updated find pose to read from bag and estimate pose

git-subtree-dir: ros2_ws/src/darknet_vendor
git-subtree-mainline: 69673fdb020d9df5dee81b034393688207d9d3bb
git-subtree-split: 4d609295280bf9b50cde69bb9a483a8db839ba0b

ros2_ws/src/darknet_ros2/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.10)
+project(openrobotics_darknet_ros)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(NOT WIN32)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(darknet_vendor REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+add_library(openrobotics_darknet_ros SHARED
+  src/detector_network.cpp
+  src/parse.cpp)
+target_include_directories(openrobotics_darknet_ros PUBLIC include)
+target_compile_definitions(openrobotics_darknet_ros PRIVATE "DARKNET_ROS_BUILDING_DLL")
+ament_target_dependencies(openrobotics_darknet_ros
+  cv_bridge
+  darknet_vendor
+  sensor_msgs
+  vision_msgs)
+
+add_library(detector_node SHARED
+  src/detector_node.cpp)
+target_compile_definitions(detector_node PRIVATE "DARKNET_ROS_NODE_BUILDING_DLL")
+ament_target_dependencies(detector_node PUBLIC
+  "rclcpp"
+  "rclcpp_components")
+target_link_libraries(detector_node PUBLIC openrobotics_darknet_ros)
+rclcpp_components_register_nodes(detector_node "openrobotics::darknet_ros::DetectorNode")
+
+add_executable(detector_node_main
+  src/detector_node_main.cpp)
+target_link_libraries(detector_node_main detector_node)
+set_target_properties(detector_node_main PROPERTIES OUTPUT_NAME "detector_node")
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_parser test/test_parser.cpp
+    WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/test/")
+  target_link_libraries(test_parser openrobotics_darknet_ros)
+
+  ament_add_gtest(test_detector_network test/test_detector_network.cpp)
+  target_link_libraries(test_detector_network openrobotics_darknet_ros)
+endif()
+
+ament_export_libraries(openrobotics_darknet_ros)
+
+install(TARGETS openrobotics_darknet_ros
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS detector_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+install(TARGETS detector_node_main
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY include/ DESTINATION include)
+
+ament_package()

ros2_ws/src/darknet_ros2/CONTRIBUTING.md

@@ -0,0 +1,18 @@
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

ros2_ws/src/darknet_ros2/LICENSE

@@ -0,0 +1,202 @@
+
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ros2_ws/src/darknet_ros2/README.md

@@ -0,0 +1,58 @@
+# Open Robotics Darknet ROS
+
+This is a ROS 2 wrapper around [darknet](https://pjreddie.com/darknet), an open source neural network framework.
+
+![Example image with bounding boxes created using darknet and the yolov3-tiny network](doc/example_darknet_yolov3-tiny.png)
+
+## DetectorNode
+
+This node can run object detectors like [YOLOv3](https://pjreddie.com/darknet/yolo/) on images.
+
+### Subscribers
+
+* `~/images` (type `sensor_msgs/msg/Image`) - Input mages to feed to the detector
+
+### Publishers
+
+* `~/detections` (type `vision_msgs/msg/Detection2DArray`) - Objects detected in an image (if any)
+
+### Parameters
+
+* `network.config` - a path to a file describing a darknet detector network
+* `network.weights` - a path to a file with weights for the given network
+* `network.class_names` - a path to a file with names of classes the network can detect (1 per line)
+* `detection.threshold` - Minimum probability of a detection to be published
+* `detection.nms_threshold` - Non-maximal Suppression threshold - controls filtering of overlapping boxes
+
+### Example
+
+Download `YOLOv3-tiny`.
+
+```
+wget https://raw.githubusercontent.com/pjreddie/darknet/f86901f6177dfc6116360a13cc06ab680e0c86b0/cfg/yolov3-tiny.cfg
+wget https://pjreddie.com/media/files/yolov3-tiny.weights
+wget https://raw.githubusercontent.com/pjreddie/darknet/c6afc7ff1499fbbe64069e1843d7929bd7ae2eaa/data/coco.names
+```
+
+Save the following as `detector_node_params.yaml`
+
+```yaml
+/**:
+  ros__parameters:
+    network:
+      config: "./yolov3-tiny.cfg"
+      weights: "./yolov3-tiny.weights"
+      class_names: "./coco.names"
+    detection:
+      threshold: 0.25
+      nms_threshold: 0.45
+```
+
+Then run the node.
+
+```
+ros2 run openrobotics_darknet_ros detector_node __params:=detector_node_params.yaml
+```
+
+The node is now running.
+Publish images on `~/images` to get the node to detect objects.

ros2_ws/src/darknet_ros2/include/openrobotics_darknet_ros/detector_network.hpp

@@ -0,0 +1,72 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
+#define OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/visibility.hpp"
+#include "sensor_msgs/msg/image.hpp"
+#include "vision_msgs/msg/detection2_d_array.hpp"
+#include "vision_msgs/msg/object_hypothesis_with_pose.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+// Forward declaration
+class DetectorNetworkPrivate;
+
+class DetectorNetwork
+{
+public:
+  /// \brief load a network from disk
+  /// \param[in] config_file Path to a file describing the network
+  /// \param[in] weights_file Path to a file containing the network's weights
+  /// \param[in] classes Ordered list of class names the network can predict
+  DARKNET_ROS_PUBLIC
+  DetectorNetwork(
+    const std::string & config_file,
+    const std::string & weights_file,
+    const std::vector<std::string> & classes);
+
+  DARKNET_ROS_PUBLIC
+  ~DetectorNetwork();
+
+  /// \brief Detect objects in image
+  /// \param[in] image An image to analyze
+  /// \param[in] threshold How confident the network must be to detect something [0.0, 1.0]
+  /// \param[in] nms_threshold Non-Maximal Suppression threhsold [0.0, 1.0].
+  ///   When the intersection over union (iou) of two bounding boxes is greater than nms_threshold,
+  ///   the box with the lower objectness score is discarded.
+  /// \param[out] output_detections Things detected in the image (does not set source_img)
+  /// \return number of objects detected
+  DARKNET_ROS_PUBLIC
+  size_t
+  detect(
+    const sensor_msgs::msg::Image & image,
+    double threshold,
+    double nms_threshold,
+    vision_msgs::msg::Detection2DArray * output_detections);
+
+private:
+  std::unique_ptr<DetectorNetworkPrivate> impl_;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_

