dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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/* =========================================================================
czmq_prelude.h - CZMQ environment
Copyright (c) the Contributors as noted in the AUTHORS file.
This file is part of CZMQ, the high-level C binding for 0MQ:
http://czmq.zeromq.org.
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
=========================================================================
*/
#ifndef __CZMQ_PRELUDE_H_INCLUDED__
#define __CZMQ_PRELUDE_H_INCLUDED__
//- Establish the compiler and computer system ------------------------------
/*
* Defines zero or more of these symbols, for use in any non-portable
* code:
*
* __WINDOWS__ Microsoft C/C++ with Windows calls
* __MSDOS__ System is MS-DOS (set if __WINDOWS__ set)
* __VMS__ System is VAX/VMS or Alpha/OpenVMS
* __UNIX__ System is UNIX
* __OS2__ System is OS/2
*
* __IS_32BIT__ OS/compiler is 32 bits
* __IS_64BIT__ OS/compiler is 64 bits
*
* When __UNIX__ is defined, we also define exactly one of these:
*
* __UTYPE_AUX Apple AUX
* __UTYPE_BEOS BeOS
* __UTYPE_BSDOS BSD/OS
* __UTYPE_DECALPHA Digital UNIX (Alpha)
* __UTYPE_IBMAIX IBM RS/6000 AIX
* __UTYPE_FREEBSD FreeBSD
* __UTYPE_HPUX HP/UX
* __UTYPE_ANDROID Android
* __UTYPE_LINUX Linux
* __UTYPE_GNU GNU/Hurd
* __UTYPE_MIPS MIPS (BSD 4.3/System V mixture)
* __UTYPE_NETBSD NetBSD
* __UTYPE_NEXT NeXT
* __UTYPE_OPENBSD OpenBSD
* __UTYPE_OSX Apple Macintosh OS X
* __UTYPE_IOS Apple iOS
* __UTYPE_QNX QNX
* __UTYPE_IRIX Silicon Graphics IRIX
* __UTYPE_SINIX SINIX-N (Siemens-Nixdorf Unix)
* __UTYPE_SUNOS SunOS
* __UTYPE_SUNSOLARIS Sun Solaris
* __UTYPE_UNIXWARE SCO UnixWare
* ... these are the ones I know about so far.
* __UTYPE_GENERIC Any other UNIX
*
* When __VMS__ is defined, we may define one or more of these:
*
* __VMS_XOPEN Supports XOPEN functions
*/
#if (defined (__64BIT__) || defined (__x86_64__))
# define __IS_64BIT__ // May have 64-bit OS/compiler
#else
# define __IS_32BIT__ // Else assume 32-bit OS/compiler
#endif
#if (defined WIN32 || defined _WIN32)
# undef __WINDOWS__
# define __WINDOWS__
# undef __MSDOS__
# define __MSDOS__
#endif
#if (defined WINDOWS || defined _WINDOWS || defined __WINDOWS__)
# undef __WINDOWS__
# define __WINDOWS__
# undef __MSDOS__
# define __MSDOS__
// Stop cheeky warnings about "deprecated" functions like fopen
# if _MSC_VER >= 1500
# undef _CRT_SECURE_NO_DEPRECATE
# define _CRT_SECURE_NO_DEPRECATE
# pragma warning(disable: 4996)
# endif
#endif
// MSDOS Microsoft C
// _MSC_VER Microsoft C
#if (defined (MSDOS) || defined (_MSC_VER))
# undef __MSDOS__
# define __MSDOS__
# if (defined (_DEBUG) && !defined (DEBUG))
# define DEBUG
# endif
#endif
#if (defined (__EMX__) && defined (__i386__))
# undef __OS2__
# define __OS2__
#endif
// VMS VAX C (VAX/VMS)
// __VMS Dec C (Alpha/OpenVMS)
// __vax__ gcc
#if (defined (VMS) || defined (__VMS) || defined (__vax__))
# undef __VMS__
# define __VMS__
# if (__VMS_VER >= 70000000)
# define __VMS_XOPEN
# endif
#endif
// Try to define a __UTYPE_xxx symbol...
