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ShizengChenShizengChen
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‎.gitignore

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.idea
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.vs
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build
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*.txt
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!CMakeLists.txt

‎.vscode/c_cpp_properties.json

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{
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"configurations": [
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{
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"name": "Mac",
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"includePath": [
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"/usr/include",
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"/usr/local/include",
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"${workspaceFolder}",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/unix"
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],
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"defines": [],
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"intelliSenseMode": "clang-x64",
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"browse": {
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"path": [
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"/usr/include",
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"/usr/local/include",
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"${workspaceFolder}",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/unix"
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],
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"limitSymbolsToIncludedHeaders": true,
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"databaseFilename": ""
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},
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"macFrameworkPath": [
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"/System/Library/Frameworks",
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"/Library/Frameworks"
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],
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"cStandard": "c11",
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"cppStandard": "c++17"
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},
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{
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"name": "Linux",
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"includePath": [
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"${workspaceFolder}",
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"/usr/include/c++/7",
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"/usr/include/x86_64-linux-gnu/c++/7",
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"/usr/include/c++/7/backward",
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"/usr/lib/llvm-6.0/lib/clang/6.0.0/include",
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"/usr/local/include",
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"/usr/include/x86_64-linux-gnu",
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"/usr/include",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/unix"
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],
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"defines": [],
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"intelliSenseMode": "clang-x64",
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"browse": {
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"path": [
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"${workspaceFolder}",
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"/usr/include/c++/7",
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"/usr/include/x86_64-linux-gnu/c++/7",
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"/usr/include/c++/7/backward",
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"/usr/lib/llvm-6.0/lib/clang/6.0.0/include",
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"/usr/local/include",
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"/usr/include/x86_64-linux-gnu",
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"/usr/include",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/unix"
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],
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"limitSymbolsToIncludedHeaders": true,
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"databaseFilename": ""
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},
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"compilerPath": "/usr/bin/clang",
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"cStandard": "c11",
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"cppStandard": "c++11"
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},
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{
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"name": "Win32",
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"browse": {
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"path": [
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"${workspaceFolder}",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/win32"
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],
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"limitSymbolsToIncludedHeaders": true
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},
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"includePath": [
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"${workspaceFolder}",
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"${workspaceFolder}/include",
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"${workspaceFolder}/include/win32"
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],
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"defines": [
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"_DEBUG",
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"UNICODE",
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"_UNICODE"
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],
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"cStandard": "c11",
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"intelliSenseMode": "msvc-x64",
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"cppStandard": "c++14"
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}
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],
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"version": 4
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}

‎.vscode/launch.json

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{
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// Use IntelliSense to learn about possible attributes.
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// Hover to view descriptions of existing attributes.
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// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
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"version": "0.2.0",
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"configurations": [
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{
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"name": "Launch Debug",
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"type": "cppdbg",
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"request": "launch",
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"program": "${workspaceFolder}/build/${workspaceFolderBasename}",
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"args": [],
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"stopAtEntry": false,
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"cwd": "${workspaceFolder}",
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"preLaunchTask": "build debug",
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"environment": [],
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"externalConsole": true,
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"osx": {
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"miDebuggerPath": "/usr/local/Cellar/llvm/6.0.1/bin/lldb-mi",
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"MIMode": "lldb"
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},
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"linux": {
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"MIMode": "gdb",
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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}
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]
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},
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"windows": {
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"type": "cppvsdbg",
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"program": "${workspaceFolder}/build/${workspaceFolderBasename}.exe",
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}
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}
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]
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}

‎.vscode/settings.json

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{
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"files.associations": {
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"__locale": "cpp",
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"__string": "cpp",
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"string": "cpp",
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"string_view": "cpp",
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"thread": "cpp",
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"functional": "cpp"
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}
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}

‎.vscode/tasks.json

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{
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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{
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"label": "build debug",
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"type": "shell",
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"linux": {
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"command": "mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Debug ../ && make",
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},
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"osx": {
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"command": "mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Debug ../ && make",
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},
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"windows": {
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"command": "cd build && \"C:\\Program Files (x86)\\Microsoft Visual Studio\\2017\\Community\\VC\\Auxiliary\\Build\\vcvarsall.bat\" amd64 && cmake -DCMAKE_BUILD_TYPE=Debug -G \"CodeBlocks - NMake Makefiles\" ../ && cmake --build ./ --target all --",
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},
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"args": [],
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"group": {
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"kind": "build",
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"isDefault": true
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},
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"presentation": {
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"reveal": "always"
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},
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"problemMatcher": "$msCompile"
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},
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{
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"label": "build release",
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"type": "shell",
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"linux": {
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"command": "mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release ../ && make",
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},
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"osx": {
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"command": "mkdir -p build && cd build && cmake -DCMAKE_BUILD_TYPE=Release ../ && make",
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},
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"windows": {
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"command": "cd build && \"C:\\Program Files (x86)\\Microsoft Visual Studio\\2017\\Community\\VC\\Auxiliary\\Build\\vcvarsall.bat\" amd64 && cmake -DCMAKE_BUILD_TYPE=Release -G \"CodeBlocks - NMake Makefiles\" ../ && cmake --build ./ --target all --",
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},
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"args": [],
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"group": {
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"kind": "build",
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"isDefault": true
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},
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"presentation": {
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"reveal": "always"
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},
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"problemMatcher": "$msCompile"
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}
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]
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}