ros2_ws/src/darknet_ros2/include/openrobotics_darknet_ros/detector_node.hpp

@@ -0,0 +1,49 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/node.hpp"
+#include "openrobotics_darknet_ros/visibility_node.hpp"
+
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+// Forward declaration
+class DetectorNodePrivate;
+
+class DetectorNode : public rclcpp::Node
+{
+public:
+  /// \brief Create a node that uses ROS parameters to get the network
+  DARKNET_ROS_NODE_PUBLIC
+  explicit DetectorNode(rclcpp::NodeOptions options);
+
+  DARKNET_ROS_NODE_PUBLIC
+  virtual ~DetectorNode();
+
+private:
+  std::unique_ptr<DetectorNodePrivate> impl_;
+  OnSetParametersCallbackHandle::SharedPtr callback_handle_;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__DETECTOR_NODE_HPP_

ros2_ws/src/darknet_ros2/include/openrobotics_darknet_ros/parse.hpp

@@ -0,0 +1,36 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OPENROBOTICS_DARKNET_ROS__PARSE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__PARSE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/visibility.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+/// \brief Read file containing class names, one per line
+/// \param[in] filename a path to a file containing classes a network can detect
+/// \return a container with all of the class names detected
+DARKNET_ROS_PUBLIC
+std::vector<std::string>
+parse_class_names(const std::string & filename);
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#endif  // OPENROBOTICS_DARKNET_ROS__PARSE_HPP_

ros2_ws/src/darknet_ros2/include/openrobotics_darknet_ros/visibility.hpp

@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_
+#define OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DARKNET_ROS_EXPORT __attribute__ ((dllexport))
+    #define DARKNET_ROS_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DARKNET_ROS_EXPORT __declspec(dllexport)
+    #define DARKNET_ROS_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DARKNET_ROS_BUILDING_LIBRARY
+    #define DARKNET_ROS_PUBLIC DARKNET_ROS_EXPORT
+  #else
+    #define DARKNET_ROS_PUBLIC DARKNET_ROS_IMPORT
+  #endif
+  #define DARKNET_ROS_PUBLIC_TYPE DARKNET_ROS_PUBLIC
+  #define DARKNET_ROS_LOCAL
+#else
+  #define DARKNET_ROS_EXPORT __attribute__ ((visibility("default")))
+  #define DARKNET_ROS_IMPORT
+  #if __GNUC__ >= 4
+    #define DARKNET_ROS_PUBLIC __attribute__ ((visibility("default")))
+    #define DARKNET_ROS_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DARKNET_ROS_PUBLIC
+    #define DARKNET_ROS_LOCAL
+  #endif
+  #define DARKNET_ROS_PUBLIC_TYPE
+#endif
+
+#endif  // OPENROBOTICS_DARKNET_ROS__VISIBILITY_HPP_

ros2_ws/src/darknet_ros2/include/openrobotics_darknet_ros/visibility_node.hpp

@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* This header must be included by all rclcpp headers which declare symbols
+ * which are defined in the rclcpp library. When not building the rclcpp
+ * library, i.e. when using the headers in other package's code, the contents
+ * of this header change the visibility of certain symbols which the rclcpp
+ * library cannot have, but the consuming code must have inorder to link.
+ */
+
+#ifndef OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_
+#define OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define DARKNET_ROS_NODE_EXPORT __attribute__ ((dllexport))
+    #define DARKNET_ROS_NODE_IMPORT __attribute__ ((dllimport))
+  #else
+    #define DARKNET_ROS_NODE_EXPORT __declspec(dllexport)
+    #define DARKNET_ROS_NODE_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef DARKNET_ROS_NODE_BUILDING_LIBRARY
+    #define DARKNET_ROS_NODE_PUBLIC DARKNET_ROS_NODE_EXPORT
+  #else
+    #define DARKNET_ROS_NODE_PUBLIC DARKNET_ROS_NODE_IMPORT
+  #endif
+  #define DARKNET_ROS_NODE_PUBLIC_TYPE DARKNET_ROS_NODE_PUBLIC
+  #define DARKNET_ROS_NODE_LOCAL
+#else
+  #define DARKNET_ROS_NODE_EXPORT __attribute__ ((visibility("default")))
+  #define DARKNET_ROS_NODE_IMPORT
+  #if __GNUC__ >= 4
+    #define DARKNET_ROS_NODE_PUBLIC __attribute__ ((visibility("default")))
+    #define DARKNET_ROS_NODE_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define DARKNET_ROS_NODE_PUBLIC
+    #define DARKNET_ROS_NODE_LOCAL
+  #endif
+  #define DARKNET_ROS_NODE_PUBLIC_TYPE
+#endif
+
+#endif  // OPENROBOTICS_DARKNET_ROS__VISIBILITY_NODE_HPP_

ros2_ws/src/darknet_ros2/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>openrobotics_darknet_ros</name>
+  <version>0.1.0</version>
+  <description>ROS wrapper around darknet, an open source neural network framework.</description>
+
+  <author email="sloretz@openrobotics.org">Shane Loretz</author>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>cv_bridge</depend>
+  <depend>darknet_vendor</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
+  <depend>vision_msgs</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

ros2_ws/src/darknet_ros2/src/darknet_detections.hpp

@@ -0,0 +1,44 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#ifndef DARKNET_DETECTIONS_HPP_
+#define DARKNET_DETECTIONS_HPP_
+
+#include <darknet_vendor/darknet_vendor.h>
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+/// \brief RAII wrapper around darknet type `detections`
+class DarknetDetections
+{
+public:
+  /// \brief Steal ownership of detections
+  DarknetDetections(detection * darknet_detections, size_t num_detections)
+  : detections_(darknet_detections), num_detections_(num_detections)
+  {
+  }
+
+  ~DarknetDetections()
+  {
+    free_detections(detections_, num_detections_);
+  }
+
+  detection * detections_;
+  const size_t num_detections_ = 0;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+#endif  // DARKNET_DETECTIONS_HPP_

