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
	`app_framework` 的应用模块管理片段 Application-module management fragment of `app_framework` More...

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

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

class	AsyncBlockWait
	Shared BLOCK waiter handoff for synchronous driver operations. 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，提供参数绑定与擦除调用入口 / Callback block with bound argument and erased invoke entry More...

struct	CallbackBlockHeader

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	CH32PowerManager
	CH32 平台电源管理基类实现 / CH32 power-manager base implementation. More...

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
	只读原始数据视图 / Immutable raw data view 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	CRC64
	64 位循环冗余校验（CRC-64）计算类 / CRC-64 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
	`app_framework` 的硬件注册片段 Hardware-registration fragment of `app_framework` More...

class	ESP32ADC

class	ESP32DAC

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

class	ESP32I2C

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

class	ESP32PWM
	ESP32 PWM driver implementation. More...

class	ESP32SPI

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

class	ESP32UART

class	ESP32Watchdog

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	Format

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

class	GuardedCallbackBlock

class	HardwareContainer

class	HPMGPIO
	HPM 平台 GPIO 驱动实现 / GPIO driver implementation for HPM platform. More...

class	HPMPWM
	HPM 平台 PWM 驱动实现 / PWM driver implementation for HPM platform. More...

class	HPMTimebase
	HPM MCHTMR 时间基准实现 / HPM MCHTMR based timebase implementation. More...

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...

struct	libxr_linux_futex_semaphore

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

class	LinuxGPIO
	基于 Linux GPIO character device uAPI 的 Linux GPIO 实现 Linux GPIO implementation based on the Linux GPIO character-device uAPI 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
	静态内存操作工具 / Static memory-operation utilities More...

class	MicrosecondTimestamp
	微秒时间戳 / Microsecond timestamp More...

class	MillisecondTimestamp
	毫秒时间戳 / Millisecond timestamp More...

class	MSPM0GPIO

class	MSPM0I2C

class	MSPM0PWM

class	MSPM0SPI

class	MSPM0Timebase

class	MSPM0UART

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
	轻量级内存文件系统 / Lightweight in-memory file system More...

class	RawData
	可写原始数据视图 / Mutable raw data view 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	RuntimeStringView
	运行期构造、长期保留的 NUL 结尾字符串视图。 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
	提供静态全局的输入输出接口绑定与写会话管理 / STDIO interface for read and 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	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
	发布订阅主题 / Publish-subscribe topic 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 / RTTI-free type identifier generator 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...

Concepts
concept	DCacheFunctionAcceptsVoidPtr
	D-Cache API accepts `void*`

concept	DCacheFunctionAcceptsVolatileVoidPtr
	D-Cache API accepts `volatile void*`

concept	CallbackFunctionCompatible
	可转换为精确回调函数指针的可调用对象

concept	MemberObjectPointer
	指向非静态数据成员的成员指针

concept	CommonOrdered
	具有公共类型且可比较大小的类型对

concept	TopicPayload
	topic 可承载 payload 的类型约束 / Type constraint for payloads carried by one topic

Typedefs
typedef pthread_mutex_t	libxr_mutex_handle

typedef libxr_linux_futex_semaphore *	libxr_semaphore_handle

typedef pthread_t	libxr_thread_handle

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 notifications.

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	TextStyle : uint8_t { NONE = 0 , BOLD , DIM , UNDERLINE , BLINK , REVERSE , CONCEALED , COUNT }
	Terminal text style / 终端文本样式 More...

enum class	TerminalControl : uint8_t { NONE = 0 , RESET , ERASE_LINE , COUNT }
	Terminal control sequence / 终端控制序列 More...

enum class	Foreground : uint8_t { NONE = 0 , BLACK , RED , GREEN , YELLOW , BLUE , MAGENTA , CYAN , WHITE , COUNT }
	Terminal foreground color / 终端前景色 More...

