系统，工具，源码，语言组成的数字世界-2021-
【摘要】 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...
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}。
- 现实-传感器-{数字世界-处理-数字世界}-执行器-现实
如何以此为基础构建“自动驾驶系统”，持续学习中{Apex.Autonomy}
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/113358571
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