ros2_ws/src/darknet_ros2/src/darknet_image.hpp

@@ -0,0 +1,71 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DARKNET_IMAGE_HPP_
+#define DARKNET_IMAGE_HPP_
+
+#include <darknet_vendor/darknet_vendor.h>
+#include <cv_bridge/cv_bridge.h>
+
+#include <memory>
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+/// \brief RAII wrapper around darknet type `image`
+class DarknetImage
+{
+public:
+  /// \brief Steal ownership of image
+  explicit DarknetImage(image darknet_image)
+  : image_(darknet_image)
+  {
+  }
+
+  explicit DarknetImage(const sensor_msgs::msg::Image & image_msg)
+  {
+    // Convert to open cv type with a known format
+    std::shared_ptr<void const> dummy_object;
+    cv_bridge::CvImageConstPtr opencv_image = cv_bridge::toCvShare(image_msg, dummy_object, "rgb8");
+    const cv::Mat & image_matrix = opencv_image->image;
+
+    // Make a darknet image with this data
+    const int width = image_matrix.cols;
+    const int height = image_matrix.rows;
+    const int channels = 3;  // rgb
+    image_ = make_image(width, height, channels);
+
+    for (int channel = 0; channel < channels; ++channel) {
+      for (int row = 0; row < image_matrix.rows; ++row) {
+        for (int column = 0; column < image_matrix.cols; ++column) {
+          // Darknet stores each channel separately in R G B order
+          // Within a channel pixels are in row-major order
+          size_t darknet_idx = channel * height * width + row * width + column;
+          image_.data[darknet_idx] = image_matrix.ptr(row, column)[channel] / 255.0f;
+        }
+      }
+    }
+  }
+
+  ~DarknetImage()
+  {
+    free_image(image_);
+  }
+
+  image image_;
+};
+}  // namespace darknet_ros
+}  // namespace openrobotics
+#endif  // DARKNET_IMAGE_HPP_

ros2_ws/src/darknet_ros2/src/detector_network.cpp

@@ -0,0 +1,176 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <darknet_vendor/darknet_vendor.h>
+
+#include <fstream>
+#include <memory>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "darknet_detections.hpp"
+#include "darknet_image.hpp"
+#include "openrobotics_darknet_ros/detector_network.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+class DetectorNetworkPrivate
+{
+public:
+  DetectorNetworkPrivate() {}
+
+  ~DetectorNetworkPrivate()
+  {
+    if (network_) {
+      free_network(network_);
+      network_ = nullptr;
+    }
+  }
+
+  // darknet network
+  network * network_ = nullptr;
+  // Classes the network can detect
+  std::vector<std::string> class_names_;
+};
+
+DetectorNetwork::DetectorNetwork(
+  const std::string & config_file,
+  const std::string & weights_file,
+  const std::vector<std::string> & classes)
+: impl_(new DetectorNetworkPrivate())
+{
+  if (!std::ifstream(config_file)) {
+    std::stringstream str;
+    str << "Could not open " << config_file;
+    throw std::invalid_argument(str.str());
+  } else if (!std::ifstream(weights_file)) {
+    std::stringstream str;
+    str << "Could not open " << weights_file;
+    throw std::invalid_argument(str.str());
+  }
+
+  impl_->class_names_ = classes;
+
+  // Make copies because of darknet's lack of const
+  std::unique_ptr<char> config_mutable(new char[config_file.size() + 1]);
+  std::unique_ptr<char> weights_mutable(new char[weights_file.size() + 1]);
+  snprintf(&*config_mutable, config_file.size() + 1, "%s", config_file.c_str());
+  snprintf(&*weights_mutable, weights_file.size() + 1, "%s", weights_file.c_str());
+
+  const int clear = 0;
+  impl_->network_ = load_network(&*config_mutable, &*weights_mutable, clear);
+  if (nullptr == impl_->network_) {
+    std::stringstream str;
+    str << "Failed to load network from " << config_file << " and " << weights_file;
+    throw std::invalid_argument(str.str());
+  }
+
+  // TODO(sloretz) what is this and why do examples set it?
+  const int batch = 1;
+  set_batch_network(impl_->network_, batch);
+
+  const int num_classes_int = impl_->network_->layers[impl_->network_->n - 1].classes;
+  if (num_classes_int <= 0) {
+    throw std::invalid_argument("Invalid network, it expects no classes");
+  }
+  size_t num_classes = static_cast<size_t>(num_classes_int);
+  if (num_classes != classes.size()) {
+    std::stringstream str;
+    str << "DetectorNetwork expects " << num_classes << " class names but got " << classes.size();
+    throw std::invalid_argument(str.str());
+  }
+}
+
+DetectorNetwork::~DetectorNetwork()
+{
+}
+
+size_t
+DetectorNetwork::detect(
+  const sensor_msgs::msg::Image & image_msg,
+  double threshold,
+  double nms_threshold,
+  vision_msgs::msg::Detection2DArray * output_detections)
+{
+  DarknetImage orig_image(image_msg);
+
+  // resize image to network size, filling rest with gray
+  DarknetImage resized_image(
+    letterbox_image(orig_image.image_, impl_->network_->w, impl_->network_->h));
+
+  // Ask network to make predictions
+  network_predict(impl_->network_, resized_image.image_.data);
+
+  // Get predictions from network
+  int num_detections = 0;
+  // TODO(sloretz) what do hier, map, and relative do?
+  const float hier = 0;
+  int * map = nullptr;
+  const int relative = 0;
+  detection * darknet_detections = get_network_boxes(
+    impl_->network_, image_msg.width, image_msg.height, threshold,
+    hier, map, relative,
+    &num_detections);
+
+  if (num_detections <= 0) {
+    return 0;
+  }
+
+  DarknetDetections raii_detections(darknet_detections, static_cast<size_t>(num_detections));
+
+  // Non-maximal suppression: filters overlapping bounding boxes
+  if (nms_threshold > 0.0f) {
+    const int num_classes = impl_->network_->layers[impl_->network_->n - 1].classes;
+    do_nms_sort(darknet_detections, num_detections, num_classes, nms_threshold);
+  }
+
+  // Populate output message
+  output_detections->header = image_msg.header;
+  output_detections->detections.reserve(num_detections);
+  for (int i = 0; i < num_detections; ++i) {
+    auto & detection = darknet_detections[i];
+    output_detections->detections.emplace_back();
+    auto & detection_ros = output_detections->detections.back();
+
+    // Copy probabilities of each class
+    for (int cls = 0; cls < detection.classes; ++cls) {
+      if (detection.prob[cls] > 0.0f) {
+        detection_ros.results.emplace_back();
+        vision_msgs::msg::ObjectHypothesisWithPose hypothesis = detection_ros.results.back();
+        hypothesis.hypothesis.class_id = impl_->class_names_.at(cls);
+        hypothesis.hypothesis.score = detection.prob[cls];
+      }
+    }
+
+    if (detection_ros.results.empty()) {
+      // nms suppressed this detection
+      output_detections->detections.pop_back();
+      continue;
+    }
+
+    // Copy bounding box, darknet uses center of bounding box too
+    detection_ros.bbox.center.position.x = detection.bbox.x;
+    detection_ros.bbox.center.position.y = detection.bbox.y;
+    detection_ros.bbox.size_x = detection.bbox.w;
+    detection_ros.bbox.size_y = detection.bbox.h;
+  }
+
+  // Not using num_detections because nms may have suppressed some
+  return output_detections->detections.size();
+}
+}  // namespace darknet_ros
+}  // namespace openrobotics

