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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/11/19 01:27:19 UTC
[incubator-nuttx] 01/02: driver/motor: add upperhalf structure
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx.git
commit c0c1e46c5f8b277781ef200c9cc2cb0456832905
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri Nov 12 14:44:50 2021 +0800
driver/motor: add upperhalf structure
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
drivers/motor/motor.c | 216 ++++++++++++++++++++++++++------------------
include/nuttx/motor/motor.h | 88 +++++++++---------
2 files changed, 174 insertions(+), 130 deletions(-)
diff --git a/drivers/motor/motor.c b/drivers/motor/motor.c
index 14e4184..9a7b889 100644
--- a/drivers/motor/motor.c
+++ b/drivers/motor/motor.c
@@ -36,11 +36,26 @@
#include <nuttx/arch.h>
#include <nuttx/fs/fs.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/semaphore.h>
#include <nuttx/motor/motor.h>
#include <nuttx/irq.h>
/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* This structure describes the state of the upper half driver */
+
+struct motor_upperhalf_s
+{
+ FAR struct motor_lowerhalf_s *lower; /* the handle of lower half driver */
+ uint8_t ocount; /* The number of times the device has been opened */
+ sem_t closesem; /* Locks out new opens while close is in progress */
+};
+
+/****************************************************************************
* Private Function Prototypes
****************************************************************************/
@@ -85,14 +100,15 @@ static const struct file_operations motor_fops =
static int motor_open(FAR struct file *filep)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct motor_dev_s *dev = inode->i_private;
- uint8_t tmp;
- int ret;
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct motor_upperhalf_s *upper = inode->i_private;
+ FAR struct motor_lowerhalf_s *lower = upper->lower;
+ uint8_t tmp;
+ int ret;
/* If the port is the middle of closing, wait until the close is finished */
- ret = nxsem_wait(&dev->closesem);
+ ret = nxsem_wait(&upper->closesem);
if (ret >= 0)
{
/* Increment the count of references to the device. If this the first
@@ -100,7 +116,7 @@ static int motor_open(FAR struct file *filep)
* initialize the device.
*/
- tmp = dev->ocount + 1;
+ tmp = upper->ocount + 1;
if (tmp == 0)
{
/* More than 255 opens; uint8_t overflows to zero */
@@ -118,19 +134,19 @@ static int motor_open(FAR struct file *filep)
/* Yes.. perform one time hardware initialization. */
irqstate_t flags = enter_critical_section();
- ret = dev->ops->setup(dev);
+ ret = lower->ops->setup(lower);
if (ret == OK)
{
/* Save the new open count on success */
- dev->ocount = tmp;
+ upper->ocount = tmp;
}
leave_critical_section(flags);
}
}
- nxsem_post(&dev->closesem);
+ nxsem_post(&upper->closesem);
}
return OK;
@@ -146,36 +162,37 @@ static int motor_open(FAR struct file *filep)
static int motor_close(FAR struct file *filep)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct motor_dev_s *dev = inode->i_private;
- irqstate_t flags;
- int ret;
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct motor_upperhalf_s *upper = inode->i_private;
+ FAR struct motor_lowerhalf_s *lower = upper->lower;
+ irqstate_t flags;
+ int ret;
- ret = nxsem_wait(&dev->closesem);
+ ret = nxsem_wait(&upper->closesem);
if (ret >= 0)
{
/* Decrement the references to the driver. If the reference count will
* decrement to 0, then uninitialize the driver.
*/
- if (dev->ocount > 1)
+ if (upper->ocount > 1)
{
- dev->ocount--;
- nxsem_post(&dev->closesem);
+ upper->ocount--;
+ nxsem_post(&upper->closesem);
}
else
{
/* There are no more references to the port */
- dev->ocount = 0;
+ upper->ocount = 0;
/* Free the IRQ and disable the motor device */
flags = enter_critical_section(); /* Disable interrupts */
- dev->ops->shutdown(dev); /* Disable the motor */
+ lower->ops->shutdown(lower); /* Disable the motor */
leave_critical_section(flags);
- nxsem_post(&dev->closesem);
+ nxsem_post(&upper->closesem);
}
}
@@ -208,9 +225,9 @@ static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
- FAR struct inode *inode = filep->f_inode;
- FAR struct motor_dev_s *dev = inode->i_private;
- FAR struct motor_s *motor = (FAR struct motor_s *)dev->priv;
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct motor_upperhalf_s *upper = inode->i_private;
+ FAR struct motor_lowerhalf_s *lower = upper->lower;
int ret;
switch (cmd)
@@ -221,28 +238,28 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
* and structure is locked.
