闪光检测模块前端合并

src/软件电脑端/css/style.css

@@ -404,3 +404,13 @@ body {
     .dashboard-body { grid-template-columns: 1fr; }
     .monitor-panel { width: 280px; }
 }
+
+/* ===== 闪光检测面板 ===== */
+.flash-card { flex-shrink: 0; }
+.flash-body { padding: 12px; }
+.flash-data { margin: 10px 0; }
+.flash-avoidance-btns { display: flex; gap: 8px; }
+.flash-avoidance-btns .btn { flex: 1; }
+
+.tag-secondary { background: #f0f0f0; color: #999; }
+.hidden { display: none !important; }

src/软件电脑端/index.html

@@ -137,6 +137,23 @@
                             <button class="btn btn-danger wide" id="btn-mark-destroyed" disabled>标记无人机被摧毁</button>
                         </div>
                     </div>
+                    <div class="card flash-card">
+                        <div class="card-header">
+                            <span class="card-title">闪光检测</span>
+                            <span id="flash-status" class="tag tag-secondary">未启用</span>
+                        </div>
+                        <div class="flash-body">
+                            <button id="btn-flash-enable" class="btn btn-secondary wide" disabled>启用闪光检测</button>
+                            <div class="data-grid flash-data">
+                                <div class="data-item"><span class="data-label">光斑位置</span><span class="data-value" id="flash-position">--</span></div>
+                                <div class="data-item"><span class="data-label">检测面积</span><span class="data-value" id="flash-area">--</span></div>
+                            </div>
+                            <div class="flash-avoidance-btns">
+                                <button id="btn-avoidance-enable" class="btn btn-warning" disabled>启用避闪光</button>
+                                <button id="btn-avoidance-disable" class="btn btn-secondary" disabled>禁用避闪光</button>
+                            </div>
+                        </div>
+                    </div>
                     <div class="card soldier-card">
                         <div class="card-header">
                             <span class="card-title">在线士兵</span>
@@ -183,6 +200,8 @@
     <script src="/js/roslib.min.js"></script>
     <script src="/js/map.js"></script>
     <script src="/js/websocket.js"></script>
+    <script src="/js/flash_detector.js"></script>
+    <script src="/js/flash_avoidance.js"></script>
     <script src="/js/ui.js"></script>
 </body>
 </html>

src/软件电脑端/js/flash_avoidance.js

@@ -1,11 +1,11 @@
 /**
  * Flash Avoidance Module - 避光斑决策模块
  * 基于光斑检测结果，执行垂直结合避光斑策略
- * 
+ *
  * 避光斑策略:
  * - 水平躲避: 根据光斑相对相机的左右位置，反向水平移动
  * - 垂直躲避: 根据光斑相对相机的上下位置，反向垂直移动
- * 
+ *
  * 触发条件:
  * - 光斑被检测到且面积超过阈值
  */
@@ -18,20 +18,20 @@ const FlashAvoidanceModule = (() => {
         avoidanceDistance: 3.0,       // 避光斑移动距离 (米)
         avoidanceHoldTime: 2000,      // 避光斑后悬停时间 (毫秒)
         minDetectionArea: 100,        // 最小检测面积阈值
-        
+
         // 图像尺寸 (需要根据实际相机调整)
         imageWidth: 640,
         imageHeight: 480,
-        
+
         // 阈值
         horizontalThreshold: 0.2,     // 水平方向检测阈值 (-1 ~ 1)
         verticalThreshold: 0.2,        // 垂直方向检测阈值 (-1 ~ 1)
-        
+
         // 防抖
         debounceCount: 3,             // 需要连续检测N帧才触发避光斑
         debounceCooldown: 5000,        // 避光斑冷却时间 (毫秒)
     };
-    
+
     // 状态
     let state = {
         isAvoiding: false,            // 是否正在执行避光斑
@@ -39,15 +39,15 @@ const FlashAvoidanceModule = (() => {
         lastAvoidanceTime: 0,         // 上次避光斑时间
         detectionCount: 0,            // 连续检测计数
     };
-    
+
     // 回调函数
     let onStatusUpdate = null;
     let onAvoidanceStart = null;
     let onAvoidanceEnd = null;
-    
+
     // 外部依赖 (由主模块注入)
     let wsModule = null;
-    
+
     /**
      * 初始化模块
      * @param {Object} options - 配置选项
@@ -61,23 +61,23 @@ const FlashAvoidanceModule = (() => {
         onStatusUpdate = options.onStatusUpdate || null;
         onAvoidanceStart = options.onAvoidanceStart || null;
         onAvoidanceEnd = options.onAvoidanceEnd || null;
-        
+
         if (options.config) {
             Object.assign(config, options.config);
         }
-        
+
         console.log('[Flash Avoidance] 模块初始化完成');
         console.log('[Flash Avoidance] 避光斑距离:', config.avoidanceDistance, 'm');
         console.log('[Flash Avoidance] 最小检测面积:', config.minDetectionArea);
     }
-    
+
     /**
      * 更新配置
      */
     function updateConfig(newConfig) {
         Object.assign(config, newConfig);
     }
-    
+
     /**
      * 启用/禁用避光斑
      */
@@ -90,7 +90,7 @@ const FlashAvoidanceModule = (() => {
             });
         }
     }
-    
+
     /**
      * 状态回调
      */
@@ -98,7 +98,7 @@ const FlashAvoidanceModule = (() => {
     function setStatusCallback(callback) {
         statusCallback = callback;
     }
-    
+
     /**
      * 处理光斑检测数据
      * @param {Object} detectionData - 检测数据 {cx, cy, area, sightX, sightY}
@@ -108,40 +108,40 @@ const FlashAvoidanceModule = (() => {
         if (!config.enabled) {
             return null;
         }
-        
+
         if (state.isAvoiding) {
             return null;  // 正在执行避光斑，忽略新检测
         }
-        
+
         // 检查冷却时间
         const now = Date.now();
         if (now - state.lastAvoidanceTime < config.debounceCooldown) {
             return null;  // 冷却中
         }
-        
+
         // 检查面积阈值
         if (detectionData.area < config.minDetectionArea) {
             state.detectionCount = 0;
             return null;
         }
-        
+
         // 防抖计数
         state.detectionCount++;
         if (state.detectionCount < config.debounceCount) {
             return null;  // 还未达到连续检测阈值
         }
-        
+
         // 计算相对位置
         const centerX = config.imageWidth / 2;
         const centerY = config.imageHeight / 2;
-        
+
         const relativeX = (detectionData.cx - centerX) / centerX;
         const relativeY = (detectionData.cy - centerY) / centerY;
-        
+
         // 判断是否需要避光斑
         let needAvoidance = false;
         let avoidX = 0, avoidY = 0, avoidZ = 0;
-        
+
         // 水平避光斑 (X方向)
         if (Math.abs(relativeX) > config.horizontalThreshold) {
             // 光斑在右侧，无人机向左移动
@@ -149,7 +149,7 @@ const FlashAvoidanceModule = (() => {
             avoidX = -relativeX * config.avoidanceDistance;
             needAvoidance = true;
         }
-        
+
         // 垂直避光斑 (Z方向)
         if (Math.abs(relativeY) > config.verticalThreshold) {
             // 光斑在下方(cy > centerY)，无人机向上移动
@@ -157,12 +157,12 @@ const FlashAvoidanceModule = (() => {
             avoidZ = relativeY * config.avoidanceDistance;
             needAvoidance = true;
         }
-        
+
         if (needAvoidance) {
             state.isAvoiding = true;
             state.lastAvoidanceTime = now;
             state.detectionCount = 0;
-            
+
             const avoidanceCmd = {
                 type: 'flash_avoidance',
                 avoidX: avoidX,
@@ -176,35 +176,35 @@ const FlashAvoidanceModule = (() => {
                     relativeY: relativeY
                 }
             };
-            
+
             if (onAvoidanceStart) {
                 onAvoidanceStart(avoidanceCmd);
             }
-            
+
             if (statusCallback) {
                 statusCallback({
                     type: 'warning',
                     message: `检测到光斑，执行避光斑! 偏移: X=${avoidX.toFixed(1)}m, Z=${avoidZ.toFixed(1)}m`
                 });
             }
-            
+
             return avoidanceCmd;
         }
-        
+
         return null;
     }
-    
+
     /**
      * 结束避光斑
      */
     function endAvoidance() {
         if (state.isAvoiding) {
             state.isAvoiding = false;
-            
+
             if (onAvoidanceEnd) {
                 onAvoidanceEnd();
             }
-            
+
             if (statusCallback) {
                 statusCallback({
                     type: 'info',
@@ -213,14 +213,14 @@ const FlashAvoidanceModule = (() => {
             }
         }
     }
-    
+
     /**
      * 检查是否正在执行避光斑
      */
     function isAvoiding() {
         return state.isAvoiding;
     }
-    
+
     /**
      * 计算避光斑目标位置
      * @param {Object} currentPos - 当前无人机位置 {x, y, z}
@@ -234,14 +234,14 @@ const FlashAvoidanceModule = (() => {
             z: currentPos.z + avoidanceCmd.avoidZ
         };
     }
-    
+
     /**
      * 获取当前状态
      */
     function getState() {
         return { ...state };
     }
-    
+
     /**
      * 重置状态
      */
@@ -253,7 +253,7 @@ const FlashAvoidanceModule = (() => {
             detectionCount: 0
         };
     }
-    
+
     return {
         init,
         updateConfig,

src/软件电脑端/js/flash_detector.js

@@ -1,7 +1,7 @@
 /**
  * Flash Detector Module - 光斑检测订阅模块
  * 通过 rosbridge_server 订阅光斑检测结果
- * 
+ *
  * 订阅的话题:
  *   /flash_detector/flash_detected   (std_msgs/Bool) - 是否检测到光斑
  *   /flash_detector/detection       (std_msgs/Float32MultiArray) - [cx, cy, area, sight_x, sight_y]
@@ -11,11 +11,11 @@ const FlashDetectorModule = (() => {
     let ros = null;
     let flashDetectedSub = null;
     let detectionSub = null;
-    
+
     // 回调函数
     let onFlashDetected = null;
     let onDetectionData = null;
-    
+
     // 检测状态
     let flashDetected = false;
     let detectionData = {
@@ -25,11 +25,11 @@ const FlashDetectorModule = (() => {
         sightX: 0,
         sightY: 0
     };
-    
+
     // 图像尺寸 (默认 640x480，需要根据实际相机调整)
     let imageWidth = 640;
     let imageHeight = 480;
-    
+
     /**
      * 初始化模块
      * @param {ROSLIB.Ros} rosInstance - ROS 连接实例
@@ -41,18 +41,18 @@ const FlashDetectorModule = (() => {
         ros = rosInstance;
         onFlashDetected = callbacks.onFlashDetected || null;
         onDetectionData = callbacks.onDetectionData || null;
-        
+
         // 设置图像尺寸 (可选)
         if (callbacks.imageWidth) imageWidth = callbacks.imageWidth;
         if (callbacks.imageHeight) imageHeight = callbacks.imageHeight;
-        
+
         setupSubscriptions();
-        
+
         console.log('[Flash Detector] 模块初始化完成');
         console.log('[Flash Detector] 订阅话题: /flash_detector/flash_detected');
         console.log('[Flash Detector] 订阅话题: /flash_detector/detection');
     }
-    
+
     /**
      * 设置订阅
      */
@@ -63,22 +63,22 @@ const FlashDetectorModule = (() => {
             name: '/flash_detector/flash_detected',
             messageType: 'std_msgs/Bool'
         });
-        
+
         flashDetectedSub.subscribe((msg) => {
             flashDetected = msg.data;
-            
+
             if (onFlashDetected) {
                 onFlashDetected(msg.data);
             }
         });
-        
+
         // 订阅检测数据
         detectionSub = new ROSLIB.Topic({
             ros: ros,
             name: '/flash_detector/detection',
             messageType: 'std_msgs/Float32MultiArray'
         });
-        
+
         detectionSub.subscribe((msg) => {
             if (msg.data && msg.data.length >= 5) {
                 detectionData = {
@@ -88,28 +88,28 @@ const FlashDetectorModule = (() => {
                     sightX: msg.data[3],
                     sightY: msg.data[4]
                 };
-                
+
                 if (onDetectionData) {
                     onDetectionData(detectionData);
                 }
             }
         });
     }
-    
+
     /**
      * 获取当前检测状态
      */
     function isFlashDetected() {
         return flashDetected;
     }
-    
+
     /**
      * 获取当前检测数据
      */
     function getDetectionData() {
         return { ...detectionData };
     }
-    
+
     /**
      * 计算相对位置 (相对于图像中心)
      * @returns {Object} {x: -1~1 (负值=左侧), y: -1~1 (负值=上方)}
@@ -118,16 +118,16 @@ const FlashDetectorModule = (() => {
         if (imageWidth === 0 || imageHeight === 0) {
             return { x: 0, y: 0 };
         }
-        
+
         const centerX = imageWidth / 2;
         const centerY = imageHeight / 2;
-        
+
         return {
             x: (detectionData.cx - centerX) / centerX,  // -1 (左) ~ 1 (右)
             y: (detectionData.cy - centerY) / centerY    // -1 (上) ~ 1 (下)
         };
     }
-    
+
     /**
      * 计算视线偏移角度 (弧度)
      * @returns {Object} {x: radians, y: radians}
@@ -138,7 +138,7 @@ const FlashDetectorModule = (() => {
             y: detectionData.sightY
         };
     }
-    
+
     /**
      * 设置图像尺寸 (用于计算相对位置)
      */
@@ -146,7 +146,7 @@ const FlashDetectorModule = (() => {
         imageWidth = width;
         imageHeight = height;
     }
-    
+
     /**
      * 关闭模块
      */
@@ -161,7 +161,7 @@ const FlashDetectorModule = (() => {
         }
         console.log('[Flash Detector] 模块已关闭');
     }
-    
+
     return {
         init,
         isFlashDetected,

src/软件电脑端/js/ui.js

@@ -1,7 +1,7 @@
 /**
  * UI 交互模块 — 智途投送电脑端
  * 实机直连模式: 浏览器 ──roslibjs──► rosbridge ──MAVROS──► MAVLink ──► PX4
- * 功能: 任务调度、无人机监控、士兵位置追踪、危险区域标记
+ * 功能: 任务调度、无人机监控、士兵位置追踪、危险区域标记、闪光检测
  */
 
 const UIModule = (() => {
@@ -11,6 +11,8 @@ const UIModule = (() => {
     let missionPaused = false;
     let mapInited = false;
     let currentPage = 'dashboard';
+    let flashDetectionEnabled = false;
+    let flashAvoidanceEnabled = false;
 
     // ---- 调度数据 ----
     const BASE_LOCATION = { lat: 30.0000, lng: 120.0000, name: '补给基地' };
@@ -65,6 +67,11 @@ const UIModule = (() => {
         // 连接按钮
         document.getElementById('btn-connect').addEventListener('click', onConnect);
 
+        // 闪光检测按钮
+        document.getElementById('btn-flash-enable').addEventListener('click', onEnableFlashDetection);
+        document.getElementById('btn-avoidance-enable').addEventListener('click', onEnableFlashAvoidance);
+        document.getElementById('btn-avoidance-disable').addEventListener('click', onDisableFlashAvoidance);
+
         // 初始化 WsModule
         WsModule.init();
 