ros2_ws/src/darknet_ros2/src/detector_node.cpp

@@ -0,0 +1,167 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <darknet_vendor/darknet_vendor.h>
+
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include "openrobotics_darknet_ros/detector_node.hpp"
+#include "openrobotics_darknet_ros/detector_network.hpp"
+#include "openrobotics_darknet_ros/parse.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/parameter_client.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+class DetectorNodePrivate
+{
+public:
+  void on_image_rx(const sensor_msgs::msg::Image::ConstSharedPtr image_msg)
+  {
+    vision_msgs::msg::Detection2DArray::UniquePtr detections(
+      new vision_msgs::msg::Detection2DArray);
+    // std::cerr << "using threshold " << threshold_ << " nms " << nms_threshold_ << "\n";
+    if (network_->detect(*image_msg, threshold_, nms_threshold_, &*detections)) {
+      detections_pub_->publish(std::move(detections));
+    }
+  }
+
+  rcl_interfaces::msg::SetParametersResult
+  on_parameters_change(const std::vector<rclcpp::Parameter> & new_values)
+  {
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
+    double new_threshold = threshold_;
+    double new_nms_threshold = nms_threshold_;
+
+    for (const auto & parameter : new_values) {
+      if (threshold_desc_.name == parameter.get_name()) {
+        new_threshold = parameter.as_double();
+        // TODO(sloretz) range constraints in parameter description
+        if (new_threshold < 0.0 || new_threshold > 1.0) {
+          result.successful = false;
+          result.reason = "threshold out of range [0.0, 1.0]";
+        }
+      } else if (nms_threshold_desc_.name == parameter.get_name()) {
+        new_nms_threshold = parameter.as_double();
+        if (new_nms_threshold < 0.0 || new_nms_threshold > 1.0) {
+          result.successful = false;
+          result.reason = "nms_threshold out of range [0.0, 1.0]";
+        }
+      }
+    }
+    if (result.successful) {
+      threshold_ = new_threshold;
+      nms_threshold_ = new_nms_threshold;
+      // std::cerr << "New threshold " << threshold_ << " nms " << nms_threshold_ << "\n";
+    }
+    return result;
+  }
+
+  std::unique_ptr<DetectorNetwork> network_;
+  rclcpp::Publisher<vision_msgs::msg::Detection2DArray>::SharedPtr detections_pub_;
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
+
+  double threshold_ = 0.25;
+  double nms_threshold_ = 0.45;
+
+  rcl_interfaces::msg::ParameterDescriptor threshold_desc_;
+  rcl_interfaces::msg::ParameterDescriptor nms_threshold_desc_;
+};
+
+DetectorNode::DetectorNode(rclcpp::NodeOptions options)
+: rclcpp::Node("detector_node", options), impl_(new DetectorNodePrivate)
+{
+  // Read-only input parameters: cfg, weights, classes
+  rcl_interfaces::msg::ParameterDescriptor network_cfg_desc;
+  network_cfg_desc.description = "Path to config file describing network";
+  network_cfg_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+  network_cfg_desc.read_only = true;
+  network_cfg_desc.name = "network.config";
+  const std::string network_config_path = declare_parameter(
+    network_cfg_desc.name,
+    rclcpp::ParameterValue(),
+    network_cfg_desc).get<std::string>();
+
+  rcl_interfaces::msg::ParameterDescriptor network_weights_desc;
+  network_weights_desc.description = "Path to file describing network weights";
+  network_weights_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+  network_weights_desc.read_only = true;
+  network_weights_desc.name = "network.weights";
+  const std::string network_weights_path = declare_parameter(
+    network_weights_desc.name,
+    rclcpp::ParameterValue(),
+    network_weights_desc).get<std::string>();
+
+  rcl_interfaces::msg::ParameterDescriptor network_class_names_desc;
+  network_class_names_desc.description = "Path to file with class names (one per line)";
+  network_class_names_desc.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
+  network_class_names_desc.read_only = true;
+  network_class_names_desc.name = "network.class_names";
+  const std::string network_class_names_path = declare_parameter(
+    network_class_names_desc.name,
+    rclcpp::ParameterValue(),
+    network_class_names_desc).get<std::string>();
+
+  impl_->threshold_desc_.description = "Minimum detection confidence [0.0, 1.0]";
+  impl_->threshold_desc_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+  impl_->threshold_desc_.name = "detection.threshold";
+  impl_->threshold_ = declare_parameter(
+    impl_->threshold_desc_.name,
+    rclcpp::ParameterValue(impl_->threshold_),
+    impl_->threshold_desc_).get<double>();
+
+  impl_->nms_threshold_desc_.description =
+    "Non Maximal Suppression threshold for filtering overlapping boxes [0.0, 1.0]";
+  impl_->nms_threshold_desc_.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
+  impl_->nms_threshold_desc_.name = "detection.nms_threshold";
+  impl_->nms_threshold_ = declare_parameter(
+    impl_->nms_threshold_desc_.name,
+    rclcpp::ParameterValue(impl_->nms_threshold_),
+    impl_->nms_threshold_desc_).get<double>();
+
+  // Register a callback for parameter changes
+  // auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(this);
+  // parameters_client->add_on_set_parameters_callback(std::bind(&DetectorNodePrivate::on_parameters_change, &*impl_, std::placeholders::_1));
+  callback_handle_ = this->add_on_set_parameters_callback(std::bind(&DetectorNodePrivate::on_parameters_change, &*impl_, std::placeholders::_1));
+  // TODO(sloretz) raise if user tried to initialize node with undeclared parameters
+
+  std::vector<std::string> class_names = parse_class_names(network_class_names_path);
+  impl_->network_.reset(
+    new DetectorNetwork(network_config_path, network_weights_path, class_names));
+
+  // Ouput topic ~/detections [vision_msgs/msg/Detection2DArray]
+  impl_->detections_pub_ = this->create_publisher<vision_msgs::msg::Detection2DArray>(
+    "~/detections", 1);
+
+  // Input topic ~/images [sensor_msgs/msg/Image]
+  impl_->image_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
+    "~/images", 12, std::bind(&DetectorNodePrivate::on_image_rx, &*impl_, std::placeholders::_1));
+}
+
+DetectorNode::~DetectorNode()
+{
+}
+}  // namespace darknet_ros
+}  // namespace openrobotics
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+RCLCPP_COMPONENTS_REGISTER_NODE(openrobotics::darknet_ros::DetectorNode)