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

enum class	Preset : uint8_t { NONE = 0 , YELLOW_BOLD , RED_BOLD , BOLD_ON_RED , COUNT }
	Terminal text preset / 终端文本预设 More...

enum class	ErrorCode : int8_t { PENDING = 1 , OK = 0 , FAILED = -1 , INIT_ERR = -2 , ARG_ERR = -3 , STATE_ERR = -4 , SIZE_ERR = -5 , CHECK_ERR = -6 , NOT_SUPPORT = -7 , NOT_FOUND = -8 , NO_RESPONSE = -9 , NO_MEM = -10 , NO_BUFF = -11 , TIMEOUT = -12 , EMPTY = -13 , FULL = -14 , BUSY = -15 , PTR_NULL = -16 , OUT_OF_RANGE = -17 }
	定义错误码枚举 More...

enum class	SizeLimitMode : uint8_t { EQUAL = 0 , LESS = 1 , MORE = 2 , NONE = 3 }
	定义尺寸限制模式 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)

template<typename FunctionType > requires DCacheFunctionAcceptsVoidPtr<FunctionType>
void	STM32_CallDCacheByAddr (FunctionType function, void *addr, int32_t dsize)
	Calls the CMSIS D-Cache helper with the pointer type accepted by the current toolchain.

template<typename FunctionType > requires (!DCacheFunctionAcceptsVoidPtr<FunctionType> && DCacheFunctionAcceptsVolatileVoidPtr<FunctionType>)
void	STM32_CallDCacheByAddr (FunctionType function, void *addr, int32_t dsize)

template<typename FunctionType > requires (!DCacheFunctionAcceptsVoidPtr<FunctionType> && !DCacheFunctionAcceptsVolatileVoidPtr<FunctionType>)
void	STM32_CallDCacheByAddr (FunctionType function, void *addr, int32_t dsize)

void	STM32_CleanDCacheByAddr (const void *addr, size_t size)
	Cleans D-Cache lines covering the specified memory range.

void	STM32_InvalidateDCacheByAddr (const void *addr, size_t size)
	Invalidates D-Cache lines covering the specified memory range.

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 OwnerType , typename MemberType > requires MemberObjectPointer<OwnerType, MemberType>
size_t	OffsetOf (MemberType OwnerType::*member) noexcept
	计算成员在宿主对象中的偏移量

template<typename OwnerType , typename MemberType > requires MemberObjectPointer<OwnerType, MemberType>
OwnerType *	ContainerOf (MemberType ptr, MemberType OwnerType::member) noexcept
	通过成员指针恢复其所属对象指针

template<typename OwnerType , typename MemberType > requires MemberObjectPointer<OwnerType, MemberType>
const OwnerType *	ContainerOf (const MemberType ptr, MemberType OwnerType::member) noexcept

constexpr bool	SizeLimitCheck (SizeLimitMode mode, size_t limit, size_t size) noexcept
	尺寸约束的纯判断函数

template<typename LeftType , typename RightType > requires CommonOrdered<LeftType, RightType>
constexpr auto	max (LeftType a, RightType b) -> std::common_type_t< LeftType, RightType >
	计算两个数的最大值

template<typename LeftType , typename RightType > requires CommonOrdered<LeftType, RightType>
constexpr auto	min (LeftType a, RightType b) -> std::common_type_t< LeftType, RightType >
	计算两个数的最小值

	RuntimeStringView (std::string_view) -> RuntimeStringView<>
	单参数文本构造推导为普通保留字符串。 / Single text argument deduces a plain retained string.

	RuntimeStringView (const char *) -> RuntimeStringView<>
	C 字符串构造推导为普通保留字符串。 / C-string construction deduces a plain retained string.

template<typename First , typename Second , typename... Rest>
	RuntimeStringView (First &&, Second &&, Rest &&...) -> RuntimeStringView<>
	多片段构造推导为普通拼接字符串。 / Multi-part construction deduces a plain concatenated string.

template<typename Data >
constexpr void	CheckTopicPayload ()
	在模板上下文里断言 payload 类型满足 topic 契约 / Assert in template context that one payload type satisfies the topic contract

Variables
constexpr wdt_inst_t	ESP32_WATCHDOG_DEFAULT_INSTANCE = WDT_MWDT1

constexpr uint8_t	MAX_PORTS = 1

constexpr const char *	LIBXR_TEXT_STYLE_STR []
	ANSI escape sequences for text styles / ANSI转义序列 - 文本样式

constexpr const char *	LIBXR_TERMINAL_CONTROL_STR [] = {"", "\033[m", "\033[K"}
	ANSI escape sequences for terminal controls / ANSI转义序列 - 终端控制

constexpr const char *	LIBXR_FOREGROUND_STR []
	ANSI escape sequences for foreground colors / ANSI转义序列 - 前景色

