\033[37m"}

ANSI escape sequences for font color / ANSI转义序列 - 字体颜色

Definition at line 91 of file libxr_color.hpp.

                                                {"",         "\033[30m", "\033[31m",
                                                 "\033[32m", "\033[33m", "\033[34m",
                                                 "\033[35m", "\033[36m", "\033[37m"};

◆ LIBXR_FORMAT_STR

constexpr const char* LibXR::LIBXR_FORMAT_STR[]

inlineconstexpr

Initial value:

= {"",        "\033[m",  "\033[1m",
                                                   "\033[2m", "\033[4m", "\033[5m",
                                                   "\033[7m", "\033[8m", "\033[K"}

ANSI escape sequences for text format / ANSI转义序列 - 文本格式

Definition at line 84 of file libxr_color.hpp.

                                                  {"",        "\033[m",  "\033[1m",
                                                   "\033[2m", "\033[4m", "\033[5m",
                                                   "\033[7m", "\033[8m", "\033[K"};

◆ PID_SIGMA

constexpr DefaultScalar LibXR::PID_SIGMA = 1e-6f

constexpr

Definition at line 13 of file pid.hpp.

Data Structures

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ condition_var_handle

◆ DefaultScalar

◆ libxr_mutex_handle

◆ libxr_semaphore_handle

◆ libxr_thread_handle

◆ ReadFun

◆ ReadOperation

◆ WriteFun

◆ WriteOperation

Enumeration Type Documentation

◆ Background

◆ Bold

◆ Font

◆ Format

◆ LogLevel

Function Documentation

◆ max()

◆ min()

◆ PlatformInit() [1/3]

◆ PlatformInit() [2/3]

◆ PlatformInit() [3/3]

◆ SetBanks() [1/2]

◆ SetBanks() [2/2]

◆ SetNbPages() [1/2]

◆ SetNbPages() [2/2]

Variable Documentation

◆ LIBXR_BACKGROUND_STR

◆ LIBXR_BOLD_STR

◆ LIBXR_DATABASE_VERSION

◆ LIBXR_FONT_STR

◆ LIBXR_FORMAT_STR

◆ PID_SIGMA