ros2_ws/src/darknet_ros2/src/detector_node_main.cpp

@@ -0,0 +1,31 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "openrobotics_darknet_ros/detector_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+  rclcpp::NodeOptions options;
+  auto detector_node = std::make_shared<openrobotics::darknet_ros::DetectorNode>(options);
+
+  rclcpp::spin(detector_node);
+
+  rclcpp::shutdown();
+  return 0;
+}

ros2_ws/src/darknet_ros2/src/parse.cpp

@@ -0,0 +1,51 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <fstream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/parse.hpp"
+
+namespace openrobotics
+{
+namespace darknet_ros
+{
+std::vector<std::string>
+parse_class_names(const std::string & filename)
+{
+  std::ifstream fin(filename);
+  std::vector<std::string> class_names;
+  std::string line;
+  while (fin) {
+    std::getline(fin, line);
+    if (!fin) {
+      if (!fin.eof()) {
+        std::stringstream str;
+        str << "Failed to read [" << filename << "] line " << class_names.size();
+        throw std::runtime_error(str.str());
+      }
+      break;
+    }
+    if (line.empty()) {
+      // Ignore blank lines
+      continue;
+    }
+    class_names.emplace_back(line);
+  }
+  return class_names;
+}
+}  // namespace darknet_ros
+}  // namespace openrobotics

ros2_ws/src/darknet_ros2/test/data/1_class_name.txt

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

ros2_ws/src/darknet_ros2/test/data/3_class_names_with_whitespace.txt

@@ -0,0 +1,10 @@
+
+
+
+foo
+
+
+bar
+
+
+baz

ros2_ws/src/darknet_ros2/test/data/5_class_names.txt

@@ -0,0 +1,5 @@
+car
+boat
+bus
+airplane
+space ship

ros2_ws/src/darknet_ros2/test/test_detector_network.cpp

@@ -0,0 +1,33 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/detector_network.hpp"
+
+TEST(network, config_does_not_exist)
+{
+  const std::string config = "does_not_exist.cfg";
+  const std::string weights = "does_not_exist.weights";
+  std::vector<std::string> classes{"foo", "bar"};
+
+  try {
+    openrobotics::darknet_ros::DetectorNetwork network(config, weights, classes);
+    ASSERT_TRUE(false);
+  } catch (const std::invalid_argument &) {
+  }
+}

ros2_ws/src/darknet_ros2/test/test_parser.cpp

@@ -0,0 +1,67 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/parse.hpp"
+
+using openrobotics::darknet_ros::parse_class_names;
+
+TEST(parse, names_file_does_not_exist)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("openrobotics_darknet_ros_file_does_not_exist");
+
+  ASSERT_EQ(0u, class_names.size());
+}
+
+TEST(parse, one_name)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/1_class_name.txt");
+
+  ASSERT_EQ(1u, class_names.size());
+  EXPECT_EQ("tomato", class_names[0]);
+}
+
+TEST(parse, 3_class_names_with_whitespace)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/3_class_names_with_whitespace.txt");
+
+  ASSERT_EQ(3u, class_names.size());
+  EXPECT_EQ("foo", class_names[0]);
+  EXPECT_EQ("bar", class_names[1]);
+  EXPECT_EQ("baz", class_names[2]);
+}
+
+TEST(parse, five_names)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/5_class_names.txt");
+
+  ASSERT_EQ(5u, class_names.size());
+  EXPECT_EQ("car", class_names[0]);
+  EXPECT_EQ("boat", class_names[1]);
+  EXPECT_EQ("bus", class_names[2]);
+  EXPECT_EQ("airplane", class_names[3]);
+  EXPECT_EQ("space ship", class_names[4]);
+}

ros2_ws/src/darknet_vendor/build/.built_by

@@ -0,0 +1 @@
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ros2_ws/src/darknet_vendor/build/CMakeCache.txt