@@ -494,6 +501,107 @@ const UIModule = (() => {
         ).join('');
     }
 
+    // =============== 闪光检测功能 ===============
+
+    function onEnableFlashDetection() {
+        if (!droneConnected) {
+            addLog('warning', '请先连接无人机');
+            return;
+        }
+
+        // 初始化闪光检测模块
+        if (typeof FlashDetectorModule !== 'undefined') {
+            FlashDetectorModule.init(WsModule.getRos(), {
+                onFlashDetected: (detected) => {
+                    const statusEl = document.getElementById('flash-status');
+                    if (detected) {
+                        statusEl.className = 'tag tag-danger';
+                        statusEl.textContent = '检测到闪光';
+                    }
+                },
+                onDetectionData: (data) => {
+                    // 更新闪光位置显示
+                    document.getElementById('flash-position').textContent = '(' + data.cx.toFixed(0) + ', ' + data.cy.toFixed(0) + ')';
+                    document.getElementById('flash-area').textContent = data.area.toFixed(0);
+
+                    // 如果启用了避闪光，处理检测数据
+                    if (flashAvoidanceEnabled && typeof FlashAvoidanceModule !== 'undefined') {
+                        const avoidanceCmd = FlashAvoidanceModule.processDetection(data);
+                        if (avoidanceCmd) {
+                            executeFlashAvoidance(avoidanceCmd);
+                        }
+                    }
+                }
+            });
+
+            flashDetectionEnabled = true;
+            document.getElementById('btn-flash-enable').classList.add('hidden');
+            document.getElementById('flash-status').className = 'tag tag-success';
+            document.getElementById('flash-status').textContent = '已启用';
+            document.getElementById('btn-avoidance-enable').disabled = false;
+
+            addLog('success', '闪光检测已启用');
+        } else {
+            addLog('error', '闪光检测模块未加载');
+        }
+    }
+
+    function onEnableFlashAvoidance() {
+        if (!flashDetectionEnabled) {
+            addLog('warning', '请先启用闪光检测');
+            return;
+        }
+
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.init({
+                wsModule: WsModule,
+                onStatusUpdate: (data) => addLog(data.type, data.message)
+            });
+
+            FlashAvoidanceModule.setStatusCallback((data) => addLog(data.type, data.message));
+            FlashAvoidanceModule.setEnabled(true);
+
+            flashAvoidanceEnabled = true;
+            document.getElementById('btn-avoidance-enable').classList.add('hidden');
+            document.getElementById('btn-avoidance-disable').disabled = false;
+
+            addLog('success', '避闪光已启用');
+        }
+    }
+
+    function onDisableFlashAvoidance() {
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.setEnabled(false);
+            flashAvoidanceEnabled = false;
+            document.getElementById('btn-avoidance-enable').classList.remove('hidden');
+            document.getElementById('btn-avoidance-disable').disabled = true;
+            addLog('info', '避闪光已禁用');
+        }
+    }
+
+    function executeFlashAvoidance(avoidanceCmd) {
+        // 获取当前无人机位置
+        const currentPos = WsModule.getLocalPosition ? WsModule.getLocalPosition() : { x: 0, y: 0, z: 0 };
+
+        // 计算避闪光目标位置
+        const targetPos = {
+            x: currentPos.x + avoidanceCmd.avoidX,
+            y: currentPos.y + avoidanceCmd.avoidY,
+            z: currentPos.z + avoidanceCmd.avoidZ
+        };
+
+        // 发布新的位置设定值
+        WsModule.publishSetpoint(targetPos.x, targetPos.y, targetPos.z);
+
+        addLog('warning', '执行避闪光: 移动到 (' + targetPos.x.toFixed(1) + ', ' + targetPos.y.toFixed(1) + ', ' + targetPos.z.toFixed(1) + ')');
+
+        // 2秒后返回原位置或继续任务
+        setTimeout(() => {
+            FlashAvoidanceModule.endAvoidance();
+            addLog('info', '避闪光完成，返回正常控制');
+        }, 2000);
+    }
+
     // =============== WsModule 回调 ===============
 
     function onTelemetry(data) {
@@ -534,6 +642,7 @@ const UIModule = (() => {
             document.getElementById('btn-connect').disabled = true;
             document.getElementById('monitor-status').textContent = '待命';
             document.getElementById('monitor-status').className = 'tag tag-success';
+            document.getElementById('btn-flash-enable').disabled = false;
             updateMonitorControls();
         }
 
@@ -570,12 +679,33 @@ const UIModule = (() => {
         droneConnected = false;
         missionRunning = false;
         missionPaused = false;
+        flashDetectionEnabled = false;
+        flashAvoidanceEnabled = false;
+
         document.getElementById('conn-dot').classList.remove('connected');
         document.getElementById('conn-text').textContent = '未连接';
         document.getElementById('btn-connect').textContent = '连接';
         document.getElementById('btn-connect').disabled = false;
         document.getElementById('monitor-status').textContent = '离线';
         document.getElementById('monitor-status').className = 'tag tag-danger';
+        document.getElementById('btn-flash-enable').disabled = true;
+        document.getElementById('btn-flash-enable').classList.remove('hidden');
+        document.getElementById('btn-avoidance-enable').disabled = true;
+        document.getElementById('btn-avoidance-enable').classList.remove('hidden');
+        document.getElementById('btn-avoidance-disable').disabled = true;
+        document.getElementById('flash-status').className = 'tag tag-secondary';
+        document.getElementById('flash-status').textContent = '未启用';
+        document.getElementById('flash-position').textContent = '--';
+        document.getElementById('flash-area').textContent = '--';
+
+        // 关闭闪光检测模块
+        if (typeof FlashDetectorModule !== 'undefined') {
+            FlashDetectorModule.shutdown();
+        }
+        if (typeof FlashAvoidanceModule !== 'undefined') {
+            FlashAvoidanceModule.reset();
+        }
+
         updateMonitorControls();
         addLog('error', '无人机连接断开');
     }

src/软件电脑端/js/websocket.js

@@ -685,6 +685,16 @@ const WsModule = (() => {
         callArmingWithRetry(false, 2, () => {});
     }
 
+    // 获取 ROS 连接实例 (供闪光检测模块使用)
+    function getRos() {
+        return ros;
+    }
+
+    // 获取本地位置 (供闪光检测模块使用)
+    function getLocalPosition() {
+        return telemetry.localPos;
+    }
+
     return {
         init,
         isConnected,
@@ -696,6 +706,9 @@ const WsModule = (() => {
         returnHome,
         land,
         arm,
-        disarm
+        disarm,
+        getRos,
+        getLocalPosition,
+        publishSetpoint
     };
 })();

src/闪光检测/FrontEnd/.claude/settings.local.json

@@ -1,8 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(curl -sL \"https://unpkg.com/roslib@2.1.0/dist/\")",
-      "Bash(curl -sL \"https://unpkg.com/roslib@1.3.0/build/roslib.min.js\" -o \"d:/29578/Documents/Study/computer/S_E/软件体系结构与设计/软件前端/js/roslib.min.js\" -w \"%{http_code} %{size_download}\")"
-    ]
-  }
-}

src/闪光检测/FrontEnd/css/style.css

@@ -1,383 +0,0 @@
-/* ===== 全局样式 ===== */
-* {
-    margin: 0;
-    padding: 0;
-    box-sizing: border-box;
-}
-
-body {
-    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'PingFang SC', 'Microsoft YaHei', sans-serif;
-    background: #f0f2f5;
-    height: 100vh;
-    display: flex;
-    flex-direction: column;
-    overflow: hidden;
-    color: #333;
-}
-
-/* ===== 顶部状态栏 ===== */
-.top-bar {
-    display: flex;
-    justify-content: space-between;
-    align-items: center;
-    height: 48px;
-    padding: 0 16px;
-    background: #1a1a2e;
-    color: #e0e0e0;
-    flex-shrink: 0;
-    z-index: 1000;
-}
-
-.top-bar-left {
-    display: flex;
-    align-items: center;
-    gap: 16px;
-}
-
-.logo {
-    font-size: 15px;
-    font-weight: 700;
-    color: #fff;
-    letter-spacing: 1px;
-}
-
-.status-item {
-    font-size: 13px;
-    color: #aaa;
-}
-
-.status-item strong {
-    color: #e0e0e0;
-}
-
-.top-bar-right {
-    display: flex;
-    align-items: center;
-    gap: 8px;
-}
-
-.top-bar-right input {
-    width: 220px;
-    padding: 5px 10px;
-    border: 1px solid #444;
-    border-radius: 4px;
-    background: #2a2a3e;
-    color: #e0e0e0;
-    font-size: 13px;
-}
-
-/* ===== 连接模式切换 ===== */
-.conn-mode-group {
-    display: flex;
-    border-radius: 4px;
-    overflow: hidden;
-    border: 1px solid #444;
-}
-
-.mode-btn {
-    padding: 4px 12px;
-    background: #2a2a3e;
-    color: #aaa;
-    border: none;
-    cursor: pointer;
-    font-size: 12px;
-    font-weight: 600;
-    transition: all 0.2s;
-}
-
-.mode-btn:hover { color: #ddd; }
-
-.mode-btn.active {
-    background: #007aff;
-    color: #fff;
-}
-
-.conn-mode-tag {
-    font-size: 11px;
-    padding: 2px 8px;
-    border-radius: 3px;
-    background: #2a2a3e;
-    color: #888;
-    white-space: nowrap;
-}
-
-/* ===== 标签 ===== */
-.tag {
-    display: inline-block;
-    padding: 2px 10px;
-    border-radius: 10px;
-    font-size: 12px;
-    font-weight: 600;
-}
-
-.tag-success { background: #f6ffed; color: #52c41a; }
-.tag-danger  { background: #fff1f0; color: #ff4d4f; }
-.tag-warning { background: #fffbe6; color: #faad14; }
-.tag-info    { background: #e6f7ff; color: #007aff; }
-
-/* ===== 按钮 ===== */
-.btn {
-    padding: 7px 14px;
-    border: none;
-    border-radius: 6px;
-    cursor: pointer;
-    font-size: 13px;
-    font-weight: 600;
-    transition: opacity 0.2s;
-}
-
-.btn:disabled {
-    opacity: 0.4;
-    cursor: not-allowed;
-}
-
-.btn:not(:disabled):hover { opacity: 0.85; }
-
-.btn-primary   { background: #007aff; color: #fff; }
-.btn-success   { background: #52c41a; color: #fff; }
-.btn-warning   { background: #faad14; color: #fff; }
-.btn-danger    { background: #ff4d4f; color: #fff; }
-.btn-secondary { background: #e0e0e0; color: #333; }
-.btn.wide      { width: 100%; }
-
-.btn-link {
-    background: none;
-    border: none;
-    color: #999;
-    cursor: pointer;
-    font-size: 12px;
-}
-
-.btn-link:hover { color: #007aff; }
-
-.btn-group {
-    display: flex;
-    gap: 8px;
-    margin-bottom: 8px;
-}
-
-.btn-group .btn { flex: 1; }
-
-/* ===== 主内容区 ===== */
-.main-content {
-    display: flex;
-    flex: 1;
-    min-height: 0;
-}
-
-/* ===== 地图 ===== */
-.map-container {
-    flex: 1;
-    min-width: 0;
-    z-index: 1;
-}
-
-/* ===== 右侧控制面板 ===== */
-.control-panel {
-    width: 300px;
-    flex-shrink: 0;
-    background: #fff;
-    border-left: 1px solid #e0e0e0;
-    overflow-y: auto;
-    display: flex;
-    flex-direction: column;
-}
-
-.panel-section {
-    padding: 12px;
-    border-bottom: 1px solid #f0f0f0;
-}
-
-.panel-header {
-    font-size: 14px;
-    font-weight: 700;
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-}
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-.panel-header span:last-child {
-    font-weight: 400;
-    font-size: 12px;
-    color: #999;
-}
-
-/* ===== 航点列表 ===== */
-.waypoint-list {
-    max-height: 220px;
-    overflow-y: auto;
-    margin-bottom: 8px;
-}
-
-.empty-hint {
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-.wp-item {
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-}
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-.wp-item:hover { background: #e6f7ff; }
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-.wp-item.active { background: #e6f7ff; border: 1px solid #91d5ff; }
-
-.wp-index {
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-    justify-content: center;
-    font-size: 11px;
-    font-weight: 700;
-    margin-right: 8px;
-    flex-shrink: 0;
-}
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-.wp-info {
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-}
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-.wp-coord {
-    font-size: 11px;
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-.wp-alt {
-    font-size: 11px;
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-}
-
-.wp-delete {
-    width: 20px;
-    height: 20px;
-    border: none;
-    background: none;
-    color: #ccc;
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-    flex-shrink: 0;
-}
-
-.wp-delete:hover { color: #ff4d4f; }
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-.wp-params {
-    display: flex;
-    gap: 10px;
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-    color: #666;
-}
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-.wp-params input {
-    width: 60px;
-    padding: 3px 6px;
-    border: 1px solid #ddd;
-    border-radius: 4px;
-    font-size: 12px;
-    text-align: center;
-}
-
-/* ===== 数据面板 ===== */
-.data-grid {
-    display: grid;
-    grid-template-columns: 1fr 1fr;
-    gap: 8px;
-}
-
-.data-item {
-    background: #f8f9fa;
-    border-radius: 6px;
-    padding: 8px;
-    text-align: center;
-}
-
-.data-label {
-    display: block;
-    font-size: 11px;
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-    margin-bottom: 2px;
-}
-
-.data-value {
-    font-size: 13px;
-    font-weight: 600;
-    color: #333;
-}
-
-/* ===== 底部日志栏 ===== */
-.log-bar {
-    height: 120px;
-    flex-shrink: 0;
-    background: #1e1e1e;
-    display: flex;
-    flex-direction: column;
-}
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-.log-header {
-    display: flex;
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-    align-items: center;
-    padding: 4px 12px;
-    font-size: 12px;
-    color: #888;
-    background: #2a2a2a;
-    border-bottom: 1px solid #333;
-}
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-.log-content {
-    flex: 1;
-    overflow-y: auto;
-    padding: 4px 12px;
-    font-family: 'Consolas', 'Monaco', monospace;
-    font-size: 12px;
-    line-height: 1.6;
-}
-
-.log-entry {
-    white-space: nowrap;
-}
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-.log-entry .time { color: #666; margin-right: 8px; }
-.log-entry.success { color: #52c41a; }
-.log-entry.error   { color: #ff4d4f; }
-.log-entry.warning { color: #faad14; }
-.log-entry.info    { color: #aaa; }
-
-/* ===== Leaflet 自定义 ===== */
-.drone-icon {
-    width: 24px;
-    height: 24px;
-    position: relative;
-}
-
-.drone-icon-inner {
-    width: 0;
-    height: 0;
-    border-left: 10px solid transparent;
-    border-right: 10px solid transparent;
-    border-bottom: 20px solid #007aff;
-    position: absolute;
-    top: 2px;
-    left: 2px;
-    transform-origin: center 60%;
-}

src/闪光检测/FrontEnd/index.html

@@ -1,145 +0,0 @@
-<!DOCTYPE html>
-<html lang="zh-CN">
-<head>
-    <meta charset="UTF-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <title>P600 无人机定点巡航控制系统</title>
-    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
-    <link rel="stylesheet" href="/css/style.css" />
-</head>
-<body>
-    <!-- 顶部状态栏 -->
-    <header class="top-bar">
-        <div class="top-bar-left">
-            <span class="logo">P600 定点巡航控制系统</span>
-            <span id="conn-status" class="tag tag-danger">未连接</span>
-            <span class="status-item">模式: <strong id="flight-mode">--</strong></span>
-            <span class="status-item">电量: <strong id="battery">--%</strong></span>
-            <span class="status-item">GPS: <strong id="gps-status">--</strong></span>
-            <span class="status-item">速度: <strong id="speed">-- m/s</strong></span>
-            <span class="status-item">高度: <strong id="altitude">-- m</strong></span>
-        </div>
-        <div class="top-bar-right">
-            <div class="conn-mode-group">
-                <button id="btn-mode-sim" class="mode-btn active" title="Prometheus SITL 仿真 (rosbridge WebSocket)">仿真模式</button>
-                <button id="btn-mode-real" class="mode-btn" title="P600 实机 WiFi 数传 (rosbridge WebSocket)">实机模式</button>
-            </div>
-            <input type="text" id="drone-url" value="ws://localhost:9090" placeholder="rosbridge 地址" />
-            <button id="btn-connect" class="btn btn-primary">连接无人机</button>
-            <span id="conn-mode-tag" class="conn-mode-tag">rosbridge</span>
-        </div>
-    </header>
-
-    <!-- 主内容区 -->
-    <div class="main-content">
-        <!-- 地图区域 -->
-        <div id="map" class="map-container"></div>
-
-        <!-- 右侧控制面板 -->
-        <aside class="control-panel">
-            <!-- 航点列表 -->
-            <div class="panel-section">
-                <div class="panel-header">
-                    <span>航点列表</span>
-                    <span id="wp-count">0 个航点</span>
-                </div>
-                <div id="waypoint-list" class="waypoint-list">
-                    <div class="empty-hint">在地图上点击以添加航点</div>
-                </div>
-                <div class="wp-params">
-                    <label>默认高度: <input type="number" id="default-alt" value="15" min="1" max="100" /> 米</label>
-                    <label>默认悬停: <input type="number" id="default-hold" value="0" min="0" max="60" /> 秒</label>
-                </div>
-            </div>
-
-            <!-- 任务操作 -->
-            <div class="panel-section">
-                <div class="panel-header">任务操作</div>
-                <div class="btn-group">
-                    <button id="btn-upload" class="btn btn-primary wide" disabled>上传任务</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-start" class="btn btn-success wide" disabled>开始任务</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-pause" class="btn btn-warning" disabled>暂停</button>
-                    <button id="btn-resume" class="btn btn-success" disabled>继续</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-rth" class="btn btn-danger" disabled>返航</button>
-                    <button id="btn-land" class="btn btn-danger" disabled>降落</button>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-clear" class="btn btn-secondary wide">清除所有航点</button>
-                </div>
-            </div>
-
-            <!-- 实时数据 -->
-            <div class="panel-section">
-                <div class="panel-header">实时数据</div>
-                <div class="data-grid">
-                    <div class="data-item">
-                        <span class="data-label">纬度</span>
-                        <span class="data-value" id="data-lat">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">经度</span>
-                        <span class="data-value" id="data-lng">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">航向</span>
-                        <span class="data-value" id="data-heading">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">当前航点</span>
-                        <span class="data-value" id="data-wp">--</span>
-                    </div>
-                </div>
-            </div>
-
-            <!-- 光斑检测 -->
-            <div class="panel-section">
-                <div class="panel-header">
-                    <span>光斑检测</span>
-                    <span id="flash-status" class="tag tag-secondary">未启用</span>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-flash-enable" class="btn btn-secondary wide" disabled>启用光斑检测</button>
-                </div>
-                <div class="data-grid">
-                    <div class="data-item">
-                        <span class="data-label">光斑位置</span>
-                        <span class="data-value" id="flash-position">--</span>
-                    </div>
-                    <div class="data-item">
-                        <span class="data-label">检测面积</span>
-                        <span class="data-value" id="flash-area">--</span>
-                    </div>
-                </div>
-                <div class="btn-group">
-                    <button id="btn-avoidance-enable" class="btn btn-warning wide" disabled>启用避光斑</button>
-                    <button id="btn-avoidance-disable" class="btn btn-secondary" disabled>禁用避光斑</button>
-                </div>
-            </div>
-        </aside>
-    </div>
-
-    <!-- 底部日志栏 -->
-    <footer class="log-bar">
-        <div class="log-header">
-            <span>操作日志</span>
-            <button id="btn-clear-log" class="btn-link">清空</button>
-        </div>
-        <div id="log-content" class="log-content"></div>
-    </footer>
-
-    <!-- JS 依赖 -->
-    <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
-    <script src="/js/roslib.min.js"></script>
-    <script src="/js/map.js"></script>
-    <script src="/js/websocket.js"></script>
-    <script src="/js/flash_detector.js"></script>
-    <script src="/js/flash_avoidance.js"></script>
-    <script src="/js/ui.js"></script>
-</body>
-</html>

