系统，工具，源码，语言组成的数字世界-2021-

zhangrelay

发布于 2021-03-03 15:36:01

48800

代码可运行

文章被收录于专栏：机器人课程与技术机器人课程与技术

运行总次数：0

代码可运行

最近一些时间，主要阅读代码，包括题中所涉及的，常常思考“0”和“1”的奇妙之处，但无奈过于愚钝，未能开悟。

几乎所有现实中的人，沉溺于数字产品的时间越来越久，无论游戏，还是娱乐，或者购物，还有读书。

手机比电脑方便许多，闲暇时很少再看到发呆的现象，而多是被这屏幕勾去了魂魄，渐渐被数字产品所“奴役”。

系统：无非Computer和Phone，最近看Linux，工具：机器人类ROS2，源码：Github，语言：C/C++。

Linux内核：github.com/torvalds/linux

发现led是所有系统必备的部分呢。以Linux为例：

github.com/torvalds/linux/blob/master/drivers/leds/leds.h

#ifndef __LEDS_H_INCLUDED
#define __LEDS_H_INCLUDED

#include <linux/rwsem.h>
#include <linux/leds.h>

static inline int led_get_brightness(struct led_classdev *led_cdev)
{
	return led_cdev->brightness;
}

void led_init_core(struct led_classdev *led_cdev);
void led_stop_software_blink(struct led_classdev *led_cdev);
void led_set_brightness_nopm(struct led_classdev *led_cdev,
				enum led_brightness value);
void led_set_brightness_nosleep(struct led_classdev *led_cdev,
				enum led_brightness value);
ssize_t led_trigger_read(struct file *filp, struct kobject *kobj,
			struct bin_attribute *attr, char *buf,
			loff_t pos, size_t count);
ssize_t led_trigger_write(struct file *filp, struct kobject *kobj,
			struct bin_attribute *bin_attr, char *buf,
			loff_t pos, size_t count);

extern struct rw_semaphore leds_list_lock;
extern struct list_head leds_list;
extern struct list_head trigger_list;
extern const char * const led_colors[LED_COLOR_ID_MAX];

#endif	/* __LEDS_H_INCLUDED */

包含初始化核心，闪烁，亮度等一些功能。

当然在设备中还可看到看门狗

，USB

，I2C

等。

工具中可以看到一些常用监测tools/leds/uledmon.c：

#include <fcntl.h>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <unistd.h>

#include <linux/uleds.h>

int main(int argc, char const *argv[])
{
	struct uleds_user_dev uleds_dev;
	int fd, ret;
	int brightness;
	struct timespec ts;

	if (argc != 2) {
		fprintf(stderr, "Requires <device-name> argument\n");
		return 1;
	}

	strncpy(uleds_dev.name, argv[1], LED_MAX_NAME_SIZE);
	uleds_dev.max_brightness = 100;

	fd = open("/dev/uleds", O_RDWR);
	if (fd == -1) {
		perror("Failed to open /dev/uleds");
		return 1;
	}

	ret = write(fd, &uleds_dev, sizeof(uleds_dev));
	if (ret == -1) {
		perror("Failed to write to /dev/uleds");
		close(fd);
		return 1;
	}

	while (1) {
		ret = read(fd, &brightness, sizeof(brightness));
		if (ret == -1) {
			perror("Failed to read from /dev/uleds");
			close(fd);
			return 1;
		}
		clock_gettime(CLOCK_MONOTONIC, &ts);
		printf("[%ld.%09ld] %u\n", ts.tv_sec, ts.tv_nsec, brightness);
	}

	close(fd);