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+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=darknet_vendor
+
+//Value Computed by CMake
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+
+//Value Computed by CMake
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+//Value Computed by CMake
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+//Value Computed by CMake
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+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_TWEAK:STATIC=
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+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
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+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
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+//Flags used by the linker during the creation of shared libraries
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+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Build darknet with CUDA support
+DARKNET_CUDA:BOOL=Off
+
+//Build darknet with OpenCV support
+DARKNET_OPENCV:BOOL=Off
+
+//Directory under which to collect all populated content
+FETCHCONTENT_BASE_DIR:PATH=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps
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+//When not empty, overrides where to find pre-populated content
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+
+//Enables UPDATE_DISCONNECTED behavior for all content population
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+
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+
+//Git command line client
+GIT_EXECUTABLE:FILEPATH=/usr/bin/git
+
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+//Value Computed by CMake
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+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# 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_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# 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"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# 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
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# 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. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(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'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#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__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+/* !defined(_MSC_VER) to exclude Clang's MSVC compatibility mode. */
+#if (defined(__clang__) || defined(__GNUC__) ||                               \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__) && !defined(_MSC_VER)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#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(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

ros2_ws/src/darknet_vendor/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,791 @@
+/* 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
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#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 prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  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
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# 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(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#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(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#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(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#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"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || 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
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# 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_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# 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"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# 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
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# 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. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(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'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#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
+
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+	/usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-done
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "No build step for 'darknet-download-populate'"
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E echo_append
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-build
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_3) "No configure step for 'darknet-download-populate'"
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E echo_append
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-configure
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_4) "Performing download step (git clone) for 'darknet-download-populate'"
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps && /usr/bin/cmake -P /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp/darknet-download-populate-gitclone.cmake
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps && /usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-download
+
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_5) "No install step for 'darknet-download-populate'"
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E echo_append
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-install
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+	/usr/bin/cmake -E make_directory /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build
+	/usr/bin/cmake -E make_directory /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix
+	/usr/bin/cmake -E make_directory /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp
+	/usr/bin/cmake -E make_directory /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp
+	/usr/bin/cmake -E make_directory /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src
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+	/usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-mkdir
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_7) "No patch step for 'darknet-download-populate'"
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_8) "No test step for 'darknet-download-populate'"
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E echo_append
+	cd /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-build && /usr/bin/cmake -E touch /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-test
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles --progress-num=$(CMAKE_PROGRESS_9) "Performing update step for 'darknet-download-populate'"
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+% : %,v
+
+# Disable VCS-based implicit rules.
+% : RCS/%
+
+# Disable VCS-based implicit rules.
+% : RCS/%,v
+
+# Disable VCS-based implicit rules.
+% : SCCS/s.%
+
+# Disable VCS-based implicit rules.
+% : s.%
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Command-line flag to silence nested $(MAKE).
+$(VERBOSE)MAKESILENT = -s
+
+#Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E rm -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+.PHONY : edit_cache/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake --regenerate-during-build -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+.PHONY : rebuild_cache/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild//CMakeFiles/progress.marks
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named darknet-download-populate
+
+# Build rule for target.
+darknet-download-populate: cmake_check_build_system
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/Makefile2 darknet-download-populate
+.PHONY : darknet-download-populate
+
+# fast build rule for target.
+darknet-download-populate/fast:
+	$(MAKE) $(MAKESILENT) -f CMakeFiles/darknet-download-populate.dir/build.make CMakeFiles/darknet-download-populate.dir/build
+.PHONY : darknet-download-populate/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... edit_cache"
+	@echo "... rebuild_cache"
+	@echo "... darknet-download-populate"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/cmake_install.cmake

@@ -0,0 +1,49 @@
+# Install script for directory: /media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitclone-lastrun.txt

@@ -0,0 +1,3 @@
+repository='https://github.com/pjreddie/darknet.git'
+module=''
+tag='origin'

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitinfo.txt

@@ -0,0 +1,3 @@
+repository='https://github.com/pjreddie/darknet.git'
+module=''
+tag='origin'

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp/darknet-download-populate-cfgcmd.txt

@@ -0,0 +1 @@
+cmd=''

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp/darknet-download-populate-cfgcmd.txt.in

@@ -0,0 +1 @@
+cmd='@cmd@'

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp/darknet-download-populate-gitclone.cmake

@@ -0,0 +1,66 @@
+
+if(NOT "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitinfo.txt" IS_NEWER_THAN "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitclone-lastrun.txt")
+  message(STATUS "Avoiding repeated git clone, stamp file is up to date: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitclone-lastrun.txt'")
+  return()
+endif()
+
+execute_process(
+  COMMAND ${CMAKE_COMMAND} -E rm -rf "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+  RESULT_VARIABLE error_code
+  )
+if(error_code)
+  message(FATAL_ERROR "Failed to remove directory: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src'")
+endif()
+
+# try the clone 3 times in case there is an odd git clone issue
+set(error_code 1)
+set(number_of_tries 0)
+while(error_code AND number_of_tries LESS 3)
+  execute_process(
+    COMMAND "/usr/bin/git"  clone --no-checkout --config "advice.detachedHead=false" "https://github.com/pjreddie/darknet.git" "darknet-download-src"
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps"
+    RESULT_VARIABLE error_code
+    )
+  math(EXPR number_of_tries "${number_of_tries} + 1")
+endwhile()
+if(number_of_tries GREATER 1)
+  message(STATUS "Had to git clone more than once:
+          ${number_of_tries} times.")
+endif()
+if(error_code)
+  message(FATAL_ERROR "Failed to clone repository: 'https://github.com/pjreddie/darknet.git'")
+endif()
+
+execute_process(
+  COMMAND "/usr/bin/git"  checkout 61c9d02ec461e30d55762ec7669d6a1d3c356fb2 --
+  WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+  RESULT_VARIABLE error_code
+  )
+if(error_code)
+  message(FATAL_ERROR "Failed to checkout tag: '61c9d02ec461e30d55762ec7669d6a1d3c356fb2'")
+endif()
+
+set(init_submodules TRUE)
+if(init_submodules)
+  execute_process(
+    COMMAND "/usr/bin/git"  submodule update --recursive --init 
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    RESULT_VARIABLE error_code
+    )
+endif()
+if(error_code)
+  message(FATAL_ERROR "Failed to update submodules in: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src'")
+endif()
+
+# Complete success, update the script-last-run stamp file:
+#
+execute_process(
+  COMMAND ${CMAKE_COMMAND} -E copy
+    "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitinfo.txt"
+    "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitclone-lastrun.txt"
+  RESULT_VARIABLE error_code
+  )
+if(error_code)
+  message(FATAL_ERROR "Failed to copy script-last-run stamp file: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/src/darknet-download-populate-stamp/darknet-download-populate-gitclone-lastrun.txt'")
+endif()
+