src/闪光检测/FrontEnd/js/map.js

@@ -1,202 +0,0 @@
-/**
- * 地图模块 - 基于 Leaflet.js
- * 负责: 地图初始化、航点管理、航线绘制、无人机位置显示
- */
-
-const MapModule = (() => {
-    let map = null;
-    let waypoints = [];       // 航点数据数组
-    let markers = [];         // 航点 Leaflet Marker 对象
-    let polyline = null;      // 航线折线
-    let droneMarker = null;   // 无人机位置标记
-    let trailLine = null;     // 飞行轨迹
-    let trailCoords = [];     // 轨迹坐标历史
-
-    const DEFAULT_LAT = 30.0;
-    const DEFAULT_LNG = 120.0;
-    const DEFAULT_ZOOM = 16;
-
-    function init() {
-        map = L.map('map', {
-            center: [DEFAULT_LAT, DEFAULT_LNG],
-            zoom: DEFAULT_ZOOM,
-            zoomControl: true
-        });
-
-        // OpenStreetMap 底图（免费，无需 Key）
-        L.tileLayer('https://tile.openstreetmap.org/{z}/{x}/{y}.png', {
-            attribution: '© OpenStreetMap',
-            maxZoom: 19
-        }).addTo(map);
-
-        // 点击地图添加航点
-        map.on('click', onMapClick);
-
-        // 初始化航线（空折线）
-        polyline = L.polyline([], {
-            color: '#007aff',
-            weight: 2,
-            opacity: 0.7,
-            dashArray: '8, 6'
-        }).addTo(map);
-
-        // 初始化飞行轨迹
-        trailLine = L.polyline([], {
-            color: '#ff4d4f',
-            weight: 2,
-            opacity: 0.6
-        }).addTo(map);
-
-        // 创建无人机图标
-        const droneIcon = L.divIcon({
-            className: 'drone-icon',
-            html: '<div class="drone-icon-inner" id="drone-arrow"></div>',
-            iconSize: [24, 24],
-            iconAnchor: [12, 12]
-        });
-
-        droneMarker = L.marker([DEFAULT_LAT, DEFAULT_LNG], {
-            icon: droneIcon,
-            visible: false
-        }).addTo(map);
-    }
-
-    function onMapClick(e) {
-        addWaypoint(e.latlng.lat, e.latlng.lng);
-    }
-
-    function addWaypoint(lat, lng) {
-        const defaultAlt = parseInt(document.getElementById('default-alt').value) || 15;
-        const defaultHold = parseInt(document.getElementById('default-hold').value) || 0;
-        const index = waypoints.length + 1;
-
-        const wp = {
-            id: Date.now(),
-            lat: parseFloat(lat.toFixed(6)),
-            lng: parseFloat(lng.toFixed(6)),
-            alt: defaultAlt,
-            hold_time: defaultHold
-        };
-        waypoints.push(wp);
-
-        // 添加地图标记
-        const marker = L.marker([wp.lat, wp.lng], {
-            draggable: true
-        }).addTo(map);
-
-        marker.bindPopup(`<b>航点 ${index}</b><br>高度: ${wp.alt}m<br>悬停: ${wp.hold_time}s`);
-
-        // 拖拽更新航点坐标
-        marker.on('dragend', function () {
-            const pos = marker.getLatLng();
-            const wpIdx = markers.indexOf(marker);
-            if (wpIdx >= 0) {
-                waypoints[wpIdx].lat = parseFloat(pos.lat.toFixed(6));
-                waypoints[wpIdx].lng = parseFloat(pos.lng.toFixed(6));
-                marker.setPopupContent(`<b>航点 ${wpIdx + 1}</b><br>高度: ${waypoints[wpIdx].alt}m`);
-                updatePolyline();
-                UIModule.updateWaypointList();
-            }
-        });
-
-        markers.push(marker);
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function removeWaypoint(index) {
-        if (index < 0 || index >= waypoints.length) return;
-
-        waypoints.splice(index, 1);
-        const marker = markers.splice(index, 1)[0];
-        map.removeLayer(marker);
-
-        // 重新编号弹窗
-        markers.forEach((m, i) => {
-            m.setPopupContent(`<b>航点 ${i + 1}</b><br>高度: ${waypoints[i].alt}m`);
-        });
-
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function clearWaypoints() {
-        markers.forEach(m => map.removeLayer(m));
-        waypoints = [];
-        markers = [];
-        updatePolyline();
-        UIModule.updateWaypointList();
-        UIModule.updateButtons();
-    }
-
-    function updatePolyline() {
-        const coords = waypoints.map(wp => [wp.lat, wp.lng]);
-        polyline.setLatLngs(coords);
-    }
-
-    function updateDronePosition(lat, lng, heading) {
-        if (!droneMarker) return;
-        droneMarker.setLatLng([lat, lng]);
-        if (!droneMarker.visible) {
-            droneMarker.visible = true;
-        }
-
-        // 旋转无人机图标（航向）
-        const arrow = document.getElementById('drone-arrow');
-        if (arrow) {
-            arrow.style.transform = `rotate(${heading}deg)`;
-        }
-
-        // 记录轨迹
-        trailCoords.push([lat, lng]);
-        if (trailCoords.length > 500) trailCoords.shift();
-        trailLine.setLatLngs(trailCoords);
-    }
-
-    function centerOnDrone(lat, lng) {
-        map.setView([lat, lng], map.getZoom());
-    }
-
-    function panTo(lat, lng) {
-        map.panTo([lat, lng]);
-    }
-
-    function getWaypoints() {
-        return waypoints.map(wp => ({
-            lat: wp.lat,
-            lng: wp.lng,
-            alt: wp.alt,
-            hold_time: wp.hold_time
-        }));
-    }
-
-    function getWaypointCount() {
-        return waypoints.length;
-    }
-
-    function updateWaypointAlt(index, alt) {
-        if (index >= 0 && index < waypoints.length) {
-            waypoints[index].alt = alt;
-            markers[index].setPopupContent(
-                `<b>航点 ${index + 1}</b><br>高度: ${alt}m<br>悬停: ${waypoints[index].hold_time}s`
-            );
-        }
-    }
-
-    return {
-        init,
-        addWaypoint,
-        removeWaypoint,
-        clearWaypoints,
-        updateDronePosition,
-        centerOnDrone,
-        panTo,
-        getWaypoints,
-        getWaypointCount,
-        updateWaypointAlt,
-        DEFAULT_LAT,
-        DEFAULT_LNG
-    };
-})();