// unix SunOS at least
// __unix__ gcc
// _POSIX_SOURCE is various UNIX systems, maybe also VAX/VMS
#if (defined (unix) || defined (__unix__) || defined (_POSIX_SOURCE))
# if (!defined (__VMS__))
# undef __UNIX__
# define __UNIX__
# if (defined (__alpha)) // Digital UNIX is 64-bit
# undef __IS_32BIT__
# define __IS_64BIT__
# define __UTYPE_DECALPHA
# endif
# endif
#endif
#if (defined (_AUX))
# define __UTYPE_AUX
# define __UNIX__
#elif (defined (__BEOS__))
# define __UTYPE_BEOS
# define __UNIX__
#elif (defined (__hpux))
# define __UTYPE_HPUX
# define __UNIX__
# define _INCLUDE_HPUX_SOURCE
# define _INCLUDE_XOPEN_SOURCE
# define _INCLUDE_POSIX_SOURCE
#elif (defined (_AIX) || defined (AIX))
# define __UTYPE_IBMAIX
# define __UNIX__
#elif (defined (BSD) || defined (bsd))
# define __UTYPE_BSDOS
# define __UNIX__
#elif (defined (__ANDROID__))
# define __UTYPE_ANDROID
# define __UNIX__
#elif (defined (LINUX) || defined (linux) || defined (__linux__))
# define __UTYPE_LINUX
# define __UNIX__
# ifndef __NO_CTYPE
# define __NO_CTYPE // Suppress warnings on tolower()
# endif
# ifndef _DEFAULT_SOURCE
# define _DEFAULT_SOURCE // Include stuff from 4.3 BSD Unix
# endif
#elif (defined (__GNU__))
# define __UTYPE_GNU
# define __UNIX__
#elif (defined (Mips))
# define __UTYPE_MIPS
# define __UNIX__
#elif (defined (FreeBSD) || defined (__FreeBSD__))
# define __UTYPE_FREEBSD
# define __UNIX__
#elif (defined (NetBSD) || defined (__NetBSD__))
# define __UTYPE_NETBSD
# define __UNIX__
#elif (defined (OpenBSD) || defined (__OpenBSD__))
# define __UTYPE_OPENBSD
# define __UNIX__
#elif (defined (APPLE) || defined (__APPLE__))
# include <TargetConditionals.h>
# define __UNIX__
# if TARGET_OS_IPHONE || TARGET_IPHONE_SIMULATOR
# define __UTYPE_IOS
# else
# define __UTYPE_OSX
# endif
#elif (defined (NeXT))
# define __UTYPE_NEXT
# define __UNIX__
#elif (defined (__QNX__))
# define __UTYPE_QNX
# define __UNIX__
#elif (defined (sgi))
# define __UTYPE_IRIX
# define __UNIX__
#elif (defined (sinix))
# define __UTYPE_SINIX
# define __UNIX__
#elif (defined (SOLARIS) || defined (__SVR4)) || defined (SVR4)
# define __UTYPE_SUNSOLARIS
# define __UNIX__
#elif (defined (SUNOS) || defined (SUN) || defined (sun))
# define __UTYPE_SUNOS
# define __UNIX__
#elif (defined (__USLC__) || defined (UnixWare))
# define __UTYPE_UNIXWARE
# define __UNIX__
#elif (defined (__CYGWIN__))
# define __UTYPE_CYGWIN
# define __UNIX__
#elif (defined (__UNIX__))
# define __UTYPE_GENERIC
#endif
//- Always include ZeroMQ headers -------------------------------------------
#include "zmq.h"
#if (ZMQ_VERSION < ZMQ_MAKE_VERSION (4, 2, 0))
# include "zmq_utils.h"
#endif
//- Standard ANSI include files ---------------------------------------------
#include <ctype.h>
#include <limits.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <time.h>
#include <errno.h>
#include <float.h>
#include <math.h>
#include <signal.h>
#include <setjmp.h>
#include <assert.h>
//- System-specific include files -------------------------------------------
#if (defined (__MSDOS__))
# if (defined (__WINDOWS__))
# if (_WIN32_WINNT < 0x0600)
# undef _WIN32_WINNT
# define _WIN32_WINNT 0x0600
# endif
# if (!defined (FD_SETSIZE))
# define FD_SETSIZE 1024 // Max. filehandles/sockets
# endif
# include <direct.h>
# include <winsock2.h>
# include <windows.h>
# include <process.h>
# include <ws2tcpip.h> // For getnameinfo ()
# include <iphlpapi.h> // For GetAdaptersAddresses ()
# endif
# include <malloc.h>
# include <dos.h>
# include <io.h>
# include <fcntl.h>
# include <sys/types.h>
# include <sys/stat.h>
# include <sys/utime.h>
# include <share.h>
#endif