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_PRESET_STR []
	ANSI escape sequences for text presets / ANSI转义序列 - 文本预设

constexpr double	PI = 3.14159265358979323846
	PI 常量 / PI constant.

constexpr double	TWO_PI = 2.0 * PI
	2PI 常量 / 2PI constant

constexpr double	STANDARD_GRAVITY = 9.80665
	标准重力加速度（m/s²） / Standard gravitational acceleration (m/s²)

constexpr size_t	CACHE_LINE_SIZE = (sizeof(void*) == 8) ? 64 : 32
	缓存行大小 / Cache line size

constexpr size_t	ALIGN_SIZE = sizeof(void*)
	平台自然对齐大小 / Native platform alignment size

constexpr size_t	IPADDR_STRLEN = 16

constexpr size_t	MACADDR_STRLEN = 18

static constexpr uint16_t	LIBXR_DATABASE_VERSION = 3
	数据库存储格式版本号 (Database storage-format version).

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.

◆ libxr_mutex_handle

typedef pthread_mutex_t LibXR::libxr_mutex_handle

Definition at line 11 of file libxr_system.hpp.

◆ libxr_semaphore_handle

typedef libxr_linux_futex_semaphore* LibXR::libxr_semaphore_handle

Definition at line 16 of file libxr_system.hpp.

◆ libxr_thread_handle

typedef pthread_t LibXR::libxr_thread_handle

Definition at line 17 of file libxr_system.hpp.

◆ ReadFun

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

Function pointer type for read notifications.

读取通知函数指针类型。

A successful return arms or notifies the backend only. It must not complete the read directly; producers complete reads by pushing bytes into queue_data_ and calling ProcessPendingReads(). Any non-negative return means accepted/armed; negative values mean failure. 成功返回只表示已通知或挂起底层接收，不得直接完成本次读；producer 必须先把字节写入 queue_data_，再调用 ProcessPendingReads() 完成读取。返回值非负表示已接受/已挂起，负值表示失败。

Definition at line 356 of file operation.hpp.

◆ ReadOperation

typedef Operation<ErrorCode> LibXR::ReadOperation

Read operation type.

读取操作类型。

Definition at line 329 of file operation.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。

The current write has already been queued before this function is called. PENDING means the backend owns later completion through Finish(); non-PENDING means the current queued op was consumed/completed synchronously. Negative non-PENDING values report a synchronous start failure and must not leave that op in the queue. 调用该函数前，当前写入已经进入队列。PENDING 表示后端之后通过 Finish() 完成；非 PENDING 表示当前 queued op 已被同步消费/完成。负数非 PENDING 表示同步启动失败，且不得把该 op 留在队列中。

Definition at line 345 of file operation.hpp.

◆ WriteOperation

typedef Operation<ErrorCode> LibXR::WriteOperation

Write operation type.

写入操作类型。

Definition at line 333 of file operation.hpp.

Enumeration Type Documentation

◆ Background

enum class LibXR::Background : uint8_t

strong

Terminal background color / 终端背景色

Definition at line 59 of file libxr_color.hpp.

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

◆ ErrorCode

enum class LibXR::ErrorCode : int8_t

strong

定义错误码枚举

Defines an enumeration for error codes

Enumerator
PENDING	等待中 \| Pending
OK	操作成功 \| Operation successful
FAILED	操作失败 \| Operation failed
INIT_ERR	初始化错误 \| Initialization error
ARG_ERR	参数错误 \| Argument error
STATE_ERR	状态错误 \| State error
SIZE_ERR	尺寸错误 \| Size error
CHECK_ERR	校验错误 \| Check error
NOT_SUPPORT	不支持 \| Not supported
NOT_FOUND	未找到 \| Not found
NO_RESPONSE	无响应 \| No response
NO_MEM	内存不足 \| Insufficient memory
NO_BUFF	缓冲区不足 \| Insufficient buffer
TIMEOUT	超时 \| Timeout
EMPTY	为空 \| Empty
FULL	已满 \| Full
BUSY	忙碌 \| Busy
PTR_NULL	空指针 \| Null pointer
OUT_OF_RANGE	超出范围 \| Out of range

Definition at line 124 of file libxr_def.hpp.