src/闪光检测/FrontEnd/js/ui.js

@@ -1,466 +0,0 @@
-/**
- * UI 交互模块
- * 负责: 按钮事件绑定、状态管理、航点列表渲染、日志输出、光斑检测与避光斑集成
- */
-
-const UIModule = (() => {
-    // 应用状态
-    let droneConnected = false;
-    let missionUploaded = false;
-    let missionRunning = false;
-    let missionPaused = false;
-    let flashDetectionEnabled = false;
-    let flashAvoidanceEnabled = false;
-    let connectionMode = 'sim';  // 'sim' 仿真 | 'real' 实机
-
-    // 连接预设 (rosbridge WebSocket 地址)
-    const PRESETS = {
-        sim:  { url: 'ws://localhost:9090',             label: '仿真 rosbridge',  desc: 'Prometheus SITL 仿真 (本地 rosbridge 端口 9090)' },
-        real: { url: 'ws://192.168.1.31:9090',          label: '实机 rosbridge',  desc: 'P600 实机 WiFi 数传 (rosbridge 192.168.1.31:9090)' }
-    };
-
-    function init() {
-        // 初始化地图
-        MapModule.init();
-
-        // 初始化 WebSocket
-        WsModule.init();
-
-        // 绑定按钮事件
-        document.getElementById('btn-connect').addEventListener('click', onConnect);
-        document.getElementById('btn-upload').addEventListener('click', onUpload);
-        document.getElementById('btn-start').addEventListener('click', onStart);
-        document.getElementById('btn-pause').addEventListener('click', onPause);
-        document.getElementById('btn-resume').addEventListener('click', onResume);
-        document.getElementById('btn-rth').addEventListener('click', onReturnHome);
-        document.getElementById('btn-land').addEventListener('click', onLand);
-        document.getElementById('btn-clear').addEventListener('click', onClear);
-        document.getElementById('btn-clear-log').addEventListener('click', onClearLog);
-
-        // 绑定光斑检测按钮
-        document.getElementById('btn-flash-enable').addEventListener('click', onEnableFlashDetection);
-        document.getElementById('btn-avoidance-enable').addEventListener('click', onEnableFlashAvoidance);
-        document.getElementById('btn-avoidance-disable').addEventListener('click', onDisableFlashAvoidance);
-
-        // 绑定连接模式切换
-        document.getElementById('btn-mode-sim').addEventListener('click', () => switchMode('sim'));
-        document.getElementById('btn-mode-real').addEventListener('click', () => switchMode('real'));
-
-        // 连接地址输入框变化时更新标签
-        document.getElementById('drone-url').addEventListener('input', onUrlInput);
-
-        updateButtons();
-        addLog('info', '系统就绪，当前模式: 仿真 (rosbridge)');
-        addLog('info', '提示: 浏览器通过 roslibjs 直接连接 rosbridge_server，无需 MAVSDK 后端');
-    }
-
-    // ---------- 连接模式切换 ----------
-
-    function switchMode(mode) {
-        if (droneConnected) {
-            addLog('warning', '请先断开当前连接再切换模式');
-            return;
-        }
-        connectionMode = mode;
-        const preset = PRESETS[mode];
-
-        // 更新按钮状态
-        document.getElementById('btn-mode-sim').classList.toggle('active', mode === 'sim');
-        document.getElementById('btn-mode-real').classList.toggle('active', mode === 'real');
-
-        // 自动填入预设地址
-        document.getElementById('drone-url').value = preset.url;
-        document.getElementById('conn-mode-tag').textContent = preset.label;
-
-        addLog('info', `已切换到${preset.label}模式: ${preset.desc}`);
-
-        if (mode === 'sim') {
-            addLog('info', '仿真模式说明: 先启动 Prometheus SITL (roslaunch prometheus_gazebo sitl.launch)，再启动 rosbridge (roslaunch rosbridge_server rosbridge_websocket.launch)');
-        } else {
-            addLog('info', '实机模式说明: 请确保电脑已连接 P600 的 WiFi 数传，rosbridge 需在机载电脑上运行');
-        }
-    }
-
-    function onUrlInput() {
-        const url = document.getElementById('drone-url').value.trim();
-        const tag = document.getElementById('conn-mode-tag');
-        if (url.startsWith('ws://')) {
-            tag.textContent = 'rosbridge';
-        } else if (url.startsWith('wss://')) {
-            tag.textContent = 'rosbridge (SSL)';
-        } else {
-            tag.textContent = '未知';
-        }
-    }
-
-    // ---------- 按钮事件处理 ----------
-
-    function onConnect() {
-        const url = document.getElementById('drone-url').value.trim();
-        if (!url) {
-            addLog('error', '请输入 rosbridge 连接地址');
-            return;
-        }
-        if (!url.startsWith('ws://') && !url.startsWith('wss://')) {
-            addLog('error', '地址格式错误，应以 ws:// 开头 (例如 ws://localhost:9090)');
-            return;
-        }
-        WsModule.connectDrone(url);
-    }
-
-    function onUpload() {
-        const waypoints = MapModule.getWaypoints();
-        if (waypoints.length === 0) {
-            addLog('error', '请先在地图上添加航点');
-            return;
-        }
-        WsModule.uploadMission(waypoints);
-    }
-
-    function onStart() {
-        WsModule.startMission();
-    }
-
-    function onPause() {
-        WsModule.pauseMission();
-    }
-
-    function onResume() {
-        WsModule.resumeMission();
-    }
-
-    function onReturnHome() {
-        WsModule.returnHome();
-    }
-
-    function onLand() {
-        WsModule.land();
-    }
-
-    function onClear() {
-        MapModule.clearWaypoints();
-        missionUploaded = false;
-        updateButtons();
-        addLog('info', '已清除所有航点');
-    }
-
-    function onClearLog() {
-        document.getElementById('log-content').innerHTML = '';
-    }
-
-    // ---------- 光斑检测事件 ----------
-
-    function onEnableFlashDetection() {
-        if (!droneConnected) {
-            addLog('warning', '请先连接无人机');
-            return;
-        }
-
-        // 初始化光斑检测模块
-        if (typeof FlashDetectorModule !== 'undefined') {
-            FlashDetectorModule.init(WsModule.getRos(), {
-                onFlashDetected: (detected) => {
-                    const statusEl = document.getElementById('flash-status');
-                    if (detected) {
-                        statusEl.className = 'tag tag-danger';
-                        statusEl.textContent = '检测到光斑';
-                    }
-                },
-                onDetectionData: (data) => {
-                    // 更新光斑位置显示
-                    document.getElementById('flash-position').textContent = `(${data.cx.toFixed(0)}, ${data.cy.toFixed(0)})`;
-                    document.getElementById('flash-area').textContent = data.area.toFixed(0);
-
-                    // 如果启用了避光斑，处理检测数据
-                    if (flashAvoidanceEnabled && typeof FlashAvoidanceModule !== 'undefined') {
-                        const avoidanceCmd = FlashAvoidanceModule.processDetection(data);
-                        if (avoidanceCmd) {
-                            // 计算目标位置并执行避光斑
-                            executeFlashAvoidance(avoidanceCmd);
-                        }
-                    }
-                }
-            });
-
-            flashDetectionEnabled = true;
-            document.getElementById('btn-flash-enable').classList.add('hidden');
-            document.getElementById('flash-status').className = 'tag tag-success';
-            document.getElementById('flash-status').textContent = '已启用';
-            document.getElementById('btn-avoidance-enable').disabled = false;
-
-            addLog('success', '光斑检测已启用');
-        } else {
-            addLog('error', '光斑检测模块未加载');
-        }
-    }
-
-    function onEnableFlashAvoidance() {
-        if (!flashDetectionEnabled) {
-            addLog('warning', '请先启用光斑检测');
-            return;
-        }
-
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.init({
-                wsModule: WsModule,
-                onStatusUpdate: (data) => addLog(data.type, data.message)
-            });
-
-            FlashAvoidanceModule.setStatusCallback((data) => addLog(data.type, data.message));
-            FlashAvoidanceModule.setEnabled(true);
-
-            flashAvoidanceEnabled = true;
-            document.getElementById('btn-avoidance-enable').classList.add('hidden');
-            document.getElementById('btn-avoidance-disable').disabled = false;
-
-            addLog('success', '避光斑已启用');
-        }
-    }
-
-    function onDisableFlashAvoidance() {
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.setEnabled(false);
-            flashAvoidanceEnabled = false;
-            document.getElementById('btn-avoidance-enable').classList.remove('hidden');
-            document.getElementById('btn-avoidance-disable').disabled = true;
-            addLog('info', '避光斑已禁用');
-        }
-    }
-
-    function executeFlashAvoidance(avoidanceCmd) {
-        // 获取当前无人机位置
-        const currentPos = WsModule.getLocalPosition ? WsModule.getLocalPosition() : { x: 0, y: 0, z: 0 };
-
-        // 计算避光斑目标位置
-        const targetPos = {
-            x: currentPos.x + avoidanceCmd.avoidX,
-            y: currentPos.y + avoidanceCmd.avoidY,
-            z: currentPos.z + avoidanceCmd.avoidZ
-        };
-
-        // 发布新的位置设定值
-        WsModule.publishSetpoint(targetPos.x, targetPos.y, targetPos.z);
-
-        addLog('warning', `执行避光斑: 移动到 (${targetPos.x.toFixed(1)}, ${targetPos.y.toFixed(1)}, ${targetPos.z.toFixed(1)})`);
-
-        // 2秒后返回原位置或继续任务
-        setTimeout(() => {
-            FlashAvoidanceModule.endAvoidance();
-            addLog('info', '避光斑完成，返回正常控制');
-        }, 2000);
-    }
-
-    // ---------- 状态回调（由 WsModule 触发） ----------
-
-    function onTelemetry(data) {
-        if (data.type === 'telemetry') {
-            // 更新顶栏数据
-            document.getElementById('battery').textContent = data.battery.toFixed(0) + '%';
-            document.getElementById('speed').textContent = data.speed.toFixed(1) + ' m/s';
-            document.getElementById('altitude').textContent = data.alt.toFixed(1) + ' m';
-            document.getElementById('gps-status').textContent = data.gps_status;
-            document.getElementById('flight-mode').textContent = data.flight_mode;
-
-            // 更新右侧数据面板
-            document.getElementById('data-lat').textContent = data.lat.toFixed(6);
-            document.getElementById('data-lng').textContent = data.lng.toFixed(6);
-            document.getElementById('data-heading').textContent = data.heading.toFixed(0) + '°';
-            document.getElementById('data-wp').textContent = data.current_wp;
-
-            // 更新无人机位置 — 只要坐标有效就更新
-            if (droneConnected && (data.lat !== 0 || data.alt > 0.1)) {
-                MapModule.updateDronePosition(data.lat, data.lng, data.heading);
-            }
-        }
-
-        if (data.type === 'mission_progress') {
-            document.getElementById('data-wp').textContent =
-                data.current + ' / ' + data.total;
-        }
-    }
-
-    function onStatus(data) {
-        addLog(data.type, data.message);
-
-        // 根据状态消息更新应用状态
-        const msg = data.message;
-
-        if (msg.includes('连接成功') || msg.includes('已连接')) {
-            droneConnected = true;
-            document.getElementById('conn-status').className = 'tag tag-success';
-            document.getElementById('conn-status').textContent = '已连接';
-            document.getElementById('btn-connect').textContent = '已连接';
-            document.getElementById('btn-connect').disabled = true;
-            document.getElementById('btn-flash-enable').disabled = false;
-            updateButtons();
-        }
-
-        if (msg.includes('上传成功')) {
-            missionUploaded = true;
-            updateButtons();
-        }
-
-        if (msg.includes('任务已开始')) {
-            missionRunning = true;
-            missionPaused = false;
-            updateButtons();
-        }
-
-        if (msg.includes('已暂停')) {
-            missionRunning = false;
-            missionPaused = true;
-            updateButtons();
-        }
-
-        if (msg.includes('已继续')) {
-            missionRunning = true;
-            missionPaused = false;
-            updateButtons();
-        }
-
-        if (msg.includes('返航') || msg.includes('降落') || msg.includes('失败')) {
-            if (msg.includes('返航') || msg.includes('降落')) {
-                missionRunning = false;
-                missionPaused = false;
-                updateButtons();
-            }
-        }
-
-        if (msg.includes('任务完成')) {
-            missionRunning = false;
-            missionPaused = false;
-            missionUploaded = false;
-            updateButtons();
-        }
-    }
-
-    function onDroneDisconnected() {
-        droneConnected = false;
-        missionUploaded = false;
-        missionRunning = false;
-        missionPaused = false;
-        flashDetectionEnabled = false;
-        flashAvoidanceEnabled = false;
-
-        document.getElementById('conn-status').className = 'tag tag-danger';
-        document.getElementById('conn-status').textContent = '未连接';
-        document.getElementById('btn-connect').textContent = '连接无人机';
-        document.getElementById('btn-connect').disabled = false;
-        document.getElementById('btn-flash-enable').disabled = true;
-        document.getElementById('btn-flash-enable').classList.remove('hidden');
-        document.getElementById('btn-avoidance-enable').disabled = true;
-        document.getElementById('btn-avoidance-enable').classList.remove('hidden');
-        document.getElementById('btn-avoidance-disable').disabled = true;
-        document.getElementById('flash-status').className = 'tag tag-secondary';
-        document.getElementById('flash-status').textContent = '未启用';
-        document.getElementById('flash-position').textContent = '--';
-        document.getElementById('flash-area').textContent = '--';
-
-        // 关闭光斑检测模块
-        if (typeof FlashDetectorModule !== 'undefined') {
-            FlashDetectorModule.shutdown();
-        }
-        if (typeof FlashAvoidanceModule !== 'undefined') {
-            FlashAvoidanceModule.reset();
-        }
-
-        updateButtons();
-        addLog('error', '无人机连接断开');
-    }
-
-    // ---------- 按钮状态管理 ----------
-
-    function updateButtons() {
-        const wpCount = MapModule.getWaypointCount();
-
-        setBtn('btn-upload', droneConnected && wpCount > 0 && !missionRunning && !missionPaused);
-        setBtn('btn-start', droneConnected && missionUploaded && !missionRunning && !missionPaused);
-        setBtn('btn-pause', droneConnected && missionRunning);
-        setBtn('btn-resume', droneConnected && missionPaused);
-        setBtn('btn-rth', droneConnected);
-        setBtn('btn-land', droneConnected);
-    }
-
-    function setBtn(id, enabled) {
-        document.getElementById(id).disabled = !enabled;
-    }
-
-    // ---------- 航点列表渲染 ----------
-
-    function updateWaypointList() {
-        const container = document.getElementById('waypoint-list');
-        const waypoints = MapModule.getWaypoints();
-
-        document.getElementById('wp-count').textContent = waypoints.length + ' 个航点';
-
-        if (waypoints.length === 0) {
-            container.innerHTML = '<div class="empty-hint">在地图上点击以添加航点</div>';
-            return;
-        }
-
-        container.innerHTML = waypoints.map((wp, i) => `
-            <div class="wp-item" data-index="${i}">
-                <span class="wp-index">${i + 1}</span>
-                <div class="wp-info">
-                    <div class="wp-coord">${wp.lat}, ${wp.lng}</div>
-                    <div class="wp-alt">${wp.alt}m | 悬停 ${wp.hold_time}s</div>
-                </div>
-                <button class="wp-delete" data-index="${i}" title="删除">&times;</button>
-            </div>
-        `).join('');
-
-        // 绑定点击定位事件
-        container.querySelectorAll('.wp-item').forEach(item => {
-            item.addEventListener('click', (e) => {
-                if (e.target.classList.contains('wp-delete')) return;
-                const idx = parseInt(item.dataset.index);
-                const wps = MapModule.getWaypoints();
-                if (wps[idx]) {
-                    MapModule.panTo(wps[idx].lat, wps[idx].lng);
-                }
-            });
-        });
-
-        // 绑定删除事件
-        container.querySelectorAll('.wp-delete').forEach(btn => {
-            btn.addEventListener('click', () => {
-                MapModule.removeWaypoint(parseInt(btn.dataset.index));
-            });
-        });
-    }
-
-    // ---------- 日志输出 ----------
-
-    function addLog(type, message) {
-        const container = document.getElementById('log-content');
-        const now = new Date();
-        const time = now.toTimeString().split(' ')[0];
-
-        const entry = document.createElement('div');
-        entry.className = 'log-entry ' + type;
-        entry.innerHTML = `<span class="time">[${time}]</span>${message}`;
-        container.appendChild(entry);
-
-        // 自动滚动到底部
-        container.scrollTop = container.scrollHeight;
-
-        // 限制日志条数
-        while (container.children.length > 200) {
-            container.removeChild(container.firstChild);
-        }
-    }
-
-    return {
-        init,
-        onTelemetry,
-        onStatus,
-        onDroneDisconnected,
-        updateWaypointList,
-        updateButtons
-    };
-})();
-
-// 页面加载完成后初始化
-document.addEventListener('DOMContentLoaded', () => {
-    UIModule.init();
-});