#if (defined (__UNIX__))
# include <fcntl.h>
# include <netdb.h>
# include <unistd.h>
# include <pthread.h>
# include <dirent.h>
# include <pwd.h>
# include <grp.h>
# include <utime.h>
# include <inttypes.h>
# include <syslog.h>
# include <sys/types.h>
# include <sys/param.h>
# include <sys/socket.h>
# include <sys/time.h>
# include <sys/stat.h>
# include <sys/ioctl.h>
# include <sys/file.h>
# include <sys/wait.h>
# include <sys/un.h>
# include <sys/uio.h> // Let CZMQ build with libzmq/3.x
# include <netinet/in.h> // Must come before arpa/inet.h
# if (!defined (__UTYPE_ANDROID)) && (!defined (__UTYPE_IBMAIX)) \
&& (!defined (__UTYPE_HPUX))
# include <ifaddrs.h>
# endif
# if defined (__UTYPE_SUNSOLARIS) || defined (__UTYPE_SUNOS)
# include <sys/sockio.h>
# endif
# if (!defined (__UTYPE_BEOS))
# include <arpa/inet.h>
# if (!defined (TCP_NODELAY))
# include <netinet/tcp.h>
# endif
# endif
# if (defined (__UTYPE_IBMAIX) || defined(__UTYPE_QNX))
# include <sys/select.h>
# endif
# if (defined (__UTYPE_BEOS))
# include <NetKit.h>
# endif
# if ((defined (_XOPEN_REALTIME) && (_XOPEN_REALTIME >= 1)) \
|| (defined (_POSIX_VERSION) && (_POSIX_VERSION >= 199309L)))
# include <sched.h>
# endif
# if (defined (__UTYPE_OSX) || defined (__UTYPE_IOS))
# include <mach/clock.h>
# include <mach/mach.h> // For monotonic clocks
# endif
# if (defined (__UTYPE_OSX))
# include <crt_externs.h> // For _NSGetEnviron()
# endif
# if (defined (__UTYPE_ANDROID))
# include <android/log.h>
# endif
# if (defined (__UTYPE_LINUX) && defined (HAVE_LIBSYSTEMD))
# include <systemd/sd-daemon.h>
# endif
#endif
#if (defined (__VMS__))
# if (!defined (vaxc))
# include <fcntl.h> // Not provided by Vax C
# endif
# include <netdb.h>
# include <unistd.h>
# include <pthread.h>
# include <unixio.h>
# include <unixlib.h>
# include <types.h>
# include <file.h>
# include <socket.h>
# include <dirent.h>
# include <time.h>
# include <pwd.h>
# include <stat.h>
# include <in.h>
# include <inet.h>
#endif
#if (defined (__OS2__))
# include <sys/types.h> // Required near top
# include <fcntl.h>
# include <malloc.h>
# include <netdb.h>
# include <unistd.h>
# include <pthread.h>
# include <dirent.h>
# include <pwd.h>
# include <grp.h>
# include <io.h>
# include <process.h>
# include <sys/param.h>
# include <sys/socket.h>
# include <sys/select.h>
# include <sys/time.h>
# include <sys/stat.h>
# include <sys/ioctl.h>
# include <sys/file.h>
# include <sys/wait.h>
# include <netinet/in.h> // Must come before arpa/inet.h
# include <arpa/inet.h>
# include <utime.h>
# if (!defined (TCP_NODELAY))
# include <netinet/tcp.h>
# endif
#endif
// Add missing defines for non-POSIX systems
#ifndef S_IRUSR
# define S_IRUSR S_IREAD
#endif
#ifndef S_IWUSR
# define S_IWUSR S_IWRITE
#endif
#ifndef S_ISDIR
# define S_ISDIR(m) (((m) & S_IFDIR) != 0)
#endif
#ifndef S_ISREG
# define S_ISREG(m) (((m) & S_IFREG) != 0)
#endif
//- Check compiler data type sizes ------------------------------------------
#if (UCHAR_MAX != 0xFF)
# error "Cannot compile: must change definition of 'byte'."
#endif
#if (USHRT_MAX != 0xFFFFU)
# error "Cannot compile: must change definition of 'dbyte'."
#endif
#if (UINT_MAX != 0xFFFFFFFFU)
