系统，工具，源码，语言组成的数字世界-2021-
2024-06-27 01:43:01
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: giturl: https://github.com/ament/ament_cmake.gitversion: 0.9.8ament/ament_index:type: giturl: https://github.com/ament/ament_index.gitversion: 1.0.1ament/ament_lint:type: giturl: https://github.com/ament/ament_lint.gitversion: 0.9.6ament/ament_package:type: giturl: https://github.com/ament/ament_package.gitversion: 0.9.3ament/google_benchmark_vendor:type: giturl: https://github.com/ament/google_benchmark_vendor.gitversion: 0.0.3ament/googletest:type: giturl: https://github.com/ament/googletest.gitversion: 1.8.9000ament/uncrustify_vendor:type: giturl: https://github.com/ament/uncrustify_vendor.gitversion: 1.4.0eProsima/Fast-CDR:type: giturl: https://github.com/eProsima/Fast-CDR.gitversion: v1.0.13eProsima/Fast-DDS:type: giturl: https://github.com/eProsima/Fast-DDS.gitversion: v2.0.2eProsima/foonathan_memory_vendor:type: giturl: https://github.com/eProsima/foonathan_memory_vendor.gitversion: v1.0.0eclipse-cyclonedds/cyclonedds:type: giturl: https://github.com/eclipse-cyclonedds/cyclonedds.gitversion: 0.7.0osrf/osrf_pycommon:type: giturl: https://github.com/osrf/osrf_pycommon.gitversion: 0.1.10osrf/osrf_testing_tools_cpp:type: giturl: https://github.com/osrf/osrf_testing_tools_cpp.gitversion: 1.3.2ros-perception/laser_geometry:type: giturl: https://github.com/ros-perception/laser_geometry.gitversion: 2.2.0ros-planning/navigation_msgs:type: giturl: https://github.com/ros-planning/navigation_msgs.gitversion: 2.0.2ros-tooling/libstatistics_collector:type: giturl: https://github.com/ros-tooling/libstatistics_collector.gitversion: 1.0.1ros-tracing/ros2_tracing:type: giturl: https://gitlab.com/ros-tracing/ros2_tracing.gitversion: 1.0.4ros-visualization/interactive_markers:type: giturl: https://github.com/ros-visualization/interactive_markers.gitversion: 2.1.3ros-visualization/python_qt_binding:type: giturl: https://github.com/ros-visualization/python_qt_binding.gitversion: 1.0.5ros-visualization/qt_gui_core:type: giturl: https://github.com/ros-visualization/qt_gui_core.gitversion: 1.1.2ros-visualization/rqt:type: giturl: https://github.com/ros-visualization/rqt.gitversion: 1.0.6ros-visualization/rqt_action:type: giturl: https://github.com/ros-visualization/rqt_action.gitversion: 1.0.1ros-visualization/rqt_console:type: giturl: https://github.com/ros-visualization/rqt_console.gitversion: 1.1.1ros-visualization/rqt_graph:type: giturl: https://github.com/ros-visualization/rqt_graph.gitversion: 1.1.0ros-visualization/rqt_msg:type: giturl: https://github.com/ros-visualization/rqt_msg.gitversion: 1.0.2ros-visualization/rqt_plot:type: giturl: https://github.com/ros-visualization/rqt_plot.gitversion: 1.0.8ros-visualization/rqt_publisher:type: giturl: https://github.com/ros-visualization/rqt_publisher.gitversion: 1.1.0ros-visualization/rqt_py_console:type: giturl: https://github.com/ros-visualization/rqt_py_console.gitversion: 1.0.0ros-visualization/rqt_reconfigure:type: giturl: https://github.com/ros-visualization/rqt_reconfigure.gitversion: 1.0.6ros-visualization/rqt_service_caller:type: giturl: https://github.com/ros-visualization/rqt_service_caller.gitversion: 1.0.3ros-visualization/rqt_shell:type: giturl: https://github.com/ros-visualization/rqt_shell.gitversion: 1.0.0ros-visualization/rqt_srv:type: giturl: https://github.com/ros-visualization/rqt_srv.gitversion: 1.0.1ros-visualization/rqt_top:type: giturl: https://github.com/ros-visualization/rqt_top.gitversion: 1.0.0ros-visualization/rqt_topic:type: giturl: https://github.com/ros-visualization/rqt_topic.gitversion: 1.1.0ros-visualization/tango_icons_vendor:type: giturl: https://github.com/ros-visualization/tango_icons_vendor.gitversion: 0.0.1ros/class_loader:type: giturl: https://github.com/ros/class_loader.gitversion: 2.0.1ros/kdl_parser:type: giturl: https://github.com/ros/kdl_parser.gitversion: 2.4.1ros/pluginlib:type: giturl: https://github.com/ros/pluginlib.gitversion: 2.5.3ros/resource_retriever:type: giturl: https://github.com/ros/resource_retriever.gitversion: 2.3.4ros/robot_state_publisher:type: giturl: https://github.com/ros/robot_state_publisher.gitversion: 2.4.1ros/ros_environment:type: giturl: https://github.com/ros/ros_environment.gitversion: 2.5.0ros/ros_tutorials:type: giturl: https://github.com/ros/ros_tutorials.gitversion: 1.2.5ros/urdfdom:type: giturl: https://github.com/ros/urdfdom.gitversion: 2.3.3ros/urdfdom_headers:type: giturl: https://github.com/ros/urdfdom_headers.gitversion: 1.0.5ros2/ament_cmake_ros:type: giturl: https://github.com/ros2/ament_cmake_ros.gitversion: 0.9.0ros2/common_interfaces:type: giturl: https://github.com/ros2/common_interfaces.gitversion: 2.0.3ros2/console_bridge_vendor:type: giturl: https://github.com/ros2/console_bridge_vendor.gitversion: 1.2.3ros2/demos:type: giturl: https://github.com/ros2/demos.gitversion: 0.9.3ros2/eigen3_cmake_module:type: giturl: https://github.com/ros2/eigen3_cmake_module.gitversion: 0.1.1ros2/example_interfaces:type: giturl: https://github.com/ros2/example_interfaces.gitversion: 0.9.0ros2/examples:type: giturl: https://github.com/ros2/examples.gitversion: 0.9.4ros2/geometry2:type: giturl: https://github.com/ros2/geometry2.gitversion: 0.13.9ros2/launch:type: giturl: https://github.com/ros2/launch.gitversion: 0.10.4ros2/launch_ros:type: giturl: https://github.com/ros2/launch_ros.gitversion: 0.11.1ros2/libyaml_vendor:type: giturl: https://github.com/ros2/libyaml_vendor.gitversion: 1.0.2ros2/message_filters:type: giturl: https://github.com/ros2/message_filters.gitversion: 3.2.4ros2/mimick_vendor:type: giturl: https://github.com/ros2/mimick_vendor.gitversion: 0.2.3ros2/orocos_kinematics_dynamics:type: giturl: https://github.com/ros2/orocos_kinematics_dynamics.gitversion: 3.3.1ros2/performance_test_fixture:type: giturl: https://github.com/ros2/performance_test_fixture.gitversion: 0.0.6ros2/python_cmake_module:type: giturl: https://github.com/ros2/python_cmake_module.gitversion: 0.8.0ros2/rcl:type: giturl: https://github.com/ros2/rcl.gitversion: 1.1.10ros2/rcl_interfaces:type: giturl: https://github.com/ros2/rcl_interfaces.gitversion: 1.0.0ros2/rcl_logging:type: giturl: https://github.com/ros2/rcl_logging.gitversion: 1.0.1ros2/rclcpp:type: giturl: https://github.com/ros2/rclcpp.gitversion: 