README aktualisiert + unötige Dateien entfernt

.vscode/c_cpp_properties.json

@@ -0,0 +1,20 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "",
+        "limitSymbolsToIncludedHeaders": true
+      },
+      "includePath": [
+        "/home/ros2/dev2_ws/install/v4l2_camera/include/**",
+        "/home/ros2/dev2_ws/install/ros2_aruco_interfaces/include/**",
+        "/opt/ros/foxy/include/**",
+        "/home/ros2/dev2_ws/src/aruco_interfaces/include/**",
+        "/home/ros2/dev2_ws/src/v4l2_camera/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,32 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ros2/dev2_ws/install/ros2_aruco_interfaces/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/ros2_aruco/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/camera_info/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages",
+        "/opt/ros/foxy/lib/python3.8/site-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/ros2/dev2_ws/install/ros2_aruco_interfaces/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/ros2_aruco/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/camera_info/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages",
+        "/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages",
+        "/opt/ros/foxy/lib/python3.8/site-packages"
+    ],
+    "files.associations": {
+        "iostream": "cpp",
+        "unordered_map": "cpp",
+        "functional": "cpp",
+        "array": "cpp",
+        "*.tcc": "cpp",
+        "memory": "cpp",
+        "future": "cpp",
+        "istream": "cpp",
+        "tuple": "cpp",
+        "utility": "cpp",
+        "variant": "cpp",
+        "cmath": "cpp"
+    }
+}

README.md

@@ -5,16 +5,33 @@ This project was created as an project thesis (MSY-Master).
 ![Bild 1](./Images/Aruco_robot.jpg "ArUco Marker attached on robot")
 
 
-## Sections
-- [Gettingstarted](#Gettingstarted)
-- [Requirements](#requirements)
-- [test1](#test)
+## Requirements
+- Transforms3D
 
+    For computing the pose the node requires this library. A detailed description can be found on: https://matthew-brett.github.io/transforms3d/) 
 
-## Getting started
+        pip install transforms3d
 
-## Requirements
+- usb_cam
+
+    Usb_cam is a frequently used ros driver for V4L USB cameras. A detailed description can be found here: http://wiki.ros.org/usb_cam
+
+
+        sudo apt get install ros-<ros2-distro>-usb-cam
+
+    
 
 ## Running the code
+For an easy start there is already created a launch file. All required parameters can be set and edited centrally here. The launch-file starts: 
+- aruco_detector_node
+- usb_cam
+- rqt_image_view
+
+        cd launch/
+        ros2 launch aruco_launch.py
+
+    ![Bild 1](./Images/Topics.jpg "ArUco Marker attached on robot")
+
+## Outputs
+
 
-## test

build/.built_by

@@ -1 +0,0 @@
-colcon

build/aruco_detector/aruco_detector.egg-info/PKG-INFO

@@ -1,10 +0,0 @@
-Metadata-Version: 1.2
-Name: aruco-detector
-Version: 0.0.0
-Summary: Node to detect ArUco-codes
-Home-page: UNKNOWN
-Maintainer: ros2
-Maintainer-email: bruecknerja86834@th-nuernberg.de
-License: TODO: License declaration
-Description: UNKNOWN
-Platform: UNKNOWN

build/aruco_detector/aruco_detector.egg-info/SOURCES.txt

@@ -1,18 +0,0 @@
-package.xml
-setup.cfg
-setup.py
-../../build/aruco_detector/aruco_detector.egg-info/PKG-INFO
-../../build/aruco_detector/aruco_detector.egg-info/SOURCES.txt
-../../build/aruco_detector/aruco_detector.egg-info/dependency_links.txt
-../../build/aruco_detector/aruco_detector.egg-info/entry_points.txt
-../../build/aruco_detector/aruco_detector.egg-info/requires.txt
-../../build/aruco_detector/aruco_detector.egg-info/top_level.txt
-../../build/aruco_detector/aruco_detector.egg-info/zip-safe
-aruco_detector/__init__.py
-aruco_detector/aruco_detector_node.py
-aruco_detector/transformations.py
-aruco_detector/yaml_handling.py
-resource/aruco_detector
-test/test_copyright.py
-test/test_flake8.py
-test/test_pep257.py