ros2_ws/src/darknet_vendor/build/_deps/darknet-download-subbuild/darknet-download-populate-prefix/tmp/darknet-download-populate-gitupdate.cmake

@@ -0,0 +1,277 @@
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+cmake_minimum_required(VERSION 3.5)
+
+function(get_hash_for_ref ref out_var err_var)
+  execute_process(
+    COMMAND "/usr/bin/git" rev-parse "${ref}^0"
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    RESULT_VARIABLE error_code
+    OUTPUT_VARIABLE ref_hash
+    ERROR_VARIABLE error_msg
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+  if(error_code)
+    set(${out_var} "" PARENT_SCOPE)
+  else()
+    set(${out_var} "${ref_hash}" PARENT_SCOPE)
+  endif()
+  set(${err_var} "${error_msg}" PARENT_SCOPE)
+endfunction()
+
+get_hash_for_ref(HEAD head_sha error_msg)
+if(head_sha STREQUAL "")
+  message(FATAL_ERROR "Failed to get the hash for HEAD:\n${error_msg}")
+endif()
+
+
+execute_process(
+  COMMAND "/usr/bin/git" show-ref "61c9d02ec461e30d55762ec7669d6a1d3c356fb2"
+  WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+  OUTPUT_VARIABLE show_ref_output
+)
+if(show_ref_output MATCHES "^[a-z0-9]+[ \\t]+refs/remotes/")
+  # Given a full remote/branch-name and we know about it already. Since
+  # branches can move around, we always have to fetch.
+  set(fetch_required YES)
+  set(checkout_name "61c9d02ec461e30d55762ec7669d6a1d3c356fb2")
+
+elseif(show_ref_output MATCHES "^[a-z0-9]+[ \\t]+refs/tags/")
+  # Given a tag name that we already know about. We don't know if the tag we
+  # have matches the remote though (tags can move), so we should fetch.
+  set(fetch_required YES)
+  set(checkout_name "61c9d02ec461e30d55762ec7669d6a1d3c356fb2")
+
+  # Special case to preserve backward compatibility: if we are already at the
+  # same commit as the tag we hold locally, don't do a fetch and assume the tag
+  # hasn't moved on the remote.
+  # FIXME: We should provide an option to always fetch for this case
+  get_hash_for_ref("61c9d02ec461e30d55762ec7669d6a1d3c356fb2" tag_sha error_msg)
+  if(tag_sha STREQUAL head_sha)
+    message(VERBOSE "Already at requested tag: ${tag_sha}")
+    return()
+  endif()
+
+elseif(show_ref_output MATCHES "^[a-z0-9]+[ \\t]+refs/heads/")
+  # Given a branch name without any remote and we already have a branch by that
+  # name. We might already have that branch checked out or it might be a
+  # different branch. It isn't safe to use a bare branch name without the
+  # remote, so do a fetch and replace the ref with one that includes the remote.
+  set(fetch_required YES)
+  set(checkout_name "origin/61c9d02ec461e30d55762ec7669d6a1d3c356fb2")
+
+else()
+  get_hash_for_ref("61c9d02ec461e30d55762ec7669d6a1d3c356fb2" tag_sha error_msg)
+  if(tag_sha STREQUAL head_sha)
+    # Have the right commit checked out already
+    message(VERBOSE "Already at requested ref: ${tag_sha}")
+    return()
+
+  elseif(tag_sha STREQUAL "")
+    # We don't know about this ref yet, so we have no choice but to fetch.
+    # We deliberately swallow any error message at the default log level
+    # because it can be confusing for users to see a failed git command.
+    # That failure is being handled here, so it isn't an error.
+    set(fetch_required YES)
+    set(checkout_name "61c9d02ec461e30d55762ec7669d6a1d3c356fb2")
+    if(NOT error_msg STREQUAL "")
+      message(VERBOSE "${error_msg}")
+    endif()
+
+  else()
+    # We have the commit, so we know we were asked to find a commit hash
+    # (otherwise it would have been handled further above), but we don't
+    # have that commit checked out yet
+    set(fetch_required NO)
+    set(checkout_name "61c9d02ec461e30d55762ec7669d6a1d3c356fb2")
+    if(NOT error_msg STREQUAL "")
+      message(WARNING "${error_msg}")
+    endif()
+
+  endif()
+endif()
+
+if(fetch_required)
+  message(VERBOSE "Fetching latest from the remote origin")
+  execute_process(
+    COMMAND "/usr/bin/git" fetch --tags --force "origin"
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    COMMAND_ERROR_IS_FATAL ANY
+  )
+endif()
+
+set(git_update_strategy "REBASE")
+if(git_update_strategy STREQUAL "")
+  # Backward compatibility requires REBASE as the default behavior
+  set(git_update_strategy REBASE)
+endif()
+
+if(git_update_strategy MATCHES "^REBASE(_CHECKOUT)?$")
+  # Asked to potentially try to rebase first, maybe with fallback to checkout.
+  # We can't if we aren't already on a branch and we shouldn't if that local
+  # branch isn't tracking the one we want to checkout.
+  execute_process(
+    COMMAND "/usr/bin/git" symbolic-ref -q HEAD
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    OUTPUT_VARIABLE current_branch
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    # Don't test for an error. If this isn't a branch, we get a non-zero error
+    # code but empty output.
+  )
+
+  if(current_branch STREQUAL "")
+    # Not on a branch, checkout is the only sensible option since any rebase
+    # would always fail (and backward compatibility requires us to checkout in
+    # this situation)
+    set(git_update_strategy CHECKOUT)
+
+  else()
+    execute_process(
+      COMMAND "/usr/bin/git" for-each-ref "--format='%(upstream:short)'" "${current_branch}"
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      OUTPUT_VARIABLE upstream_branch
+      OUTPUT_STRIP_TRAILING_WHITESPACE
+      COMMAND_ERROR_IS_FATAL ANY  # There is no error if no upstream is set
