LibXR 命名空间 More...

Namespaces
namespace	Flag
	轻量标志位模块（Flag）/ Lightweight flag utilities for state signaling

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
	通用回调包装，支持动态参数传递 / Generic callback wrapper supporting dynamic argument passing More...

class	CallbackBlock
	回调函数封装块，提供重入保护与参数绑定 / Callback block with argument binding and reentrancy guard More...

class	CAN
	CAN 通信抽象类，定义经典 CAN 帧与订阅接口。 Abstract class for CAN communication with classic CAN frames and subscription API. More...

class	CDCUartTxOpDequeueHelper
	WritePort（info 队列 + data 队列）的“单 op 不跨界”出队辅助器 Dequeue helper for WritePort (info + data) without crossing op boundary. More...

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

class	CH32CAN
	CH32 CAN 驱动实现 / CH32 CAN driver implementation. More...

class	CH32Flash
	CH32 闪存驱动实现 / CH32 flash driver implementation. More...

class	CH32GPIO
	CH32 GPIO 驱动实现 / CH32 GPIO driver implementation. More...

class	CH32I2C

class	CH32PWM
	CH32 PWM 驱动实现 / CH32 PWM driver implementation. More...

class	CH32SPI
	CH32 SPI 驱动实现 / CH32 SPI driver implementation. More...

class	CH32Timebase
	CH32 时间基准实现 / CH32 timebase implementation. More...

class	CH32UART
	CH32 UART 驱动实现 / CH32 UART driver implementation. More...

class	CH32USBDevice

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	DAC
	数字模拟转换器（DAC）基类 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...

class	DoubleBuffer
	双缓冲区管理类 / Double buffer manager class More...

struct	Entry

class	ESP32ADC
	ESP32 多通道 ADC 驱动 / ESP32 multi-channel ADC driver. More...

class	ESP32GPIO
	ESP32 GPIO 驱动实现 / ESP32 GPIO driver implementation. More...

class	ESP32NvsFlashDatabase
	ESP32 NVS 数据库存储实现 / ESP32 NVS-backed database implementation. More...

class	ESP32PWM
	ESP32 PWM 驱动实现 / ESP32 PWM driver implementation. More...

class	ESP32Timebase
	ESP32 时间基准实现 / ESP32 timebase implementation. More...

class	ESP32WifiClient
	ESP32 Wi-Fi 客户端实现 / ESP32 Wi-Fi client implementation. More...

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 通信抽象类，扩展支持 CAN FD 帧。 Abstract class for FDCAN communication with CAN FD frame support. More...

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

struct	FlashSector
	闪存扇区描述 / Flash sector descriptor 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

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...

struct	IPAddressRaw
	原始 IPv4 地址 / Raw IPv4 address More...

struct	IPAddressStr
	字符串形式 IPv4 地址 / IPv4 address as string More...

class	LinuxBinaryFileFlash
	Linux 二进制文件闪存实现 / Linux binary-file flash implementation. More...

class	LinuxPowerManager
	Linux 电源管理实现 / Linux power manager implementation. More...

class	LinuxTimebase
	Linux 时间基准实现 / Linux timebase implementation. More...

class	LinuxUART
	Linux UART 串口驱动实现 / Linux UART driver implementation. More...

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	LockFreeList
	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	LockFreePool
	无锁无序槽池 / Lock-free, unordered slot pool More...

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

class	LockQueue
	线程安全的锁队列类，提供同步和异步操作支持 Thread-safe lock queue class with synchronous and asynchronous operation support More...

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

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

struct	MACAddressRaw
	原始 MAC 地址 / Raw MAC address More...

struct	MACAddressStr
	字符串形式 MAC 地址 / MAC address as string More...

class	Memory
	内存操作类 / Memory operation class More...