	return 0;
}

比单片机程序的确复杂了许多。

工具：ros2-foxy

学习源码，才能真正掌握ros2，在此处不过多说明了。

repositories:
  ament/ament_cmake:
    type: git
    url: https://github.com/ament/ament_cmake.git
    version: 0.9.8
  ament/ament_index:
    type: git
    url: https://github.com/ament/ament_index.git
    version: 1.0.1
  ament/ament_lint:
    type: git
    url: https://github.com/ament/ament_lint.git
    version: 0.9.6
  ament/ament_package:
    type: git
    url: https://github.com/ament/ament_package.git
    version: 0.9.3
  ament/google_benchmark_vendor:
    type: git
    url: https://github.com/ament/google_benchmark_vendor.git
    version: 0.0.3
  ament/googletest:
    type: git
    url: https://github.com/ament/googletest.git
    version: 1.8.9000
  ament/uncrustify_vendor:
    type: git
    url: https://github.com/ament/uncrustify_vendor.git
    version: 1.4.0
  eProsima/Fast-CDR:
    type: git
    url: https://github.com/eProsima/Fast-CDR.git
    version: v1.0.13
  eProsima/Fast-DDS:
    type: git
    url: https://github.com/eProsima/Fast-DDS.git
    version: v2.0.2
  eProsima/foonathan_memory_vendor:
    type: git
    url: https://github.com/eProsima/foonathan_memory_vendor.git
    version: v1.0.0
  eclipse-cyclonedds/cyclonedds:
    type: git
    url: https://github.com/eclipse-cyclonedds/cyclonedds.git
    version: 0.7.0
  osrf/osrf_pycommon:
    type: git
    url: https://github.com/osrf/osrf_pycommon.git
    version: 0.1.10
  osrf/osrf_testing_tools_cpp:
    type: git
    url: https://github.com/osrf/osrf_testing_tools_cpp.git
    version: 1.3.2
  ros-perception/laser_geometry:
    type: git
    url: https://github.com/ros-perception/laser_geometry.git
    version: 2.2.0
  ros-planning/navigation_msgs:
    type: git
    url: https://github.com/ros-planning/navigation_msgs.git
    version: 2.0.2
  ros-tooling/libstatistics_collector:
    type: git
    url: https://github.com/ros-tooling/libstatistics_collector.git
    version: 1.0.1
  ros-tracing/ros2_tracing:
    type: git
    url: https://gitlab.com/ros-tracing/ros2_tracing.git
    version: 1.0.4
  ros-visualization/interactive_markers:
    type: git
    url: https://github.com/ros-visualization/interactive_markers.git
    version: 2.1.3
  ros-visualization/python_qt_binding:
    type: git
    url: https://github.com/ros-visualization/python_qt_binding.git
    version: 1.0.5
  ros-visualization/qt_gui_core:
    type: git
    url: https://github.com/ros-visualization/qt_gui_core.git
    version: 1.1.2
  ros-visualization/rqt:
    type: git
    url: https://github.com/ros-visualization/rqt.git
    version: 1.0.6
  ros-visualization/rqt_action:
    type: git
    url: https://github.com/ros-visualization/rqt_action.git
    version: 1.0.1
  ros-visualization/rqt_console:
    type: git
    url: https://github.com/ros-visualization/rqt_console.git
    version: 1.1.1
  ros-visualization/rqt_graph:
    type: git
    url: https://github.com/ros-visualization/rqt_graph.git
    version: 1.1.0
  ros-visualization/rqt_msg:
    type: git
    url: https://github.com/ros-visualization/rqt_msg.git
    version: 1.0.2
  ros-visualization/rqt_plot:
    type: git
    url: https://github.com/ros-visualization/rqt_plot.git
    version: 1.0.8
  ros-visualization/rqt_publisher:
    type: git
    url: https://github.com/ros-visualization/rqt_publisher.git
    version: 1.1.0
  ros-visualization/rqt_py_console:
    type: git
    url: https://github.com/ros-visualization/rqt_py_console.git
    version: 1.0.0
  ros-visualization/rqt_reconfigure:
    type: git
    url: https://github.com/ros-visualization/rqt_reconfigure.git
    version: 1.0.6
  ros-visualization/rqt_service_caller:
    type: git
    url: https://github.com/ros-visualization/rqt_service_caller.git