2.3.0ros2/rclpy:type: giturl: https://github.com/ros2/rclpy.gitversion: 1.0.4ros2/rcpputils:type: giturl: https://github.com/ros2/rcpputils.gitversion: 1.3.1ros2/rcutils:type: giturl: https://github.com/ros2/rcutils.gitversion: 1.1.2ros2/realtime_support:type: giturl: https://github.com/ros2/realtime_support.gitversion: 0.9.0ros2/rmw:type: giturl: https://github.com/ros2/rmw.gitversion: 1.0.2ros2/rmw_connext:type: giturl: https://github.com/ros2/rmw_connext.gitversion: 1.0.3ros2/rmw_cyclonedds:type: giturl: https://github.com/ros2/rmw_cyclonedds.gitversion: 0.7.6ros2/rmw_dds_common:type: giturl: https://github.com/ros2/rmw_dds_common.gitversion: 1.0.2ros2/rmw_fastrtps:type: giturl: https://github.com/ros2/rmw_fastrtps.gitversion: 1.2.4ros2/rmw_implementation:type: giturl: https://github.com/ros2/rmw_implementation.gitversion: 1.0.1ros2/ros1_bridge:type: giturl: https://github.com/ros2/ros1_bridge.gitversion: 0.9.6ros2/ros2cli:type: giturl: https://github.com/ros2/ros2cli.gitversion: 0.9.8ros2/ros2cli_common_extensions:type: giturl: https://github.com/ros2/ros2cli_common_extensions.gitversion: 0.1.0ros2/ros_testing:type: giturl: https://github.com/ros2/ros_testing.gitversion: 0.2.1ros2/rosbag2:type: giturl: https://github.com/ros2/rosbag2.gitversion: 0.3.5ros2/rosidl:type: giturl: https://github.com/ros2/rosidl.gitversion: 1.2.0ros2/rosidl_dds:type: giturl: https://github.com/ros2/rosidl_dds.gitversion: 0.7.1ros2/rosidl_defaults:type: giturl: https://github.com/ros2/rosidl_defaults.gitversion: 1.0.0ros2/rosidl_python:type: giturl: https://github.com/ros2/rosidl_python.gitversion: 0.9.4ros2/rosidl_runtime_py:type: giturl: https://github.com/ros2/rosidl_runtime_py.gitversion: 0.9.0ros2/rosidl_typesupport:type: giturl: https://github.com/ros2/rosidl_typesupport.gitversion: 1.0.1ros2/rosidl_typesupport_connext:type: giturl: https://github.com/ros2/rosidl_typesupport_connext.gitversion: 1.0.2ros2/rosidl_typesupport_fastrtps:type: giturl: https://github.com/ros2/rosidl_typesupport_fastrtps.gitversion: 1.0.2ros2/rpyutils:type: giturl: https://github.com/ros2/rpyutils.gitversion: 0.2.0ros2/rviz:type: giturl: https://github.com/ros2/rviz.gitversion: 8.2.1ros2/spdlog_vendor:type: giturl: https://github.com/ros2/spdlog_vendor.gitversion: 1.1.2ros2/sros2:type: giturl: https://github.com/ros2/sros2.gitversion: 0.9.4ros2/system_tests:type: giturl: https://github.com/ros2/system_tests.gitversion: 0.9.1ros2/test_interface_files:type: giturl: https://github.com/ros2/test_interface_files.gitversion: 0.8.0ros2/tinyxml2_vendor:type: giturl: https://github.com/ros2/tinyxml2_vendor.gitversion: 0.7.3ros2/tinyxml_vendor:type: giturl: https://github.com/ros2/tinyxml_vendor.gitversion: 0.8.0ros2/tlsf:type: giturl: https://github.com/ros2/tlsf.gitversion: 0.5.0ros2/unique_identifier_msgs:type: giturl: https://github.com/ros2/unique_identifier_msgs.gitversion: 2.1.2ros2/urdf:type: giturl: https://github.com/ros2/urdf.gitversion: 2.4.0ros2/yaml_cpp_vendor:type: giturl: https://github.com/ros2/yaml_cpp_vendor.gitversion: 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}
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