build/aruco_detector/aruco_detector.egg-info/dependency_links.txt

@@ -1 +0,0 @@
-

build/aruco_detector/aruco_detector.egg-info/entry_points.txt

@@ -1,3 +0,0 @@
-[console_scripts]
-aruco_detector_node = aruco_detector.aruco_detector_node:main
-

build/aruco_detector/aruco_detector.egg-info/requires.txt

@@ -1 +0,0 @@
-setuptools

build/aruco_detector/aruco_detector.egg-info/top_level.txt

@@ -1 +0,0 @@
-aruco_detector

build/aruco_detector/aruco_detector.egg-info/zip-safe

@@ -1 +0,0 @@
-

build/aruco_detector/build/lib/aruco_detector/aruco_detector_node.py

@@ -1,146 +0,0 @@
-from numpy.lib.function_base import _angle_dispatcher
-import rclpy
-from rclpy.node import Node
-from rclpy.qos import qos_profile_sensor_data
-from cv_bridge import CvBridge
-
-import numpy as np
-import cv2
-
-from transforms3d.quaternions import mat2quat
-from transforms3d.euler import mat2euler
-
-from aruco_detector import yaml_handling 
-
-from sensor_msgs.msg import CompressedImage, Image
-from geometry_msgs.msg import Pose
-from aruco_interfaces.msg import ArucoMarkerPose
-
-
-class ArucoDetectorNode(rclpy.node.Node):
-    def __init__(self):
-        super().__init__('aruco_detector_node')
-
-        # Declare parameters
-        self.declare_parameter("marker_size", .1)                                                        
-        self.declare_parameter("aruco_dictionary_id", "DICT_6X6_100")
-        self.declare_parameter("input_image_topic", "/image_raw/compressed")                 
-        self.declare_parameter("url_yaml_file", "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml")      # url to yaml file (calibration file) 
-
-        # Read parameters
-        self.marker_size    = self.get_parameter("marker_size").get_parameter_value().double_value
-        dictionary_id_name  = self.get_parameter("aruco_dictionary_id").get_parameter_value().string_value
-        input_image_topic   = self.get_parameter("input_image_topic").get_parameter_value().string_value
-        url_yaml_file       = self.get_parameter("url_yaml_file").get_parameter_value().string_value
-
-        # check dictionary_id_name
-        try:
-            dictionary_id = cv2.aruco.__getattribute__(dictionary_id_name)
-            if type(dictionary_id) != type(cv2.aruco.DICT_5X5_100):
-                raise AttributeError
-        except AttributeError:
-            self.get_logger().error("bad aruco_dictionary_id: {}".format(dictionary_id_name))
-            options = "\n".join([s for s in dir(cv2.aruco) if s.startswith("DICT")])
-            self.get_logger().error("valid options: {}".format(options))
-
-        # Set up subscriber
-        self.create_subscription(CompressedImage, input_image_topic, self.image_callback, qos_profile_sensor_data)    # subsribes the images from the camera
-
-        # Set up publishers
-        self.publisher_marker_poses   = self.create_publisher(ArucoMarkerPose, '/aruco/aruco_poses', 10)        # publishes the current poses
-        self.publisher_output_images  = self.create_publisher(CompressedImage, '/aruco/aruco_output_images/compressed', 10)          # publishes the images with the detected aruco-tags
-
-        # Load the camera parameters from yaml-file
-        camera_info_msg = yaml_handling.yaml_to_CameraInfo("/home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml")#url_yaml_file)
-        if camera_info_msg is None:
-            self.get_logger().warn("No camera info has been received!")
-            return
-            
-        self.intrinsic_mat = np.reshape(np.array(camera_info_msg.k), (3, 3))
-        self.distortion = np.array(camera_info_msg.d)
-
-        self.aruco_dictionary = cv2.aruco.Dictionary_get(dictionary_id)
-        self.aruco_parameters = cv2.aruco.DetectorParameters_create()
-        self.bridge = CvBridge()
-
-    def image_callback(self, img_msg):
-        
-
-        cv_image = self.bridge.compressed_imgmsg_to_cv2(img_msg,desired_encoding='passthrough')
-
-        corners, marker_ids, rejected = cv2.aruco.detectMarkers(cv_image,
-                                                                self.aruco_dictionary,