{
  PENDING = 1,        
  OK = 0,             
  FAILED = -1,        
  INIT_ERR = -2,      
  ARG_ERR = -3,       
  STATE_ERR = -4,     
  SIZE_ERR = -5,      
  CHECK_ERR = -6,     
  NOT_SUPPORT = -7,   
  NOT_FOUND = -8,     
  NO_RESPONSE = -9,   
  NO_MEM = -10,       
  NO_BUFF = -11,      
  TIMEOUT = -12,      
  EMPTY = -13,        
  FULL = -14,         
  BUSY = -15,         
  PTR_NULL = -16,     
  OUT_OF_RANGE = -17  
};

◆ Foreground

enum class LibXR::Foreground : uint8_t

strong

Terminal foreground color / 终端前景色

Definition at line 42 of file libxr_color.hpp.

{
  NONE = 0,
  BLACK,
  RED,
  GREEN,
  YELLOW,
  BLUE,
  MAGENTA,
  CYAN,
  WHITE,
  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 31 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,  
};

◆ Preset

enum class LibXR::Preset : uint8_t

strong

Terminal text preset / 终端文本预设

Precomposed ANSI presets such as yellow bold, red bold, and bold on red. 预组合的 ANSI 文本预设，例如黄色粗体、红色粗体、红底粗体等。

Definition at line 78 of file libxr_color.hpp.

{
  NONE = 0,
  YELLOW_BOLD,
  RED_BOLD,
  BOLD_ON_RED,
  COUNT
};

◆ SizeLimitMode

enum class LibXR::SizeLimitMode : uint8_t

strong

定义尺寸限制模式

Defines size limit modes

Enumerator
EQUAL	尺寸必须相等 \| Size must be equal
LESS	尺寸必须小于等于 \| Size must be less than or equal
MORE	尺寸必须大于等于 \| Size must be greater than or equal
NONE	无限制 \| No restriction

Definition at line 152 of file libxr_def.hpp.

{
  EQUAL = 0,  
  LESS = 1,   
  MORE = 2,   
  NONE = 3    
};

◆ TerminalControl

enum class LibXR::TerminalControl : uint8_t

strong

Terminal control sequence / 终端控制序列

Defines ANSI terminal control commands such as RESET and ERASE_LINE. 定义 ANSI 终端控制命令，如 RESET（重置）和 ERASE_LINE（清除当前行）。

Definition at line 31 of file libxr_color.hpp.

{
  NONE = 0,
  RESET,
  ERASE_LINE,
  COUNT
};

◆ TextStyle

enum class LibXR::TextStyle : uint8_t

strong

Terminal text style / 终端文本样式

Defines ANSI text styles such as BOLD, DIM, and UNDERLINE. 定义 ANSI 文本样式，如 BOLD（加粗）、DIM（弱化）、UNDERLINE（下划线）等。

Definition at line 14 of file libxr_color.hpp.

{
  NONE = 0,
  BOLD,
  DIM,
  UNDERLINE,
  BLINK,
  REVERSE,
  CONCEALED,
  COUNT
};

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;
}

◆ CheckTopicPayload()

template<typename Data >

void LibXR::CheckTopicPayload ( )

constexpr

在模板上下文里断言 payload 类型满足 topic 契约 / Assert in template context that one payload type satisfies the topic contract

Template Parameters

Data	待检查的 payload 类型 / Payload type to validate

Definition at line 39 of file topic.hpp.

{
  static_assert(TopicPayload<Data>,
                "LibXR::Topic typed payload must be a non-cv/ref object type that is "
                "default-constructible, copy-assignable, and trivially destructible.");
}

◆ ContainerOf() [1/2]

template<typename OwnerType , typename MemberType >
requires MemberObjectPointer<OwnerType, MemberType>

const OwnerType * LibXR::ContainerOf	(	const MemberType *	ptr,
		MemberType OwnerType::*	member )

inlinenodiscardnoexcept

Definition at line 112 of file libxr_def.hpp.