src/闪光检测/FrontEnd/js/websocket.js

@@ -1,696 +0,0 @@
-/**
- * MAVROS 通信模块 - 基于 roslibjs
- * 直接通过 MAVROS 话题和服务控制无人机
- *
- * 架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS话题──► MAVROS ──MAVLink──► PX4
- *
- * 使用的话题:
- *   订阅: /uav1/mavros/state              (mavros_msgs/State)
- *   订阅: /uav1/mavros/local_position/pose (geometry_msgs/PoseStamped)
- *   订阅: /uav1/mavros/global_position/raw/fix (sensor_msgs/NavSatFix)
- *   订阅: /uav1/mavros/battery             (sensor_msgs/BatteryState)
- *   发布: /uav1/mavros/setpoint_position/local  (geometry_msgs/PoseStamped)
- *   服务: /uav1/mavros/cmd/arming          (mavros_msgs/CommandBool)
- *   服务: /uav1/mavros/set_mode            (mavros_msgs/SetMode)
- */
-
-const WsModule = (() => {
-    let ros = null;
-    let rosConnected = false;
-    let droneConnected = false;
-    let fcuReady = false;  // true when MAVROS reports valid mode (FCU connection established)
-
-    // ========== 配置: UAV 命名空间 ==========
-    // 仿真环境默认: '/uav1'   实机可能: '' 或 '/uav1'
-    // 如果话题不对，改这里
-    let uavNS = '/uav1';
-
-    function topicName(name) { return uavNS + name; }
-    function serviceName(name) { return uavNS + name; }
-
-    // ROS handles
-    let stateSub = null;
-    let localPosSub = null;
-    let gpsSub = null;
-    let batterySub = null;
-    let setpointPub = null;
-
-    // Telemetry state
-    let telemetry = {
-        lat: 0, lng: 0, alt: 0,
-        speed: 0, battery: 100, heading: 0,
-        flightMode: 'UNKNOWN', gpsStatus: 'No Fix',
-        armed: false,
-        localPos: { x: 0, y: 0, z: 0 }  // ENU: x=East, y=North, z=Up
-    };
-
-    // Origin for lat/lng <-> ENU conversion
-    let origin = { lat: null, lng: null };
-    let originSet = false;
-    let originFromGps = false;  // true if origin was set from real GPS
-
-    // Navigation state
-    let rawWaypoints = [];     // Original lat/lng waypoints
-    let navWaypoints = [];     // Converted ENU waypoints
-    let currentWPIndex = 0;
-    let navActive = false;
-    let navPaused = false;
-    let publishTimer = null;
-    let wpCheckTimer = null;
-    let telemetryTimer = null;  // Throttled UI update timer
-
-    const WP_REACH_DIST = 2.0;     // meters
-    const PUBLISH_INTERVAL = 100;   // ms (10 Hz, OFFBOARD needs >= 2Hz)
-
-    // ---- Coordinate conversion ----
-
-    function latLngToENU(lat, lng, alt) {
-        if (!originSet) return { x: 0, y: 0, z: alt };
-        const latRad = origin.lat * Math.PI / 180;
-        const x = (lng - origin.lng) * Math.cos(latRad) * 111319.488;  // East
-        const y = (lat - origin.lat) * 111319.488;                      // North
-        return { x, y, z: alt };                                         // Up
-    }
-
-    function enuToLatLng(x, y) {
-        if (!originSet) return { lat: 0, lng: 0 };
-        const latRad = origin.lat * Math.PI / 180;
-        const lat = origin.lat + y / 111319.488;
-        const lng = origin.lng + x / (111319.488 * Math.cos(latRad));
-        return { lat, lng };
-    }
-
-    // Quaternion to yaw (degrees, ENU: 0=East, CCW+)
-    function quatToYawDeg(qx, qy, qz, qw) {
-        const siny = 2 * (qw * qz + qx * qy);
-        const cosy = 1 - 2 * (qy * qy + qz * qz);
-        let yaw = Math.atan2(siny, cosy) * 180 / Math.PI;
-        // Convert to compass heading: 0=North, CW+
-        return (90 - yaw + 360) % 360;
-    }
-
-    // ---- Init & Connection ----
-
-    function init() {}
-
-    function isConnected() { return rosConnected; }
-
-    function connectDrone(url) {
-        try {
-            if (typeof ROSLIB === 'undefined') {
-                UIModule.onStatus({ type: 'error', message: 'roslibjs 库未加载' });
-                return;
-            }
-
-            if (ros) {
-                try { ros.close(); } catch (e) { /* ignore */ }
-            }
-
-            UIModule.onStatus({ type: 'info', message: `正在连接 rosbridge: ${url} ...` });
-
-            ros = new ROSLIB.Ros({ url: url });
-
-            ros.on('connection', () => {
-                rosConnected = true;
-                UIModule.onStatus({ type: 'info', message: 'rosbridge 已连接，正在检测 MAVROS 话题...' });
-                setupSubscriptions();
-            });
-
-            ros.on('error', (error) => {
-                UIModule.onStatus({ type: 'error', message: `rosbridge 连接错误: ${error || '未知'}` });
-            });
-
-            ros.on('close', () => {
-                const wasConnected = rosConnected;
-                rosConnected = false;
-                droneConnected = false;
-                stopAll();
-                if (wasConnected) {
-                    UIModule.onDroneDisconnected();
-                }
-            });
-        } catch (e) {
-            UIModule.onStatus({ type: 'error', message: `连接失败: ${e.message || e}` });
-        }
-    }
-
-    // ---- Topic subscriptions ----
-
-    function setupSubscriptions() {
-        // Try to detect which namespace has MAVROS
-        trySubscribesWithFallback();
-    }
-
-    // Set a default origin for coordinate conversion (no GPS needed)
-    function setDefaultOrigin() {
-        if (originSet) return;
-        // Use map default center as origin - simulation doesn't need real GPS
-        origin.lat = MapModule.DEFAULT_LAT || 30.0;
-        origin.lng = MapModule.DEFAULT_LNG || 120.0;
-        originSet = true;
-        originFromGps = false;
-        UIModule.onStatus({ type: 'info', message: `仿真模式: 使用默认坐标原点 (${origin.lat}, ${origin.lng})，无需GPS` });
-    }
-
-    function trySubscribesWithFallback() {
-        let gotState = false;
-        const tryNS = uavNS;
-
-        // Subscribe to MAVROS state
-        stateSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/state'),
-            messageType: 'mavros_msgs/State'
-        });
-
-        const stateTimeout = setTimeout(() => {
-            if (!gotState) {
-                // Try without namespace
-                if (tryNS !== '') {
-                    uavNS = '';
-                    UIModule.onStatus({ type: 'warning', message: `未收到 ${tryNS}/mavros/state，尝试无命名空间...` });
-                    trySubscribesWithFallback();
-                } else {
-                    UIModule.onStatus({ type: 'error', message: '未检测到 MAVROS 话题，请确认仿真/实机已启动' });
-                }
-            }
-        }, 5000);
-
-        stateSub.subscribe((msg) => {
-            clearTimeout(stateTimeout);
-            gotState = true;
-
-            telemetry.armed = msg.armed || false;
-            telemetry.flightMode = msg.mode || 'UNKNOWN';
-
-            // Check if FCU is truly connected (has valid mode)
-            const modeValid = msg.connected && msg.mode && msg.mode.length > 0;
-
-            if (!droneConnected) {
-                droneConnected = true;
-                if (modeValid) {
-                    fcuReady = true;
-                    UIModule.onStatus({ type: 'success', message: `无人机已连接 (模式: ${msg.mode}, ${msg.armed ? '已解锁' : '未解锁'})` });
-                } else {
-                    UIModule.onStatus({ type: 'warning', message: `MAVROS 已连接，但飞控未就绪 (mode=空)。等待 PX4 初始化...` });
-                }
-                setDefaultOrigin();
-            }
-
-            // Detect when FCU becomes ready
-            if (!fcuReady && modeValid) {
-                fcuReady = true;
-                UIModule.onStatus({ type: 'success', message: `飞控已就绪! 当前模式: ${msg.mode}, 状态: ${msg.armed ? '已解锁' : '未解锁'}` });
-            }
-        });
-
-        // Local position (ENU: x=East, y=North, z=Up)
-        localPosSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/local_position/pose'),
-            messageType: 'geometry_msgs/PoseStamped'
-        });
-
-        localPosSub.subscribe((msg) => {
-            if (msg.pose && msg.pose.position) {
-                telemetry.localPos = {
-                    x: msg.pose.position.x,  // East
-                    y: msg.pose.position.y,  // North
-                    z: msg.pose.position.z   // Up
-                };
-            }
-            if (msg.pose && msg.pose.orientation) {
-                const o = msg.pose.orientation;
-                telemetry.heading = quatToYawDeg(o.x, o.y, o.z, o.w);
-            }
-        });
-
-        // GPS (for lat/lng display and origin)
-        gpsSub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/global_position/raw/fix'),
-            messageType: 'sensor_msgs/NavSatFix'
-        });
-
-        gpsSub.subscribe((msg) => {
-            telemetry.lat = msg.latitude || 0;
-            telemetry.lng = msg.longitude || 0;
-
-            if (msg.status) {
-                telemetry.gpsStatus = msg.status.status >= 0 ? '3D Fix' : 'No Fix';
-            }
-
-            // Update origin from real GPS (overrides default origin)
-            if (msg.latitude !== 0 && Math.abs(msg.latitude) > 1) {
-                if (!originFromGps) {
-                    origin.lat = msg.latitude;
-                    origin.lng = msg.longitude;
-                    originSet = true;
-                    originFromGps = true;
-                    UIModule.onStatus({ type: 'info', message: `GPS 坐标已更新: ${origin.lat.toFixed(6)}, ${origin.lng.toFixed(6)}` });
-                    MapModule.centerOnDrone(msg.latitude, msg.longitude);
-                }
-            }
-        });
-
-        // Battery
-        batterySub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/battery'),
-            messageType: 'sensor_msgs/BatteryState'
-        });
-
-        batterySub.subscribe((msg) => {
-            telemetry.battery = (msg.percentage != null) ? msg.percentage * 100 : 100;
-        });
-
-        // Setpoint publisher — PoseStamped is the standard MAVROS position control interface
-        setpointPub = new ROSLIB.Topic({
-            ros: ros,
-            name: topicName('/mavros/setpoint_position/local'),
-            messageType: 'geometry_msgs/PoseStamped'
-        });
-
-        // Start throttled telemetry loop (5Hz, decoupled from subscription rate)
-        startTelemetryLoop();
-    }
-
-    function pushTelemetry() {
-        let displayLat = telemetry.lat;
-        let displayLng = telemetry.lng;
-        if ((!displayLat || displayLat === 0) && originSet) {
-            const ll = enuToLatLng(telemetry.localPos.x, telemetry.localPos.y);
-            displayLat = ll.lat;
-            displayLng = ll.lng;
-        }
-
-        UIModule.onTelemetry({
-            type: 'telemetry',
-            lat: displayLat,
-            lng: displayLng,
-            alt: telemetry.localPos.z,
-            speed: telemetry.speed,
-            battery: telemetry.battery,
-            heading: telemetry.heading,
-            flight_mode: telemetry.flightMode,
-            gps_status: telemetry.gpsStatus,
-            current_wp: (currentWPIndex + 1) + '/' + navWaypoints.length
-        });
-    }
-
-    function startTelemetryLoop() {
-        if (telemetryTimer) clearInterval(telemetryTimer);
-        pushTelemetry();
-        telemetryTimer = setInterval(pushTelemetry, 200); // 5Hz UI update
-    }
-
-    function stopTelemetryLoop() {
-        if (telemetryTimer) { clearInterval(telemetryTimer); telemetryTimer = null; }
-    }
-
-    // ---- Setpoint publishing ----
-
-    let spSeq = 0;
-
-    function publishSetpoint(east, north, up) {
-        if (!setpointPub || !rosConnected) return;
-
-        const msg = new ROSLIB.Message({
-            header: {
-                seq: spSeq++,
-                stamp: { secs: Math.floor(Date.now() / 1000), nsecs: 0 },
-                frame_id: 'map'
-            },
-            pose: {
-                position: { x: east, y: north, z: up },
-                orientation: { x: 0, y: 0, z: 0, w: 1 }
-            }
-        });
-
-        setpointPub.publish(msg);
-    }
-
-    function startPublishLoop(east, north, up) {
-        stopPublishing();
-        publishSetpoint(east, north, up);
-        publishTimer = setInterval(() => {
-            publishSetpoint(east, north, up);
-        }, PUBLISH_INTERVAL);
-    }
-
-    function stopPublishing() {
-        if (publishTimer) { clearInterval(publishTimer); publishTimer = null; }
-        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
-    }
-
-    function stopAll() {
-        stopPublishing();
-        stopTelemetryLoop();
-    }
-
-    // ---- ROS Service calls ----
-
-    // Simple one-shot versions for arm/disarm/land buttons
-
-    // ---- Mission operations ----
-
-    function uploadMission(waypoints) {
-        if (waypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '航点列表为空' });
-            return;
-        }
-
-        // Store raw waypoints
-        rawWaypoints = waypoints;
-        currentWPIndex = 0;
-
-        // Convert to ENU (origin should always be set by now)
-        if (originSet) {
-            convertWaypoints();
-            UIModule.onStatus({ type: 'success', message: `任务上传成功，共 ${navWaypoints.length} 个航点` });
-        } else {
-            // Fallback (shouldn't happen, but just in case)
-            UIModule.onStatus({ type: 'success', message: `已暂存 ${waypoints.length} 个航点` });
-        }
-    }
-
-    function convertWaypoints() {
-        if (!originSet || !rawWaypoints || rawWaypoints.length === 0) return false;
-        navWaypoints = rawWaypoints.map(wp => {
-            const enu = latLngToENU(wp.lat, wp.lng, wp.alt);
-            return { ...enu, hold_time: wp.hold_time || 0 };
-        });
-        return true;
-    }
-
-    function startMission() {
-        if (!rosConnected || !droneConnected) {
-            UIModule.onStatus({ type: 'error', message: '未连接无人机' });
-            return;
-        }
-        if (!fcuReady) {
-            UIModule.onStatus({ type: 'error', message: '飞控未就绪 (MAVROS 模式为空)。请等待 PX4 完全启动后重试。也可尝试在终端执行: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"  验证模式切换是否正常' });
-            return;
-        }
-        if (rawWaypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '请先上传任务' });
-            return;
-        }
-
-        // Convert waypoints
-        if (navWaypoints.length === 0 && rawWaypoints.length > 0) {
-            if (!originSet) setDefaultOrigin();
-            convertWaypoints();
-        }
-        if (navWaypoints.length === 0) {
-            UIModule.onStatus({ type: 'error', message: '航点转换失败，请重新上传任务' });
-            return;
-        }
-
-        // Step 1: Start sending takeoff setpoints at target altitude
-        // PX4 requires setpoints BEFORE switching OFFBOARD, and altitude must be positive
-        const firstWP = navWaypoints[0];
-        const startX = telemetry.localPos.x || 0;
-        const startY = telemetry.localPos.y || 0;
-        const takeoffAlt = firstWP.z;
-        startPublishLoop(startX, startY, takeoffAlt);
-        UIModule.onStatus({ type: 'info', message: '正在发送位置设定值 (10Hz)...' });
-
-        // Step 2: Wait for setpoints to flow, then switch OFFBOARD
-        setTimeout(() => {
-            callSetModeWithRetry('OFFBOARD', 3, (ok) => {
-                if (!ok) {
-                    stopPublishing();
-                    UIModule.onStatus({ type: 'error', message: 'OFFBOARD 模式切换失败，任务中止。请在终端验证: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"' });
-                    return;
-                }
-
-                // Step 3: Arm
-                setTimeout(() => {
-                    callArmingWithRetry(true, 3, (ok) => {
-                        if (!ok) {
-                            stopPublishing();
-                            UIModule.onStatus({ type: 'error', message: '电机解锁失败，任务中止。请检查: 1) 传感器是否校准 2) GPS是否定位 3) 安全检查是否通过' });
-                            return;
-                        }
-
-                        // Step 4: Wait for takeoff, then navigate
-                        setTimeout(() => {
-                            UIModule.onStatus({ type: 'info', message: '正在起飞...' });
-
-                            // Check if drone reached takeoff altitude
-                            let takeoffDone = false;
-                            const takeoffCheck = setInterval(() => {
-                                const curZ = telemetry.localPos.z || 0;
-                                if (curZ > takeoffAlt - 1.0 && curZ > 0.5) {
-                                    clearInterval(takeoffCheck);
-                                    takeoffDone = true;
-                                    navActive = true;
-                                    navPaused = false;
-                                    UIModule.onStatus({ type: 'success', message: '起飞完成，开始巡航' });
-                                    navigateToWaypoint(0);
-                                }
-                            }, 500);
-
-                            // Fallback: start navigation after 15s regardless
-                            setTimeout(() => {
-                                clearInterval(takeoffCheck);
-                                if (!takeoffDone) {
-                                    navActive = true;
-                                    navPaused = false;
-                                    UIModule.onStatus({ type: 'info', message: '任务已开始执行' });
-                                    navigateToWaypoint(0);
-                                }
-                            }, 15000);
-                        }, 1000);
-                    });
-                }, 500);
-            });
-        }, 3000);
-    }
-
-    // Retry wrappers for service calls
-    function callSetModeWithRetry(mode, retries, callback) {
-        UIModule.onStatus({ type: 'info', message: `正在切换 ${mode} 模式...` });
-        const service = new ROSLIB.Service({
-            ros: ros,
-            name: serviceName('/mavros/set_mode'),
-            serviceType: 'mavros_msgs/SetMode'
-        });
-        service.callService(
-            new ROSLIB.ServiceRequest({ base_mode: 0, custom_mode: mode }),
-            (result) => {
-                if (result && result.mode_sent) {
-                    UIModule.onStatus({ type: 'success', message: `模式已切换: ${mode}` });
-                    callback(true);
-                } else if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `模式切换未成功，剩余重试 ${retries} 次...` });
-                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `模式切换失败: ${JSON.stringify(result)}` });
-                    callback(false);
-                }
-            },
-            (error) => {
-                if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `模式切换服务错误，重试中...` });
-                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `模式切换服务失败: ${error || '不可用'}` });
-                    callback(false);
-                }
-            }
-        );
-    }
-
-    function callArmingWithRetry(arm, retries, callback) {
-        UIModule.onStatus({ type: 'info', message: arm ? '正在解锁电机...' : '正在上锁电机...' });
-        const service = new ROSLIB.Service({
-            ros: ros,
-            name: serviceName('/mavros/cmd/arming'),
-            serviceType: 'mavros_msgs/CommandBool'
-        });
-        service.callService(
-            new ROSLIB.ServiceRequest({ value: arm }),
-            (result) => {
-                if (result && result.success) {
-                    UIModule.onStatus({ type: 'success', message: arm ? '电机已解锁' : '电机已上锁' });
-                    callback(true);
-                } else if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}未成功 (result=${result.result})，剩余重试 ${retries} 次...` });
-                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}失败: result=${result ? result.result : 'N/A'}` });
-                    callback(false);
-                }
-            },
-            (error) => {
-                if (retries > 0) {
-                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}服务错误，重试中...` });
-                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
-                } else {
-                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}服务失败` });
-                    callback(false);
-                }
-            }
-        );
-    }
-
-    // Simple one-shot mode switch (no retry, used by returnHome/land)
-    function callSetMode(mode) {
-        callSetModeWithRetry(mode, 1, () => {});
-    }
-
-    function navigateToWaypoint(index) {
-        if (!navActive || navPaused) return;
-
-        if (index >= navWaypoints.length) {
-            UIModule.onStatus({ type: 'success', message: '所有航点已到达，任务完成' });
-            const p = telemetry.localPos;
-            startPublishLoop(p.x, p.y, p.z);
-            navActive = false;
-            return;
-        }
-
-        currentWPIndex = index;
-        const wp = navWaypoints[index];
-
-        UIModule.onStatus({ type: 'info', message: `飞往航点 ${index + 1}/${navWaypoints.length} (${wp.x.toFixed(1)}, ${wp.y.toFixed(1)}, ${wp.z.toFixed(1)}m)` });
-        startPublishLoop(wp.x, wp.y, wp.z);
-        checkWaypointReached(index);
-    }
-
-    function checkWaypointReached(index) {
-        if (wpCheckTimer) clearInterval(wpCheckTimer);
-
-        const wpTimeout = setTimeout(() => {
-            // Fallback: if waypoint not reached in 30s, advance anyway
-            if (navActive && !navPaused) {
-                UIModule.onStatus({ type: 'warning', message: `航点 ${index + 1} 到达超时，跳至下一航点` });
-                navigateToWaypoint(index + 1);
-            }
-        }, 30000);
-
-        wpCheckTimer = setInterval(() => {
-            if (!navActive || navPaused) {
-                clearInterval(wpCheckTimer);
-                clearTimeout(wpTimeout);
-                return;
-            }
-
-            const wp = navWaypoints[index];
-            if (!wp) { clearTimeout(wpTimeout); return; }
-
-            const p = telemetry.localPos;
-            const dx = p.x - wp.x;
-            const dy = p.y - wp.y;
-            const dz = p.z - wp.z;
-            const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
-
-            if (dist < WP_REACH_DIST) {
-                clearInterval(wpCheckTimer);
-                clearTimeout(wpTimeout);
-                wpCheckTimer = null;
-
-                UIModule.onTelemetry({
-                    type: 'mission_progress',
-                    current: index + 1,
-                    total: navWaypoints.length
-                });
-
-                const holdTime = wp.hold_time || 0;
-                if (holdTime > 0) {
-                    UIModule.onStatus({ type: 'info', message: `航点 ${index + 1} 已到达，悬停 ${holdTime} 秒` });
-                    setTimeout(() => {
-                        if (navActive && !navPaused) navigateToWaypoint(index + 1);
-                    }, holdTime * 1000);
-                } else {
-                    navigateToWaypoint(index + 1);
-                }
-            }
-        }, 500);
-    }
-
-    function pauseMission() {
-        if (!navActive || navPaused) return;
-        navPaused = true;
-        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
-        const p = telemetry.localPos;
-        startPublishLoop(p.x, p.y, p.z);
-        UIModule.onStatus({ type: 'info', message: '任务已暂停（悬停中）' });
-    }
-
-    function resumeMission() {
-        if (!navActive || !navPaused) return;
-        navPaused = false;
-        navigateToWaypoint(currentWPIndex);
-        UIModule.onStatus({ type: 'info', message: '任务已继续' });
-    }
-
-    function returnHome() {
-        stopPublishing();
-        navActive = false;
-        navPaused = false;
-
-        UIModule.onStatus({ type: 'warning', message: '正在返航...' });
-
-        // Fly to origin at current altitude
-        startPublishLoop(0, 0, telemetry.localPos.z);
-
-        const homeCheck = setInterval(() => {
-            const p = telemetry.localPos;
-            const dist = Math.sqrt(p.x * p.x + p.y * p.y);
-            if (dist < WP_REACH_DIST) {
-                clearInterval(homeCheck);
-                // Switch to AUTO.LAND for safe landing
-                callSetMode('AUTO.LAND');
-                setTimeout(() => stopPublishing(), 3000);
-                UIModule.onStatus({ type: 'info', message: '已到达起飞点上方，正在降落...' });
-            }
-        }, 500);
-    }
-
-    function land() {
-        stopPublishing();
-        navActive = false;
-        navPaused = false;
-        // Use PX4 AUTO.LAND mode (safest)
-        callSetMode('AUTO.LAND');
-        UIModule.onStatus({ type: 'warning', message: '正在降落 (AUTO.LAND)...' });
-    }
-
-    function arm() {
-        callArmingWithRetry(true, 2, () => {});
-    }
-
-    function disarm() {
-        callArmingWithRetry(false, 2, () => {});
-    }
-
-    // ---- Public getters for external modules ----
-
-    function getRos() {
-        return ros;
-    }
-
-    function getLocalPosition() {
-        return { ...telemetry.localPos };
-    }
-
-    return {
-        init,
-        isConnected,
-        connectDrone,
-        uploadMission,
-        startMission,
-        pauseMission,
-        resumeMission,
-        returnHome,
-        land,
-        arm,
-        disarm,
-        getRos,
-        getLocalPosition,
-        publishSetpoint
-    };
-})();