*/
- if ((motor->limits.lock == false) ||
+ if ((lower->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
- motor->limits.position <= 0.0 &&
+ lower->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
- motor->limits.speed <= 0.0 &&
+ lower->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
- motor->limits.torque <= 0.0 &&
+ lower->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
- motor->limits.force <= 0.0 &&
+ lower->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
- motor->limits.v_in <= 0.0 &&
+ lower->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
- motor->limits.i_in <= 0.0 &&
+ lower->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
- motor->limits.p_in <= 0.0 &&
+ lower->limits.p_in <= 0.0 &&
#endif
1))
{
@@ -255,7 +272,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* Check motor mode */
- if (motor->opmode == MOTOR_OPMODE_INIT)
+ if (lower->opmode == MOTOR_OPMODE_INIT)
{
mtrerr("Motor operation mode not specified\n");
@@ -267,7 +284,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* Finally, call start from lower-half driver */
- ret = dev->ops->start(dev);
+ ret = lower->ops->start(lower);
if (ret != OK)
{
mtrerr("MTRIOC_START failed %d\n", ret);
@@ -279,7 +296,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
/* Call stop from lower-half driver */
- ret = dev->ops->stop(dev);
+ ret = lower->ops->stop(lower);
if (ret != OK)
{
mtrerr("MTRIOC_STOP failed %d\n", ret);
@@ -291,7 +308,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
uint8_t mode = ((uint8_t)arg);
- ret = dev->ops->mode_set(dev, mode);
+ ret = lower->ops->mode_set(lower, mode);
if (ret != OK)
{
mtrerr("MTRIOC_SET_MODE failed %d\n", ret);
@@ -304,7 +321,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct motor_limits_s *limits =
(FAR struct motor_limits_s *)((uintptr_t)arg);
- if (motor->limits.lock == true)
+ if (lower->limits.lock == true)
{
mtrerr("Motor limits locked!\n");
@@ -314,7 +331,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* NOTE: this call must set the motor_limits_s structure */
- ret = dev->ops->limits_set(dev, limits);
+ ret = lower->ops->limits_set(lower, limits);
if (ret != OK)
{
mtrerr("MTRIOC_SET_LIMITS failed %d\n", ret);
@@ -327,7 +344,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct motor_state_s *state =
(FAR struct motor_state_s *)((uintptr_t)arg);
- ret = dev->ops->state_get(dev, state);
+ ret = lower->ops->state_get(lower, state);
if (ret != OK)
{
mtrerr("MTRIOC_GET_STATE failed %d\n", ret);
@@ -339,7 +356,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
uint8_t fault = ((uint8_t)arg);
- ret = dev->ops->fault_set(dev, fault);
+ ret = lower->ops->fault_set(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_SET_FAULT failed %d\n", ret);
@@ -351,7 +368,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR uint8_t *fault = ((FAR uint8_t *)arg);
- ret = dev->ops->fault_get(dev, fault);
+ ret = lower->ops->fault_get(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_GET_FAULT failed %d\n", ret);
@@ -363,7 +380,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
uint8_t fault = ((uint8_t)arg);
- ret = dev->ops->fault_clear(dev, fault);
+ ret = lower->ops->fault_clear(lower, fault);
if (ret != OK)
{
mtrerr("MTRIOC_CLEAR_FAULT failed %d\n", ret);
@@ -376,7 +393,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
FAR struct motor_params_s *params =
(FAR struct motor_params_s *)((uintptr_t)arg);
- if (motor->param.lock == true)
+ if (lower->param.lock == true)
{
mtrerr("Motor params locked!\n");
@@ -384,28 +401,28 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
goto errout;
}
- if ((motor->limits.lock == false) ||