{
  return reinterpret_cast<const OwnerType*>(reinterpret_cast<const std::byte*>(ptr) -
                                            OffsetOf(member));
}

◆ ContainerOf() [2/2]

template<typename OwnerType , typename MemberType >
requires MemberObjectPointer<OwnerType, MemberType>

OwnerType * LibXR::ContainerOf	(	MemberType *	ptr,
		MemberType OwnerType::*	member )

inlinenodiscardnoexcept

通过成员指针恢复其所属对象指针

Recover the owning object pointer from a member pointer

Parameters

ptr	指向成员的指针 \| Pointer to the member
member	指向成员的成员指针，如 `&Type::member` \| Member pointer such as `&Type::member`

Returns: 所属对象指针 | Pointer to the owning object

Definition at line 103 of file libxr_def.hpp.

{
  return reinterpret_cast<OwnerType*>(reinterpret_cast<std::byte*>(ptr) -
                                      OffsetOf(member));
}

◆ max()

template<typename LeftType , typename RightType >
requires CommonOrdered<LeftType, RightType>

auto LibXR::max	(	LeftType	a,
		RightType	b ) -> std::common_type_t<LeftType, RightType>

constexpr

计算两个数的最大值

Computes the maximum of two numbers

Template Parameters

LeftType	第一个数的类型 \| Type of the first number
RightType	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 344 of file libxr_def.hpp.

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

◆ min()

template<typename LeftType , typename RightType >
requires CommonOrdered<LeftType, RightType>

auto LibXR::min	(	LeftType	a,
		RightType	b ) -> std::common_type_t<LeftType, RightType>

constexpr

计算两个数的最小值

Computes the minimum of two numbers

Template Parameters

LeftType	第一个数的类型 \| Type of the first number
RightType	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 360 of file libxr_def.hpp.

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

◆ OffsetOf()

template<typename OwnerType , typename MemberType >
requires MemberObjectPointer<OwnerType, MemberType>

size_t LibXR::OffsetOf ( MemberType OwnerType::* member )

inlinenodiscardnoexcept

计算成员在宿主对象中的偏移量

Computes the offset of a member within the owning object

Parameters

member 指向成员的成员指针，如 &Type::member | Member pointer such as &Type::member

Returns: 成员偏移量 | Member offset

Definition at line 88 of file libxr_def.hpp.

{
  return reinterpret_cast<size_t>(
      &(reinterpret_cast<const volatile OwnerType*>(0)->*member));
}

◆ 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 Linux 主机运行时，包括：

定时器线程默认参数
标准输入输出端口
终端模式
后台 STDIO 线程在使用依赖主机运行时的 LibXR 组件之前，应调用该函数。

This function initializes the Linux host runtime, including:

default timer-thread parameters
STDIO ports
terminal mode
background STDIO threads It should be called before using LibXR components that depend on the host runtime.

Definition at line 97 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 LibXR::ErrorCode::PENDING;
  };
 
  LibXR::STDIO::write_ = new LibXR::WritePort(32, host_stdio_queue_bytes);
 
  *LibXR::STDIO::write_ = write_fun;
 
  auto read_fun = [](ReadPort& port, bool)
  {
    UNUSED(port);
    return LibXR::ErrorCode::PENDING;
  };
 
  LibXR::STDIO::read_ = new LibXR::ReadPort(host_stdio_queue_bytes);
 
  *LibXR::STDIO::read_ = read_fun;
 
  UNUSED(clock_gettime(CLOCK_MONOTONIC, &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);
}

◆ SizeLimitCheck()

bool LibXR::SizeLimitCheck	(	SizeLimitMode	mode,
		size_t	limit,
		size_t	size )

nodiscardconstexprnoexcept

尺寸约束的纯判断函数

Pure predicate for size-limit comparisons

This helper only answers whether the requested size relation holds. It does not decide whether the caller should assert, require, or return an error code. 这个辅助函数只判断尺寸关系是否成立；它本身不决定调用方应该断言、强约束终止，还是返回错误码。

Definition at line 170 of file libxr_def.hpp.

{
  switch (mode)
  {
    case SizeLimitMode::EQUAL:
      return limit == size;
    case SizeLimitMode::LESS:
      return limit >= size;
    case SizeLimitMode::MORE:
      return limit <= size;
    case SizeLimitMode::NONE:
      return true;
  }
  return false;
}

◆ STM32_CallDCacheByAddr() [1/3]

template<typename FunctionType >
requires DCacheFunctionAcceptsVoidPtr<FunctionType>

void LibXR::STM32_CallDCacheByAddr	(	FunctionType	function,
		void *	addr,
		int32_t	dsize )

inline

Calls the CMSIS D-Cache helper with the pointer type accepted by the current toolchain.