-                                                                parameters=self.aruco_parameters)
-
-        #check if marker is detected, then estimate pose an publish
-        if marker_ids is not None:
-            rvecs, tvecs, _objPoints = cv2.aruco.estimatePoseSingleMarkers(corners,
-                                                                           self.marker_size, 
-                                                                           self.intrinsic_mat,
-                                                                           self.distortion)
-
-            #self.get_logger().error("rvecs: {}".format(rvecs))
-            pose_array = ArucoMarkerPose()                                                       
-            for i, marker_id in enumerate(marker_ids):
-                pose = Pose() 
-                pose.position.x = tvecs[i][0][0]
-                pose.position.y = tvecs[i][0][1]
-                pose.position.z = tvecs[i][0][2]
-
-                rot_matrix = np.eye(4)
-                rot_matrix[0:3, 0:3] = cv2.Rodrigues(np.array(rvecs[i][0]))[0]
-                
-
-                import math
-                angle = math.acos(rot_matrix[0][0])*(180/math.pi)
-
-                angle_psi, angle_theta, angle_phi = mat2euler(rot_matrix)
-
-
-                #quat = mat2quat(rot_matrix[0:3, 0:3])
-
-
-                self.get_logger().error("angle_theta: \n{}\n\n".format(angle_theta*(180/math.pi)))
-                self.get_logger().error("angle_phi: \n{}\n\n".format(angle_phi*(180/math.pi)))
-                self.get_logger().error("angle_psi: \n{}\n\n".format(angle_psi*(180/math.pi)))
-
-
-
-                # parameter einfügen für unterscheidung zwischen 2D und 3D
-                # einfache if abfrage
-
-                pose.orientation.x = 0.0 #quat[0]
-                pose.orientation.y = 0.0 #quat[1]
-                pose.orientation.z = math.sin((angle_phi) / 2) #quat[2]       
-                pose.orientation.w = math.cos((angle_phi) / 2) #quat[3]      
-
-                pose_array.poses.append(pose)
-                pose_array.marker_ids.append(marker_id[0])
-
-            self.publisher_marker_poses.publish(pose_array)
-
-            output_img = cv2.aruco.drawAxis(cv_image, 
-                                            self.intrinsic_mat,
-                                            self.distortion, 
-                                            rvecs,
-                                            tvecs,
-                                            0.5
-                                        )
-
-        output_img = cv2.aruco.drawDetectedMarkers(cv_image, corners, marker_ids)  
-        output_img_compressed = self.bridge.cv2_to_compressed_imgmsg(output_img, dst_format='jpg')
-        self.publisher_output_images.publish(output_img_compressed)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    minimal_publisher = ArucoDetectorNode()
-    rclpy.spin(minimal_publisher)
-    minimal_publisher.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == '__main__':
-    main()
-
-

build/aruco_detector/build/lib/aruco_detector/yaml_handling.py

@@ -1,47 +0,0 @@
-import yaml
-from sensor_msgs.msg import CameraInfo
-
-
-def yaml_to_CameraInfo(yaml_fname):
-    # Load data from file
-    with open(yaml_fname, "r") as file_handle:
-        calib_data = yaml.load(file_handle)
-
-    # try to load the parameters
-    camera_info_msg = CameraInfo()
-    try: 
-        camera_info_msg.width = calib_data["image_width"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.height = calib_data["image_height"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.k = calib_data["camera_matrix"]["data"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.d = calib_data["distortion_coefficients"]["data"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.r = calib_data["rectification_matrix"]["data"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.p = calib_data["projection_matrix"]["data"]
-    except:
-        pass
-
-    try: 
-        camera_info_msg.distortion_model = calib_data["distortion_model"]
-    except:
-        pass
-
-    return camera_info_msg    