+ if ((lower->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_UPPER_HAVE_POSITION
- motor->limits.position <= 0.0 &&
+ lower->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
- motor->limits.speed <= 0.0 &&
+ lower->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
- motor->limits.torque <= 0.0 &&
+ lower->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
- motor->limits.force <= 0.0 &&
+ lower->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_VOLTAGE
- motor->limits.v_in <= 0.0 &&
+ lower->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_CURRENT
- motor->limits.i_in <= 0.0 &&
+ lower->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_UPPER_HAVE_INPUT_POWER
- motor->limits.p_in <= 0.0 &&
+ lower->limits.p_in <= 0.0 &&
#endif
1))
{
@@ -433,11 +450,11 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
/* Check position configuration */
if (params->position < 0.0 ||
- params->position > motor->limits.position)
+ params->position > lower->limits.position)
{
mtrerr("params->position > limits.position: "
"%.2f > %.2f\n",
- params->position, motor->limits.position);
+ params->position, lower->limits.position);
ret = -EPERM;
goto errout;
@@ -447,11 +464,11 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
#ifdef CONFIG_MOTOR_UPPER_HAVE_SPEED
/* Check speed configuration */
- if (motor->limits.speed > 0.0 &&
- params->speed > motor->limits.speed)
+ if (lower->limits.speed > 0.0 &&
+ params->speed > lower->limits.speed)
{
mtrerr("params->speed > limits.speed: %.2f > %.2f\n",
- params->speed, motor->limits.speed);
+ params->speed, lower->limits.speed);
ret = -EPERM;
goto errout;
@@ -461,11 +478,11 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
#ifdef CONFIG_MOTOR_UPPER_HAVE_TORQUE
/* Check torque configuration */
- if (motor->limits.torque > 0.0 &&
- params->torque > motor->limits.torque)
+ if (lower->limits.torque > 0.0 &&
+ params->torque > lower->limits.torque)
{
mtrerr("params->torque > limits.torque: %.2f > %.2f\n",
- params->torque, motor->limits.torque);
+ params->torque, lower->limits.torque);
ret = -EPERM;
goto errout;
@@ -475,18 +492,18 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
#ifdef CONFIG_MOTOR_UPPER_HAVE_FORCE
/* Check force configuration */
- if (motor->limits.force > 0.0 &&
- params->force > motor->limits.force)
+ if (lower->limits.force > 0.0 &&
+ params->force > lower->limits.force)
{
mtrerr("params->force > limits.force: %.2f > %.2f\n",
- params->force, motor->limits.force);
+ params->force, lower->limits.force);
ret = -EPERM;
goto errout;
}
#endif
- ret = dev->ops->params_set(dev, params);
+ ret = lower->ops->params_set(lower, params);
if (ret != OK)
{
mtrerr("MTRIOC_SET_PARAMS failed %d\n", ret);
@@ -497,7 +514,7 @@ static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
default:
{
mtrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
- ret = dev->ops->ioctl(dev, cmd, arg);
+ ret = lower->ops->ioctl(lower, cmd, arg);
break;
}
}
@@ -512,15 +529,34 @@ errout:
/****************************************************************************
* Name: motor_register
+ *
+ * Description:
+ * This function binds an instance of a "lower half" motor driver with the
+ * "upper half" motor device and registers that device so that can be used
+ * by application code.
+ *
+ * We will register the chararter device with specified path.
+ *
+ * Input Parameters:
+ * path - The user specifies path name.
+ * lower - A pointer to an instance of lower half motor driver. This
+ * instance is bound to the motor driver and must persists as long
+ * as the driver persists.
+ *
+ * Returned Value:
+ * OK if the driver was successfully register; A negated errno value is
+ * returned on any failure.