# error "Cannot compile: must change definition of 'qbyte'."
#endif
//- Data types --------------------------------------------------------------
typedef unsigned char byte; // Single unsigned byte = 8 bits
typedef unsigned short dbyte; // Double byte = 16 bits
typedef unsigned int qbyte; // Quad byte = 32 bits
typedef struct sockaddr_in inaddr_t; // Internet socket address structure
typedef struct sockaddr_in6 in6addr_t; // Internet 6 socket address structure
// Common structure to hold inaddr_t and in6addr_t with length
typedef struct {
union {
inaddr_t __addr; // IPv4 address
in6addr_t __addr6; // IPv6 address
} __inaddr_u;
#define ipv4addr __inaddr_u.__addr
#define ipv6addr __inaddr_u.__addr6
int inaddrlen;
} inaddr_storage_t;
//- Inevitable macros -------------------------------------------------------
#define streq(s1,s2) (!strcmp ((s1), (s2)))
#define strneq(s1,s2) (strcmp ((s1), (s2)))
// Provide random number from 0..(num-1)
// Note that (at least in Solaris) while rand() returns an int limited by
// RAND_MAX, random() returns a 32-bit value all filled with random bits.
#if (defined (__WINDOWS__)) || (defined (__UTYPE_IBMAIX)) \
|| (defined (__UTYPE_HPUX)) || (defined (__UTYPE_SUNOS)) || (defined (__UTYPE_SOLARIS))
# define randof(num) (int) ((float) (num) * rand () / (RAND_MAX + 1.0))
#else
# if defined(RAND_MAX)
# define randof(num) (int) ((float) (num) * (random () % RAND_MAX) / (RAND_MAX + 1.0))
# else
# define randof(num) (int) ((float) (num) * (uint32_t)random () / (UINT32_MAX + 1.0))
# endif
#endif
// Windows MSVS doesn't have stdbool
#if (defined (_MSC_VER))
# if (!defined (__cplusplus) && (!defined (true)))
# define true 1
# define false 0
typedef char bool;
# endif
#else
# include <stdbool.h>
#endif
//- A number of POSIX and C99 keywords and data types -----------------------
// CZMQ uses uint for array indices; equivalent to unsigned int, but more
// convenient in code. We define it in czmq_prelude.h on systems that do
// not define it by default.
#if (defined (__WINDOWS__))
# if (!defined (__cplusplus) && (!defined (inline)))
# define inline __inline
# endif
# define strtoull _strtoui64
# define atoll _atoi64
# define srandom srand
# define TIMEZONE _timezone
# if (!defined (__MINGW32__))
# define snprintf _snprintf
# define vsnprintf _vsnprintf
# endif
typedef unsigned long ulong;
typedef unsigned int uint;
# if (!defined (__MINGW32__))
typedef int mode_t;
# if !defined (_SSIZE_T_DEFINED)
typedef intptr_t ssize_t;
# define _SSIZE_T_DEFINED
# endif
# endif
# if ((!defined (__MINGW32__) \
|| (defined (__MINGW32__) && defined (__IS_64BIT__))) \
&& !defined (ZMQ_DEFINED_STDINT))
typedef __int8 int8_t;
typedef __int16 int16_t;
typedef __int32 int32_t;
typedef __int64 int64_t;
typedef unsigned __int8 uint8_t;
typedef unsigned __int16 uint16_t;
typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
# endif
typedef uint32_t in_addr_t;
# if (!defined (PRId8))
# define PRId8 "d"
# endif
# if (!defined (PRId16))
# define PRId16 "d"
# endif
# if (!defined (PRId32))
# define PRId32 "d"
# endif
# if (!defined (PRId64))
# define PRId64 "I64d"
# endif
# if (!defined (PRIu8))
# define PRIu8 "u"
# endif
# if (!defined (PRIu16))
# define PRIu16 "u"
# endif
# if (!defined (PRIu32))
# define PRIu32 "u"
# endif
# if (!defined (PRIu64))
# define PRIu64 "I64u"
# endif
# if (!defined (va_copy))
// MSVC does not support C99's va_copy so we use a regular assignment
# define va_copy(dest,src) (dest) = (src)
# endif
#elif (defined (__UTYPE_OSX))
typedef unsigned long ulong;
typedef unsigned int uint;
// This fixes header-order dependence problem with some Linux versions
#elif (defined (__UTYPE_LINUX))
# if (__STDC_VERSION__ >= 199901L && !defined (__USE_MISC))
typedef unsigned int uint;
# endif
#endif
//- Non-portable declaration specifiers -------------------------------------
// For thread-local storage
#if defined (__WINDOWS__)
# define CZMQ_THREADLS __declspec(thread)
#else
# define CZMQ_THREADLS __thread
#endif
// Replacement for malloc() which asserts if we run out of heap, and
// which zeroes the allocated block.