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

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

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

class	NetworkInterface
	抽象网络接口类 / Abstract base for network interfaces 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	Pipe
	基于共享队列，由 ReadPort + WritePort 组成的单向管道。 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...

struct	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	SPI
	串行外设接口（SPI）抽象类。Abstract class for Serial Peripheral Interface (SPI). 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
	STM32 ADC 驱动实现 / STM32 ADC driver implementation. More...

class	STM32CAN
	STM32 CAN 驱动实现 / STM32 CAN driver implementation. More...

class	STM32CANFD
	STM32 FDCAN 驱动实现 / STM32 FDCAN driver implementation. More...

class	STM32Endpoint
	STM32 USB 端点实现 / STM32 USB endpoint implementation. More...

class	STM32Flash
	STM32 闪存驱动实现 / STM32 flash driver implementation. More...

class	STM32GPIO
	STM32 GPIO 驱动实现 / STM32 GPIO driver implementation. More...

class	STM32I2C
	STM32 I2C 驱动实现 / STM32 I2C driver implementation. More...

class	STM32PowerManager
	STM32 电源管理实现 / STM32 power manager implementation. More...

class	STM32PWM
	STM32 PWM 驱动实现 / STM32 PWM driver implementation. More...

class	STM32SPI
	STM32 SPI 驱动实现 / STM32 SPI driver implementation. More...

class	STM32Timebase
	STM32 SysTick 时间基准实现 / STM32 SysTick-based timebase implementation. More...

class	STM32TimerTimebase
	STM32 硬件定时器时间基准实现 / STM32 timer-based timebase implementation. More...

class	STM32UART
	STM32 UART 驱动实现 / STM32 UART driver implementation. More...

class	STM32USBDevice
	STM32 USB 设备核心实现 / STM32 USB device core implementation. More...

class	STM32Watchdog
	STM32 IWDG 看门狗驱动 / STM32 independent watchdog driver. More...

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 POSIX 线程创建和调度 Thread management class encapsulating POSIX thread 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	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	TypeID
	类型标识符生成器，替代 typeid 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	Watchdog
	通用看门狗（Watchdog）抽象接口 General Watchdog interface for both thread and task style usage More...

class	WebAsmTimebase
	WebAssembly 时间基准实现 / WebAssembly timebase implementation. More...

class	WebotsTimebase
	Webots 时间基准实现 / Webots timebase implementation. More...

class	WifiClient
	WiFi 客户端接口 / WiFi Client Interface. More...

struct	WriteInfoBlock

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

Typedefs
typedef pthread_mutex_t	libxr_mutex_handle

typedef sem_t *	libxr_semaphore_handle

typedef pthread_t	libxr_thread_handle

using	ErrorCode = ErrorCode

using	SizeLimitMode = SizeLimitMode

typedef Operation< ErrorCode >	ReadOperation
	Read operation type.

typedef Operation< ErrorCode >	WriteOperation
	Write operation type.

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

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

using	DefaultScalar = double

Enumerations
enum	ch32_gpio_group_t { CH32_GPIO_NUMBER }

enum	ch32_usb_dev_id_t : uint8_t { CH32_USB_DEV_ID_NUM }
	CH32 USB 控制器编号 / CH32 USB controller identifiers. More...

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_ERROR = 0 , XR_LOG_LEVEL_WARN = 1 , XR_LOG_LEVEL_PASS = 2 , XR_LOG_LEVEL_INFO = 3 , XR_LOG_LEVEL_DEBUG = 4 }
	日志级别枚举 / Log level enumeration More...

Functions
uint32_t	ch32_get_gpio_periph (GPIO_TypeDef *port)

uint32_t	STM32FlashBankOf (uint32_t)

void	PlatformInit (uint32_t timer_pri=2, uint32_t timer_stack_depth=65536)
	平台初始化函数 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

constexpr size_t	IPADDR_STRLEN = 16

constexpr size_t	MACADDR_STRLEN = 18

static constexpr uint16_t	LIBXR_DATABASE_VERSION = 3

constexpr DefaultScalar	PID_SIGMA = 1e-6f

Detailed Description

LibXR 命名空间

LibXR namespace

Typedef Documentation

◆ DefaultScalar

typedef double LibXR::DefaultScalar = double

Definition at line 10 of file cycle_value.hpp.

◆ ErrorCode

using LibXR::ErrorCode = ErrorCode

Definition at line 152 of file libxr_def.hpp.

◆ libxr_mutex_handle

typedef pthread_mutex_t LibXR::libxr_mutex_handle

Definition at line 10 of file libxr_system.hpp.