build/aruco_detector/colcon_build.rc

@@ -1 +0,0 @@
-0

build/aruco_detector/colcon_command_prefix_setup_py.sh

@@ -1 +0,0 @@
-# generated from colcon_core/shell/template/command_prefix.sh.em

build/aruco_detector/colcon_command_prefix_setup_py.sh.env

@@ -1,70 +0,0 @@
-AMENT_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/turtle_follower_py:/home/ros2/dev2_ws/install/camera_calibration:/home/ros2/dev2_ws/install/aruco_interfaces:/home/ros2/dev2_ws/install/aruco_detector:/opt/ros/foxy
-CMAKE_PREFIX_PATH=/home/ros2/dev2_ws/install/v4l2_camera:/home/ros2/dev2_ws/install/aruco_interfaces
-COLCON=1
-COLCON_PREFIX_PATH=/home/ros2/dev2_ws/install
-COLORTERM=truecolor
-DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
-DESKTOP_SESSION=ubuntu
-DISPLAY=:0
-GDMSESSION=ubuntu
-GJS_DEBUG_OUTPUT=stderr
-GJS_DEBUG_TOPICS=JS ERROR;JS LOG
-GNOME_DESKTOP_SESSION_ID=this-is-deprecated
-GNOME_SHELL_SESSION_MODE=ubuntu
-GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/ed9a88cb_996e_4783_90fb_206aa627c957
-GNOME_TERMINAL_SERVICE=:1.166
-GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
-GTK_MODULES=gail:atk-bridge
-HOME=/home/ros2
-IM_CONFIG_PHASE=1
-INVOCATION_ID=331653316740409188736b6261a239d2
-JOURNAL_STREAM=8:183562
-LANG=en_US.UTF-8
-LC_ADDRESS=de_DE.UTF-8
-LC_ALL=en_US.UTF-8
-LC_IDENTIFICATION=de_DE.UTF-8
-LC_MEASUREMENT=de_DE.UTF-8
-LC_MONETARY=de_DE.UTF-8
-LC_NAME=de_DE.UTF-8
-LC_NUMERIC=de_DE.UTF-8
-LC_PAPER=de_DE.UTF-8
-LC_TELEPHONE=de_DE.UTF-8
-LC_TIME=de_DE.UTF-8
-LD_LIBRARY_PATH=/home/ros2/dev2_ws/install/v4l2_camera/lib:/home/ros2/dev2_ws/install/aruco_interfaces/lib:/opt/ros/foxy/opt/yaml_cpp_vendor/lib:/opt/ros/foxy/opt/rviz_ogre_vendor/lib:/opt/ros/foxy/lib/x86_64-linux-gnu:/opt/ros/foxy/lib
-LESSCLOSE=/usr/bin/lesspipe %s %s
-LESSOPEN=| /usr/bin/lesspipe %s
-LOGNAME=ros2
-LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=7832
-OLDPWD=/home/ros2/dev2_ws/launch
-PAPERSIZE=a4
-PATH=/opt/ros/foxy/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
-PWD=/home/ros2/dev2_ws/build/aruco_detector
-PYTHONPATH=/home/ros2/dev2_ws/install/turtle_follower_py/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/camera_calibration/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_interfaces/lib/python3.8/site-packages:/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages:/opt/ros/foxy/lib/python3.8/site-packages
-QT_ACCESSIBILITY=1
-QT_IM_MODULE=ibus
-ROS_DISTRO=foxy
-ROS_LOCALHOST_ONLY=0
-ROS_PYTHON_VERSION=3
-ROS_VERSION=2
-SESSION_MANAGER=local/ubuntu:@/tmp/.ICE-unix/8042,unix/ubuntu:/tmp/.ICE-unix/8042
-SHELL=/bin/bash
-SHLVL=1
-SSH_AGENT_PID=8007
-SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
-TERM=xterm-256color
-USER=ros2
-USERNAME=ros2
-VTE_VERSION=6003
-WINDOWPATH=2
-XAUTHORITY=/run/user/1000/gdm/Xauthority
-XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
-XDG_CURRENT_DESKTOP=ubuntu:GNOME
-XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
-XDG_MENU_PREFIX=gnome-
-XDG_RUNTIME_DIR=/run/user/1000
-XDG_SESSION_CLASS=user
-XDG_SESSION_DESKTOP=ubuntu
-XDG_SESSION_TYPE=x11
-XMODIFIERS=@im=ibus
-_=/usr/bin/colcon