+    )
+    if(NOT upstream_branch STREQUAL checkout_name)
+      # Not safe to rebase when asked to checkout a different branch to the one
+      # we are tracking. If we did rebase, we could end up with arbitrary
+      # commits added to the ref we were asked to checkout if the current local
+      # branch happens to be able to rebase onto the target branch. There would
+      # be no error message and the user wouldn't know this was occurring.
+      set(git_update_strategy CHECKOUT)
+    endif()
+
+  endif()
+elseif(NOT git_update_strategy STREQUAL "CHECKOUT")
+  message(FATAL_ERROR "Unsupported git update strategy: ${git_update_strategy}")
+endif()
+
+
+# Check if stash is needed
+execute_process(
+  COMMAND "/usr/bin/git" status --porcelain
+  WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+  RESULT_VARIABLE error_code
+  OUTPUT_VARIABLE repo_status
+)
+if(error_code)
+  message(FATAL_ERROR "Failed to get the status")
+endif()
+string(LENGTH "${repo_status}" need_stash)
+
+# If not in clean state, stash changes in order to be able to perform a
+# rebase or checkout without losing those changes permanently
+if(need_stash)
+  execute_process(
+    COMMAND "/usr/bin/git" stash save --quiet;--include-untracked
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    COMMAND_ERROR_IS_FATAL ANY
+  )
+endif()
+
+if(git_update_strategy STREQUAL "CHECKOUT")
+  execute_process(
+    COMMAND "/usr/bin/git" checkout "${checkout_name}"
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    COMMAND_ERROR_IS_FATAL ANY
+  )
+else()
+  execute_process(
+    COMMAND "/usr/bin/git" rebase "${checkout_name}"
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    RESULT_VARIABLE error_code
+    OUTPUT_VARIABLE rebase_output
+    ERROR_VARIABLE  rebase_output
+  )
+  if(error_code)
+    # Rebase failed, undo the rebase attempt before continuing
+    execute_process(
+      COMMAND "/usr/bin/git" rebase --abort
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    )
+
+    if(NOT git_update_strategy STREQUAL "REBASE_CHECKOUT")
+      # Not allowed to do a checkout as a fallback, so cannot proceed
+      if(need_stash)
+        execute_process(
+          COMMAND "/usr/bin/git" stash pop --index --quiet
+          WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+          )
+      endif()
+      message(FATAL_ERROR "\nFailed to rebase in: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src'."
+                          "\nOutput from the attempted rebase follows:"
+                          "\n${rebase_output}"
+                          "\n\nYou will have to resolve the conflicts manually")
+    endif()
+
+    # Fall back to checkout. We create an annotated tag so that the user
+    # can manually inspect the situation and revert if required.
+    # We can't log the failed rebase output because MSVC sees it and
+    # intervenes, causing the build to fail even though it completes.
+    # Write it to a file instead.
+    string(TIMESTAMP tag_timestamp "%Y%m%dT%H%M%S" UTC)
+    set(tag_name _cmake_ExternalProject_moved_from_here_${tag_timestamp}Z)
+    set(error_log_file ${CMAKE_CURRENT_LIST_DIR}/rebase_error_${tag_timestamp}Z.log)
+    file(WRITE ${error_log_file} "${rebase_output}")
+    message(WARNING "Rebase failed, output has been saved to ${error_log_file}"
+                    "\nFalling back to checkout, previous commit tagged as ${tag_name}")
+    execute_process(
+      COMMAND "/usr/bin/git" tag -a
+              -m "ExternalProject attempting to move from here to ${checkout_name}"
+              ${tag_name}
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      COMMAND_ERROR_IS_FATAL ANY
+    )
+
+    execute_process(
+      COMMAND "/usr/bin/git" checkout "${checkout_name}"
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      COMMAND_ERROR_IS_FATAL ANY
+    )
+  endif()
+endif()
+
+if(need_stash)
+  # Put back the stashed changes
+  execute_process(
+    COMMAND "/usr/bin/git" stash pop --index --quiet
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    RESULT_VARIABLE error_code
+    )
+  if(error_code)
+    # Stash pop --index failed: Try again dropping the index
+    execute_process(
+      COMMAND "/usr/bin/git" reset --hard --quiet
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    )
+    execute_process(
+      COMMAND "/usr/bin/git" stash pop --quiet
+      WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      RESULT_VARIABLE error_code
+    )
+    if(error_code)
+      # Stash pop failed: Restore previous state.
+      execute_process(
+        COMMAND "/usr/bin/git" reset --hard --quiet ${head_sha}
+        WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      )
+      execute_process(
+        COMMAND "/usr/bin/git" stash pop --index --quiet
+        WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+      )
+      message(FATAL_ERROR "\nFailed to unstash changes in: '/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src'."
+                          "\nYou will have to resolve the conflicts manually")
+    endif()
+  endif()
+endif()
+
+set(init_submodules "TRUE")
+if(init_submodules)
+  execute_process(
+    COMMAND "/usr/bin/git" submodule update --recursive --init 
+    WORKING_DIRECTORY "/media/psf/freelancing/greenhouse/ros2_ws/src/darknet_vendor/build/_deps/darknet-download-src"
+    COMMAND_ERROR_IS_FATAL ANY
+  )
+endif()