◆ libxr_semaphore_handle

typedef sem_t* LibXR::libxr_semaphore_handle

Definition at line 11 of file libxr_system.hpp.

◆ libxr_thread_handle

typedef pthread_t LibXR::libxr_thread_handle

Definition at line 12 of file libxr_system.hpp.

◆ ReadFun

typedef ErrorCode(* LibXR::ReadFun) (ReadPort &port, bool in_isr)

Function pointer type for read operations.

读取操作的函数指针类型。

Definition at line 249 of file libxr_rw.hpp.

◆ ReadOperation

typedef Operation<ErrorCode> LibXR::ReadOperation

Read operation type.

读取操作类型。

Definition at line 237 of file libxr_rw.hpp.

◆ SizeLimitMode

using LibXR::SizeLimitMode = SizeLimitMode

Definition at line 153 of file libxr_def.hpp.

◆ WriteFun

typedef ErrorCode(* LibXR::WriteFun) (WritePort &port, bool in_isr)

Function pointer type for write operations.

写入操作的函数指针类型。

Definition at line 245 of file libxr_rw.hpp.

◆ WriteOperation

typedef Operation<ErrorCode> LibXR::WriteOperation

Write operation type.

写入操作类型。

Definition at line 241 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 48 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 67 of file libxr_color.hpp.

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

◆ ch32_gpio_group_t

enum LibXR::ch32_gpio_group_t

Definition at line 11 of file ch32_gpio.hpp.

{
#if defined(GPIOA)
  CH32_GPIOA,
#endif
#if defined(GPIOB)
  CH32_GPIOB,
#endif
#if defined(GPIOC)
  CH32_GPIOC,
#endif
#if defined(GPIOD)
  CH32_GPIOD,
#endif
#if defined(GPIOE)
  CH32_GPIOE,
#endif
#if defined(GPIOF)
  CH32_GPIOF,
#endif
#if defined(GPIOG)
  CH32_GPIOG,
#endif
#if defined(GPIOH)
  CH32_GPIOH,
#endif
#if defined(GPIOI)
  CH32_GPIOI,
#endif
  CH32_GPIO_NUMBER
} ch32_gpio_group_t;

◆ ch32_usb_dev_id_t

enum LibXR::ch32_usb_dev_id_t : uint8_t

CH32 USB 控制器编号 / CH32 USB controller identifiers.

Definition at line 12 of file ch32_usb.hpp.

{
#if defined(USBFSD)
  CH32_USB_OTG_FS,
#endif
#if defined(USBHSD)
  CH32_USB_OTG_HS,
#endif
  CH32_USB_DEV_ID_NUM
} ch32_usb_dev_id_t;

◆ Font

enum class LibXR::Font : uint8_t

strong

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

Definition at line 31 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 14 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_ERROR	错误信息 / Error message
XR_LOG_LEVEL_WARN	警告信息 / Warning message
XR_LOG_LEVEL_PASS	通过信息 / Pass message
XR_LOG_LEVEL_INFO	一般信息 / Informational message
XR_LOG_LEVEL_DEBUG	调试信息 / Debug message

Definition at line 18 of file logger.hpp.

{
  XR_LOG_LEVEL_ERROR = 0,  
  XR_LOG_LEVEL_WARN = 1,   
  XR_LOG_LEVEL_PASS = 2,   
  XR_LOG_LEVEL_INFO = 3,   
  XR_LOG_LEVEL_DEBUG = 4,  
};

Function Documentation

◆ ch32_get_gpio_periph()

uint32_t LibXR::ch32_get_gpio_periph ( GPIO_TypeDef * port )

Definition at line 6 of file ch32_gpio.cpp.

{
  if (false)
  {
  }
#if defined(GPIOA)
  else if (port == GPIOA)
  {
    return RCC_APB2Periph_GPIOA;
#endif
#if defined(GPIOB)
  }
  else if (port == GPIOB)
  {
    return RCC_APB2Periph_GPIOB;
#endif
#if defined(GPIOC)
  }
  else if (port == GPIOC)
  {
    return RCC_APB2Periph_GPIOC;
#endif
#if defined(GPIOD)
  }
  else if (port == GPIOD)
  {
    return RCC_APB2Periph_GPIOD;
#endif
#if defined(GPIOE)
  }
  else if (port == GPIOE)
  {
    return RCC_APB2Periph_GPIOE;
  }
#endif
  return 0;
}

◆ max()

template<typename T1 , typename T2 >

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 165 of file libxr_def.hpp.