build/aruco_detector/install.log

@@ -1,18 +0,0 @@
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/transformations.py
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/yaml_handling.py
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/aruco_detector_node.py
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__init__.py
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/transformations.cpython-38.pyc
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/yaml_handling.cpython-38.pyc
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/aruco_detector_node.cpython-38.pyc
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector/__pycache__/__init__.cpython-38.pyc
-/home/ros2/dev2_ws/install/aruco_detector/share/ament_index/resource_index/packages/aruco_detector
-/home/ros2/dev2_ws/install/aruco_detector/share/aruco_detector/package.xml
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/requires.txt
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/top_level.txt
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/dependency_links.txt
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/PKG-INFO
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/entry_points.txt
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/zip-safe
-/home/ros2/dev2_ws/install/aruco_detector/lib/python3.8/site-packages/aruco_detector-0.0.0-py3.8.egg-info/SOURCES.txt
-/home/ros2/dev2_ws/install/aruco_detector/lib/aruco_detector/aruco_detector_node

build/aruco_interfaces/CMakeCache.txt

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-# if defined(__PGIC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
-# endif
-
-#elif defined(_CRAYC)
-# define COMPILER_ID "Cray"
-# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
-# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
-
-#elif defined(__TI_COMPILER_VERSION__)
-# define COMPILER_ID "TI"
-  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
-# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
-# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
-# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
-
-#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
-# define COMPILER_ID "Fujitsu"
-
-#elif defined(__ghs__)
-# define COMPILER_ID "GHS"
-/* __GHS_VERSION_NUMBER = VVVVRP */
-# ifdef __GHS_VERSION_NUMBER
-# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
-# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
-# endif
-
-#elif defined(__TINYC__)
-# define COMPILER_ID "TinyCC"
-
-#elif defined(__BCC__)
-# define COMPILER_ID "Bruce"
-
-#elif defined(__SCO_VERSION__)
-# define COMPILER_ID "SCO"
-
-#elif defined(__ARMCC_VERSION) && !defined(__clang__)
-# define COMPILER_ID "ARMCC"
-#if __ARMCC_VERSION >= 1000000
-  /* __ARMCC_VERSION = VRRPPPP */
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
-#else
-  /* __ARMCC_VERSION = VRPPPP */
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
-#endif
-
-
-#elif defined(__clang__) && defined(__apple_build_version__)
-# define COMPILER_ID "AppleClang"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
-
-#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
-# define COMPILER_ID "ARMClang"
-  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
-  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
-  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
-# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
-
-#elif defined(__clang__)
-# define COMPILER_ID "Clang"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
-# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
-# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-
-#elif defined(__GNUC__)
-# define COMPILER_ID "GNU"
-# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# if defined(__GNUC_MINOR__)
-#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(_MSC_VER)
-# define COMPILER_ID "MSVC"
-  /* _MSC_VER = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
-# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
-# if defined(_MSC_FULL_VER)
-#  if _MSC_VER >= 1400
-    /* _MSC_FULL_VER = VVRRPPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
-#  else
-    /* _MSC_FULL_VER = VVRRPPPP */
-#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
-#  endif
-# endif
-# if defined(_MSC_BUILD)
-#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
-# endif
-
-#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
-# define COMPILER_ID "ADSP"
-#if defined(__VISUALDSPVERSION__)
-  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
-# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
-# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
-# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
-#endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# define COMPILER_ID "IAR"
-# if defined(__VER__) && defined(__ICCARM__)
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
-#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
-#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
-#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
-#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
-#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
-#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
-# endif
-
-#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
-# define COMPILER_ID "SDCC"
-# if defined(__SDCC_VERSION_MAJOR)
-#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
-#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
-#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
-# else
-  /* SDCC = VRP */
-#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
-#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
-#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
-# endif
-
-
-/* These compilers are either not known or too old to define an
-  identification macro.  Try to identify the platform and guess that
-  it is the native compiler.  */
-#elif defined(__hpux) || defined(__hpua)
-# define COMPILER_ID "HP"
-
-#else /* unknown compiler */
-# define COMPILER_ID ""
-#endif
-
-/* Construct the string literal in pieces to prevent the source from
-   getting matched.  Store it in a pointer rather than an array
-   because some compilers will just produce instructions to fill the
-   array rather than assigning a pointer to a static array.  */
-char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
-#ifdef SIMULATE_ID
-char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
-#endif
-
-#ifdef __QNXNTO__
-char const* qnxnto = "INFO" ":" "qnxnto[]";
-#endif
-
-#if defined(__CRAYXE) || defined(__CRAYXC)
-char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
-#endif
-
-#define STRINGIFY_HELPER(X) #X
-#define STRINGIFY(X) STRINGIFY_HELPER(X)
-
-/* Identify known platforms by name.  */
-#if defined(__linux) || defined(__linux__) || defined(linux)
-# define PLATFORM_ID "Linux"
-
-#elif defined(__CYGWIN__)
-# define PLATFORM_ID "Cygwin"
-
-#elif defined(__MINGW32__)
-# define PLATFORM_ID "MinGW"
-
-#elif defined(__APPLE__)
-# define PLATFORM_ID "Darwin"
-
-#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
-# define PLATFORM_ID "Windows"
-
-#elif defined(__FreeBSD__) || defined(__FreeBSD)
-# define PLATFORM_ID "FreeBSD"
-
-#elif defined(__NetBSD__) || defined(__NetBSD)
-# define PLATFORM_ID "NetBSD"
-
-#elif defined(__OpenBSD__) || defined(__OPENBSD)
-# define PLATFORM_ID "OpenBSD"
-
-#elif defined(__sun) || defined(sun)
-# define PLATFORM_ID "SunOS"
-
-#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
-# define PLATFORM_ID "AIX"
-
-#elif defined(__hpux) || defined(__hpux__)
-# define PLATFORM_ID "HP-UX"
-
-#elif defined(__HAIKU__)
-# define PLATFORM_ID "Haiku"
-
-#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
-# define PLATFORM_ID "BeOS"
-
-#elif defined(__QNX__) || defined(__QNXNTO__)
-# define PLATFORM_ID "QNX"
-
-#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