    version: 1.0.3
  ros-visualization/rqt_shell:
    type: git
    url: https://github.com/ros-visualization/rqt_shell.git
    version: 1.0.0
  ros-visualization/rqt_srv:
    type: git
    url: https://github.com/ros-visualization/rqt_srv.git
    version: 1.0.1
  ros-visualization/rqt_top:
    type: git
    url: https://github.com/ros-visualization/rqt_top.git
    version: 1.0.0
  ros-visualization/rqt_topic:
    type: git
    url: https://github.com/ros-visualization/rqt_topic.git
    version: 1.1.0
  ros-visualization/tango_icons_vendor:
    type: git
    url: https://github.com/ros-visualization/tango_icons_vendor.git
    version: 0.0.1
  ros/class_loader:
    type: git
    url: https://github.com/ros/class_loader.git
    version: 2.0.1
  ros/kdl_parser:
    type: git
    url: https://github.com/ros/kdl_parser.git
    version: 2.4.1
  ros/pluginlib:
    type: git
    url: https://github.com/ros/pluginlib.git
    version: 2.5.3
  ros/resource_retriever:
    type: git
    url: https://github.com/ros/resource_retriever.git
    version: 2.3.4
  ros/robot_state_publisher:
    type: git
    url: https://github.com/ros/robot_state_publisher.git
    version: 2.4.1
  ros/ros_environment:
    type: git
    url: https://github.com/ros/ros_environment.git
    version: 2.5.0
  ros/ros_tutorials:
    type: git
    url: https://github.com/ros/ros_tutorials.git
    version: 1.2.5
  ros/urdfdom:
    type: git
    url: https://github.com/ros/urdfdom.git
    version: 2.3.3
  ros/urdfdom_headers:
    type: git
    url: https://github.com/ros/urdfdom_headers.git
    version: 1.0.5
  ros2/ament_cmake_ros:
    type: git
    url: https://github.com/ros2/ament_cmake_ros.git
    version: 0.9.0
  ros2/common_interfaces:
    type: git
    url: https://github.com/ros2/common_interfaces.git
    version: 2.0.3
  ros2/console_bridge_vendor:
    type: git
    url: https://github.com/ros2/console_bridge_vendor.git
    version: 1.2.3
  ros2/demos:
    type: git
    url: https://github.com/ros2/demos.git
    version: 0.9.3
  ros2/eigen3_cmake_module:
    type: git
    url: https://github.com/ros2/eigen3_cmake_module.git
    version: 0.1.1
  ros2/example_interfaces:
    type: git
    url: https://github.com/ros2/example_interfaces.git
    version: 0.9.0
  ros2/examples:
    type: git
    url: https://github.com/ros2/examples.git
    version: 0.9.4
  ros2/geometry2:
    type: git
    url: https://github.com/ros2/geometry2.git
    version: 0.13.9
  ros2/launch:
    type: git
    url: https://github.com/ros2/launch.git
    version: 0.10.4
  ros2/launch_ros:
    type: git
    url: https://github.com/ros2/launch_ros.git
    version: 0.11.1
  ros2/libyaml_vendor:
    type: git
    url: https://github.com/ros2/libyaml_vendor.git
    version: 1.0.2
  ros2/message_filters:
    type: git
    url: https://github.com/ros2/message_filters.git
    version: 3.2.4
  ros2/mimick_vendor:
    type: git
    url: https://github.com/ros2/mimick_vendor.git
    version: 0.2.3
  ros2/orocos_kinematics_dynamics:
    type: git
    url: https://github.com/ros2/orocos_kinematics_dynamics.git
    version: 3.3.1
  ros2/performance_test_fixture:
    type: git
    url: https://github.com/ros2/performance_test_fixture.git
    version: 0.0.6
  ros2/python_cmake_module:
    type: git
    url: https://github.com/ros2/python_cmake_module.git
    version: 0.8.0
  ros2/rcl:
    type: git
    url: https://github.com/ros2/rcl.git
    version: 1.1.10
  ros2/rcl_interfaces:
    type: git
    url: https://github.com/ros2/rcl_interfaces.git
    version: 1.0.0
  ros2/rcl_logging:
    type: git
    url: https://github.com/ros2/rcl_logging.git
    version: 1.0.1
  ros2/rclcpp:
    type: git
    url: https://github.com/ros2/rclcpp.git
    version: 2.3.0