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

◆ min()

template<typename T1 , typename T2 >

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 180 of file libxr_def.hpp.

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

◆ PlatformInit()

void LibXR::PlatformInit	(	uint32_t	timer_pri = 2,
		uint32_t	timer_stack_depth = 65536 )

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 65536） Timer task stack depth (default: 65536)

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.

Definition at line 100 of file libxr_system.cpp.

{
  LibXR::Timer::priority_ = static_cast<LibXR::Thread::Priority>(timer_pri);
  LibXR::Timer::stack_depth_ = timer_stack_depth;
  auto write_fun = [](WritePort& port, bool)
  {
    UNUSED(port);
    stdo_sem.Post();
    return ErrorCode::PENDING;
  };
 
  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, bool)
  {
    UNUSED(port);
    return ErrorCode::PENDING;
  };
 
  LibXR::STDIO::read_ =
      new LibXR::ReadPort(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
 
  LibXR::Thread stdi_thread, stdo_thread;
  stdi_thread.Create<LibXR::ReadPort*>(LibXR::STDIO::read_, StdiThread, "STDIO.read_",
                                       1024, LibXR::Thread::Priority::MEDIUM);
 
  stdo_thread.Create<LibXR::WritePort*>(LibXR::STDIO::write_, StdoThread, "STDIO.write_",
                                        1024, LibXR::Thread::Priority::MEDIUM);
}

◆ STM32FlashBankOf()

uint32_t LibXR::STM32FlashBankOf ( uint32_t )

inline

Definition at line 43 of file stm32_flash.hpp.

43{ return 1; }

Variable Documentation

◆ IPADDR_STRLEN

size_t LibXR::IPADDR_STRLEN = 16

constexpr

Definition at line 12 of file net.hpp.

◆ LIBXR_BACKGROUND_STR

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 93 of file libxr_color.hpp.

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

◆ LIBXR_BOLD_STR

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 100 of file libxr_color.hpp.

100 {"", "\033[33m\033[1m", "\033[31m\033[1m",

101 "\033[1m\033[41m"};

◆ LIBXR_DATABASE_VERSION

uint16_t LibXR::LIBXR_DATABASE_VERSION = 3

staticconstexpr

Definition at line 14 of file database.hpp.

◆ LIBXR_FONT_STR

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 86 of file libxr_color.hpp.

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

◆ LIBXR_FORMAT_STR

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 79 of file libxr_color.hpp.

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

◆ MACADDR_STRLEN

size_t LibXR::MACADDR_STRLEN = 18

constexpr

Definition at line 13 of file net.hpp.

◆ PID_SIGMA

DefaultScalar LibXR::PID_SIGMA = 1e-6f

constexpr

Definition at line 13 of file pid.hpp.

Namespaces

Data Structures

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ DefaultScalar

◆ ErrorCode

◆ libxr_mutex_handle

◆ libxr_semaphore_handle

◆ libxr_thread_handle

◆ ReadFun

◆ ReadOperation

◆ SizeLimitMode

◆ WriteFun

◆ WriteOperation

Enumeration Type Documentation

◆ Background

◆ Bold

◆ ch32_gpio_group_t

◆ ch32_usb_dev_id_t

◆ Font

◆ Format

◆ LogLevel

Function Documentation

◆ ch32_get_gpio_periph()

◆ max()

◆ min()

◆ PlatformInit()

◆ STM32FlashBankOf()

Variable Documentation

◆ IPADDR_STRLEN

◆ LIBXR_BACKGROUND_STR

◆ LIBXR_BOLD_STR

◆ LIBXR_DATABASE_VERSION

◆ LIBXR_FONT_STR

◆ LIBXR_FORMAT_STR

◆ MACADDR_STRLEN

◆ PID_SIGMA