src/闪光检测/FrontEnd/server/app.py

@@ -1,39 +0,0 @@
-"""
-Flask 静态文件服务器 - 托管前端页面
-浏览器通过 roslibjs 直接连接 rosbridge_server，无需 Python 后端处理无人机逻辑
-"""
-
-import os
-from flask import Flask, send_from_directory
-
-# 项目根目录（server 的上级目录）
-BASE_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-
-app = Flask(__name__, static_folder=BASE_DIR)
-
-
-@app.route("/")
-def index():
-    return send_from_directory(BASE_DIR, "index.html")
-
-
-@app.route("/css/<path:filename>")
-def css_files(filename):
-    return send_from_directory(os.path.join(BASE_DIR, "css"), filename)
-
-
-@app.route("/js/<path:filename>")
-def js_files(filename):
-    return send_from_directory(os.path.join(BASE_DIR, "js"), filename)
-
-
-if __name__ == "__main__":
-    print("=" * 50)
-    print("  P600 无人机定点巡航控制系统")
-    print("  打开浏览器访问: http://localhost:5000")
-    print()
-    print("  架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS──► PX4")
-    print("  rosbridge 地址默认: ws://localhost:9090 (仿真)")
-    print("                       ws://192.168.1.31:9090 (实机)")
-    print("=" * 50)
-    app.run(host="0.0.0.0", port=5000, debug=False)

src/闪光检测/FrontEnd/server/drone_manager.py

@@ -1,7 +0,0 @@
-# 此文件已弃用 - 新架构通过 roslibjs + rosbridge_server 直接在浏览器端控制无人机
-# 无需 Python 后端处理无人机逻辑
-#
-# 新架构:
-#   浏览器 (roslibjs) ──WebSocket──► rosbridge_server ──ROS话题──► Prometheus/MAVROS ──► PX4
-#
-# 如需参考旧版 MAVSDK 实现，请查看 git 历史

src/闪光检测/FrontEnd/server/requirements.txt

@@ -1 +0,0 @@
-flask==3.0.0

src/闪光检测/FrontEnd/使用说明.md

@@ -1,253 +0,0 @@
-# P600 无人机定点巡航控制系统 - 使用说明
-
-## 目录
-1. [系统架构](#系统架构)
-2. [功能模块](#功能模块)
-3. [快速开始](#快速开始)
-4. [光斑检测与避光斑](#光斑检测与避光斑)
-5. [启动命令](#启动命令)
-6. [配置参数](#配置参数)
-7. [常见问题](#常见问题)
-
----
-
-## 系统架构
-
-```
-┌─────────────────────────────────────────────────────────────────────┐
-│                        前端浏览器                                  │
-│  ┌─────────┐  ┌─────────┐  ┌──────────┐  ┌────────────┐  ┌───────┐ │
-│  │ Leaflet │  │ roslib  │  │ MapModule│  │WsModule   │  │UI模块 │ │
-│  │  地图   │  │   JS    │  │ 航点管理  │  │ MAVROS通信│  │      │ │
-│  └─────────┘  └─────────┘  └──────────┘  └────────────┘  └───────┘ │
-│       │            │            │              │                   │
-│       └────────────┴────────────┴──────────────┘                   │
-│                          │ WebSocket                                │
-└──────────────────────────┼──────────────────────────────────────────┘
-                           │
-                           ▼
-┌─────────────────────────────────────────────────────────────────────┐
-│                    rosbridge_server                                │
-│                  (ROS-WebSocket 网桥)                              │
-└──────────────────────────┼──────────────────────────────────────────┘
-                           │
-           ┌───────────────┼───────────────┐
-           │               │               │
-           ▼               ▼               ▼
-┌─────────────────┐ ┌─────────────┐ ┌─────────────┐
-│    MAVROS       │ │flash_detector│ │             │
-│  (PX4通信)      │ │ (光斑检测)  │ │  其他节点   │
-└─────────────────┘ └─────────────┘ └─────────────┘
-        │                │
-        ▼                ▼
-┌─────────────────┐ ┌─────────────┐
-│     PX4         │ │   相机      │
-│   飞控          │ │ (D435i)    │
-└─────────────────┘ └─────────────┘
-```
-
----
-
-## 功能模块
-
-### 1. 航点巡航模块
-- 在地图上点击添加航点
-- 上传任务到无人机
-- 开始/暂停/继续任务执行
-- 返航/降落控制
-
-### 2. 光斑检测模块
-- 通过相机图像检测高亮光斑
-- 使用 HSV 颜色空间阈值分割算法
-- 支持动态调参 (rqt_reconfigure)
-- 发布检测结果到前端
-
-### 3. 避光斑模块
-- 基于光斑位置计算躲避方向
-- 水平+垂直结合避让
-- 防抖机制防止误触发
-- 自动发布躲避位置指令
-
----
-
-## 快速开始
-
-### 1. 编译 ROS 包
-```bash
-cd /home/mc/ZhiTu/flash_detector_ws
-source /opt/ros/noetic/setup.bash
-source devel/setup.bash
-```
-
-### 2. 启动 rosbridge_server
-```bash
-roslaunch rosbridge_server rosbridge_websocket.launch
-```
-
-### 3. 启动光斑检测节点
-```bash
-# 使用默认相机话题
-roslaunch flash_detector flash_detector.launch
-
-# 指定相机话题 (适配不同无人机)
-roslaunch flash_detector flash_detector.launch camera_topic:=/uav1/camera/color/image_raw
-```
-
-### 4. 启动前端
-```bash
-cd /home/mc/ZhiTu/FrontEnd
-python3 server/app.py
-# 打开浏览器访问 http://localhost:5000
-```
-
----
-
-## 光斑检测与避光斑
-
-### 工作流程
-```
-相机图像 → flash_detector_node.py → 检测结果
-                                          ↓
-前端浏览器 ← /flash_detector/detection ←─┘
-     ↓
-FlashDetectorModule → FlashAvoidanceModule → 避光斑指令
-                                                  ↓
-                                           无人机执行躲避
-```
-
-### 检测话题
-| 话题名 | 类型 | 说明 |
-|--------|------|------|
-| `/flash_detector/flash_detected` | std_msgs/Bool | 是否检测到光斑 |
-| `/flash_detector/detection` | std_msgs/Float32MultiArray | [cx, cy, area, sight_x, sight_y] |
-
-### 避光斑策略
-- **水平躲避**: 光斑在右侧 → 无人机向左移动
-- **垂直躲避**: 光斑在下方 → 无人机向上移动
-- **触发条件**: 连续 3 帧检测到光斑且面积 > 100
-- **冷却时间**: 5 秒内不重复触发
-
----
-
-## 启动命令
-
-### 完整启动顺序 (推荐)
-
-```bash
-# 终端1: 启动 ROS Master
-roscore
-
-# 终端2: 启动 rosbridge_server
-roslaunch rosbridge_server rosbridge_websocket.launch
-
-# 终端3: 编译并启动光斑检测节点
-cd /home/mc/ZhiTu/flash_detector_ws
-source /opt/ros/noetic/setup.bash
-source devel/setup.bash
-roslaunch flash_detector flash_detector.launch camera_topic:=/uav1/camera/color/image_raw
-
-# 终端4: 启动前端
-cd /home/mc/ZhiTu/FrontEnd
-python3 server/app.py
-```
-
-### 参数说明
-
-| 参数 | 默认值 | 说明 |
-|------|--------|------|
-| `camera_topic` | `/camera/color/image_raw` | 相机图像话题 |
-| `camera_info_topic` | `/camera/color/camera_info` | 相机内参话题 |
-| `debug_mode` | `false` | 是否显示调试窗口 |
-| `hsv_v_min` | `200` | HSV 亮度最小值 |
-
----
-
-## 配置参数
-
-### HSV 阈值参数
-```yaml
-# 适合检测明亮的枪口闪光
-hsv_h_min: 0
-hsv_h_max: 30
-hsv_s_min: 100
-hsv_s_max: 255
-hsv_v_min: 200  # 高亮度阈值
-hsv_v_max: 255
-```
-
-### 避光斑参数 (flash_avoidance.js)
-```javascript
-const config = {
-    avoidanceDistance: 3.0,      // 躲避移动距离 (米)
-    minDetectionArea: 100,       // 最小检测面积
-    horizontalThreshold: 0.2,   // 水平方向阈值
-    verticalThreshold: 0.2,     // 垂直方向阈值
-    debounceCount: 3,           // 防抖帧数
-    debounceCooldown: 5000      // 冷却时间 (毫秒)
-};
-```
-
----
-
-## 常见问题
-
-### Q: 连接失败怎么办？
-1. 检查 rosbridge_server 是否启动
-2. 检查 WebSocket 地址是否正确
-3. 确认防火墙未阻止 9090 端口
-
-### Q: 光斑检测不准确？
-1. 使用 `rqt_reconfigure` 调整 HSV 参数
-2. 增加 `min_area` 过滤噪点
-3. 调整 `kernel_size` 改善形态学效果
-
-### Q: 避光斑不生效？
-1. 确认已启用避光斑模块
-2. 检查检测面积是否超过阈值
-3. 确认无人机处于 OFFBOARD 模式
-
-### Q: 如何调整避光斑灵敏度？
-修改 `flash_avoidance.js` 中的参数：
-- 降低 `minDetectionArea` 增加灵敏度
-- 降低 `horizontalThreshold` / `verticalThreshold` 增加灵敏度
-- 减少 `debounceCount` 减少防抖延迟
-
----
-
-## 文件结构
-
-```
-/home/mc/ZhiTu/                          # 项目根目录
-├── flash_detector/                      # ROS 包源码
-│   ├── package.xml
-│   ├── CMakeLists.txt
-│   ├── cfg/FlashDetector.cfg
-│   ├── config/param.yaml
-│   ├── launch/flash_detector.launch
-│   └── scripts/flash_detector_node.py
-│
-├── flash_detector_ws/                   # 编译的工作空间
-│   ├── src/flash_detector/             # 已编译的包
-│   ├── build/
-│   ├── devel/
-│   └── logs/
-│
-└── FrontEnd/                           # 前端项目
-    ├── index.html
-    ├── 使用说明.md
-    ├── css/style.css
-    ├── js/
-    │   ├── flash_detector.js           # 光斑检测订阅
-    │   ├── flash_avoidance.js          # 避光斑决策
-    │   ├── websocket.js                 # MAVROS 通信
-    │   ├── map.js                      # 地图模块
-    │   └── ui.js                       # UI 交互
-    └── server/
-        └── app.py                      # Flask 服务器
-```
-
----
-
-## 联系方式
-- 开发者: mc
-- Email: mc@example.com

src/闪光检测/flash_detector_ws/build/.built_by

@@ -1 +0,0 @@
-catkin build

src/闪光检测/flash_detector_ws/build/.catkin_tools.yaml

@@ -1,6 +0,0 @@
-devel_space: /home/mc/ZhiTu/flash_detector_ws/devel
-install: false
-install_space: /home/mc/ZhiTu/flash_detector_ws/install
-profile: default
-source_space: /home/mc/ZhiTu/flash_detector_ws/src
-workspace: /home/mc/ZhiTu/flash_detector_ws

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeCache.txt

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-# 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)             \
-  ('0' + ((n)>>28 & 0xF)), \
-  ('0' + ((n)>>24 & 0xF)), \
-  ('0' + ((n)>>20 & 0xF)), \
-  ('0' + ((n)>>16 & 0xF)), \
-  ('0' + ((n)>>12 & 0xF)), \
-  ('0' + ((n)>>8  & 0xF)), \
-  ('0' + ((n)>>4  & 0xF)), \
-  ('0' + ((n)     & 0xF))
-
-/* Construct a string literal encoding the version number components. */
-#ifdef COMPILER_VERSION_MAJOR
-char const info_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
-  COMPILER_VERSION_MAJOR,
-# ifdef COMPILER_VERSION_MINOR
-  '.', COMPILER_VERSION_MINOR,
-#  ifdef COMPILER_VERSION_PATCH
-   '.', COMPILER_VERSION_PATCH,
-#   ifdef COMPILER_VERSION_TWEAK
-    '.', COMPILER_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#endif
-
-/* Construct a string literal encoding the internal version number. */
-#ifdef COMPILER_VERSION_INTERNAL
-char const info_version_internal[] = {
-  'I', 'N', 'F', 'O', ':',
-  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
-  'i','n','t','e','r','n','a','l','[',
-  COMPILER_VERSION_INTERNAL,']','\0'};
-#endif
-
-/* Construct a string literal encoding the version number components. */
-#ifdef SIMULATE_VERSION_MAJOR
-char const info_simulate_version[] = {
-  'I', 'N', 'F', 'O', ':',
-  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
-  SIMULATE_VERSION_MAJOR,
-# ifdef SIMULATE_VERSION_MINOR
-  '.', SIMULATE_VERSION_MINOR,
-#  ifdef SIMULATE_VERSION_PATCH
-   '.', SIMULATE_VERSION_PATCH,
-#   ifdef SIMULATE_VERSION_TWEAK
-    '.', SIMULATE_VERSION_TWEAK,
-#   endif
-#  endif
-# endif
-  ']','\0'};
-#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_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
-char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
-
-
-
-
-#if !defined(__STDC__)
-# if (defined(_MSC_VER) && !defined(__clang__)) \
-  || (defined(__ibmxl__) || defined(__IBMC__))
-#  define C_DIALECT "90"
-# else
-#  define C_DIALECT
-# endif
-#elif __STDC_VERSION__ >= 201000L
-# define C_DIALECT "11"
-#elif __STDC_VERSION__ >= 199901L
-# define C_DIALECT "99"
-#else
-# define C_DIALECT "90"
-#endif
-const char* info_language_dialect_default =
-  "INFO" ":" "dialect_default[" C_DIALECT "]";
-
-/*--------------------------------------------------------------------------*/
-
-#ifdef ID_VOID_MAIN
-void main() {}
-#else
-# if defined(__CLASSIC_C__)
-int main(argc, argv) int argc; char *argv[];
-# else
-int main(int argc, char* argv[])
-# endif
-{
-  int require = 0;
-  require += info_compiler[argc];
-  require += info_platform[argc];
-  require += info_arch[argc];
-#ifdef COMPILER_VERSION_MAJOR
-  require += info_version[argc];
-#endif
-#ifdef COMPILER_VERSION_INTERNAL
-  require += info_version_internal[argc];
-#endif
-#ifdef SIMULATE_ID
-  require += info_simulate[argc];
-#endif
-#ifdef SIMULATE_VERSION_MAJOR
-  require += info_simulate_version[argc];
-#endif
-#if defined(__CRAYXE) || defined(__CRAYXC)
-  require += info_cray[argc];
-#endif
-  require += info_language_dialect_default[argc];
-  (void)argv;
-  return require;
-}
-#endif