‎CANBase.h

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#pragma once
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#ifndef __CANBase_H
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#define __CANBase_H
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#include <functional>
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#include <string>
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#include "CANType.h"
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namespace ZCANBus {
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class CANBase {
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public:
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CANBase(){};
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virtual ~CANBase(){};
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/**
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* @brief Open a specific channel
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* @param channel the specific number for the CAN device
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* @param baudRate the speed for the communication
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* @param type different CAN devices has differents meanings
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* @return a error code. Generally, 0 means OK. @see CanStatus
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*/
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virtual CANStatus OpenChannel(int channel, CANRate baudRate, int type) = 0;
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/**
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* @brief Read CAN message continuously with async mode.
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* @param callback the function will be called while received new CAN
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* message the param msg is the received msg and status is the error code
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* which generally 0 means OK
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* @param interval the max interval in milliseconds between two message
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* received
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*/
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virtual void ReadLoop(
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std::function<void(const CANMessage* msg, CANStatus status)> callback,
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uint64_t interval) = 0;
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/**@brief End read CAN message continuously with async mode.*/
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virtual void EndReadLoop() = 0;
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/**
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* @brief Read CAN message once
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* @param msg Modified by received CAN message
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* @param timeout Read CAN message with timeout in milliseconds
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* @return a error code. Generally, 0 means OK. @see CanStatus
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*/
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virtual CANStatus ReadOnce(CANMessage& msg, uint64_t timeout = 0) = 0;
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/**
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* @brief Write CAN message once
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* @param msg the CAN message to be wrote
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* @return a error code. Generally, 0 means OK. @see CanStatus
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*/
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virtual CANStatus Write(CANMessage* msg, int count) = 0;
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/**
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* @brief Close the channel.
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* @return a error code. Generally, 0 means OK. @see CanStatus
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*/
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virtual CANStatus CloseChannel() = 0;
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/**
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* @brief Flush the data in queue.
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* @return a error code. Generally, 0 means OK. @see CanStatus
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*/
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virtual CANStatus FlushQueue() = 0;
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/**
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* @brief Get error message in detail.
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* @param status the error code. Modified by the new error code returned by
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* this operation
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* @return error message
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*/
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virtual std::string GetErrorText(CANStatus& status) = 0;
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};
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} // namespace ZCANBus
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#endif

‎CANHandler.cpp

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//
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// Created by ShizengChen on 2017/12/24.
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//
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#include "CANHandler.h"
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#include "CANBase.h"
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#ifdef USE_PEAK
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#include "CANPeak.h"
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#endif
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#ifdef USE_KVASER
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#include "CANKvaser.h"
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#endif
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namespace ZCANBus {
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CANStatus CANHandler::OpenChannel(int channel, CANRate baudRate, int type) {
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return baseCan->OpenChannel(channel, baudRate, type);
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}
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void CANHandler::ReadLoop(
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std::function<void(const CANMessage *msg, CANStatus status)> callback,
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uint64_t interval) {
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baseCan->ReadLoop(callback, interval);
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}
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void CANHandler::EndReadLoop() { baseCan->EndReadLoop(); }
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CANStatus CANHandler::ReadOnce(CANMessage &msg, uint64_t timeout) {
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return baseCan->ReadOnce(msg);
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}
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CANStatus CANHandler::Write(CANMessage *msg, int count) {
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return baseCan->Write(msg, count);
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}
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CANStatus CANHandler::CloseChannel() { return baseCan->CloseChannel(); }
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CANStatus CANHandler::FlushQueue() { return baseCan->FlushQueue(); }
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std::string CANHandler::GetErrorText(CANStatus &status) {
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return baseCan->GetErrorText(status);
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}
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CANHandler::CANHandler(CANType canType) {
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switch (canType) {
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#ifdef USE_PEAK
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case CANType::PEAK_CAN:
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baseCan = new CANPeak();
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break;
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#endif
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#ifdef USE_KVASER
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case CANType::KVASER_CAN:
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baseCan = new CANKvaser();
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break;
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#endif
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default:
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throw;
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}
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}
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CANHandler::~CANHandler() { delete baseCan; }
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} // namespace ZCANBus

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