按当前工具链接受的指针类型调用 CMSIS D-Cache 接口

Definition at line 34 of file stm32_dcache.hpp.

{
  function(addr, dsize);
}

◆ STM32_CallDCacheByAddr() [2/3]

template<typename FunctionType >
requires (!DCacheFunctionAcceptsVoidPtr<FunctionType> && DCacheFunctionAcceptsVolatileVoidPtr<FunctionType>)

void LibXR::STM32_CallDCacheByAddr	(	FunctionType	function,
		void *	addr,
		int32_t	dsize )

inline

Definition at line 42 of file stm32_dcache.hpp.

{
  function(reinterpret_cast<volatile void*>(addr), dsize);
}

◆ STM32_CallDCacheByAddr() [3/3]

template<typename FunctionType >
requires (!DCacheFunctionAcceptsVoidPtr<FunctionType> && !DCacheFunctionAcceptsVolatileVoidPtr<FunctionType>)

void LibXR::STM32_CallDCacheByAddr	(	FunctionType	function,
		void *	addr,
		int32_t	dsize )

inline

Definition at line 50 of file stm32_dcache.hpp.

{
  function(reinterpret_cast<uint32_t*>(addr), dsize);
}

◆ STM32_CleanDCacheByAddr()

void LibXR::STM32_CleanDCacheByAddr	(	const void *	addr,
		size_t	size )

inline

Cleans D-Cache lines covering the specified memory range.

清理指定内存范围覆盖的 D-Cache cache line

Definition at line 59 of file stm32_dcache.hpp.

{
#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
  auto* raw = const_cast<void*>(addr);
  const auto dsize = static_cast<int32_t>(size);
  STM32_CallDCacheByAddr(&SCB_CleanDCache_by_Addr, raw, dsize);
#else
  (void)addr;
  (void)size;
#endif
}

◆ STM32_InvalidateDCacheByAddr()

void LibXR::STM32_InvalidateDCacheByAddr	(	const void *	addr,
		size_t	size )

inline

Invalidates D-Cache lines covering the specified memory range.

失效指定内存范围覆盖的 D-Cache cache line

Definition at line 75 of file stm32_dcache.hpp.

{
#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
  auto* raw = const_cast<void*>(addr);
  const auto dsize = static_cast<int32_t>(size);
  STM32_CallDCacheByAddr(&SCB_InvalidateDCache_by_Addr, raw, dsize);
#else
  (void)addr;
  (void)size;
#endif
}

◆ STM32FlashBankOf()

uint32_t LibXR::STM32FlashBankOf ( uint32_t )

inline

Definition at line 43 of file stm32_flash.hpp.

43{ return 1; }

Variable Documentation

◆ ALIGN_SIZE

size_t LibXR::ALIGN_SIZE = sizeof(void*)

inlineconstexpr

平台自然对齐大小 / Native platform alignment size

Definition at line 59 of file libxr_def.hpp.

◆ CACHE_LINE_SIZE

size_t LibXR::CACHE_LINE_SIZE = (sizeof(void*) == 8) ? 64 : 32

inlineconstexpr

缓存行大小 / Cache line size

Definition at line 56 of file libxr_def.hpp.

◆ ESP32_WATCHDOG_DEFAULT_INSTANCE

wdt_inst_t LibXR::ESP32_WATCHDOG_DEFAULT_INSTANCE = WDT_MWDT1

constexpr

Definition at line 31 of file esp_watchdog.hpp.

◆ 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 109 of file libxr_color.hpp.

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

◆ LIBXR_DATABASE_VERSION

uint16_t LibXR::LIBXR_DATABASE_VERSION = 3

staticconstexpr

数据库存储格式版本号 (Database storage-format version).

Definition at line 17 of file interface.hpp.

◆ LIBXR_FOREGROUND_STR

const char* LibXR::LIBXR_FOREGROUND_STR[]

inlineconstexpr

Initial value:

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

ANSI escape sequences for foreground colors / ANSI转义序列 - 前景色

Definition at line 102 of file libxr_color.hpp.