  ros2/rclpy:
    type: git
    url: https://github.com/ros2/rclpy.git
    version: 1.0.4
  ros2/rcpputils:
    type: git
    url: https://github.com/ros2/rcpputils.git
    version: 1.3.1
  ros2/rcutils:
    type: git
    url: https://github.com/ros2/rcutils.git
    version: 1.1.2
  ros2/realtime_support:
    type: git
    url: https://github.com/ros2/realtime_support.git
    version: 0.9.0
  ros2/rmw:
    type: git
    url: https://github.com/ros2/rmw.git
    version: 1.0.2
  ros2/rmw_connext:
    type: git
    url: https://github.com/ros2/rmw_connext.git
    version: 1.0.3
  ros2/rmw_cyclonedds:
    type: git
    url: https://github.com/ros2/rmw_cyclonedds.git
    version: 0.7.6
  ros2/rmw_dds_common:
    type: git
    url: https://github.com/ros2/rmw_dds_common.git
    version: 1.0.2
  ros2/rmw_fastrtps:
    type: git
    url: https://github.com/ros2/rmw_fastrtps.git
    version: 1.2.4
  ros2/rmw_implementation:
    type: git
    url: https://github.com/ros2/rmw_implementation.git
    version: 1.0.1
  ros2/ros1_bridge:
    type: git
    url: https://github.com/ros2/ros1_bridge.git
    version: 0.9.6
  ros2/ros2cli:
    type: git
    url: https://github.com/ros2/ros2cli.git
    version: 0.9.8
  ros2/ros2cli_common_extensions:
    type: git
    url: https://github.com/ros2/ros2cli_common_extensions.git
    version: 0.1.0
  ros2/ros_testing:
    type: git
    url: https://github.com/ros2/ros_testing.git
    version: 0.2.1
  ros2/rosbag2:
    type: git
    url: https://github.com/ros2/rosbag2.git
    version: 0.3.5
  ros2/rosidl:
    type: git
    url: https://github.com/ros2/rosidl.git
    version: 1.2.0
  ros2/rosidl_dds:
    type: git
    url: https://github.com/ros2/rosidl_dds.git
    version: 0.7.1
  ros2/rosidl_defaults:
    type: git
    url: https://github.com/ros2/rosidl_defaults.git
    version: 1.0.0
  ros2/rosidl_python:
    type: git
    url: https://github.com/ros2/rosidl_python.git
    version: 0.9.4
  ros2/rosidl_runtime_py:
    type: git
    url: https://github.com/ros2/rosidl_runtime_py.git
    version: 0.9.0
  ros2/rosidl_typesupport:
    type: git
    url: https://github.com/ros2/rosidl_typesupport.git
    version: 1.0.1
  ros2/rosidl_typesupport_connext:
    type: git
    url: https://github.com/ros2/rosidl_typesupport_connext.git
    version: 1.0.2
  ros2/rosidl_typesupport_fastrtps:
    type: git
    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
    version: 1.0.2
  ros2/rpyutils:
    type: git
    url: https://github.com/ros2/rpyutils.git
    version: 0.2.0
  ros2/rviz:
    type: git
    url: https://github.com/ros2/rviz.git
    version: 8.2.1
  ros2/spdlog_vendor:
    type: git
    url: https://github.com/ros2/spdlog_vendor.git
    version: 1.1.2
  ros2/sros2:
    type: git
    url: https://github.com/ros2/sros2.git
    version: 0.9.4
  ros2/system_tests:
    type: git
    url: https://github.com/ros2/system_tests.git
    version: 0.9.1
  ros2/test_interface_files:
    type: git
    url: https://github.com/ros2/test_interface_files.git
    version: 0.8.0
  ros2/tinyxml2_vendor:
    type: git
    url: https://github.com/ros2/tinyxml2_vendor.git
    version: 0.7.3
  ros2/tinyxml_vendor:
    type: git
    url: https://github.com/ros2/tinyxml_vendor.git
    version: 0.8.0
  ros2/tlsf:
    type: git
    url: https://github.com/ros2/tlsf.git
    version: 0.5.0
  ros2/unique_identifier_msgs:
    type: git
    url: https://github.com/ros2/unique_identifier_msgs.git
    version: 2.1.2
  ros2/urdf:
    type: git
    url: https://github.com/ros2/urdf.git
    version: 2.4.0
  ros2/yaml_cpp_vendor:
    type: git
    url: https://github.com/ros2/yaml_cpp_vendor.git
    version: 7.0.2

系统内核还是C为主，工具以C++和Python等为主。

当然上述系统只涉及信息处理，如果需要和现实交互，需要再装备传感器和执行器{物联网机器人操作系统}。