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -1,660 +0,0 @@
-/* This source file must have a .cpp extension so that all C++ compilers
-   recognize the extension without flags.  Borland does not know .cxx for
-   example.  */
-#ifndef __cplusplus
-# error "A C compiler has been selected for C++."
-#endif
-
-
-/* Version number components: V=Version, R=Revision, P=Patch
-   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
-
-#if defined(__COMO__)
-# define COMPILER_ID "Comeau"
-  /* __COMO_VERSION__ = VRR */
-# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
-# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
-
-#elif defined(__INTEL_COMPILER) || defined(__ICC)
-# define COMPILER_ID "Intel"
-# if defined(_MSC_VER)
-#  define SIMULATE_ID "MSVC"
-# endif
-# if defined(__GNUC__)
-#  define SIMULATE_ID "GNU"
-# endif
-  /* __INTEL_COMPILER = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
-# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
-# if defined(__INTEL_COMPILER_UPDATE)
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
-# else
-#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
-# endif
-# if defined(__INTEL_COMPILER_BUILD_DATE)
-  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
-#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
-# endif
-# if defined(_MSC_VER)
-   /* _MSC_VER = VVRR */
-#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
-#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
-# endif
-# if defined(__GNUC__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
-# elif defined(__GNUG__)
-#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
-# endif
-# if defined(__GNUC_MINOR__)
-#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
-# if defined(__GNUC_PATCHLEVEL__)
-#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
-# endif
-
-#elif defined(__PATHCC__)
-# define COMPILER_ID "PathScale"
-# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
-# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
-# if defined(__PATHCC_PATCHLEVEL__)
-#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
-# endif
-
-#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
-# define COMPILER_ID "Embarcadero"
-# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
-# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
-# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
-
-#elif defined(__BORLANDC__)
-# define COMPILER_ID "Borland"
-  /* __BORLANDC__ = 0xVRR */
-# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
-# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
-
-#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
-# define COMPILER_ID "Watcom"
-   /* __WATCOMC__ = VVRR */
-# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__WATCOMC__)
-# define COMPILER_ID "OpenWatcom"
-   /* __WATCOMC__ = VVRP + 1100 */
-# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
-# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
-# if (__WATCOMC__ % 10) > 0
-#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
-# endif
-
-#elif defined(__SUNPRO_CC)
-# define COMPILER_ID "SunPro"
-# if __SUNPRO_CC >= 0x5100
-   /* __SUNPRO_CC = 0xVRRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# else
-   /* __SUNPRO_CC = 0xVRP */
-#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
-#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
-#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
-# endif
-
-#elif defined(__HP_aCC)
-# define COMPILER_ID "HP"
-  /* __HP_aCC = VVRRPP */
-# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
-# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
-# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
-
-#elif defined(__DECCXX)
-# define COMPILER_ID "Compaq"
-  /* __DECCXX_VER = VVRRTPPPP */
-# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
-# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
-# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
-
-#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
-# define COMPILER_ID "zOS"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__ibmxl__) && defined(__clang__)
-# define COMPILER_ID "XLClang"
-# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
-# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
-# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
-# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
-
-
-#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
-# define COMPILER_ID "XL"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
-# define COMPILER_ID "VisualAge"
-  /* __IBMCPP__ = VRP */
-# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
-# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
-# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
-
-#elif defined(__PGI)
-# define COMPILER_ID "PGI"
-# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
-# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
-# 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(__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"
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-# 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__) || defined(__GNUG__)
-# define COMPILER_ID "GNU"
-# if defined(__GNUC__)
-#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
-# else
-#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
-# endif
-# if defined(__GNUC_MINOR__)
-#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
-# endif
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-#  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)
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-.PHONY : cmake_check_build_system
-

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/.rosinstall.n8MbA

@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/setup.sh

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/_setup_util.py.4bscr

@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/env.sh.HvqFl

@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.bash.hFOEf

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.fish.SQsa2

@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.sh.H97kj

@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/local_setup.zsh.K94LD

@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.bash.ae6J6

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.fish.f2GaO

@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.sh.B68Do

@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/atomic_configure/setup.zsh.odGzO

@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin/catkin_generated/version/package.cmake

@@ -1,24 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin")
-set(catkin_VERSION "0.8.12")
-set(catkin_MAINTAINER "Geoffrey Biggs <geoff@openrobotics.org>, Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>")
-set(catkin_PACKAGE_FORMAT "3")
-set(catkin_BUILD_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS "google-mock" "gtest" "python-nose" "python3-nose" "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_BUILD_EXPORT_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILD_EXPORT_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_BUILDTOOL_DEPENDS "cmake" "python-setuptools" "python3-setuptools")
-set(catkin_BUILDTOOL_EXPORT_DEPENDS "cmake" "python3-setuptools")
-set(catkin_EXEC_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy")
-set(catkin_EXEC_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_EXEC_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "python3-catkin-pkg" "python-empy" "python3-empy" "google-mock" "gtest" "python-nose" "python3-nose")
-set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_RUN_DEPENDS_python3-catkin-pkg_VERSION_GT "0.4.3")
-set(catkin_TEST_DEPENDS "python-mock" "python-nose" "python3-nose")
-set(catkin_DOC_DEPENDS )
-set(catkin_URL_WEBSITE "http://wiki.ros.org/catkin")
-set(catkin_URL_BUGTRACKER "https://github.com/ros/catkin/issues")
-set(catkin_URL_REPOSITORY "https://github.com/ros/catkin")
-set(catkin_DEPRECATED "")

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/env_cached.sh

@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup_cached.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup_cached.sh"
-exec "$@"

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/generate_cached_setup.py

@@ -1,30 +0,0 @@
-# -*- coding: utf-8 -*-
-from __future__ import print_function
-
-import os
-import stat
-import sys
-
-# find the import for catkin's python package - either from source space or from an installed underlay
-if os.path.exists(os.path.join('/opt/ros/noetic/share/catkin/cmake', 'catkinConfig.cmake.in')):
-    sys.path.insert(0, os.path.join('/opt/ros/noetic/share/catkin/cmake', '..', 'python'))
-try:
-    from catkin.environment_cache import generate_environment_script
-except ImportError:
-    # search for catkin package in all workspaces and prepend to path
-    for workspace in '/opt/ros/noetic'.split(';'):
-        python_path = os.path.join(workspace, 'lib/python3/dist-packages')
-        if os.path.isdir(os.path.join(python_path, 'catkin')):
-            sys.path.insert(0, python_path)
-            break
-    from catkin.environment_cache import generate_environment_script
-
-code = generate_environment_script('/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild/env.sh')
-
-output_filename = '/home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/setup_cached.sh'
-with open(output_filename, 'w') as f:
-    # print('Generate script for cached setup "%s"' % output_filename)
-    f.write('\n'.join(code))
-
-mode = os.stat(output_filename).st_mode
-os.chmod(output_filename, mode | stat.S_IXUSR)

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/.rosinstall

@@ -1,2 +0,0 @@
-- setup-file:
-    local-name: /home/mc/ZhiTu/flash_detector_ws/install/setup.sh

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/_setup_util.py

@@ -1,304 +0,0 @@
-#!/usr/bin/python3
-# -*- coding: utf-8 -*-
-
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2012, Willow Garage, Inc.
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of Willow Garage, Inc. nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-"""This file generates shell code for the setup.SHELL scripts to set environment variables."""
-
-from __future__ import print_function
-
-import argparse
-import copy
-import errno
-import os
-import platform
-import sys
-
-CATKIN_MARKER_FILE = '.catkin'
-
-system = platform.system()
-IS_DARWIN = (system == 'Darwin')
-IS_WINDOWS = (system == 'Windows')
-
-PATH_TO_ADD_SUFFIX = ['bin']
-if IS_WINDOWS:
-    # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib
-    # since Windows finds dll's via the PATH variable, prepend it with path to lib
-    PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]])
-
-# subfolder of workspace prepended to CMAKE_PREFIX_PATH
-ENV_VAR_SUBFOLDERS = {
-    'CMAKE_PREFIX_PATH': '',
-    'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')],
-    'PATH': PATH_TO_ADD_SUFFIX,
-    'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')],
-    'PYTHONPATH': 'lib/python3/dist-packages',
-}
-
-
-def rollback_env_variables(environ, env_var_subfolders):
-    """
-    Generate shell code to reset environment variables.
-
-    by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
-    This does not cover modifications performed by environment hooks.
-    """
-    lines = []
-    unmodified_environ = copy.copy(environ)
-    for key in sorted(env_var_subfolders.keys()):
-        subfolders = env_var_subfolders[key]
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        value = _rollback_env_variable(unmodified_environ, key, subfolders)
-        if value is not None:
-            environ[key] = value
-            lines.append(assignment(key, value))
-    if lines:
-        lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
-    return lines
-
-
-def _rollback_env_variable(environ, name, subfolders):
-    """
-    For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
-
-    :param subfolders: list of str '' or subfoldername that may start with '/'
-    :returns: the updated value of the environment variable.
-    """
-    value = environ[name] if name in environ else ''
-    env_paths = [path for path in value.split(os.pathsep) if path]
-    value_modified = False
-    for subfolder in subfolders:
-        if subfolder:
-            if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
-                subfolder = subfolder[1:]
-            if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
-                subfolder = subfolder[:-1]
-        for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
-            path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
-            path_to_remove = None
-            for env_path in env_paths:
-                env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
-                if env_path_clean == path_to_find:
-                    path_to_remove = env_path
-                    break
-            if path_to_remove:
-                env_paths.remove(path_to_remove)
-                value_modified = True
-    new_value = os.pathsep.join(env_paths)
-    return new_value if value_modified else None
-
-
-def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
-    """
-    Based on CMAKE_PREFIX_PATH return all catkin workspaces.
-
-    :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
-    """
-    # get all cmake prefix paths
-    env_name = 'CMAKE_PREFIX_PATH'
-    value = environ[env_name] if env_name in environ else ''
-    paths = [path for path in value.split(os.pathsep) if path]
-    # remove non-workspace paths
-    workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
-    return workspaces
-
-
-def prepend_env_variables(environ, env_var_subfolders, workspaces):
-    """Generate shell code to prepend environment variables for the all workspaces."""
-    lines = []
-    lines.append(comment('prepend folders of workspaces to environment variables'))
-
-    paths = [path for path in workspaces.split(os.pathsep) if path]
-
-    prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
-    lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
-
-    for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'):
-        subfolder = env_var_subfolders[key]
-        prefix = _prefix_env_variable(environ, key, paths, subfolder)
-        lines.append(prepend(environ, key, prefix))
-    return lines
-
-
-def _prefix_env_variable(environ, name, paths, subfolders):
-    """
-    Return the prefix to prepend to the environment variable NAME.
-
-    Adding any path in NEW_PATHS_STR without creating duplicate or empty items.
-    """
-    value = environ[name] if name in environ else ''
-    environ_paths = [path for path in value.split(os.pathsep) if path]
-    checked_paths = []
-    for path in paths:
-        if not isinstance(subfolders, list):
-            subfolders = [subfolders]
-        for subfolder in subfolders:
-            path_tmp = path
-            if subfolder:
-                path_tmp = os.path.join(path_tmp, subfolder)
-            # skip nonexistent paths
-            if not os.path.exists(path_tmp):
-                continue
-            # exclude any path already in env and any path we already added
-            if path_tmp not in environ_paths and path_tmp not in checked_paths:
-                checked_paths.append(path_tmp)
-    prefix_str = os.pathsep.join(checked_paths)
-    if prefix_str != '' and environ_paths:
-        prefix_str += os.pathsep
-    return prefix_str
-
-
-def assignment(key, value):
-    if not IS_WINDOWS:
-        return 'export %s="%s"' % (key, value)
-    else:
-        return 'set %s=%s' % (key, value)
-
-
-def comment(msg):
-    if not IS_WINDOWS:
-        return '# %s' % msg
-    else:
-        return 'REM %s' % msg
-
-
-def prepend(environ, key, prefix):
-    if key not in environ or not environ[key]:
-        return assignment(key, prefix)
-    if not IS_WINDOWS:
-        return 'export %s="%s$%s"' % (key, prefix, key)
-    else:
-        return 'set %s=%s%%%s%%' % (key, prefix, key)
-
-
-def find_env_hooks(environ, cmake_prefix_path):
-    """Generate shell code with found environment hooks for the all workspaces."""
-    lines = []
-    lines.append(comment('found environment hooks in workspaces'))
-
-    generic_env_hooks = []
-    generic_env_hooks_workspace = []
-    specific_env_hooks = []
-    specific_env_hooks_workspace = []
-    generic_env_hooks_by_filename = {}
-    specific_env_hooks_by_filename = {}
-    generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
-    specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
-    # remove non-workspace paths
-    workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
-    for workspace in reversed(workspaces):
-        env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
-        if os.path.isdir(env_hook_dir):
-            for filename in sorted(os.listdir(env_hook_dir)):
-                if filename.endswith('.%s' % generic_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in generic_env_hooks_by_filename:
-                        i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
-                        generic_env_hooks.pop(i)
-                        generic_env_hooks_workspace.pop(i)
-                    # append env hook
-                    generic_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    generic_env_hooks_workspace.append(workspace)
-                    generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
-                elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
-                    # remove previous env hook with same name if present
-                    if filename in specific_env_hooks_by_filename:
-                        i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
-                        specific_env_hooks.pop(i)
-                        specific_env_hooks_workspace.pop(i)
-                    # append env hook
-                    specific_env_hooks.append(os.path.join(env_hook_dir, filename))
-                    specific_env_hooks_workspace.append(workspace)
-                    specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
-    env_hooks = generic_env_hooks + specific_env_hooks
-    env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
-    count = len(env_hooks)
-    lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
-    for i in range(count):
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
-        lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
-    return lines
-
-
-def _parse_arguments(args=None):
-    parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
-    parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
-    parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment')
-    return parser.parse_known_args(args=args)[0]
-
-
-if __name__ == '__main__':
-    try:
-        try:
-            args = _parse_arguments()
-        except Exception as e:
-            print(e, file=sys.stderr)
-            sys.exit(1)
-
-        if not args.local:
-            # environment at generation time
-            CMAKE_PREFIX_PATH = r'/opt/ros/noetic'.split(';')
-        else:
-            # don't consider any other prefix path than this one
-            CMAKE_PREFIX_PATH = []
-        # prepend current workspace if not already part of CPP
-        base_path = os.path.dirname(__file__)
-        # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent
-        # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison
-        if os.path.sep != '/':
-            base_path = base_path.replace(os.path.sep, '/')
-
-        if base_path not in CMAKE_PREFIX_PATH:
-            CMAKE_PREFIX_PATH.insert(0, base_path)
-        CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
-
-        environ = dict(os.environ)
-        lines = []
-        if not args.extend:
-            lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
-        lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
-        lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
-        print('\n'.join(lines))
-
-        # need to explicitly flush the output
-        sys.stdout.flush()
-    except IOError as e:
-        # and catch potential "broken pipe" if stdout is not writable
-        # which can happen when piping the output to a file but the disk is full
-        if e.errno == errno.EPIPE:
-            print(e, file=sys.stderr)
-            sys.exit(2)
-        raise
-
-    sys.exit(0)

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuild.pc

@@ -1,8 +0,0 @@
-prefix=/home/mc/ZhiTu/flash_detector_ws/install
-
-Name: catkin_tools_prebuild
-Description: Description of catkin_tools_prebuild
-Version: 0.0.0
-Cflags: 
-Libs: -L${prefix}/lib 
-Requires: 

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig-version.cmake

@@ -1,14 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig-version.cmake.in
-set(PACKAGE_VERSION "0.0.0")
-
-set(PACKAGE_VERSION_EXACT False)
-set(PACKAGE_VERSION_COMPATIBLE False)
-
-if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_EXACT True)
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()
-
-if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE True)
-endif()

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/catkin_tools_prebuildConfig.cmake