+ *
****************************************************************************/
-int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
- FAR void *lower)
+int motor_register(FAR const char *path,
+ FAR struct motor_lowerhalf_s *lower)
{
+ FAR struct motor_upperhalf_s *upper;
int ret;
- DEBUGASSERT(path != NULL && dev != NULL && lower != NULL);
- DEBUGASSERT(dev->ops != NULL);
+ DEBUGASSERT(path != NULL && lower != NULL);
+ DEBUGASSERT(lower->ops != NULL);
/* For safety reason, when some necessary low-level logic is not provided,
* system should fail before low-level hardware initialization, so:
@@ -528,37 +564,43 @@ int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
* - all ops must be provided, even if not used
*/
- DEBUGASSERT(dev->ops->setup != NULL);
- DEBUGASSERT(dev->ops->shutdown != NULL);
- DEBUGASSERT(dev->ops->stop != NULL);
- DEBUGASSERT(dev->ops->start != NULL);
- DEBUGASSERT(dev->ops->params_set != NULL);
- DEBUGASSERT(dev->ops->mode_set != NULL);
- DEBUGASSERT(dev->ops->limits_set != NULL);
- DEBUGASSERT(dev->ops->fault_set != NULL);
- DEBUGASSERT(dev->ops->state_get != NULL);
- DEBUGASSERT(dev->ops->fault_get != NULL);
- DEBUGASSERT(dev->ops->fault_clear != NULL);
- DEBUGASSERT(dev->ops->ioctl != NULL);
-
- /* Initialize the motor device structure */
-
- dev->ocount = 0;
+ DEBUGASSERT(lower->ops->setup != NULL);
+ DEBUGASSERT(lower->ops->shutdown != NULL);
+ DEBUGASSERT(lower->ops->stop != NULL);
+ DEBUGASSERT(lower->ops->start != NULL);
+ DEBUGASSERT(lower->ops->params_set != NULL);
+ DEBUGASSERT(lower->ops->mode_set != NULL);
+ DEBUGASSERT(lower->ops->limits_set != NULL);
+ DEBUGASSERT(lower->ops->fault_set != NULL);
+ DEBUGASSERT(lower->ops->state_get != NULL);
+ DEBUGASSERT(lower->ops->fault_get != NULL);
+ DEBUGASSERT(lower->ops->fault_clear != NULL);
+ DEBUGASSERT(lower->ops->ioctl != NULL);
+
+ /* Allocate the upper-half data structure */
+
+ upper = kmm_zalloc(sizeof(struct motor_upperhalf_s));
+ if (!upper)
+ {
+ mtrerr("ERROR: Allocation failed\n");
+ return -ENOMEM;
+ }
/* Initialize semaphores */
- nxsem_init(&dev->closesem, 0, 1);
+ nxsem_init(&upper->closesem, 0, 1);
/* Connect motor driver with lower level interface */
- dev->lower = lower;
+ upper->lower = lower;
/* Register the motor character driver */
- ret = register_driver(path, &motor_fops, 0444, dev);
+ ret = register_driver(path, &motor_fops, 0444, upper);
if (ret < 0)
{
- nxsem_destroy(&dev->closesem);
+ nxsem_destroy(&upper->closesem);
+ kmm_free(upper);
}
return ret;
diff --git a/include/nuttx/motor/motor.h b/include/nuttx/motor/motor.h
index f1f5f5d..867c572 100644
--- a/include/nuttx/motor/motor.h
+++ b/include/nuttx/motor/motor.h
@@ -43,7 +43,6 @@
#include <nuttx/compiler.h>
#include <nuttx/motor/motor_ioctl.h>
-#include <nuttx/semaphore.h>
#ifdef CONFIG_MOTOR_UPPER
@@ -212,95 +211,80 @@ struct motor_params_s
#endif
};
-/* Motor private data structure */
-
-struct motor_s
-{
- uint8_t opmode; /* Motor operation mode */
- uint8_t opflags; /* Motor operation flags */
- struct motor_limits_s limits; /* Motor absolute limits */
- struct motor_params_s param; /* Motor settings */
- struct motor_state_s state; /* Motor state */
- FAR void *priv; /* Private data */
-};
-
/* Motor operations used to call from the upper-half, generic motor driver
* into lower-half, platform-specific logic.