-# define PLATFORM_ID "Tru64"
-
-#elif defined(__riscos) || defined(__riscos__)
-# define PLATFORM_ID "RISCos"
-
-#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
-# define PLATFORM_ID "SINIX"
-
-#elif defined(__UNIX_SV__)
-# define PLATFORM_ID "UNIX_SV"
-
-#elif defined(__bsdos__)
-# define PLATFORM_ID "BSDOS"
-
-#elif defined(_MPRAS) || defined(MPRAS)
-# define PLATFORM_ID "MP-RAS"
-
-#elif defined(__osf) || defined(__osf__)
-# define PLATFORM_ID "OSF1"
-
-#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
-# define PLATFORM_ID "SCO_SV"
-
-#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
-# define PLATFORM_ID "ULTRIX"
-
-#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
-# define PLATFORM_ID "Xenix"
-
-#elif defined(__WATCOMC__)
-# if defined(__LINUX__)
-#  define PLATFORM_ID "Linux"
-
-# elif defined(__DOS__)
-#  define PLATFORM_ID "DOS"
-
-# elif defined(__OS2__)
-#  define PLATFORM_ID "OS2"
-
-# elif defined(__WINDOWS__)
-#  define PLATFORM_ID "Windows3x"
-
-# else /* unknown platform */
-#  define PLATFORM_ID
-# endif
-
-#elif defined(__INTEGRITY)
-# if defined(INT_178B)
-#  define PLATFORM_ID "Integrity178"
-
-# else /* regular Integrity */
-#  define PLATFORM_ID "Integrity"
-# endif
-
-#else /* unknown platform */
-# define PLATFORM_ID
-
-#endif
-
-/* For windows compilers MSVC and Intel we can determine
-   the architecture of the compiler being used.  This is because
-   the compilers do not have flags that can change the architecture,
-   but rather depend on which compiler is being used
-*/
-#if defined(_WIN32) && defined(_MSC_VER)
-# if defined(_M_IA64)
-#  define ARCHITECTURE_ID "IA64"
-
-# elif defined(_M_X64) || defined(_M_AMD64)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# elif defined(_M_ARM64)
-#  define ARCHITECTURE_ID "ARM64"
-
-# elif defined(_M_ARM)
-#  if _M_ARM == 4
-#   define ARCHITECTURE_ID "ARMV4I"
-#  elif _M_ARM == 5
-#   define ARCHITECTURE_ID "ARMV5I"
-#  else
-#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
-#  endif
-
-# elif defined(_M_MIPS)
-#  define ARCHITECTURE_ID "MIPS"
-
-# elif defined(_M_SH)
-#  define ARCHITECTURE_ID "SHx"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__WATCOMC__)
-# if defined(_M_I86)
-#  define ARCHITECTURE_ID "I86"
-
-# elif defined(_M_IX86)
-#  define ARCHITECTURE_ID "X86"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
-# if defined(__ICCARM__)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(__ICCRX__)
-#  define ARCHITECTURE_ID "RX"
-
-# elif defined(__ICCRH850__)
-#  define ARCHITECTURE_ID "RH850"
-
-# elif defined(__ICCRL78__)
-#  define ARCHITECTURE_ID "RL78"
-
-# elif defined(__ICCRISCV__)
-#  define ARCHITECTURE_ID "RISCV"
-
-# elif defined(__ICCAVR__)
-#  define ARCHITECTURE_ID "AVR"
-
-# elif defined(__ICC430__)
-#  define ARCHITECTURE_ID "MSP430"
-
-# elif defined(__ICCV850__)
-#  define ARCHITECTURE_ID "V850"
-
-# elif defined(__ICC8051__)
-#  define ARCHITECTURE_ID "8051"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-
-#elif defined(__ghs__)
-# if defined(__PPC64__)
-#  define ARCHITECTURE_ID "PPC64"
-
-# elif defined(__ppc__)
-#  define ARCHITECTURE_ID "PPC"
-
-# elif defined(__ARM__)
-#  define ARCHITECTURE_ID "ARM"
-
-# elif defined(__x86_64__)
-#  define ARCHITECTURE_ID "x64"
-
-# elif defined(__i386__)
-#  define ARCHITECTURE_ID "X86"
-
-# else /* unknown architecture */
-#  define ARCHITECTURE_ID ""
-# endif
-#else
-#  define ARCHITECTURE_ID
-#endif
-
-/* Convert integer to decimal digit literals.  */
-#define DEC(n)                   \
-  ('0' + (((n) / 10000000)%10)), \
-  ('0' + (((n) / 1000000)%10)),  \
-  ('0' + (((n) / 100000)%10)),   \
-  ('0' + (((n) / 10000)%10)),    \
-  ('0' + (((n) / 1000)%10)),     \
-  ('0' + (((n) / 100)%10)),      \
-  ('0' + (((n) / 10)%10)),       \
-  ('0' +  ((n) % 10))
-
-/* Convert integer to hex digit literals.  */
-#define HEX(n)             \