@@ -1,225 +0,0 @@
-# generated from catkin/cmake/template/pkgConfig.cmake.in
-
-# append elements to a list and remove existing duplicates from the list
-# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
-# self contained
-macro(_list_append_deduplicate listname)
-  if(NOT "${ARGN}" STREQUAL "")
-    if(${listname})
-      list(REMOVE_ITEM ${listname} ${ARGN})
-    endif()
-    list(APPEND ${listname} ${ARGN})
-  endif()
-endmacro()
-
-# append elements to a list if they are not already in the list
-# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
-# self contained
-macro(_list_append_unique listname)
-  foreach(_item ${ARGN})
-    list(FIND ${listname} ${_item} _index)
-    if(_index EQUAL -1)
-      list(APPEND ${listname} ${_item})
-    endif()
-  endforeach()
-endmacro()
-
-# pack a list of libraries with optional build configuration keywords
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_pack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  set(_argn ${ARGN})
-  list(LENGTH _argn _count)
-  set(_index 0)
-  while(${_index} LESS ${_count})
-    list(GET _argn ${_index} lib)
-    if("${lib}" MATCHES "^(debug|optimized|general)$")
-      math(EXPR _index "${_index} + 1")
-      if(${_index} EQUAL ${_count})
-        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
-      endif()
-      list(GET _argn ${_index} library)
-      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
-    else()
-      list(APPEND ${VAR} "${lib}")
-    endif()
-    math(EXPR _index "${_index} + 1")
-  endwhile()
-endmacro()
-
-# unpack a list of libraries with optional build configuration keyword prefixes
-# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
-# self contained
-macro(_unpack_libraries_with_build_configuration VAR)
-  set(${VAR} "")
-  foreach(lib ${ARGN})
-    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
-    list(APPEND ${VAR} "${lib}")
-  endforeach()
-endmacro()
-
-
-if(catkin_tools_prebuild_CONFIG_INCLUDED)
-  return()
-endif()
-set(catkin_tools_prebuild_CONFIG_INCLUDED TRUE)
-
-# set variables for source/devel/install prefixes
-if("FALSE" STREQUAL "TRUE")
-  set(catkin_tools_prebuild_SOURCE_PREFIX /home/mc/ZhiTu/flash_detector_ws/build/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_DEVEL_PREFIX /home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild)
-  set(catkin_tools_prebuild_INSTALL_PREFIX "")
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_DEVEL_PREFIX})
-else()
-  set(catkin_tools_prebuild_SOURCE_PREFIX "")
-  set(catkin_tools_prebuild_DEVEL_PREFIX "")
-  set(catkin_tools_prebuild_INSTALL_PREFIX /home/mc/ZhiTu/flash_detector_ws/install)
-  set(catkin_tools_prebuild_PREFIX ${catkin_tools_prebuild_INSTALL_PREFIX})
-endif()
-
-# warn when using a deprecated package
-if(NOT "" STREQUAL "")
-  set(_msg "WARNING: package 'catkin_tools_prebuild' is deprecated")
-  # append custom deprecation text if available
-  if(NOT "" STREQUAL "TRUE")
-    set(_msg "${_msg} ()")
-  endif()
-  message("${_msg}")
-endif()
-
-# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
-set(catkin_tools_prebuild_FOUND_CATKIN_PROJECT TRUE)
-
-if(NOT " " STREQUAL " ")
-  set(catkin_tools_prebuild_INCLUDE_DIRS "")
-  set(_include_dirs "")
-  if(NOT " " STREQUAL " ")
-    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
-  elseif(NOT " " STREQUAL " ")
-    set(_report "Check the website '' for information and consider reporting the problem.")
-  else()
-    set(_report "Report the problem to the maintainer 'jbohren <jbo@jhu.edu>' and request to fix the problem.")
-  endif()
-  foreach(idir ${_include_dirs})
-    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
-      set(include ${idir})
-    elseif("${idir} " STREQUAL "include ")
-      get_filename_component(include "${catkin_tools_prebuild_DIR}/../../../include" ABSOLUTE)
-      if(NOT IS_DIRECTORY ${include})
-        message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
-      endif()
-    else()
-      message(FATAL_ERROR "Project 'catkin_tools_prebuild' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '\${prefix}/${idir}'.  ${_report}")
-    endif()
-    _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${include})
-  endforeach()
-endif()
-
-set(libraries "")
-foreach(library ${libraries})
-  # keep build configuration keywords, generator expressions, target names, and absolute libraries as-is
-  if("${library}" MATCHES "^(debug|optimized|general)$")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-l")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(${library} MATCHES "^-")
-    # This is a linker flag/option (like -pthread)
-    # There's no standard variable for these, so create an interface library to hold it
-    if(NOT catkin_tools_prebuild_NUM_DUMMY_TARGETS)
-      set(catkin_tools_prebuild_NUM_DUMMY_TARGETS 0)
-    endif()
-    # Make sure the target name is unique
-    set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    while(TARGET "${interface_target_name}")
-      math(EXPR catkin_tools_prebuild_NUM_DUMMY_TARGETS "${catkin_tools_prebuild_NUM_DUMMY_TARGETS}+1")
-      set(interface_target_name "catkin::catkin_tools_prebuild::wrapped-linker-option${catkin_tools_prebuild_NUM_DUMMY_TARGETS}")
-    endwhile()
-    add_library("${interface_target_name}" INTERFACE IMPORTED)
-    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
-      set_property(
-        TARGET
-        "${interface_target_name}"
-        APPEND PROPERTY
-        INTERFACE_LINK_LIBRARIES "${library}")
-    else()
-      target_link_options("${interface_target_name}" INTERFACE "${library}")
-    endif()
-    list(APPEND catkin_tools_prebuild_LIBRARIES "${interface_target_name}")
-  elseif(${library} MATCHES "^\\$<")
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(TARGET ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  elseif(IS_ABSOLUTE ${library})
-    list(APPEND catkin_tools_prebuild_LIBRARIES ${library})
-  else()
-    set(lib_path "")
-    set(lib "${library}-NOTFOUND")
-    # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /home/mc/ZhiTu/flash_detector_ws/install/lib;/opt/ros/noetic/lib)
-      find_library(lib ${library}
-        PATHS ${path}
-        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
-      if(lib)
-        set(lib_path ${path})
-        break()
-      endif()
-    endforeach()
-    if(lib)
-      _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${lib_path})
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    else()
-      # as a fall back for non-catkin libraries try to search globally
-      find_library(lib ${library})
-      if(NOT lib)
-        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'catkin_tools_prebuild'?  Did you find_package() it before the subdirectory containing its code is included?")
-      endif()
-      list(APPEND catkin_tools_prebuild_LIBRARIES ${lib})
-    endif()
-  endif()
-endforeach()
-
-set(catkin_tools_prebuild_EXPORTED_TARGETS "")
-# create dummy targets for exported code generation targets to make life of users easier
-foreach(t ${catkin_tools_prebuild_EXPORTED_TARGETS})
-  if(NOT TARGET ${t})
-    add_custom_target(${t})
-  endif()
-endforeach()
-
-set(depends "")
-foreach(depend ${depends})
-  string(REPLACE " " ";" depend_list ${depend})
-  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
-  list(GET depend_list 0 catkin_tools_prebuild_dep)
-  list(LENGTH depend_list count)
-  if(${count} EQUAL 1)
-    # simple dependencies must only be find_package()-ed once
-    if(NOT ${catkin_tools_prebuild_dep}_FOUND)
-      find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE)
-    endif()
-  else()
-    # dependencies with components must be find_package()-ed again
-    list(REMOVE_AT depend_list 0)
-    find_package(${catkin_tools_prebuild_dep} REQUIRED NO_MODULE ${depend_list})
-  endif()
-  _list_append_unique(catkin_tools_prebuild_INCLUDE_DIRS ${${catkin_tools_prebuild_dep}_INCLUDE_DIRS})
-
-  # merge build configuration keywords with library names to correctly deduplicate
-  _pack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-  _pack_libraries_with_build_configuration(_libraries ${${catkin_tools_prebuild_dep}_LIBRARIES})
-  _list_append_deduplicate(catkin_tools_prebuild_LIBRARIES ${_libraries})
-  # undo build configuration keyword merging after deduplication
-  _unpack_libraries_with_build_configuration(catkin_tools_prebuild_LIBRARIES ${catkin_tools_prebuild_LIBRARIES})
-
-  _list_append_unique(catkin_tools_prebuild_LIBRARY_DIRS ${${catkin_tools_prebuild_dep}_LIBRARY_DIRS})
-  _list_append_deduplicate(catkin_tools_prebuild_EXPORTED_TARGETS ${${catkin_tools_prebuild_dep}_EXPORTED_TARGETS})
-endforeach()
-
-set(pkg_cfg_extras "")
-foreach(extra ${pkg_cfg_extras})
-  if(NOT IS_ABSOLUTE ${extra})
-    set(extra ${catkin_tools_prebuild_DIR}/${extra})
-  endif()
-  include(${extra})
-endforeach()

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/env.sh

@@ -1,16 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/templates/env.sh.in
-
-if [ $# -eq 0 ] ; then
-  /bin/echo "Usage: env.sh COMMANDS"
-  /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
-  exit 1
-fi
-
-# ensure to not use different shell type which was set before
-CATKIN_SHELL=sh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"
-exec "$@"

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.bash

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/local_setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.fish

@@ -1,14 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/local_setup.fish.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set CATKIN_SETUP_UTIL_ARGS "--extend --local"
-source "$_CATKIN_SETUP_DIR/setup.fish"
-
-set -e CATKIN_SETUP_UTIL_ARGS

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.sh

@@ -1,9 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/local_setup.sh.in
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-CATKIN_SETUP_UTIL_ARGS="--extend --local"
-. "$_CATKIN_SETUP_DIR/setup.sh"
-unset CATKIN_SETUP_UTIL_ARGS

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/local_setup.zsh

@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/local_setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local'

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.bash

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-# generated from catkin/cmake/templates/setup.bash.in
-
-CATKIN_SHELL=bash
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
-. "$_CATKIN_SETUP_DIR/setup.sh"

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.fish

@@ -1,129 +0,0 @@
-#!/usr/bin/env fish
-# generated from catkin/cmake/template/setup.fish.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-
-if not type -q bass
-    echo "Missing required fish plugin: bass. See https://github.com/edc/bass"
-    exit 22
-end
-
-if test -z $_CATKIN_SETUP_DIR
-    set _CATKIN_SETUP_DIR /home/mc/ZhiTu/flash_detector_ws/install
-end
-
-set _SETUP_UTIL "$_CATKIN_SETUP_DIR/_setup_util.py"
-set -e _CATKIN_SETUP_DIR
-
-if not test -f "$_SETUP_UTIL"
-    echo "Missing Python script: $_SETUP_UTIL"
-    exit 22
-end
-
-# detect if running on Darwin platform
-set _UNAME (uname -s)
-set _IS_DARWIN 0
-
-if test "$_UNAME" = Darwin
-    set _IS_DARWIN 1
-end
-
-set -e _UNAME
-
-# make sure to export all environment variables
-set -x CMAKE_PREFIX_PATH $CMAKE_PREFIX_PATH
-if test $_IS_DARWIN -eq 0
-    set -x LD_LIBRARY_PATH $LD_LIBRARY_PATH
-else
-    set -x DYLD_LIBRARY_PATH $DYLD_LIBRARY_PATH
-end
-
-set -e _IS_DARWIN
-set -x PATH $PATH
-set -x PKG_CONFIG_PATH $PKG_CONFIG_PATH
-set -x PYTHONPATH $PYTHONPATH
-
-# remember type of shell if not already set
-if test -z "$CATKIN_SHELL"
-    set CATKIN_SHELL fish
-end
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if test -d "$TMPDIR"
-    set _TMPDIR "$TMPDIR"
-else
-    set _TMPDIR /tmp
-end
-
-set _SETUP_TMP (mktemp "$_TMPDIR/setup.fish.XXXXXXXXXX")
-set -e _TMPDIR
-
-if test $status -ne 0 -o ! -f "$_SETUP_TMP"
-    echo "Could not create temporary file: $_SETUP_TMP"
-    exit 1
-end
-
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" "$argv" "$CATKIN_SETUP_UTIL_ARGS" >> "$_SETUP_TMP"
-set _RC $status
-
-if test $_RC -ne 0
-    if test $_RC -eq 2
-        then
-        echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-    else
-        echo "Failed to run '\"$_SETUP_UTIL\" $argv': return code $_RC"
-    end
-    set -e _RC
-    set -e _SETUP_UTIL
-    rm -f "$_SETUP_TMP"
-    set -e _SETUP_TMP
-    exit 1
-end
-
-set -e _RC
-set -e _SETUP_UTIL
-source "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-set -e _SETUP_TMP
-
-# source all environment hooks
-set _i 0
-while test $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT
-    # fish doesn't allow use of ${} to delimit variables within a string
-    set _i_WORKSPACE (string join "" "$i" "_WORKSPACE")
-
-    eval set _envfile \$_CATKIN_ENVIRONMENT_HOOKS_$_i
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i
-    eval set _envfile_workspace \$_CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-    set -e _CATKIN_ENVIRONMENT_HOOKS_$_i_WORKSPACE
-
-    # set workspace for environment hook
-    set CATKIN_ENV_HOOK_WORKSPACE $_envfile_workspace
-
-    # non ideal: some packages register bash scripts as fish env hooks
-    # it is needed to perform an extension check for backwards compatibility
-    # if the script ends with .sh, .bash or .zsh, run it with bass
-    set IS_SH_SCRIPT (string match -r '\.(sh|bash|zsh)$' "$_envfile")
-    if test -n "$IS_SH_SCRIPT"
-        bass source "$_envfile"
-    else
-        source "$_envfile"
-    end
-
-    set -e IS_SH_SCRIPT
-    set -e CATKIN_ENV_HOOK_WORKSPACE
-    set _i (math $_i + 1)
-end
-set -e _i
-
-set -e _CATKIN_ENVIRONMENT_HOOKS_COUNT

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.sh

@@ -1,96 +0,0 @@
-#!/usr/bin/env sh
-# generated from catkin/cmake/template/setup.sh.in
-
-# Sets various environment variables and sources additional environment hooks.
-# It tries it's best to undo changes from a previously sourced setup file before.
-# Supported command line options:
-# --extend: skips the undoing of changes from a previously sourced setup file
-# --local: only considers this workspace but not the chained ones
-# In plain sh shell which doesn't support arguments for sourced scripts you can
-# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead.
-
-# since this file is sourced either use the provided _CATKIN_SETUP_DIR
-# or fall back to the destination set at configure time
-: ${_CATKIN_SETUP_DIR:=/home/mc/ZhiTu/flash_detector_ws/install}
-_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
-unset _CATKIN_SETUP_DIR
-
-if [ ! -f "$_SETUP_UTIL" ]; then
-  echo "Missing Python script: $_SETUP_UTIL"
-  return 22
-fi
-
-# detect if running on Darwin platform
-_UNAME=`uname -s`
-_IS_DARWIN=0
-if [ "$_UNAME" = "Darwin" ]; then
-  _IS_DARWIN=1
-fi
-unset _UNAME
-
-# make sure to export all environment variables
-export CMAKE_PREFIX_PATH
-if [ $_IS_DARWIN -eq 0 ]; then
-  export LD_LIBRARY_PATH
-else
-  export DYLD_LIBRARY_PATH
-fi
-unset _IS_DARWIN
-export PATH
-export PKG_CONFIG_PATH
-export PYTHONPATH
-
-# remember type of shell if not already set
-if [ -z "$CATKIN_SHELL" ]; then
-  CATKIN_SHELL=sh
-fi
-
-# invoke Python script to generate necessary exports of environment variables
-# use TMPDIR if it exists, otherwise fall back to /tmp
-if [ -d "${TMPDIR:-}" ]; then
-  _TMPDIR="${TMPDIR}"
-else
-  _TMPDIR=/tmp
-fi
-_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"`
-unset _TMPDIR
-if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
-  echo "Could not create temporary file: $_SETUP_TMP"
-  return 1
-fi
-CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP"
-_RC=$?
-if [ $_RC -ne 0 ]; then
-  if [ $_RC -eq 2 ]; then
-    echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': maybe the disk is full?"
-  else
-    echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
-  fi
-  unset _RC
-  unset _SETUP_UTIL
-  rm -f "$_SETUP_TMP"
-  unset _SETUP_TMP
-  return 1
-fi
-unset _RC
-unset _SETUP_UTIL
-. "$_SETUP_TMP"
-rm -f "$_SETUP_TMP"
-unset _SETUP_TMP
-
-# source all environment hooks
-_i=0
-while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
-  eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
-  unset _CATKIN_ENVIRONMENT_HOOKS_$_i
-  eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
-  # set workspace for environment hook
-  CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
-  . "$_envfile"
-  unset CATKIN_ENV_HOOK_WORKSPACE
-  _i=$((_i + 1))
-done
-unset _i
-
-unset _CATKIN_ENVIRONMENT_HOOKS_COUNT

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/installspace/setup.zsh

@@ -1,8 +0,0 @@
-#!/usr/bin/env zsh
-# generated from catkin/cmake/templates/setup.zsh.in
-
-CATKIN_SHELL=zsh
-
-# source setup.sh from same directory as this file
-_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
-emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"'

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/package.cmake

@@ -1,16 +0,0 @@
-set(_CATKIN_CURRENT_PACKAGE "catkin_tools_prebuild")
-set(catkin_tools_prebuild_VERSION "0.0.0")
-set(catkin_tools_prebuild_MAINTAINER "jbohren <jbo@jhu.edu>")
-set(catkin_tools_prebuild_PACKAGE_FORMAT "1")
-set(catkin_tools_prebuild_BUILD_DEPENDS )
-set(catkin_tools_prebuild_BUILD_EXPORT_DEPENDS )
-set(catkin_tools_prebuild_BUILDTOOL_DEPENDS "catkin")
-set(catkin_tools_prebuild_BUILDTOOL_EXPORT_DEPENDS )
-set(catkin_tools_prebuild_EXEC_DEPENDS )
-set(catkin_tools_prebuild_RUN_DEPENDS )
-set(catkin_tools_prebuild_TEST_DEPENDS )
-set(catkin_tools_prebuild_DOC_DEPENDS )
-set(catkin_tools_prebuild_URL_WEBSITE "")
-set(catkin_tools_prebuild_URL_BUGTRACKER "")
-set(catkin_tools_prebuild_URL_REPOSITORY "")
-set(catkin_tools_prebuild_DEPRECATED "")

src/闪光检测/flash_detector_ws/build/catkin_tools_prebuild/catkin_generated/pkg.develspace.context.pc.py

@@ -1,8 +0,0 @@
-# generated from catkin/cmake/template/pkg.context.pc.in
-CATKIN_PACKAGE_PREFIX = ""
-PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
-PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
-PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
-PROJECT_NAME = "catkin_tools_prebuild"
-PROJECT_SPACE_DIR = "/home/mc/ZhiTu/flash_detector_ws/devel/.private/catkin_tools_prebuild"
-PROJECT_VERSION = "0.0.0"