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

◆ LIBXR_PRESET_STR

const char* LibXR::LIBXR_PRESET_STR[]

inlineconstexpr

Initial value:

= {

"", "\033[33m\033[1m", "\033[31m\033[1m", "\033[1m\033[41m"}

ANSI escape sequences for text presets / ANSI转义序列 - 文本预设

Definition at line 116 of file libxr_color.hpp.

116 {

117 "", "\033[33m\033[1m", "\033[31m\033[1m", "\033[1m\033[41m"};

◆ LIBXR_TERMINAL_CONTROL_STR

const char* LibXR::LIBXR_TERMINAL_CONTROL_STR[] = {"", "\033[m", "\033[K"}

inlineconstexpr

ANSI escape sequences for terminal controls / ANSI转义序列 - 终端控制

Definition at line 97 of file libxr_color.hpp.

97{"", "\033[m", "\033[K"};

◆ LIBXR_TEXT_STYLE_STR

const char* LibXR::LIBXR_TEXT_STYLE_STR[]

inlineconstexpr

Initial value:

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

ANSI escape sequences for text styles / ANSI转义序列 - 文本样式

Definition at line 90 of file libxr_color.hpp.

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

◆ MACADDR_STRLEN

size_t LibXR::MACADDR_STRLEN = 18

constexpr

Definition at line 13 of file net.hpp.

◆ MAX_PORTS

uint8_t LibXR::MAX_PORTS = 1

constexpr

Definition at line 14 of file mspm0_gpio.hpp.

◆ PI

double LibXR::PI = 3.14159265358979323846

inlineconstexpr

PI 常量 / PI constant.

Definition at line 47 of file libxr_def.hpp.

◆ PID_SIGMA

DefaultScalar LibXR::PID_SIGMA = 1e-6f

constexpr

Definition at line 13 of file pid.hpp.

◆ STANDARD_GRAVITY

double LibXR::STANDARD_GRAVITY = 9.80665

inlineconstexpr

标准重力加速度（m/s²） / Standard gravitational acceleration (m/s²)

Definition at line 53 of file libxr_def.hpp.

◆ TWO_PI

double LibXR::TWO_PI = 2.0 * PI

inlineconstexpr

2PI 常量 / 2PI constant

Definition at line 50 of file libxr_def.hpp.

Namespaces

Data Structures

Concepts

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ DefaultScalar

◆ libxr_mutex_handle

◆ libxr_semaphore_handle

◆ libxr_thread_handle

◆ ReadFun

◆ ReadOperation

◆ WriteFun

◆ WriteOperation

Enumeration Type Documentation

◆ Background

◆ ch32_gpio_group_t

◆ ch32_usb_dev_id_t

◆ ErrorCode

◆ Foreground

◆ LogLevel

◆ Preset

◆ SizeLimitMode

◆ TerminalControl

◆ TextStyle

Function Documentation

◆ ch32_get_gpio_periph()

◆ CheckTopicPayload()

◆ ContainerOf() [1/2]

◆ ContainerOf() [2/2]

◆ max()

◆ min()

◆ OffsetOf()

◆ PlatformInit()

◆ SizeLimitCheck()

◆ STM32_CallDCacheByAddr() [1/3]

◆ STM32_CallDCacheByAddr() [2/3]

◆ STM32_CallDCacheByAddr() [3/3]

◆ STM32_CleanDCacheByAddr()

◆ STM32_InvalidateDCacheByAddr()

◆ STM32FlashBankOf()

Variable Documentation

◆ ALIGN_SIZE

◆ CACHE_LINE_SIZE

◆ ESP32_WATCHDOG_DEFAULT_INSTANCE

◆ IPADDR_STRLEN

◆ LIBXR_BACKGROUND_STR

◆ LIBXR_DATABASE_VERSION

◆ LIBXR_FOREGROUND_STR

◆ LIBXR_PRESET_STR

◆ LIBXR_TERMINAL_CONTROL_STR

◆ LIBXR_TEXT_STYLE_STR

◆ MACADDR_STRLEN

◆ MAX_PORTS

◆ PI

◆ PID_SIGMA

◆ STANDARD_GRAVITY

◆ TWO_PI