static inline void *
safe_malloc (size_t size, const char *file, unsigned line)
{
// printf ("%s:%u %08d\n", file, line, (int) size);
void *mem = calloc (1, size);
if (mem == NULL) {
fprintf (stderr, "FATAL ERROR at %s:%u\n", file, line);
fprintf (stderr, "OUT OF MEMORY (malloc returned NULL)\n");
fflush (stderr);
abort ();
}
return mem;
}
// Define _ZMALLOC_DEBUG if you need to trace memory leaks using e.g. mtrace,
// otherwise all allocations will claim to come from czmq_prelude.h. For best
// results, compile all classes so you see dangling object allocations.
// _ZMALLOC_PEDANTIC does the same thing, but its intention is to propagate
// out of memory condition back up the call stack.
#if defined (_ZMALLOC_DEBUG) || defined (_ZMALLOC_PEDANTIC)
# define zmalloc(size) calloc(1,(size))
#else
# define zmalloc(size) safe_malloc((size), __FILE__, __LINE__)
#endif
// GCC supports validating format strings for functions that act like printf
#if defined (__GNUC__) && (__GNUC__ >= 2)
# define CHECK_PRINTF(a) __attribute__((format (printf, a, a + 1)))
#else
# define CHECK_PRINTF(a)
#endif
// Lets us write code that compiles both on Windows and normal platforms
#if !defined (__WINDOWS__)
typedef int SOCKET;
# define closesocket close
# define INVALID_SOCKET -1
# define SOCKET_ERROR -1
# define O_BINARY 0
#endif
//- Include non-portable header files based on platform.h -------------------
#if defined (HAVE_LINUX_WIRELESS_H)
# include <linux/wireless.h>
// This would normally come from net/if.h
unsigned int if_nametoindex (const char *ifname);
#else
# if defined (HAVE_NET_IF_H)
# include <net/if.h>
# endif
# if defined (HAVE_NET_IF_MEDIA_H)
# include <net/if_media.h>
# endif
#endif
#if defined (__WINDOWS__) && !defined (HAVE_UUID)
# define HAVE_UUID 1
#endif
#if defined (__UTYPE_OSX) && !defined (HAVE_UUID)
# define HAVE_UUID 1
#endif
#if defined (HAVE_UUID)
# if defined (__UTYPE_FREEBSD) || defined (__UTYPE_NETBSD)
# include <uuid.h>
# elif defined __UTYPE_HPUX
# include <dce/uuid.h>
# elif defined (__UNIX__)
# include <uuid/uuid.h>
# endif
#endif
// ZMQ compatibility macros
#if ZMQ_VERSION_MAJOR == 4
# define ZMQ_POLL_MSEC 1 // zmq_poll is msec
#elif ZMQ_VERSION_MAJOR == 3
# define ZMQ_POLL_MSEC 1 // zmq_poll is msec
# if ZMQ_VERSION_MINOR < 2
# define zmq_ctx_new zmq_init
# endif
# define zmq_ctx_term zmq_term
#elif ZMQ_VERSION_MAJOR == 2
# define ZMQ_POLL_MSEC 1000 // zmq_poll is usec
# define zmq_sendmsg zmq_send // Smooth out 2.x changes
# define zmq_recvmsg zmq_recv
# define zmq_ctx_new zmq_init
# define zmq_ctx_term zmq_term
# define zmq_msg_send(m,s,f) zmq_sendmsg ((s),(m),(f))
# define zmq_msg_recv(m,s,f) zmq_recvmsg ((s),(m),(f))
// Older libzmq APIs may be missing some aspects of libzmq v3.0
# ifndef ZMQ_ROUTER
# define ZMQ_ROUTER ZMQ_XREP
# endif
# ifndef ZMQ_DEALER
# define ZMQ_DEALER ZMQ_XREQ
# endif
# ifndef ZMQ_DONTWAIT
# define ZMQ_DONTWAIT ZMQ_NOBLOCK
# endif
# ifndef ZMQ_XSUB
# error "please upgrade your libzmq from http://zeromq.org"
# endif
# if ZMQ_VERSION_MINOR == 0 \
|| (ZMQ_VERSION_MINOR == 1 && ZMQ_VERSION_PATCH < 7)
# error "CZMQ requires at least libzmq/2.1.7 stable"
# endif
#endif
#endif