*/
-struct motor_dev_s;
+struct motor_lowerhalf_s;
struct motor_ops_s
{
/* Configure motor */
- CODE int (*setup)(FAR struct motor_dev_s *dev);
+ CODE int (*setup)(FAR struct motor_lowerhalf_s *dev);
/* Disable motor */
- CODE int (*shutdown)(FAR struct motor_dev_s *dev);
+ CODE int (*shutdown)(FAR struct motor_lowerhalf_s *dev);
/* Stop motor */
- CODE int (*stop)(FAR struct motor_dev_s *dev);
+ CODE int (*stop)(FAR struct motor_lowerhalf_s *dev);
/* Start motor */
- CODE int (*start)(FAR struct motor_dev_s *dev);
+ CODE int (*start)(FAR struct motor_lowerhalf_s *dev);
/* Set motor parameters */
- CODE int (*params_set)(FAR struct motor_dev_s *dev,
+ CODE int (*params_set)(FAR struct motor_lowerhalf_s *dev,
FAR struct motor_params_s *param);
/* Set motor operation mode */
- CODE int (*mode_set)(FAR struct motor_dev_s *dev, uint8_t mode);
+ CODE int (*mode_set)(FAR struct motor_lowerhalf_s *dev, uint8_t mode);
/* Set motor limits */
- CODE int (*limits_set)(FAR struct motor_dev_s *dev,
+ CODE int (*limits_set)(FAR struct motor_lowerhalf_s *dev,
FAR struct motor_limits_s *limits);
/* Set motor fault */
- CODE int (*fault_set)(FAR struct motor_dev_s *dev, uint8_t fault);
+ CODE int (*fault_set)(FAR struct motor_lowerhalf_s *dev, uint8_t fault);
/* Get motor state */
- CODE int (*state_get)(FAR struct motor_dev_s *dev,
+ CODE int (*state_get)(FAR struct motor_lowerhalf_s *dev,
FAR struct motor_state_s *state);
/* Get current fault state */
- CODE int (*fault_get)(FAR struct motor_dev_s *dev, FAR uint8_t *fault);
+ CODE int (*fault_get)(FAR struct motor_lowerhalf_s *dev,
+ FAR uint8_t *fault);
/* Clear fault state */
- CODE int (*fault_clear)(FAR struct motor_dev_s *dev, uint8_t fault);
+ CODE int (*fault_clear)(FAR struct motor_lowerhalf_s *dev, uint8_t fault);
/* Lower-half logic may support platform-specific ioctl commands */
- CODE int (*ioctl)(FAR struct motor_dev_s *dev, int cmd, unsigned long arg);
+ CODE int (*ioctl)(FAR struct motor_lowerhalf_s *dev, int cmd,
+ unsigned long arg);
};
-/* */
+/* This structure is the generic form of state structure used by lower half
+ * motor driver.
+ */
-struct motor_dev_s
+struct motor_lowerhalf_s
{
- /* Fields managed by common upper half motor logic */
-
- uint8_t ocount; /* The number of times the device
- * has been opened
- */
- sem_t closesem; /* Locks out new opens while close
- * is in progress
- */
-
- /* Fields provided by lower half motor logic */
-
FAR const struct motor_ops_s *ops; /* Arch-specific operations */
- FAR void *priv; /* Reference to motor private data */
- FAR void *lower; /* Reference to lower level drivers */
+ uint8_t opmode; /* Motor operation mode */
+ uint8_t opflags; /* Motor operation flags */
+ struct motor_limits_s limits; /* Motor absolute limits */
+ struct motor_params_s param; /* Motor settings */
+ struct motor_state_s state; /* Motor state */
+ FAR void *priv; /* Private data */
};
/****************************************************************************
@@ -321,10 +305,28 @@ extern "C"
/****************************************************************************
* Name: motor_register
+ *
+ * Description:
+ * This function binds an instance of a "lower half" motor driver with the
+ * "upper half" motor device and registers that device so that can be used
+ * by application code.
+ *
+ * We will register the chararter device with specified path.
+ *
+ * Input Parameters:
+ * path - The user specifies path name.
+ * lower - A pointer to an instance of lower half motor driver. This
+ * instance is bound to the motor driver and must persists as long
+ * as the driver persists.
+ *
+ * Returned Value:
+ * OK if the driver was successfully register; A negated errno value is
+ * returned on any failure.
+ *
****************************************************************************/
-int motor_register(FAR const char *path, FAR struct motor_dev_s *dev,
- FAR void *lower);
+int motor_register(FAR const char *path,
+ FAR struct motor_lowerhalf_s *lower);
#undef EXTERN
#ifdef __cplusplus